Snowblower

Abstract

To prevent a snow plow from throwing snow in unintended locations and to reduce operational burden of users.SOLUTION: Traveling units 50-L, 50-R make a snow plow 100 to travel. A traveling drive unit drives the traveling units 50-L, 50-R. A snow removal unit 10 removes snow. A snow removal drive unit drives the snow removal unit 10. A chute 30 throws the snow removed by the snow removal unit 10 in a direction within a set range Z. A chute drive unit changes the snow throwing direction by changing the direction of the chute 30. A target snow-throwing direction setting unit sets a target snow-throwing direction D. A snow-throwing control unit performs automatic tracking control to cause the snow-throwing direction to follow the target snow-throwing direction D by controlling the chute drive unit when the target snow-throwing direction D is within the setting range Z, when the target snow throwing direction D deviates from the setting range Z, stops the snow removal and automatic tracking control, and thereafter, when the target snow throwing direction D enters the setting range Z again, restarts the automatic tracking control.SELECTED DRAWING: Figure 9

Description

Technical Field

[0001] The present invention relates to a snow removal machine that performs snow removal and throws the removed snow.

Background Art

[0002] In recent years, efforts have been actively made to provide access to a sustainable transportation system that takes into account people in vulnerable positions among transportation participants. To achieve this, the applicant has focused on research and development related to snow removal machines to further improve traffic safety, mobility, and the convenience of life through research and development.

[0003] Some snow removal machines automatically set the target snow throwing direction based on the self-position and the target snow throwing position and continue to throw snow at the target snow throwing position.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] According to such a snow removal machine, even when the self-position continues to change due to the travel of the snow removal machine, it is possible to continuously throw snow at the target snow throwing position. However, the inventors have focused on the following possible problems. That is, for example, when the snow removal machine can only throw snow in a direction within a predetermined setting range with respect to its traveling direction, when the target snow throwing direction deviates from the setting range, it is impossible to throw snow at the target snow throwing position, and there is a risk of throwing snow in an unintended place. Furthermore, in consideration of people in vulnerable positions, etc., it is preferable that the snow removal machine has as little operation burden as possible and is easy to use.

[0006] This invention has been made in view of the above circumstances, and aims to prevent snow from being thrown in unintended locations and to reduce the burden on the user during operation. [Means for solving the problem]

[0007] The inventors of the present invention realized that if the snow removal and automatic tracking control were to be automatically paused when the target snow throwing direction moved outside the set range, and then automatically resumed when the target snow throwing direction returned to the set range, it would be possible to prevent snow from being thrown in unintended locations and reduce the burden on the user. This led to the present invention. The present invention is a snow throwing device as described in (1) to (6) below.

[0008] (1) The running section for moving the snowblower, A drive unit that drives the aforementioned travel unit, The snow removal department, which carries out snow removal, A snow removal drive unit that drives the snow removal unit, A chute that throws the snow removed by the snow removal unit in a direction within a set range, A chute drive unit that changes the direction of snow throwing by changing the orientation of the chute, A target snow throwing direction setting unit for setting the target snow throwing direction, A snow-throwing control unit performs automatic tracking control to make the snow-throwing direction follow the target snow-throwing direction when the target snow-throwing direction is within the set range, pauses snow removal and the automatic tracking control when the target snow-throwing direction moves out of the set range, and then resumes the automatic tracking control when the target snow-throwing direction returns to the set range. A snowblower that has [a certain feature].

[0009] With this configuration, if the target snow throwing direction moves outside the set range, the snow throwing control unit pauses snow removal, preventing snow from being thrown in unintended locations. Furthermore, when the target snow throwing direction returns to the set range, the snow throwing control unit resumes automatic tracking control, so automatic tracking control can be resumed automatically without the user having to operate it. Therefore, automatic tracking control can be resumed quickly, and the burden on the user is reduced.

[0010] In summary, this configuration prevents snow from being thrown in unintended locations and reduces the burden on the user during operation.

[0011] (2) When snow removal is paused, a notification unit that indicates that the target snow throwing direction has entered the set range is provided by at least one of display and sound, A release unit that allows the user to resume the snow removal pause, A snowblower as described in (1) above, having the following:

[0012] With this configuration, when the target snow throwing direction enters the set range, the user can quickly recognize this from the notification unit and cancel the snow removal pause by operating the release unit.

[0013] (3) Having a release unit that allows the user to release the pause in snow removal, The snow-throwing control unit does not release the suspension of snow removal even if it is instructed to release the suspension of snow removal by operating the release unit when the target snow-throwing direction is outside the set range. The snowblower described in (1) or (2) above.

[0014] This configuration prevents snow from being thrown in unintended locations.

[0015] (4) Between the snow removal drive unit and the snow removal unit, there is a clutch that, when connected, transmits power from the snow removal drive unit to the snow removal unit, and when disconnected, releases the transmission of power. The snow-throwing control unit pauses the snow removal by disengaging the clutch. The snow removal machine according to (1) or (2) above.

[0016] According to this configuration, the snow removal can be paused by disengaging the clutch while the snow removal driving unit is operating. Therefore, it is particularly effective when the snow removal driving unit is an engine or the like.

[0017] (5) Having an operation lever by which the user can operate the snow-throwing direction during the automatic following control. When the snow-throwing direction is operated by the operation lever, the target snow-throwing direction setting unit re-sets the target snow-throwing direction based on the snow-throwing direction at the end of the operation. The snow removal machine according to (1) or (2) above.

[0018] According to this configuration, the user can freely change the target snow-throwing position by the operation lever. Moreover, when the target snow-throwing direction deviates from the setting range due to the change, the snow-throwing control unit can automatically pause the snow-throwing and the automatic following control, and when the target snow-throwing direction re-enters the setting range due to the change, the snow-throwing control unit can automatically resume the automatic following control.

[0019] (6) Having an inclination detection unit that detects the inclination of the snow removal machine with respect to the horizontal direction. The target snow-throwing direction setting unit corrects the target snow-throwing direction based on the detected inclination. The snow removal device according to (1) or (2) above.

[0020] According to this configuration, by correcting the target snow-throwing direction based on the inclination of the snow removal machine, the target snow-throwing direction can be calculated more accurately. Moreover, when the target snow-throwing direction deviates from the setting range due to the inclination of the snow removal machine, the snow-throwing control unit can automatically pause the snow removal, and when the target snow-throwing direction re-enters the setting range due to the inclination of the snow removal machine, the snow-throwing control unit can automatically resume the automatic following control.

Effects of the Invention

[0021] As described above, the configuration of (1) prevents snow from being thrown in unintended locations and reduces the burden on the user. Furthermore, the configurations of (2) to (6) that refer to (1) provide additional benefits. [Brief explanation of the drawing]

[0022] [Figure 1] This is a side view showing the snowblower of this embodiment. [Figure 2] This is a top-down view of a snowblower. [Figure 3] This is a side view showing the chute and its surrounding area. [Figure 4] This is a perspective view showing the control panel. [Figure 5] This is a block diagram showing the control unit and its surrounding area. [Figure 6] This is a plan view showing an example of automatic tracking control in operation. [Figure 7] This is a plan view showing another example of automatic tracking control in operation. [Figure 8] This is a plan view showing the case where the target snow throwing direction always stays within the set range. [Figure 9] This is a plan view showing the case where the target snow throwing direction is not within the set range. [Figure 10] This flowchart shows the control of the snowblower by the control unit. [Modes for carrying out the invention]

[0023] Embodiments of the present invention will be described below with reference to the drawings. However, the present invention is not limited in any way to the following embodiments and can be implemented with appropriate modifications without departing from the spirit of the invention.

[0024] [First Embodiment] Figure 1 is a side view of the snowblower 100 of this embodiment. Hereinafter, the direction of travel of the snowblower 100 will be referred to as "front," the opposite direction as "rear," the left side when facing forward as "left," and the right side when facing forward as "right."

[0025] The snowblower 100 has a travel section 50L, 50R for moving the snowblower 100, and a travel drive section 60L, 60R for driving the travel sections 50L, 50R. The travel sections 50L, 50R consist of a left travel section 50L and a right travel section 50R, which is not shown in Figure 1. Each of the left and right travel sections 50L, 50R has a driven wheel 51 and a drive wheel 53, and a roller belt 52 stretched over them.

[0026] The drive units 60L and 60R consist of a left drive unit 60L and a right drive unit 60R, which is not shown in Figure 1. The left drive unit 60L drives the left drive unit 50L, and the right drive unit 60R drives the right drive unit 50R.

[0027] The snowblower 100 further includes a snow removal unit 10 for performing snow removal and a snow removal drive unit 20 for driving the snow removal unit 10. The snow removal unit 10 is provided at the front end of the snowblower 100 and includes an auger 11 that is rotatable on an axis in the left-right direction, and an auger housing 15 that covers the auger from above, both left and right sides, and the rear.

[0028] The snowblower 100 further includes a chute 30 for throwing snow removed by the snow removal unit 10, and chute drive units 41 and 42 that change the direction of snow throwing by driving the chute 30. Details of the chute 30 and the chute drive units 41 and 42 will be described later.

[0029] The snowblower 100 further includes a control unit 75 and an operating unit 80. The control unit 75 controls the travel, snow removal, and snow throwing of the snowblower 100 by controlling the travel drive units 60L, 60R, the snow removal drive unit 20, the chute drive units 41, 42, etc. The operating unit 80 is configured to operate the travel, snow removal, and snow throwing of the snowblower 100 by acting on the control unit 75 based on operations by the user U.

[0030] Figure 2 is a top-down view of the snowblower 100. The snowblower 100 is further equipped with a battery 29.

[0031] The left-side drive unit 60L includes a left motor 63L, a left regenerative brake 64L, and a left friction brake 65L. The left motor 63L rotates the drive wheels 53 of the left-side drive unit 50L using power supplied from the battery 29. When the left regenerative brake 64L is activated, it generates electricity from the rotational force of the left-side drive unit 50L, thereby decelerating the left-side drive unit 50L and charging the battery 29. When the left friction brake 65L is activated, it decelerates the left-side drive unit 50L by friction. The left friction brake 65L is driven, for example, by an electromagnetic actuator and is configured to be controllable by the control unit 75. For example, when decelerating the left-side drive unit 50L gradually, deceleration is performed using only the left regenerative brake 64L, and when decelerating rapidly, deceleration is performed using both the left regenerative brake 64L and the left friction brake 65L.

[0032] The right-side drive unit 60R includes a right motor 63R, a right regenerative brake 64R, and a right friction brake 65R. The description of each part of the right-side drive unit 60R is the same as the description of each part of the left-side drive unit 60L mentioned above, except that "left" is read as "right" and "L" is read as "R".

[0033] The snow removal unit 10 is configured to remove snow by the rotation of the auger 11 and to collect the removed snow in the left and right center. The snow removal drive unit 20 includes an engine 25 and a transmission mechanism 23 for transmitting the output of the engine 25 to the auger 11, and the transmission mechanism 23 is equipped with a clutch 24. The clutch 24 is driven by, for example, an electromagnetic actuator and is configured to be controllable by the control unit 75. When the clutch 24 is engaged, the output of the engine 25 is transmitted to the auger 11, causing the auger 11 to rotate. On the other hand, when the clutch 24 is disengaged, the output of the engine 25 is no longer transmitted to the auger 11, and the rotation of the auger 11 stops.

[0034] The snowblower 100 is further equipped with a generator 28. A portion of the output from the engine 25 is transmitted to the generator 28 to generate electricity. This electricity is used to charge the battery 29.

[0035] The chute 30 is equipped with a blower 30a at its lower end. The blower 30a is driven by the engine 25 together with the auger 11. The blower 30a sucks the snow collected by the auger 11 in the left and right center of the snow removal section 10 into the chute 30.

[0036] Figure 3 is a side view showing the chute 30 and its surroundings. The chute 30 has a chute body 31 and a snow throwing guide 32. The chute body 31 has a cylindrical shape extending in the vertical direction V and is rotatable in a circumferential direction of "vertical rotation C1" with the vertical direction V as the axis. The snow throwing guide 32 is attached to the upper end of the chute body 31 so as to be rotatable in a circumferential direction of "horizontal rotation C2" with its lower end as the axis of the horizontal direction H. However, the arrow indicating the horizontal direction H in Figure 3 is shown slightly offset from the center of the horizontal rotation C2 in order to avoid overlapping with the chute 30. The snow throwing guide 32 rotates together with the chute body 31 in the vertical rotation C1 and rotates relative to the chute body 31 in the horizontal rotation C2. The chute 30 discharges, i.e., throws, snow that has been sucked into the inside of the chute body 31 by the blower 30a from the upper end along the snow throwing guide 32.

[0037] The chute drive units 41 and 42 include a first chute drive unit 41 that rotates the chute body 31 vertically by C1, and a second chute drive unit 42 that rotates the snow throwing guide 32 horizontally by C2. The first chute drive unit 41 includes a first motor 41a and a first transmission mechanism 41b that transmits its power to the chute body 31. The second chute drive unit 42 includes a second motor 42a and a second transmission mechanism 42b that transmits its power to the snow throwing guide 32. The first motor 41a and the second motor 42a are powered by electricity supplied from the battery 29.

[0038] Hereafter, the vertical rotation angle C1 of the chute body 31 will be referred to as the "chute first angle," the horizontal rotation angle C2 of the snow throwing guide 32 will be referred to as the "chute second angle," and the chute first angle and the chute second angle together will be referred to as the "chute angle." Also below, the direction in which the snow is thrown by the chute 30 will be referred to as the "snow throwing direction." In other words, the snow throwing direction is a three-dimensional direction and is determined by the chute angle, that is, by the chute first angle and the chute second angle.

[0039] In the following, the target first angle of the chute will be referred to as "Target chute first angle α," the target second angle of the chute will be referred to as "Target chute second angle β," and the target chute first angle α and target chute second angle β will be collectively referred to as "Target chute angles α,β." In the following, the target snow throwing direction will be referred to as "Target snow throwing direction D." The target chute angles α,β are determined based on the target snow throwing direction D.

[0040] The operating unit 80 has a chute operating lever 93. When the chute operating lever 93 is tilted to the left, the first angle of the chute is shifted counterclockwise by the control of the first motor 41a by the control unit 75. On the other hand, when the chute operating lever 93 is tilted to the right, the first angle of the chute is shifted clockwise by the control of the first motor 41a by the control unit 75. Also, when the chute operating lever 93 is tilted forward, the second angle of the chute is shifted backward by the control of the second motor 42a by the control unit 75, increasing the snow throwing distance. On the other hand, when the chute operating lever 93 is tilted backward, the second angle of the chute is shifted forward by the control of the second motor 42a by the control unit 75, decreasing the snow throwing distance.

[0041] Figure 4 is a perspective view showing the control unit 80. The control unit 80 includes a main switch 81 for switching the entire snowblower 100 ON and OFF. The control unit 80 further includes a travel preparation lever 82, a left handle 83L and a right handle 83R, a left turn lever 85L and a right turn lever 85R, and a travel operation lever 88. A left grip 84L is attached to the left handle 83L, and a right grip 84R is attached to the right handle 83R.

[0042] The travel preparation lever 82 is located above the left handle 83L. When user U grips it together with the left grip 84L and presses down from above, the travel preparation switch 82a shown in Figure 2 turns ON, and when released, the travel preparation switch 82a turns OFF. The travel drive units 60L and 60R can only be operated when this travel preparation switch 82a is ON. The travel operation lever 88 shown in Figure 4 is a lever for controlling the direction and speed of the snowblower 100, and its operation is only effective when the travel preparation switch 82a is ON.

[0043] When the left turn lever 85L is gripped by user U along with the left grip 84L, the left side of the travel section 50L decelerates, causing the snowblower 100 to turn to the left. When the right turn lever 85R is gripped by user U along with the right grip 84R, the right side of the travel section 50R decelerates, causing the snowblower 100 to turn to the right.

[0044] The control unit 80 further includes a snow removal switch 91 and a throttle lever 92. Hereinafter, snow removal and snow throwing will be collectively referred to as "snow removal, etc." When the snow removal switch 91 is pressed when snow removal, etc. is not being performed, the auger 11 and blower 30a rotate, thereby starting snow removal, etc. Also, when the snow removal switch 91 is pressed while snow removal, etc. is being performed, the rotation of the auger 11 and blower 30a stops, thereby stopping snow removal, etc. The throttle lever 92 is a lever for increasing or decreasing the rotational speed of the engine 25.

[0045] The control unit 80 further includes an automatic tracking switch 94 and a notification lamp 95. The functions of the automatic tracking switch 94 and the notification lamp 95 will be described later. The notification lamp 95 may be read as "notification unit".

[0046] Figure 5 is a block diagram showing the control unit 75 and its surroundings. The control unit 75 is an electronic control unit having a CPU, ROM, RAM, etc. The snowblower 100 further has a position sensor 71 and a tilt sensor 72.

[0047] The position sensor 71 is a sensor for detecting the "self-position P1" of the snowblower 100. For example, the position sensor 71 can be a gyro sensor, accelerometer, angular velocity sensor, yaw rate sensor, rotation sensors for the travel section 50L, 50R, a geomagnetic compass, GPS, LiDAR, etc. The position sensor 71 may also be read as the "self-position detection unit".

[0048] The tilt sensor 72 is a sensor for detecting the tilt of the snowblower 100, and specifically detects the tilt of the snowblower 100 in the left-right direction and the tilt in the front-back direction. As the tilt sensor 72, for example, a three-axis acceleration sensor capable of detecting acceleration in the three axes of front-back, up-down, and left-right can be used. The tilt sensor 72 may also be read as "tilt detection unit".

[0049] The control unit 75 includes a target snow throwing direction setting unit 76 and a snow throwing control unit 77. The target snow throwing direction setting unit 76 calculates and sets the target snow throwing direction D. Details of the calculation and setting will be described later.

[0050] The snow throwing control unit 77 controls the chute drive unit 42 based on the set target snow throwing direction D to perform "automatic tracking control," which is a control that automatically directs the snow throwing direction towards a predetermined target snow throwing position P2. When the automatic tracking switch 94 is pressed while the snow throwing control unit 77 is not performing automatic tracking control, it starts automatic tracking control, and when the automatic tracking switch 94 is pressed while automatic tracking control is performing, it cancels automatic tracking control. Furthermore, when the snow throwing control unit 77 is performing automatic tracking control, if the target snow throwing direction D falls outside a predetermined setting range Z, it disengages the clutch 24 to stop the rotation of the auger 11 and blower 30a, thereby pausing snow removal and other operations, and also suspends automatic tracking control. However, even while snow removal and automatic tracking control are suspended, the target snow throwing direction setting unit 76 continues to calculate the target snow throwing direction D.

[0051] After snow removal and automatic tracking control have been paused, if the target snow throwing direction D enters the set range Z again, the snow throwing control unit 77 resumes automatic tracking control and illuminates the notification lamp 95. Upon seeing the lamp illuminate, the user U presses the snow removal switch 91, and the clutch 24 re-engages, resuming snow removal. Therefore, the snow removal switch 91 also functions as a "release unit" to cancel the pause in snow removal. However, the snow throwing control unit 77 does not cancel the pause in snow removal when the target snow throwing direction D is outside the set range Z, that is, when the notification lamp 95 is not illuminated, even if the user U presses the snow removal switch 91.

[0052] Figure 6 is a plan view showing an example of automatic tracking control in operation. The target snow throwing direction setting unit 76 sets the position at the end of the snow throwing direction set by the operation of the chute operation lever 93 by the user U as the "target snow throwing position P2". In other words, in a plan view, the target snow throwing position P2 is set to the position that has advanced by the snow throwing distance from its own position P1 in the snow throwing direction. At this time, the target snow throwing direction setting unit 76 corrects the target snow throwing position P2 from the tilt of the snowblower 100 detected by the tilt sensor 72. In other words, the target snow throwing position P2 is calculated taking into account the tilt of the snowblower 100.

[0053] Subsequently, as the snowblower 100 moves and its own position P1 shifts, the target snow throwing direction D is calculated from the current own position P1 and the target snow throwing position P2. In other words, the target snow throwing direction D is set to the launching direction in which the snow throwing distance is the distance from the own position P1 to the target snow throwing position P2, in the direction connecting the own position P1 and the target snow throwing position P2 in a plan view. At this time as well, the target snow throwing direction setting unit 76 corrects the target snow throwing direction D from the tilt of the snowblower 100 detected by the tilt sensor 72. In other words, the target snow throwing direction D is calculated taking into account the tilt of the snowblower 100. With the above automatic tracking control, even if the snowblower 100 moves, the chute 30 can continue to throw the snow removed by the snow removal unit 10 towards the target snow throwing position P2.

[0054] Furthermore, if the snow-throwing direction is operated by the chute operation lever 93 during automatic tracking control, the target snow-throwing direction setting unit 76 resets the target snow-throwing position P2 based on the snow-throwing direction at the time the operation ends. Therefore, even during automatic tracking control, the user U can freely change the target snow-throwing position P2 using the chute operation lever 93.

[0055] Figure 7 is a plan view showing another example of automatic tracking control in operation. The snowblower 100 may be configured to allow a wide area to be set as the target snow throwing position P2. In this case, the snow that has been removed can be thrown into the target snow throwing position P2 without having to control the snow throwing direction very precisely in the automatic tracking control.

[0056] Figure 8 is a plan view showing the case where the target snow throwing direction D is always within the set range Z during automatic tracking control. The set range Z is, for example, a predetermined range of directions relative to the direction of travel of the snowblower 100, and more specifically, all directions except the rear side, that is, the direction in which the thrown snow may hit the user U if it is thrown. This set range Z may be, for example, the movable range of the chute body 31, or the drive range of the chute body 31 determined by the control unit 75.

[0057] More specifically, in the case where the set range Z is the movable range, an example is given of the first transmission mechanism 41b shown in Figure 3, in which a gear is cut only within the movable range, and when the limit of the movable range is reached the gear is unable to move any further. Then, when the limit is reached, an overload is detected by the increase in the current value of the first motor 41a, and the first motor 41a stops.

[0058] On the other hand, if the setting range Z is the drive range of the chute body 31 defined by the control unit 75, for example, although the chute 30 can move 360 ​​degrees in a plan view, for safety reasons, the chute 30 is controlled while reading the first angle of the chute with a potentiometer or the like so that the chute 30 does not face within a range of several tens of degrees on the user U side.

[0059] As shown in Figure 8, if the target snow throwing direction D remains within the set range Z, snow removal and automatic tracking control will continue without interruption.

[0060] Figure 9 is a plan view showing the case when the target snow throwing direction D does not fall within the set range Z at a predetermined timing during automatic tracking control. Specifically, at a predetermined first timing t1, snow removal and automatic tracking control are started, and at this time, the target snow throwing direction D is within the set range Z. At the subsequent second timing t2, the target snow throwing direction D reaches the clockwise end of the set range Z, and at the subsequent third timing t3, the target snow throwing direction D is outside the set range Z. Immediately before the subsequent fourth timing t4, the target snow throwing direction D re-enters the set range Z from the counterclockwise end, and at the subsequent fifth timing t5, the target snow throwing direction D is within the set range Z.

[0061] In this case, snow removal and automatic tracking control are performed between the first timing t1 and the second timing t2, and snow removal and automatic tracking control are suspended at the second timing t2. Automatic tracking control is resumed immediately before the fourth timing t4. Specifically, when automatic tracking control is resumed, the snow throwing direction moves from the right-hand end of the set range Z to the left-hand end of the set range Z, in a counter-clockwise direction. In addition, the notification lamp 95 lights up when automatic tracking control is resumed. When user U sees the notification lamp 95 and presses the snow removal switch 91, the suspension of snow removal is released and snow removal is resumed at the subsequent fifth timing t5, etc.

[0062] Figure 10 is a flowchart showing the control of the snowblower 100 by the control unit 75. The control unit 75 starts controlling the snowblower 100 when the main switch 81 is turned ON. When the control unit 75 starts controlling the snowblower 100, it first resets the counter value N to "1" in S11. A counter value of "1" indicates that the snow throwing direction calculation was performed for the first time during the series of periods, a value of "2" indicates that the calculation was performed for the second time or later, and a value of "3" indicates that the snow removal switch 91 is OFF for pause in snow removal or other operations.

[0063] Next, in S12, it is determined whether both the drive preparation switch 82a and the automatic follow switch 94 are ON. Note that the ON / OFF status of each switch can be determined based on the presence or absence of a predetermined signal, for example, which is emitted when each switch is ON. If the determination in S12 is positive, the process proceeds to S13, where it is determined whether the snow removal switch 91 is ON. If the determination is positive, the process proceeds to S21. In other words, if all three switches 82a, 91, and 94 are ON, the process proceeds to S21.

[0064] On the other hand, if the result in S13 is negative, the process proceeds to S14 to determine whether the counter value N is "3". If the result is positive, the process proceeds to S21. In other words, even if only the snow removal switch 91 is OFF among the three switches 82a, 91, and 94, if the counter value N is "3", it means that the snow removal switch 91 is OFF for the purpose of pausing snow removal, etc., so the process proceeds to S21.

[0065] In S21, the current snow throwing direction is calculated. As mentioned above, this calculation is performed taking into account the tilt of the snowblower 100 detected by the tilt sensor 72 by making corrections based on that tilt. Then, the process proceeds to S22 to determine if the counter value N is "1". If the determination is positive, it means that this is the first time the snow throwing direction has been calculated in the series of steps, so the process proceeds to S23 to store the current snow throwing direction as the reference snow throwing direction, and then to S24 to set the counter value N to "2" before proceeding to S31. On the other hand, if the determination in S22 is negative, it means that this is the second or later time the snow throwing direction has been calculated, so S23 and S24 are skipped and the process proceeds directly to S31.

[0066] In S31, it is determined whether the chute operation lever 93 is in the neutral position. If the determination is negative, the process proceeds to S32, where the chute drive units 41 and 42 are controlled to drive the chute 30 according to the operation of the chute operation lever 93 by the user U. In S33, the current snow throwing direction is overwritten with the reference snow throwing direction, and then the process proceeds to S51.

[0067] On the other hand, if a positive determination is made in S31, the process proceeds to S34, where the target snow throwing direction D at the current location is calculated. Specifically, the target snow throwing direction D at the current location is calculated based on the reference snow throwing direction, the distance traveled by the snowblower 100 since the reference snow throwing direction was acquired, the turning angle, etc. In other words, the target snow throwing position P2 is determined from the current position P1 and the reference snow throwing direction at the time the reference snow throwing direction was acquired, and the target snow throwing direction D at the current location is determined from the current position P1 and the target snow throwing position P2. As mentioned above, the calculation of this target snow throwing direction D also takes into account the tilt of the snowblower 100 detected by the tilt sensor 72 by making corrections based on the tilt of the snowblower 100.

[0068] Next, in S35, the target chute angles α and β are calculated from the target snow throwing direction D at the current location. Then, in S41, it is determined whether the first target chute angle α is within the set range. In other words, it is determined whether the target snow throwing direction D is within the aforementioned set range Z.

[0069] If a negative result is obtained in S41, the process proceeds to S46, where the snow removal switch 91 is turned OFF to pause snow removal, and then to S47, where the counter value N is set to "3", before proceeding to S51.

[0070] On the other hand, if a positive determination is made in S41, the process proceeds to S42, where the chute first drive unit 41 and chute second drive unit 42 are controlled so that the chute first angle and chute second angle become the calculated target chute first angle α and target chute second angle β. In other words, automatic tracking control is performed. After that, the process proceeds to S43, where it is determined whether the counter value N is "3". If a positive determination is made, it means that snow removal is paused, so the process proceeds to S44, where the notification lamp 95 is turned on, and then to S51. The illumination of the notification lamp 95 signals the user U to turn on the snow removal switch 91. Note that when the snow removal switch 91 is turned on while the notification lamp 95 is illuminated, the notification lamp 95 turns off and the counter value N is reset to "2". On the other hand, if a negative determination is made in S43, snow removal is in progress and the illumination of the notification lamp 95 is unnecessary, so S44 is skipped and the process proceeds directly to 51.

[0071] On the other hand, if a negative determination is made in the preceding S12 or S14, that is, if the requirements that all three switches 82a, 91, and 94 are ON, or that the snow removal switch 91 is OFF but the counter value N is "3" are not met, the process proceeds to S15. In S15, it is determined whether the chute operation lever 93 is neutral or not. If the determination is positive, the process proceeds to S51. On the other hand, if a negative determination is made in S15, the process proceeds to S16, where the chute drive units 41 and 42 are controlled to drive the chute 30 according to the operation of the chute operation lever 93 by the user U, and the process proceeds to S17, where the counter value N is set to "1", and then the process proceeds to S51.

[0072] In S51, it is determined whether or not to discontinue control of the snowblower 100. Specifically, for example, if the main switch 81 is OFF, it is determined to discontinue control of the snowblower 100. If the determination in S51 is negative, the process returns to S12. On the other hand, if the determination in S51 is positive, the flow ends.

[0073] The configuration and effects of this embodiment are summarized below.

[0074] According to this embodiment, when the target snow throwing direction D moves outside the set range Z, the snow throwing control unit 77 pauses snow removal, preventing snow from being thrown in unintended locations. Furthermore, when the target snow throwing direction D then returns to the set range Z, the snow throwing control unit 77 resumes automatic tracking control, so that automatic tracking control can be automatically resumed without the user U having to operate the restart function. Therefore, automatic tracking control can be resumed quickly, and the operational burden on the user U can be reduced. As a result, an easy-to-use snowblower 100 can be provided.

[0075] The snowblower 100 has a notification lamp 95 that lights up to indicate when the target snow throwing direction D enters the set range Z. Therefore, when the target snow throwing direction D enters the set range Z, the user U can quickly recognize this from the notification lamp 95 and cancel the pause for snow removal, etc., by operating the snow removal switch 91.

[0076] The snow-throwing control unit 77 does not release the pause for snow removal, etc., even if instructed to do so by the snow removal switch 91 when the target snow-throwing direction D is outside the set range Z. This prevents snow from being thrown in unintended locations.

[0077] The snowblower 100 has a clutch 24 between the snow removal unit 10 and the snow removal drive unit 20, and the snow throwing control unit 77 pauses snow removal by disengaging the clutch 24. Therefore, snow removal can be paused by disengaging the clutch 24 while the engine 25 of the snow removal drive unit 20 is running. Furthermore, in a hybrid snowblower like the snowblower 100 of this embodiment, where snow removal is performed by the engine 25 and travel and chute drive are performed by electricity, there is the advantage that even if snow removal is paused by disengaging the clutch 24, power generation for travel and chute drive can continue by the engine 25.

[0078] The snowblower 100 is equipped with a chute operation lever 93 that allows the user U to operate the snow throwing direction during automatic tracking control. When the snow throwing direction is operated by the chute operation lever 93, the target snow throwing position P2 is reset by the target snow throwing direction setting unit 76 based on the snow throwing direction at the end of the operation. Therefore, the user U can freely change the target snow throwing position P2 by using the chute operation lever 93. Moreover, if the target snow throwing direction D moves outside the set range Z as a result of this change, the snow throwing control unit 77 can automatically pause snow removal and automatic tracking control. When the target snow throwing direction D returns to the set range Z as a result of this change, the snow throwing control unit 77 can automatically restart automatic tracking control and illuminate the notification lamp 95.

[0079] The snowblower 100 has a tilt sensor 72 that detects the tilt of the snowblower 100 relative to the horizontal. The target snow throwing direction setting unit 76 corrects the target snow throwing direction D based on the detected tilt of the snowblower 100. As a result, the target snow throwing direction D can be calculated more accurately. Moreover, when the target snow throwing direction D falls outside the set range Z due to the tilt of the snowblower 100, the snow throwing control unit 77 can automatically pause snow removal and automatic tracking control. When the target snow throwing direction D enters the set range Z due to the tilt of the snowblower 100, the snow throwing control unit 77 can automatically resume automatic tracking control and illuminate the notification lamp 95.

[0080] [Other embodiments] The above embodiments can be implemented with modifications, for example, as follows: If safety can be ensured even if snow removal is automatically resumed, the snow throwing control unit 77 may be configured to automatically resume snow removal when the target snow throwing direction D enters the set range Z again during a pause in snow removal.

[0081] Instead of the notification lamp 95, a notification unit may be provided that indicates, through a display or sound other than the lamp lighting, that the target snow throwing direction D has entered the set range Z.

[0082] The first motor 41a and the second motor 42a may be eliminated, and the power of the engine 25 may be transmitted to the chute body 31 and the snow throwing guide 32. In other words, the snow removal drive unit 20 may also serve as the chute drive units 41 and 42.

[0083] A motor may be installed instead of the engine 25. In such cases, the clutch 24 may be eliminated, and snow removal or other operations may be paused when the motor is turned off.

[0084] The shooter 30 may be controlled based on the first and second angles of the shooter, which are read using a potentiometer.

[0085] When the target snow throwing direction D temporarily leaves the set range Z and then re-enters the set range Z, automatic tracking control may not be immediately resumed. Instead, the automatic tracking control may be restarted only after the target snow throwing direction D has remained within the set range Z for a predetermined period of time, such as 5 seconds. Alternatively, the automatic tracking control may be restarted only after the target snow throwing direction D has moved inward by a predetermined angle, such as 5 degrees, from the boundary of the end of the set range Z. Furthermore, both conditions may be met: the automatic tracking control may be restarted only after the target snow throwing direction D has remained within the set range Z for a predetermined period of time and moved inward by a predetermined angle. These measures can suppress the problem of the automatic tracking control repeatedly pausing and restarting due to the target snow throwing direction D repeatedly moving in and out of the set range Z when the angle or position of the snowblower 100 is slightly off.

[0086] The working section of the snowblower 100 may be configured to be tiltable forward and backward relative to the base of the snowblower 100. The base of the snowblower 100, as used herein, refers to, for example, the part of the snowblower 100 that includes the traveling sections 50L, 50R, the traveling drive sections 60L, 60R, the control section 75, the operating section 80, etc., while the working section of the snowblower 100 refers to, for example, the part of the snowblower 100 that includes the snow removal section 10, the snow removal drive section 20, the chute 30, the chute drive sections 41, 42, etc. [Explanation of symbols]

[0087] 10 Snow Removal Department 20 Snow removal drive unit 24 Clutch 30 Shooters 41 Shooter first drive unit 42 Shooter second drive unit 50L Left side of the driving section 50R Right side running section 60L Left side drive unit 60R Right side drive unit 71 Position sensor (self-position detection unit) 72 Tilt sensor (tilt detection unit) 76 Target snow throwing direction setting unit 77 Snow Throwing Control Unit 91 Snow removal switch (release mechanism) 93 Shooter Operation Lever 95. Notification lamp (notification unit) 100 Snow Blower D Target snow throwing direction P1 Self-position P2 Target snow throwing position Z setting range

Claims

1. The running gear that moves the snowblower, A drive unit that drives the aforementioned travel unit, The snow removal department, which carries out snow removal, A snow removal drive unit that drives the snow removal unit, A chute that throws the snow removed by the snow removal unit in a direction within a set range, A chute drive unit that changes the direction of snow throwing by changing the orientation of the chute, A target snow throwing direction setting unit for setting the target snow throwing direction, A snow-throwing control unit performs automatic tracking control to make the snow-throwing direction follow the target snow-throwing direction when the target snow-throwing direction is within the set range, pauses snow removal and the automatic tracking control when the target snow-throwing direction moves out of the set range, and then resumes the automatic tracking control when the target snow-throwing direction returns to the set range. A snowblower that has [a certain feature].

2. During the pause in snow removal, a notification unit provides at least one of a display and sound to indicate that the target snow throwing direction has entered the set range. A release unit that allows the user to resume the snow removal pause, A snowblower according to claim 1, having the following features.

3. It has a release unit that allows the user to resume the snow removal pause, The snow-throwing control unit does not release the suspension of snow removal even if it is instructed to release the suspension of snow removal by operating the release unit when the target snow-throwing direction is outside the set range. A snowblower according to claim 1 or 2.

4. Between the snow removal drive unit and the snow removal unit, there is a clutch that, when connected, transmits power from the snow removal drive unit to the snow removal unit, and when disconnected, releases the transmission of power. The snow-throwing control unit pauses snow removal by disengaging the clutch. A snowblower according to claim 1 or 2.

5. During the automatic tracking control, the system has an operating lever that allows the user to control the direction of snow throwing. When the snow throwing direction is operated by the operating lever, the target snow throwing direction setting unit resets the target snow throwing direction based on the snow throwing direction at the end of the operation. A snowblower according to claim 1 or 2.

6. It has a tilt detection unit that detects the tilt of the snowblower with respect to the horizontal direction, The target snow throwing direction setting unit corrects the target snow throwing direction based on the detected inclination. A snowblower according to claim 1 or 2.

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