EP2444355B2 - Method for operating a winch of a tracked vehicle and snow groomer - Google Patents

Method for operating a winch of a tracked vehicle and snow groomer Download PDF

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Publication number
EP2444355B2
EP2444355B2 EP11185068.1A EP11185068A EP2444355B2 EP 2444355 B2 EP2444355 B2 EP 2444355B2 EP 11185068 A EP11185068 A EP 11185068A EP 2444355 B2 EP2444355 B2 EP 2444355B2
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EP
European Patent Office
Prior art keywords
cable
winch
reel
sensor
winding
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EP11185068.1A
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German (de)
French (fr)
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EP2444355B1 (en
EP2444355A1 (en
Inventor
Andreas Behmüller
Peter Betz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kassbohrer Gelandefahrzeug AG
Kaessbohrer Gelaendefahrzeug AG
Original Assignee
Kassbohrer Gelandefahrzeug AG
Kaessbohrer Gelaendefahrzeug AG
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Application filed by Kassbohrer Gelandefahrzeug AG, Kaessbohrer Gelaendefahrzeug AG filed Critical Kassbohrer Gelandefahrzeug AG
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B66D1/48—Control devices automatic
    • B66D1/50—Control devices automatic for maintaining predetermined rope, cable, or chain tension, e.g. in ropes or cables for towing craft, in chains for anchors; Warping or mooring winch-cable tension control
    • B66D1/505—Control devices automatic for maintaining predetermined rope, cable, or chain tension, e.g. in ropes or cables for towing craft, in chains for anchors; Warping or mooring winch-cable tension control electrical
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H4/00—Working on surfaces of snow or ice in order to make them suitable for traffic or sporting purposes, e.g. by compacting snow
    • E01H4/02—Working on surfaces of snow or ice in order to make them suitable for traffic or sporting purposes, e.g. by compacting snow for sporting purposes, e.g. preparation of ski trails; Construction of artificial surfacings for snow or ice sports ; Trails specially adapted for on-the-snow vehicles, e.g. devices adapted for ski-trails

Definitions

  • the invention relates to a method for controlling a cable winch of a vehicle according to the preamble of claim 1 and a snow groomer with a cable winch according to the preamble of claim 2.
  • a method and such a snow groomer are eg by WO2010/095016 disclosed.
  • a method for controlling a winch of a tracked vehicle is from EP 1 431 236 B1 known.
  • the rope speed of the winch rope is regulated by the known method.
  • the winch cable controller includes a comparator block that compares a current position of a cable guide device with a calculated position. The current position is recorded by a sensor. Depending on a result of the comparison, the winch cable control can correct the current position of the cable guide device. In addition, the tangential speeds of the reel and a deflection pulley can be calculated using the winch cable control.
  • a comparator block within the winch cable controller compares the tangential speeds to a predetermined limit. As soon as the limit value is exceeded, the reel is stopped when unwinding the winch cable.
  • the object of the invention is to provide a method and a snow groomer of the type mentioned at the outset, which allow a low load on the winch cable during winch operation of the snow groomer and allow the winding of the winch cable to be monitored.
  • the method according to the invention makes it possible to detect faulty winding of the winch cable and, as a result, faults in the winch cable itself at an early stage. A corresponding error signal then prompts the driver of the vehicle to interrupt the operation of the cable winch and to check the cable and troubleshoot the problem.
  • the specification of a defined number of rope windings per winding layer on the reel is calculated based on the usable width of the reel and the rope thickness.
  • the object on which the invention is based is achieved for a previously described snow groomer in that a device for carrying out a previously described method having the features of claim 2 is provided.
  • the functional unit can also be a control unit that intervenes directly in the winch drive or the traction drive in order to relieve the load on the winch cable in particular.
  • the snow groomer is intended in a particularly advantageous manner for processing snowy terrain.
  • the solution according to the invention enables a particularly economical operation of the snow groomer in winch operation, i.e. in steep terrain.
  • the invention achieves a low and therefore gentle loading of the winch cable.
  • the sensor device for detecting the cable speed advantageously also has a time measuring device in order to convert the cable path that can be detected by the remaining cable length sensor into the cable speed.
  • an absolute value encoder that detects revolutions of the reel is provided as the remaining rope length sensor.
  • the absolute encoder is preferably arranged coaxially to an axis of rotation of the reel and permanently records the angle of rotation or the change in the angle of rotation of the reel.
  • the absolute value transmitter can also be provided with a time module, so that the cable speed can be calculated directly using the data from the absolute value transmitter.
  • the absolute encoder is designed as a rotary encoder and measures the angle of rotation.
  • the absolute value encoder is designed as a multiturn rotary encoder in order to be able to record several revolutions of the reel.
  • a snow groomer 1 according to Figures 1 to 3 is provided in a fundamentally known manner with a cable winch 2, which supports a traction drive of the snow groomer 1, in particular in steep snowy terrain.
  • a winch cable 13 ( 3 ) of the cable winch is anchored in place on an upper section of a steep slope to be worked on.
  • the cable winch 2 has a winch arm 3 which rotates about an axis of rotation (not designated in more detail) that extends in the vertical direction of the vehicle relative to a vehicle longitudinal axis F ( 2 ) can be rotated by 360°.
  • the cable winch 2 is provided with a winch drive 7, shown only schematically, which is described in more detail below.
  • the snow groomer 1 has a pair of drive chains 4, which are each driven by a sprocket wheel.
  • the winch arm 3 is--in the present embodiment together with the winch drive 7--mounted on a base fastened on a loading platform of the snow groomer 1 so that it can rotate about the axis of rotation described.
  • the sprockets as part of a traction drive of the snow groomer 1 are driven hydraulically by hydraulic motors.
  • electric motors are provided instead of hydraulic motors.
  • the cable winch 2 has a reel 10 which is rotatably mounted in a winch housing (not designated in more detail) and on which the winch cable 2 is held so that it can be wound up and unwound ( 3 ).
  • the reel 10 has a usable width on its drum surface, which is matched to a thickness of the winch cable such that 50 turns can be placed next to one another on the reel in one winding layer. In other embodiments of the invention, a smaller or larger width is provided, depending on the application.
  • a winding arm 12 is provided for winding and unwinding the winch cable 13 relative to the reel 10 in order to ensure that the turns of a winding layer are laid carefully and evenly against one another.
  • the winding arm 12 is - in relation to a rope pull-out direction - mounted pivotably in front of the reel 10 in the winch housing by means of a pivot bearing 14 .
  • a pivot plane of the winding arm 12 lies parallel to a lateral surface of the cylindrical shape of the reel 10 and thus also parallel to the axis of rotation of the reel 10.
  • a rotation angle ⁇ of the winding arm 12 is matched to the usable width of the reel 10 in such a way that the winch cable passes through the winding arm 12 can be performed for each of the turns distributed over the reel 10 of each winding layer.
  • the winch cable 13 is pulled off the reel 10 or wound onto the reel 10 via a capstan gear, not shown in detail.
  • the capstan gear is part of the winch drive 7.
  • the reel 10 also has a reel drive, which is not shown in detail and is part of the winch drive 7.
  • Both the reel drive and a drive for the capstan gear are hydraulic.
  • a hydraulic motor is preferably assigned to the capstan gear.
  • the reel drive can also be formed by an electric drive instead of a hydraulic drive.
  • the capstan gear can also be provided with a sufficiently dimensioned electric motor instead of a hydraulic motor.
  • the winch drive 7 is exclusively hydraulic.
  • the winch drive is regulated in predetermined angular ranges of the winch arm 3 relative to a longitudinal axis F of the vehicle in the manner described in more detail below.
  • the control is in angle ranges ⁇ according to 2 effective.
  • the corresponding angular ranges extend in the direction of travel or counter to the direction of travel by 50° in both directions.
  • the winch arm 3 in a zero position. In a correspondingly reverse orientation, it is in a 180° position. This results in the remaining angular end ranges, shown in dashed lines, for the angular ranges described.
  • the regulation is effective between an angle of the winch arm 3 relative to the longitudinal axis F of the vehicle of -50° to +50°.
  • the angular range of the winch arm 3, in which effective control of the winch drive takes place extends from 130° to 180° to 230°.
  • a corresponding axis of rotation for the angular ranges described is defined by the axis of rotation of the winch arm 3 .
  • a speed sensor 5 is assigned to at least one sprocket wheel, by means of which a chain speed can be detected.
  • Speed sensors 5 are preferably assigned to both sprocket wheels of the opposite chains 4, which determine the chain speed by detecting the direction of rotation and the speed of rotation of the sprocket wheels.
  • An angle sensor 8 is provided in the area of the axis of rotation of the winch arm 3 , which detects the angle of rotation of the winch arm 3 relative to the longitudinal axis F of the vehicle.
  • a cable tension sensor 9 is provided in the winch arm 3 in the region of a guide for the winch cable.
  • the cable winch 2 is assigned a sensor device 6 for detecting a cable speed when winding or unwinding the winch cable.
  • the winch drive 7 comprises a hydraulic capstan drive, not shown in detail, with a capstan gear and capstan heads, via which the winch cable is deflected for being pulled off the reel 10 or for being wound onto the reel 10 .
  • the winch drive 7 also includes a drive for the reel 10, which drives the reel 10 at least in the winding direction.
  • the reel drive is realized by a hydraulic constant motor.
  • the capstan drive has a controllable hydraulic motor that acts on the capstan gear.
  • a force measuring bolt in the region of a displaceable deflection roller in the winch arm 3 is provided as the cable tension sensor 9 .
  • the sensor device 6 has a remaining rope length sensor 11, which is formed by an absolute value encoder in the form of a rotary encoder.
  • the absolute encoder records the revolutions of the reel in the winding or unwinding direction.
  • the sensor device has a not-shown time module to a to achieve additional time measurement to the distance measurement achieved by the residual rope length sensor.
  • a total cable length or at least a usable cable length of the winch cable 13 is known.
  • the diameter and circumference of the cylindrical drum surface of reel 10 are also known.
  • the number of rope windings that can be lined up next to one another in a winding layer on the reel 10 is also known.
  • the cable speed is determined by the additional time measurement during a corresponding winding or unwinding process.
  • the snow groomer 1 has an electronic control unit S to which the traction sensor 9, the sensor device 6, the angle sensor 8 and the speed sensor 5 are connected in order to transmit corresponding actual data to the control unit S.
  • the control unit S controls the winch drive 7 in order to regulate the cable pull for the winch cable 13 in such a way that there is a difference between the travel speed calculated from the cable speed and the angle of the angle arm 3 relative to the longitudinal axis of the vehicle and the chain speed results, whereby this difference between the calculated driving speed and chain speed should be in a constant difference range.
  • the snow groomer 1 is provided with an inclination sensor, which is not shown in detail, which is intended to detect a vehicle inclination relative to the horizontal and thus in particular when the snow groomer 1 is driving uphill or downhill.
  • This additional inclination sensor is optional, since alternatively, the position of the winch arm can also be used to detect whether the snow groomer is traveling uphill or downhill 2 is detectable.
  • the difference between the chain speed and the calculated driving speed can be positive or negative, because when driving downhill, the driving speed calculated from the cable speed and the angle of the winch arm can be lower than the chain speed in order to achieve a braking effect .
  • driving uphill on the other hand, an increased slippage of the chains 4 can be compensated for by a higher driving speed relative to the chain speed and consequently a higher cable speed.
  • the control unit S specifies a defined target differential range, which is also referred to as the target slip range. Compliance with this differential or slip target range is achieved by regulating the cable pull, which is regulated in such a way that the lowest possible cable pull that still allows the snow groomer 1 to be driven within the slip target range is set.
  • the rope pulling force is regulated by regulating the hydraulic pressure of the winch drive 7.
  • the hydraulic pressure of the hydraulic motor of the capstan drive is preferably controlled accordingly for this purpose.
  • the reel drive itself is not included in this rope tension control. It is only controlled in such a way that there is permanent tension for the winch cable between the capstan gear and the reel 10 in order to enable the winch cable 13 to be wound up or unwound properly.
  • a control module S1 is assigned to the central control unit S for controlling the cable winch 2 , which monitors the winding or unwinding processes of the winch cable 13 relative to the reel 10 and, if a winding error is detected, which also means a cable error, an error message is sent to the driver of the snow groomer 1 spends
  • a rotation angle sensor 15 is assigned to the angle arm 12 in the region of its pivot bearing 14 and is connected to the control module S 1 .
  • the absolute encoder 11 Also connected to the control module S 1 is the absolute encoder 11 , which is seated on the axis of rotation of the reel 10 .
  • the control module S 1 can compare the stored target data for the number of cable turns per winding and for the pivoting angle ⁇ of the winding arm 12 between the beginning and end of a winding layer determine whether proper winding or unwinding has taken place, or whether the winch cable 13 is winding or unwinding incorrectly. As soon as the control module S 1 has recognized this, it controls a signal generator 16 which transmits the corresponding error message to the driver's cab of the snow groomer, preferably in a display area which the driver can quickly identify.
  • the signal transmitter is preferably designed to be optical and/or acoustic.
  • control module S 1 is connected via the central control unit S in a suitable manner to a functional unit within the traction drive and/or the winch drive.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Storing, Repeated Paying-Out, And Re-Storing Of Elongated Articles (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Description

Die Erfindung betrifft ein Verfahren zur Steuerung einer Seilwinde eines Fahrzeugs nach dem Oberbegriff des Anspruchs 1 sowie eine Pistenraupe mit einer Seilwinde nach dem Oberbegriff des Anspruchs 2. Ein derartiges Verfahren und eine derartige Pistenraupe werden z.B. durch WO2010/095016 offenbart.The invention relates to a method for controlling a cable winch of a vehicle according to the preamble of claim 1 and a snow groomer with a cable winch according to the preamble of claim 2. Such a method and such a snow groomer are eg by WO2010/095016 disclosed.

Ein Verfahren zur Steuerung einer Seilwinde eines Kettenfahrzeugs ist aus der EP 1 431 236 B1 bekannt. Durch das bekannte Verfahren wird die Seilgeschwindigkeit des Windenseils geregelt.A method for controlling a winch of a tracked vehicle is from EP 1 431 236 B1 known. The rope speed of the winch rope is regulated by the known method.

Aus der WO 2010/095016 A1 sind ein Verfahren und eine Vorrichtung zum korrekten Ablegen eines Windenseiles auf einer Haspel bei einer Pistenraupe bekannt. Die Windenseilsteuerung umfasst einen Vergleicherblock, der eine aktuelle Position einer Seilführungseinrichtung mit einer berechneten Position vergleicht. Die aktuelle Position wird durch einen Sensor erfasst. Die Windenseilsteuerung kann abhängig von einem Ergebnis des Vergleichs die aktuelle Position der Seilführungseinrichtung korrigieren. Zudem können mittels der Windenseilsteuerung die Tangentialgeschwindigkeiten der Haspel und einer Umlenkrolle berechnet werden. Ein Vergleicherblock innerhalb der Windenseilsteuerung vergleicht die Tangentialgeschwindigkeiten mit einem vorgegebenen Grenzwert. Sobald der Grenzwert überstiegen wird, wird die Haspel beim Abwickeln des Windenseiles gestoppt.From the WO 2010/095016 A1 a method and a device for correctly depositing a winch cable on a reel in a snow groomer are known. The winch cable controller includes a comparator block that compares a current position of a cable guide device with a calculated position. The current position is recorded by a sensor. Depending on a result of the comparison, the winch cable control can correct the current position of the cable guide device. In addition, the tangential speeds of the reel and a deflection pulley can be calculated using the winch cable control. A comparator block within the winch cable controller compares the tangential speeds to a predetermined limit. As soon as the limit value is exceeded, the reel is stopped when unwinding the winch cable.

Aufgabe der Erfindung ist es, ein Verfahren und eine Pistenraupe der eingangs genannten Art zu schaffen, die eine geringe Belastung des Windenseiles im Windenbetrieb der Pistenraupe sowie eine Überwachung der Wicklung des Windenseiles ermöglichen.The object of the invention is to provide a method and a snow groomer of the type mentioned at the outset, which allow a low load on the winch cable during winch operation of the snow groomer and allow the winding of the winch cable to be monitored.

Diese Aufgabe wird durch ein Verfahren gemäß dem Anspruch 1 gelöst.This object is achieved by a method according to claim 1.

Durch das erfindungsgemäße Verfahren ist es möglich, frühzeitig Fehlaufwicklungen des Windenseiles und demzufolge Fehler im Windenseil selbst zu erkennen. Ein entsprechendes Fehlersignal veranlasst den Fahrer des Fahrzeugs dann, den Seilwindenbetrieb abzubrechen und eine Seilüberprüfung sowie eine Fehlerbehebung vorzunehmen. Die Vorgabe einer definierten Anzahl von Seilwindungen pro Wickellage auf der Haspel wird berechnet aufgrund der nutzbaren Breite der Haspel und der Seildicke.The method according to the invention makes it possible to detect faulty winding of the winch cable and, as a result, faults in the winch cable itself at an early stage. A corresponding error signal then prompts the driver of the vehicle to interrupt the operation of the cable winch and to check the cable and troubleshoot the problem. The specification of a defined number of rope windings per winding layer on the reel is calculated based on the usable width of the reel and the rope thickness.

Die der Erfindung zugrundeliegende Aufgabe wird für eine zuvor beschriebene Pistenraupe dadurch gelöst, dass eine Vorrichtung zur Durchführung eines zuvor beschriebenen Verfahrens mit den Merkmalen des Anspruchs 2 vorgesehen ist.The object on which the invention is based is achieved for a previously described snow groomer in that a device for carrying out a previously described method having the features of claim 2 is provided.

Dadurch können Wicklungsfehler oder Fehlstellen des Windenseiles erkannt und signalisiert werden. Die Funktionseinheit kann statt eines Signalgebers, der dem Fahrer einen Wicklungsfehler signalisiert, auch eine Steuereinheit sein, die direkt in den Windenantrieb oder den Fahrantrieb eingreift, um insbesondere das Windenseil zu entlasten.As a result, winding errors or defects in the winch cable can be detected and signaled. Instead of a signal transmitter that signals a winding error to the driver, the functional unit can also be a control unit that intervenes directly in the winch drive or the traction drive in order to relieve the load on the winch cable in particular.

Die Pistenraupe ist in besonders vorteilhafter Weise für die Bearbeitung von Schneegelände vorgesehen. Die erfindungsgemäße Lösung ermöglicht einen besonders ökonomischen Betrieb der Pistenraupe im Windenbetrieb, d.h. in steilem Gelände. Zudem wird durch die Erfindung eine geringe und daher schonende Belastung des Windenseiles erreicht.The snow groomer is intended in a particularly advantageous manner for processing snowy terrain. The solution according to the invention enables a particularly economical operation of the snow groomer in winch operation, i.e. in steep terrain. In addition, the invention achieves a low and therefore gentle loading of the winch cable.

Da eine Gesamtlänge des Seiles bekannt ist, ist unter Berücksichtigung der Daten des Restseillängensensors auch der jeweilige Abstand des Windenarmes und auch der Pistenraupe zu dem Verankerungspunkt an der Oberseite des Geländes bestimmbar. Unter Zuhilfenahme des Winkels des Windenarmes relativ zur Fahrzeuglängsachse kann hierdurch auch die momentane Fahrzeugposition berechnet werden. Die Sensoreinrichtung zur Erfassung der Seilgeschwindigkeit weist in vorteilhafter Weise noch eine Zeitmesseinrichtung auf, um den durch den Restseillängensensor erfassbaren Seilweg in die Seilgeschwindigkeit umzurechnen.Since the total length of the rope is known, the respective distance of the winch arm and also the snow groomer from the anchoring point on the upper side of the terrain can also be determined taking into account the data from the remaining rope length sensor. With the help of the angle of the winch arm relative to the longitudinal axis of the vehicle, the current vehicle position can also be calculated. The sensor device for detecting the cable speed advantageously also has a time measuring device in order to convert the cable path that can be detected by the remaining cable length sensor into the cable speed.

In Ausgestaltung der Erfindung ist als Restseillängensensor ein Umdrehungen der Haspel erfassender Absolutwertgeber vorgesehen. Der Absolutwertgeber ist vorzugsweise koaxial zu einer Drehachse der Haspel angeordnet und erfasst permanent den Drehwinkel bzw. die Drehwinkeländerung der Haspel. In vorteilhafter Weise kann auch der Absolutwertgeber mit einem Zeitmodul versehen sein, so dass die Seilgeschwindigkeit direkt über die Daten des Absolutwertgebers berechnet werden kann. Der Absolutwertgeber ist als rotatorischer Geber ausgeführt und misst den Drehwinkel. Der Absolutwertgeber ist als Multiturn-Drehgeber ausgeführt, um mehrere Umdrehungen der Haspel erfassen zu können.In an embodiment of the invention, an absolute value encoder that detects revolutions of the reel is provided as the remaining rope length sensor. The absolute encoder is preferably arranged coaxially to an axis of rotation of the reel and permanently records the angle of rotation or the change in the angle of rotation of the reel. In an advantageous manner, the absolute value transmitter can also be provided with a time module, so that the cable speed can be calculated directly using the data from the absolute value transmitter. The absolute encoder is designed as a rotary encoder and measures the angle of rotation. The absolute value encoder is designed as a multiturn rotary encoder in order to be able to record several revolutions of the reel.

Weitere Vorteile und Merkmale der Erfindung ergeben sich aus den Ansprüchen sowie aus der nachfolgenden Beschreibung eines bevorzugten Ausführungsbeispiels der Erfindung, das anhand der Zeichnungen dargestellt ist.

Fig. 1
zeigt schematisch in einer Seitenansicht eine Ausführungsform einer erfindungsgemäßen Pistenraupe mit einem Blockschaltbild für ein erfindungsgemäßes Verfahren zur Steuerung einer Seilwinde,
Fig. 2
schematisch in einer Draufsicht die Pistenraupe nach Fig. 1 und
Fig. 3
schematisch einen Ausschnitt der Seilwinde nach Fig. 1 im Bereich einer Haspel.
Further advantages and features of the invention result from the claims and from the following description of a preferred exemplary embodiment of the invention, which is illustrated using the drawings.
1
shows a schematic side view of an embodiment of a snow groomer according to the invention with a block diagram for a method according to the invention for controlling a cable winch,
2
schematically shows the snow groomer in a plan view 1 and
3
schematically shows a section of the cable winch 1 in the area of a reel.

Eine Pistenraupe 1 gemäß den Fig. 1 bis 3 ist in grundsätzlich bekannter Weise mit einer Seilwinde 2 versehen, die insbesondere in steilem Schneegelände einen Fahrantrieb der Pistenraupe 1 unterstützt. Hierzu wird ein Windenseil 13 (Fig. 3) der Seilwinde an einem oberen Abschnitt eines zu bearbeitenden Steilhanges ortsfest verankert. Die Seilwinde 2 weist einen Windenarm 3 auf, der um eine nicht näher bezeichnete, in Fahrzeughochrichtung erstreckte Drehachse relativ zu einer Fahrzeuglängsachse F (Fig. 2) um 360° verdrehbar ist. Die Seilwinde 2 ist mit einem lediglich schematisch dargestellten Windenantrieb 7 versehen, der nachfolgend näher beschrieben wird.A snow groomer 1 according to Figures 1 to 3 is provided in a fundamentally known manner with a cable winch 2, which supports a traction drive of the snow groomer 1, in particular in steep snowy terrain. For this purpose, a winch cable 13 ( 3 ) of the cable winch is anchored in place on an upper section of a steep slope to be worked on. The cable winch 2 has a winch arm 3 which rotates about an axis of rotation (not designated in more detail) that extends in the vertical direction of the vehicle relative to a vehicle longitudinal axis F ( 2 ) can be rotated by 360°. The cable winch 2 is provided with a winch drive 7, shown only schematically, which is described in more detail below.

Die Pistenraupe 1 weist ein Paar von Antriebsketten 4 auf, die durch jeweils ein Turasrad angetrieben werden.The snow groomer 1 has a pair of drive chains 4, which are each driven by a sprocket wheel.

Der Windenarm 3 ist - bei der vorliegenden Ausführungsform gemeinsam mit dem Windenantrieb 7 - auf einem auf einer Ladeplattform der Pistenraupe 1 befestigten Sockel um die beschriebene Drehachse drehbar gelagert.The winch arm 3 is--in the present embodiment together with the winch drive 7--mounted on a base fastened on a loading platform of the snow groomer 1 so that it can rotate about the axis of rotation described.

Die Turasräder als Teil eines Fahrantriebes der Pistenraupe 1 sind durch Hydromotoren hydraulisch angetrieben. Bei einer nicht dargestellten Ausführungsform der Erfindung sind anstelle von Hydromotoren Elektromotoren vorgesehen.The sprockets as part of a traction drive of the snow groomer 1 are driven hydraulically by hydraulic motors. In an embodiment of the invention that is not shown, electric motors are provided instead of hydraulic motors.

Die Seilwinde 2 weist eine in einem nicht näher bezeichneten Windengehäuse drehbar gelagerte Haspel 10 auf, auf der das Windenseil 2 auf- und abwickelbar gehalten ist (Fig. 3). Die Haspel 10 weist beim dargestellten Ausführungsbeispiel auf ihrer Trommeloberfläche eine nutzbare Breite auf, die derart auf eine Dicke des Windenseiles abgestimmt ist, dass in einer Wicklungslage jeweils 50 Windungen nebeneinander auf die Haspel gelegt werden können. Bei anderen Ausführungsformen der Erfindung ist eine je nach Einsatzzweck geringere oder größere Breite vorgesehen. Um ein sorgfältiges und gleichmäßiges Aneinanderlegen der Windungen jeweils einer Wicklungslage zu gewährleisten, ist für die Auf- und Abwicklung des Windenseiles 13 relativ zur Haspel 10 ein Wickelarm 12 vorgesehen. Der Wickelarm 12 ist - auf eine Seilauszugrichtung bezogen - vor der Haspel 10 im Windengehäuse mittels einer Drehlagerung 14 schwenkbeweglich gelagert. Eine Schwenkebene des Wickelarmes 12 liegt parallel zu einer Manteloberfläche der Zylinderform der Haspel 10 und damit auch parallel zu der Drehachse der Haspel 10. Ein Drehwinkel β des Wickelarmes 12 ist derart auf die nutzbare Breite der Haspel 10 abgestimmt, dass das Windenseil durch den Wickelarm 12 für jede der über die Haspel 10 verteilten Windungen jeder Wickellage geführt werden kann.The cable winch 2 has a reel 10 which is rotatably mounted in a winch housing (not designated in more detail) and on which the winch cable 2 is held so that it can be wound up and unwound ( 3 ). In the exemplary embodiment shown, the reel 10 has a usable width on its drum surface, which is matched to a thickness of the winch cable such that 50 turns can be placed next to one another on the reel in one winding layer. In other embodiments of the invention, a smaller or larger width is provided, depending on the application. A winding arm 12 is provided for winding and unwinding the winch cable 13 relative to the reel 10 in order to ensure that the turns of a winding layer are laid carefully and evenly against one another. The winding arm 12 is - in relation to a rope pull-out direction - mounted pivotably in front of the reel 10 in the winch housing by means of a pivot bearing 14 . A pivot plane of the winding arm 12 lies parallel to a lateral surface of the cylindrical shape of the reel 10 and thus also parallel to the axis of rotation of the reel 10. A rotation angle β of the winding arm 12 is matched to the usable width of the reel 10 in such a way that the winch cable passes through the winding arm 12 can be performed for each of the turns distributed over the reel 10 of each winding layer.

Das Windenseil 13 wird über ein nicht näher dargestelltes Spillgetriebe von der Haspel 10 abgezogen oder auf die Haspel 10 aufgewickelt. Das Spillgetriebe ist Teil des Windenantriebes 7. Auch die Haspel 10 weist einen nicht näher dargestellten Haspelantrieb auf, der Teil des Windenantriebes 7 ist. Sowohl der Haspelantrieb als auch ein Antrieb für das Spillgetriebe sind hydraulisch ausgeführt. Hierzu ist dem Spillgetriebe vorzugsweise ein Hydromotor zugeordnet. Der Haspelantrieb kann anstatt eines Hydraulikantriebes auch durch einen Elektroantrieb gebildet sein. Auch das Spillgetriebe kann anstatt eines Hydromotors mit einem ausreichend dimensionierten Elektromotor versehen sein. Beim vorliegenden Ausführungsbeispiel gemäß den Fig. 1 bis 3 ist der Windenantrieb 7 jedoch ausschließlich hydraulisch ausgeführt.The winch cable 13 is pulled off the reel 10 or wound onto the reel 10 via a capstan gear, not shown in detail. The capstan gear is part of the winch drive 7. The reel 10 also has a reel drive, which is not shown in detail and is part of the winch drive 7. Both the reel drive and a drive for the capstan gear are hydraulic. For this purpose, a hydraulic motor is preferably assigned to the capstan gear. The reel drive can also be formed by an electric drive instead of a hydraulic drive. The capstan gear can also be provided with a sufficiently dimensioned electric motor instead of a hydraulic motor. In the present embodiment according to Figures 1 to 3 However, the winch drive 7 is exclusively hydraulic.

In einem Windenbetrieb der Pistenraupe 1 erfolgt in vorgegebenen Winkelbereichen des Windenarmes 3 relativ zu einer Fahrzeuglängsachse F eine Regelung des Windenantriebs in nachfolgend näher beschriebener Weise. Die Regelung ist in Winkelbetragsbereichen α gemäß Fig. 2 wirksam. Die entsprechenden Winkelbereiche erstrecken sich ausgehend von einer Erstreckung des Windenarmes 3 längs der Fahrzeuglängsachse F in Fahrtrichtung oder entgegen der Fahrtrichtung um jeweils 50° in beiden Richtungen. In der in Fig. 2 dargestellten Ausrichtung des Windenarmes 3 ist der Windenarm 3 in einer Nullstellung. In entsprechend umgekehrter Ausrichtung ist er in einer 180°-Stellung. Dadurch ergeben sich die übrigen, gestrichelt dargestellten Winkelendbereiche für die beschriebenen Winkelbetragsbereiche. In Fahrtrichtung ist die Regelung wirksam zwischen einem Winkel des Windenarmes 3 relativ zur Fahrzeuglängsachse F von -50° bis +50°. Entgegen der Fahrtrichtung reicht der Winkelbereich des Windenarmes 3, in dem eine wirksame Regelung des Windenantriebes erfolgt, von 130° über 180° bis 230°. Eine entsprechende Drehachse für die beschriebenen Winkelbereiche wird durch die Drehachse des Windenarmes 3 definiert.When the snow groomer 1 is operated in a winch manner, the winch drive is regulated in predetermined angular ranges of the winch arm 3 relative to a longitudinal axis F of the vehicle in the manner described in more detail below. The control is in angle ranges α according to 2 effective. Starting from an extension of the winch arm 3 along the vehicle longitudinal axis F, the corresponding angular ranges extend in the direction of travel or counter to the direction of travel by 50° in both directions. in the in 2 illustrated orientation of the winch arm 3 is the winch arm 3 in a zero position. In a correspondingly reverse orientation, it is in a 180° position. This results in the remaining angular end ranges, shown in dashed lines, for the angular ranges described. In the direction of travel, the regulation is effective between an angle of the winch arm 3 relative to the longitudinal axis F of the vehicle of -50° to +50°. Contrary to the direction of travel, the angular range of the winch arm 3, in which effective control of the winch drive takes place, extends from 130° to 180° to 230°. A corresponding axis of rotation for the angular ranges described is defined by the axis of rotation of the winch arm 3 .

Wenigstens einem Turasrad ist ein Drehzahlsensor 5 zugeordnet, mittels dessen eine Kettengeschwindigkeit erfassbar ist. Vorzugsweise sind beiden Turasrädern der gegenüberliegenden Ketten 4 Drehzahlsensoren 5 zugeordnet, die über entsprechende Drehrichtungs- und Drehzahlerfassung der Turasräder die Ermittlung der Kettengeschwindigkeit vornehmen. Im Bereich der Drehachse des Windenarmes 3 ist ein Winkelsensor 8 vorgesehen, der den Drehwinkel des Windenarmes 3 relativ zur Fahrzeuglängsachse F erfasst. Im Windenarm 3 ist im Bereich einer Führung des Windenseiles ein Seilzugkraftsensor 9 vorgesehen. Zudem ist der Seilwinde 2 eine Sensoreinrichtung 6 zur Erfassung einer Seilgeschwindigkeit beim Auf- oder Abwickeln des Windenseiles zugeordnet.A speed sensor 5 is assigned to at least one sprocket wheel, by means of which a chain speed can be detected. Speed sensors 5 are preferably assigned to both sprocket wheels of the opposite chains 4, which determine the chain speed by detecting the direction of rotation and the speed of rotation of the sprocket wheels. An angle sensor 8 is provided in the area of the axis of rotation of the winch arm 3 , which detects the angle of rotation of the winch arm 3 relative to the longitudinal axis F of the vehicle. A cable tension sensor 9 is provided in the winch arm 3 in the region of a guide for the winch cable. In addition, the cable winch 2 is assigned a sensor device 6 for detecting a cable speed when winding or unwinding the winch cable.

Der Windenantrieb 7 umfasst einen nicht näher dargestellten hydraulischen Spillantrieb mit einem Spillgetriebe und Spillköpfen, über die das Windenseil für einen Abzug von der Haspel 10 oder für ein Aufwickeln auf die Haspel 10 umgelenkt wird. Der Windenantrieb 7 umfasst zudem einen Antrieb für die Haspel 10, der die Haspel 10 wenigstens in Aufwickelrichtung antreibt. Der Haspelantrieb wird durch einen hydraulischen Konstantmotor verwirklicht. Der Spillantrieb weist einen steuerbaren Hydromotor auf, der auf das Spillgetriebe wirkt.The winch drive 7 comprises a hydraulic capstan drive, not shown in detail, with a capstan gear and capstan heads, via which the winch cable is deflected for being pulled off the reel 10 or for being wound onto the reel 10 . The winch drive 7 also includes a drive for the reel 10, which drives the reel 10 at least in the winding direction. The reel drive is realized by a hydraulic constant motor. The capstan drive has a controllable hydraulic motor that acts on the capstan gear.

Als Seilzugkraftsensor 9 ist beim vorliegenden Ausführungsbeispiel ein Kraftmessbolzen im Bereich einer verlagerbaren Umlenkrolle im Windenarm 3 vorgesehen.In the present exemplary embodiment, a force measuring bolt in the region of a displaceable deflection roller in the winch arm 3 is provided as the cable tension sensor 9 .

Die Sensoreinrichtung 6 weist einen Restseillängensensor 11 auf, der durch einen Absolutwertgeber in Form eines Drehgebers gebildet ist. Der Absolutwertgeber erfasst die Umdrehungen der Haspel in Auf- oder Abwickelrichtung. Zusätzlich weist die Sensoreinrichtung ein nicht näher dargestelltes Zeitmodul auf, um eine ergänzende Zeitmessung zu der durch den Restseillängensensor erzielten Wegmessung zu erreichen. Eine Gesamtseillänge oder zumindest eine nutzbare Seillänge des Windenseils 13 ist bekannt. Auch Durchmesser und Umfang der zylindrischen Trommeloberfläche der Haspel 10 sind bekannt. Schließlich ist auch die Anzahl von Seilwindungen, die in einer Wicklungslage auf der Haspel 10 nebeneinandergereiht werden können, bekannt. Hierdurch ist über den Restseillängensensor 11 die jeweils momentan auf der Haspel aufgewickelte bzw. ausgezogene und gespannte Seillänge ermittelbar. Durch die zusätzliche Zeitmessung bei einem entsprechenden Auf- oder Abwickelvorgang wird die Seilgeschwindigkeit ermittelt.The sensor device 6 has a remaining rope length sensor 11, which is formed by an absolute value encoder in the form of a rotary encoder. The absolute encoder records the revolutions of the reel in the winding or unwinding direction. In addition, the sensor device has a not-shown time module to a to achieve additional time measurement to the distance measurement achieved by the residual rope length sensor. A total cable length or at least a usable cable length of the winch cable 13 is known. The diameter and circumference of the cylindrical drum surface of reel 10 are also known. Finally, the number of rope windings that can be lined up next to one another in a winding layer on the reel 10 is also known. As a result, the cable length currently being wound up or pulled out and tensioned on the reel can be determined via the remaining cable length sensor 11 . The cable speed is determined by the additional time measurement during a corresponding winding or unwinding process.

Mit Hilfe des Winkelsensors 8, der den jeweiligen Winkel des Windenarmes 3 relativ zur Fahrzeuglängsachse erfasst, ist es möglich, über die erfasste Seilgeschwindigkeit die Fahrgeschwindigkeit der Pistenraupe 1 zu ermitteln. Die Pistenraupe 1 weist eine elektronische Steuereinheit S auf, mit der der Zugkraftsensor 9, die Sensoreinrichtung 6, der Winkelsensor 8 und der Drehzahlsensor 5 verbunden sind, um entsprechende Istdaten an die Steuereinheit S zu übermitteln. Die Steuereinheit S steuert abhängig von Vergleichen, Berechnungen und Auswertungen der erfassten Istdaten den Windenantrieb 7 an, um die Seilzugkraft für das Windenseil 13 so zu regeln, dass sich zwischen der aus Seilgeschwindigkeit und Winkel des Winkelarmes 3 relativ zur Fahrzeuglängsachse berechneten Fahrgeschwindigkeit und Kettengeschwindigkeit eine Differenz ergibt, wobei diese Differenz zwischen errechneter Fahrgeschwindigkeit und Kettengeschwindigkeit in einem konstanten Differenzbereich liegen soll. Ergänzend ist die Pistenraupe 1 in nicht näher dargestellter Weise mit einem Neigungssensor versehen, der eine Fahrzeugneigung relativ zur Horizontalen und damit insbesondere eine Bergauffahrt oder eine Bergabfahrt der Pistenraupe 1 erkennen soll. Dieser zusätzliche Neigungssensor ist optional, da alternativ die Erfassung einer Bergauf- oder Bergabfahrt der Pistenraupe auch durch die Stellung des Windenarmes gemäß Fig. 2 erfassbar ist. Je nach Stellung des Windenarmes für Bergauf- oder Bergabfahrt kann die Differenz zwischen Kettengeschwindigkeit und berechneter Fahrgeschwindigkeit positiv oder negativ ausfallen, denn bei einer Bergabfahrt kann die durch die Seilgeschwindigkeit und den Winkel des Windenarmes berechnete Fahrgeschwindigkeit geringer ausfallen als die Kettengeschwindigkeit, um eine Bremswirkung zu erzielen. Bei der Bergauffahrt hingegen kann ein erhöhter Schlupf der Ketten 4 durch eine relativ zur Kettengeschwindigkeit höhere Fahrgeschwindigkeit und demzufolge eine höhere Seilgeschwindigkeit ausgeglichen werden. Die Steuereinheit S gibt unter Berücksichtigung dieser unterschiedlichen Fahrzustände einen definierten Differenzsollbereich vor, der auch als Schlupfsollbereich bezeichnet wird. Die Einhaltung dieses Differenz- oder Schlupfsollbereiches wird durch eine Regelung der Seilzugkraft erzielt, wobei diese derart geregelt wird, dass die jeweils geringstmögliche Seilzugkraft, die noch ein Fahren der Pistenraupe 1 innerhalb des Schlupfsollbereichs ermöglicht, eingestellt wird. Die Regelung der Seilzugkraft erfolgt über eine Regelung des Hydraulikdruckes des Windenantriebes 7. Bevorzugt wird hierzu der Hydraulikdruck des Hydromotors des Spillantriebes entsprechend angesteuert. Der Haspelantrieb selbst ist in diese Seilzugkraftregelung nicht eingebunden. Er wird lediglich so gesteuert, dass eine permanente Zugspannung für das Windenseil zwischen Spillgetriebe und Haspel 10 gegeben ist, um ein einwandfreies Auf- oder Abwickeln des Windenseiles 13 zu ermöglichen.With the help of the angle sensor 8, which detects the respective angle of the winch arm 3 relative to the longitudinal axis of the vehicle, it is possible to determine the driving speed of the snow groomer 1 via the detected cable speed. The snow groomer 1 has an electronic control unit S to which the traction sensor 9, the sensor device 6, the angle sensor 8 and the speed sensor 5 are connected in order to transmit corresponding actual data to the control unit S. Depending on comparisons, calculations and evaluations of the actual data recorded, the control unit S controls the winch drive 7 in order to regulate the cable pull for the winch cable 13 in such a way that there is a difference between the travel speed calculated from the cable speed and the angle of the angle arm 3 relative to the longitudinal axis of the vehicle and the chain speed results, whereby this difference between the calculated driving speed and chain speed should be in a constant difference range. In addition, the snow groomer 1 is provided with an inclination sensor, which is not shown in detail, which is intended to detect a vehicle inclination relative to the horizontal and thus in particular when the snow groomer 1 is driving uphill or downhill. This additional inclination sensor is optional, since alternatively, the position of the winch arm can also be used to detect whether the snow groomer is traveling uphill or downhill 2 is detectable. Depending on the position of the winch arm for driving uphill or downhill, the difference between the chain speed and the calculated driving speed can be positive or negative, because when driving downhill, the driving speed calculated from the cable speed and the angle of the winch arm can be lower than the chain speed in order to achieve a braking effect . When driving uphill, on the other hand, an increased slippage of the chains 4 can be compensated for by a higher driving speed relative to the chain speed and consequently a higher cable speed. Taking these different driving conditions into account, the control unit S specifies a defined target differential range, which is also referred to as the target slip range. Compliance with this differential or slip target range is achieved by regulating the cable pull, which is regulated in such a way that the lowest possible cable pull that still allows the snow groomer 1 to be driven within the slip target range is set. The rope pulling force is regulated by regulating the hydraulic pressure of the winch drive 7. The hydraulic pressure of the hydraulic motor of the capstan drive is preferably controlled accordingly for this purpose. The reel drive itself is not included in this rope tension control. It is only controlled in such a way that there is permanent tension for the winch cable between the capstan gear and the reel 10 in order to enable the winch cable 13 to be wound up or unwound properly.

Der zentralen Steuereinheit S zur Steuerung der Seilwinde 2 ist ein Steuermodul S1 zugeordnet, das Auf- oder Abwickelvorgänge des Windenseiles 13 relativ zur Haspel 10 überwacht und bei Erfassung eines Wickelfehlers, der gleichzeitig auch einen Seilfehler bedeutet, eine Fehlermeldung an den Fahrer der Pistenraupe 1 ausgibt. Hierzu ist dem Winkelarm 12 im Bereich seiner Schwenklagerung 14 ein Drehwinkelsensor 15 zugeordnet, der mit dem Steuermodul S1 verbunden ist. An das Steuermodul S1 ist zudem auch der Absolutwertgeber 11 angeschlossen, der auf der Drehachse der Haspel 10 sitzt. Anhand der erfassten Istwerte für den Drehwinkel des Wickelarmes 12 und der gezählten Umdrehungen für die Haspel 10 kann das Steuermodul S1 im Vergleich mit den abgelegten Solldaten für die Anzahl von Seilwindungen pro Wicklung und für den Schwenkwinkel β des Wickelarmes 12 zwischen Begin und Ende einer Wicklungslage ermitteln, ob eine ordnungsgemäße Auf- oder Abwicklung erfolgt ist, oder ob das Windenseil 13 eine falsche Auf- oder Abwicklung vornimmt. Sobald das Steuermodul S1 dies erkannt hat, steuert es einen Signalgeber 16 an, der die entsprechende Fehlermeldung ins Fahrerhaus des Fahrers der Pistenraupe, vorzugsweise in einem für den Fahrer schnell erkennbaren Displaybereich, übermittelt. Der Signalgeber ist vorzugsweise optisch und/oder akustisch ausgeführt. Ergänzend oder alternativ kann es auch vorgesehen sein, dass bei Erfassung einer entsprechenden Fehlermeldung in den Fahrantrieb oder in den Windenantrieb eingegriffen werden kann. Für diesen Fall ist das Steuermodul S1 über die zentrale Steuereinheit S in geeigneter Weise mit einer Funktionseinheit innerhalb des Fahrantriebs und/oder des Windenantriebs verbunden.A control module S1 is assigned to the central control unit S for controlling the cable winch 2 , which monitors the winding or unwinding processes of the winch cable 13 relative to the reel 10 and, if a winding error is detected, which also means a cable error, an error message is sent to the driver of the snow groomer 1 spends For this purpose, a rotation angle sensor 15 is assigned to the angle arm 12 in the region of its pivot bearing 14 and is connected to the control module S 1 . Also connected to the control module S 1 is the absolute encoder 11 , which is seated on the axis of rotation of the reel 10 . Based on the recorded actual values for the angle of rotation of the winding arm 12 and the counted revolutions for the reel 10, the control module S 1 can compare the stored target data for the number of cable turns per winding and for the pivoting angle β of the winding arm 12 between the beginning and end of a winding layer determine whether proper winding or unwinding has taken place, or whether the winch cable 13 is winding or unwinding incorrectly. As soon as the control module S 1 has recognized this, it controls a signal generator 16 which transmits the corresponding error message to the driver's cab of the snow groomer, preferably in a display area which the driver can quickly identify. The signal transmitter is preferably designed to be optical and/or acoustic. In addition or as an alternative, it can also be provided that an intervention can be made in the travel drive or in the winch drive when a corresponding error message is detected. In this case, the control module S 1 is connected via the central control unit S in a suitable manner to a functional unit within the traction drive and/or the winch drive.

Claims (2)

  1. Method for controlling a cable winch (2) of a tracked piste grooming vehicle having the following steps:
    - counting the revolutions of a reel (10) on which the cable (13) is held to be windable and unwindable,
    - detecting a rotational angle of a winding arm (12) guiding the cable (13) when it is wound up onto or unwound from the reel (10),
    - specifying a number of cable windings per winding layer on the reel,
    - comparing the detected revolutions and rotational angles with said specified number, and
    - signalling an error message depending on a result of the comparison, characterized in that the method comprises the following step:
    ∘ transmitting the error message to a driver's cab for a driver of the tracked piste grooming vehicle.
  2. Tracked piste grooming vehicle (1) comprising a cable winch (2) and comprising a device for carrying out a method according to claim 1, comprising at least one sensor (5) for detecting the track speed, comprising a sensor apparatus (6) for detecting a cable speed, comprising an angle sensor (8) for detecting an angle of a winch arm (3) relative to a longitudinal vehicle axis (F), wherein the device comprises the following further features:
    - comprising a remaining cable length sensor (11) for detecting the cable length unwound from the reel (10) or wound onto the reel (10),
    - comprising a rotational-angle sensor (15) for the winding arm (12) which guides the cable (13) when it is wound up onto or unwound relative to the reel (10),
    - comprising a control module (S1) having a data-processing unit, which module detects data from the remaining cable length sensor (11) and the rotational-angle sensor (15) and compares them with stored target values, and actuates the signal transmitter (16) depending on a result of the comparison,
    characterized in that
    the device comprises a signal transmitter for signalling and transmitting a cable winding error to a driver's cab of the tracked piste grooming vehicle.
EP11185068.1A 2010-10-19 2011-10-13 Method for operating a winch of a tracked vehicle and snow groomer Active EP2444355B2 (en)

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ITMI20120922A1 (en) 2012-05-28 2013-11-29 Snowgrolic S A R L CONTROL METHOD, PROGRAM FOR ELECTRONIC PROCESSORS AND CONTROL DEVICE FOR A TRACKED VEHICLE
IT201700064293A1 (en) * 2017-06-09 2018-12-09 Prinoth Spa ASSISTANT WINCH GROUP FOR THE MOVEMENT OF A TRACKED VEHICLE AND ITS CONTROL METHOD
DE102022202414A1 (en) 2022-03-10 2023-09-14 Kässbohrer Geländefahrzeug Aktiengesellschaft Method for controlling a winch arrangement of a snow groomer, device for carrying out the method and snow groomer
AT526150B1 (en) * 2022-10-03 2023-12-15 Konrad Forsttechnik Gmbh Device and method for transporting wood on steep terrain

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CA2441650A1 (en) † 2002-10-08 2004-04-08 Bombardier Recreational Products Level wind apparatus for use on a snow grooming vehicle
EP1431236A2 (en) † 2002-12-17 2004-06-23 Kässbohrer Geländefahrzeug AG Method for controlling the winch of a ski track maintenance vehicle and said vehicle
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