EP3633107A1 - Ski trail maintenance vehicle and method for operating same - Google Patents
Ski trail maintenance vehicle and method for operating same Download PDFInfo
- Publication number
- EP3633107A1 EP3633107A1 EP19198833.6A EP19198833A EP3633107A1 EP 3633107 A1 EP3633107 A1 EP 3633107A1 EP 19198833 A EP19198833 A EP 19198833A EP 3633107 A1 EP3633107 A1 EP 3633107A1
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- European Patent Office
- Prior art keywords
- vehicle
- topography
- coordinate system
- piste
- coordinates
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000012423 maintenance Methods 0.000 title claims abstract description 16
- 230000003370 grooming effect Effects 0.000 claims abstract description 123
- 238000012545 processing Methods 0.000 claims abstract description 11
- 238000012876 topography Methods 0.000 claims description 117
- 238000001514 detection method Methods 0.000 claims description 44
- 238000011144 upstream manufacturing Methods 0.000 claims description 15
- 230000009466 transformation Effects 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 6
- 239000011521 glass Substances 0.000 claims description 5
- 230000001131 transforming effect Effects 0.000 claims description 3
- 230000004913 activation Effects 0.000 claims description 2
- 230000006870 function Effects 0.000 description 9
- 238000005259 measurement Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000011156 evaluation Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000009499 grossing Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 108010066278 cabin-4 Proteins 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 239000012458 free base Substances 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000012384 transportation and delivery Methods 0.000 description 1
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Classifications
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- 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 piste grooming vehicle with at least one piste grooming device for processing a piste and a method for operating such a piste grooming vehicle.
- Such a grooming vehicle is from the DE 100 45 524 A1 is known and has a piste grooming device in the form of a rear-mounted snow blower with a downstream smoothing device.
- the piste grooming device is intended for processing a snow-covered ski or snowboard slope.
- the piste grooming vehicle has a camera which, viewed in the direction of travel of the piste grooming vehicle, captures the piste grooming section downstream of the piste grooming device and is thus finished.
- a signal processing unit is provided, by means of which an image of the slope section captured by the camera is evaluated.
- a control device is also provided, by means of which a setting parameter of the snow blower can be left unchanged or changed depending on the evaluation of the captured image.
- the object of the invention is to provide a method and a piste grooming vehicle of the type mentioned at the outset which enable a further improved piste grooming.
- the method according to the invention for operating a piste grooming vehicle has the steps of: a) detecting an actual topography of a piste section of the piste upstream of the piste grooming vehicle in the forward direction of travel; b) determining at least one difference value between coordinates of the actual topography and coordinates of a reference topography of the runway; and c) triggering the at least one slope maintenance device as a function of the at least one determined difference value.
- Step a) includes recording the actual topography of the piste section upstream of the piste grooming vehicle.
- the piste section is thus metrologically recorded before driving onto the piste grooming vehicle and thus before processing using the piste grooming device.
- the upstream runway section is scanned in a contactless manner by means of generally known measuring methods for the detection of the surroundings.
- the actual topography of the runway can be stored or temporarily stored, for example in the form of a data-based actual surface model, and can thus be made available for consideration in further method steps.
- Step b) involves a comparison between the recorded actual topography and the reference topography of the runway.
- the reference topography describes the surface of the runway to be processed in relation to a reference state.
- This reference state can be, for example, a target state to be produced by processing the slope.
- the reference state can be, for example, a snow-free state of the runway, so that the reference topography describes a snow-free surface state of the runway.
- the reference topography can describe a state of the runway that preceded the intended maintenance.
- the reference topography can represent the surface of the slope on the previous day.
- the reference topography can be in the form of a data-based surface model, for example.
- the difference value between the coordinates of the actual topography and the coordinates of the reference topography thus represents a geometric deviation between the actual state and the reference state of the slope surface. If the reference topography relates to a state that preceded the runway maintenance in time, the difference value thus describes a geometric change in the runway surface over time and thus, for example, a change in snow depth if the runway is a snow runway.
- Step c) comprises actuating the piste grooming device as a function of the previous comparison between the actual and the reference topography.
- at least one manipulated variable of the piste grooming device is changed depending on the difference value determined.
- the manipulated variable can be, for example, a contact pressure, a processing speed, a height or incline setting or the like of the slope maintenance device.
- the piste grooming device is preferably designed in the form of a front attachment arranged on the front in relation to the forward driving direction of the piste grooming vehicle.
- the method according to the invention is particularly advantageously suitable for operating a piste grooming vehicle for the maintenance of ski or snowboard slopes with a piste grooming device in the form of a front attachment device arranged in the forward direction of travel, such as a dozer blade, a half or quarter pipe milling machine, a park blade for designing Fun parks or the like.
- step a) comprises the steps: a1) acquiring the coordinates of the actual topography in relation to a local vehicle coordinate system assigned to the piste grooming vehicle; a2) detecting a position and a position of the piste grooming vehicle and thus of the local vehicle coordinate system in relation to a global reference coordinate system on which the coordinates of the reference topography are based; and a3) transforming the detected coordinates of the actual topography into the reference coordinate system as a function of the determined position and the position of the vehicle coordinate system.
- This embodiment of the invention makes it possible, in particular, to record the actual topography starting from the piste grooming vehicle.
- stationary detection devices for detecting the actual topography can be dispensed with. This is particularly advantageous if the slope to be groomed is a ski or snowboard slope, since any detection devices arranged stationary on the slope can represent an obstacle and thus a potential safety risk for skiers or snowboarders moving on the slope.
- Step a1) comprises a metrological determination of the coordinates describing the actual topography of the slope surface based on the slope grooming vehicle.
- a detection device arranged on the slope grooming vehicle can be provided.
- the coordinates of the actual topography are thus recorded in relation to the local vehicle coordinate system.
- the vehicle coordinate system is variable in terms of its position and location due to the driving state and moves over the slope together with the piste grooming vehicle.
- the coordinates of the actual topography recorded in step a1) - in relation to a stationary reference coordinate system - are superimposed or falsified by the change in position and / or position of the piste grooming vehicle due to the driving state.
- step a2) includes a position and position detection of the piste grooming vehicle in relation to a global reference coordinate system on which the coordinates of the reference topography are based.
- the global reference coordinate system is an imaginary fixed reference coordinate system.
- the current position of the piste grooming vehicle and thus the local vehicle coordinate system can be determined, for example, by means of GPS location.
- the location of the piste grooming vehicle or the local vehicle coordinate system in space can be detected, for example, by means of a sensor system suitable for this purpose, which may preferably have basically known inertial sensors.
- Step a3) comprises a coordinate transformation which is known as such and thus relates the coordinates of the actual topography recorded in step a1) to the global reference coordinate system. Once this relationship has been established, the at least one difference value can be determined directly in a simple manner in step b).
- the difference value is a difference between a height coordinate of the actual topography and a height coordinate of the reference topography.
- the difference value describes, for example, a snow depth difference between an actual state and a reference state of the slope surface. This difference in snow depth can result, for example, from snowfall or snow deliveries based on a reference state of the slope surface determined on the previous day.
- the snow depth difference can describe a deviation of the actual state from a reference state, and thus the target state, of the slope surface to be produced by means of the slope maintenance device.
- the control of the at least one piste grooming device comprises changing a position and / or a position of the piste grooming device relative to the determined actual topography.
- the position and / or position represent a control variable of the piste grooming device. If the piste grooming device is, for example, a snow plow arranged on the front, the position can be a lifting position and the position can be an inclination of the snow plow towards the slope surface.
- the method has the step: d) displaying the ascertained actual topography in the form of a virtual terrain model.
- the virtual terrain model can be displayed as a two-dimensional or three-dimensional terrain model of the upstream slope section.
- a driver of the piste grooming vehicle receives additional information that can be particularly helpful when the view is impaired due to the weather or the time of day.
- the displayed virtual terrain model can, in particular, identify obstacles in front of the piste grooming vehicle in the forward driving direction.
- the virtual terrain model can show whether the upstream slope section has already been maintained or not.
- the actual topography is preferably displayed in relation to the global reference coordinate system.
- step d) comprises displaying the virtual terrain model using a screen and / or a head-up display and / or data glasses.
- the snow grooming vehicle according to the invention can be operated in accordance with the above-described method or is set up to carry out the above-described method and has: a detection device which is set up to detect an actual topography of a piste section of the piste that is upstream of the same in the forward direction of the piste grooming vehicle; a determination device connected to the detection device, which is set up to determine at least one difference value between coordinates of the actual topography and coordinates of a reference topography of the runway; and a control device connected to the determination device, which is set up to control the at least one slope maintenance device as a function of the at least one determined difference value.
- the piste grooming device can be controlled with foresight, and ultimately piste grooming improved with regard to the quality of the piste.
- the detection device is arranged on the slope grooming vehicle in such a way that the upstream slope section can be detected by means of the detection device using measurement technology.
- the detection device preferably has a sensor system for optically or acoustically scanning the slope surface. Such sensor systems are generally known as such in the area of environmental detection.
- the detection device is in particular set up to carry out step a) of the method according to the invention.
- the determination device is used in particular for a data-based comparison between the actual topography and the reference topography.
- the reference topography can, for example, be stored in a data-based manner in an electronic memory unit assigned to the determination devices and can be called up for the purpose of comparison with the data on which the actual topography is based.
- the determination device is in particular set up to carry out step b) of the method according to the invention.
- the control device is used to control the slope maintenance device. At least one manipulated variable of the slope maintenance device can be changed by means of the control device.
- the piste grooming device is preferably designed in the form of a front attachment device arranged on the front with respect to the forward driving direction.
- the control device is in particular set up to carry out step c) of the method according to the invention.
- the detection device is designed to detect the coordinates of the actual topography in relation to a local vehicle coordinate system assigned to the piste grooming vehicle, and the detection device is designed to detect a position and a position of the piste grooming vehicle and thus the local vehicle coordinate system with respect to one of the coordinates global reference coordinate system on which the reference topography is based, and the determination device is set up to transform the detected coordinates of the actual topography into the reference coordinate system as a function of the determined position and position of the vehicle coordinate system.
- the detection device is thus set up in particular to carry out steps a1) and a2).
- the determination device is in particular set up to carry out step a3) of the method.
- reference is made to the disclosure in connection with the aforementioned steps a1), a2) and a3) of the method which applies in a corresponding manner to this embodiment of the piste grooming vehicle according to the invention.
- the detection device has a lidar system, which is arranged so that it is oriented in the forward driving direction in such a way that the slope section in front of the snow groomer can be measured using the lidar system.
- Lidar systems are generally known as such in the field of environmental measurement.
- the lidar system is used to optically scan the slope surface using a laser and thus to record the actual topography of the slope surface.
- the detection device has a GPS unit which is set up to detect the position of the piste grooming vehicle in relation to the reference coordinate system
- the detection device has a position measuring unit which is set up to detect the position of the piste grooming vehicle in relation to the reference coordinate system is.
- the GPS unit is therefore used for satellite-based positioning of the piste grooming vehicle and thus the vehicle coordinate system.
- the position measuring unit is used to record the spatial position of the piste grooming vehicle and, for this purpose, preferably has at least one inertial sensor, known as such, for angle measurement.
- the GPS unit and the position measuring unit can therefore be used to establish a relationship between the local vehicle coordinate system, which is the basis for the detection of the actual topography, and the global reference coordinate system, which is the basis for the coordinates of the reference topography.
- the determination device has a processor unit which is set up for the data-based transformation of the detected coordinates of the actual topography into the global reference coordinate system and for calculating the at least one difference value between the transformed coordinates of the actual topography and the coordinates of the reference topography is.
- the processor unit accordingly serves for computer-aided evaluation of the measured values or data recorded by means of the detection device.
- the piste grooming device has a clearing blade arranged on the front with respect to the forward direction of travel, the control device being set up to control the clearing blade with regard to a change in a position and / or a position of the clearing blade relative to the actual topography.
- the position is preferably a lifting position and the position is preferably a longitudinal and / or transverse inclination of the snow blade relative to the slope surface.
- a display device which is set up to display the determined actual topography in the form of a virtual terrain model.
- the display device serves in particular as a kind of visual support for a driver of the piste grooming vehicle with limited visibility due to weather or time of day.
- the virtual terrain model which can be displayed by means of the display device and which can be displayed as a two- or three-dimensional model, the vehicle driver receives additional information relating to the upstream slope section.
- the virtual terrain model can identify obstacles or maintenance of the slope section that has already taken place.
- the display device has a screen and / or a head-up display and / or data glasses.
- a piste grooming vehicle 1 is provided in the form of a snow groomer for the care of a ski or snowboard piste.
- the piste grooming vehicle 1 has a basically known structural design with an elongated vehicle support frame 2, a chain drive 3 arranged on the underside of the vehicle support frame 2, a driver's cabin 4 arranged in a front area on the vehicle support frame 2 and two piste grooming devices 5 and arranged on the front and rear of the vehicle support frame 2 6 on.
- the chain drive 3 and the two piste grooming devices 5 and 6 are hydraulically driven in a fundamentally known manner, the operating energy required for this being provided by a central diesel unit, which cannot be seen in more detail.
- the piste grooming device 6 arranged at the rear is detachably arranged on a rear implement carrier (not specified in any more detail) which can be changed in terms of height and inclination relative to the vehicle support frame 2 by means of hydraulic adjusting elements.
- the piste grooming device 6 has a snow blower 7 and a downstream smoothing device 8, which is also referred to as a finisher.
- the structure of the piste grooming device 6 is basically known.
- the piste grooming device arranged on the front is in the present case in the form of a snow plow 5, which is supported on the vehicle support frame 2 by means of hydraulic actuating cylinders 9, 10 and can be lifted and pivoted relative to the same.
- the piste grooming device 5 is basically known as such, so that there is no need to go into further functionality and design.
- the piste grooming vehicle 1 has a control device 11, which is based on Fig. 1 is shown schematically simplified in block diagram form.
- the control device 11 is used Activation of the hydraulic actuating cylinders 9, 10 for changing the position and position of the dozer blade 5, which is to be clarified with the aid of a signal line (not shown in more detail) indicated by the broken line.
- the control device can alternatively or additionally be set up to control the piste grooming device 6 arranged at the rear.
- the snow grooming vehicle 1 also has a detection device 12 and a determination device 13.
- the detection device 12 is connected to the determination device 13 via a signal line (not specified) and the latter to the control device 11 by means of a signal line not specified.
- the signal lines can be wireless or wired.
- the piste grooming vehicle 1 can be seen in a schematic operating state when processing a piste 15 covered with snow 14. In the operation shown there, the piste grooming vehicle 1 moves along a forward direction V over the piste 15, the piste 15 being processed with the piste grooming device 5 and / or the piste grooming device 6.
- slope 15 has an actual topography TI.
- the actual topography TI has hills, hollows, gradient transitions and the like.
- This actual topography TI is to be distinguished from an imaginary reference topography TR of the runway 15.
- the reference topography TR relates to a state of the runway 15 not covered with snow 14.
- the reference can be different -Topography TR alternatively refer to a more or less snow covered state of runway 15 at a previous point in time.
- the reference topography TR can describe a target state of the piste 15 to be produced by means of the piste grooming vehicle 1 and thus a type of target surface or target configuration.
- the detection device 12 is set up to detect the actual topography TI of a piste section 16 upstream of the piste grooming vehicle 1 with respect to the forward driving direction V.
- the detection device 12 has a lidar system 17 in the present case.
- the lidar system 17 is used for laser-assisted measurement of the runway 15, the basic functioning of lidar systems being known as such, so that there is no need to go into this here.
- the lidar system 17 is arranged oriented in the forward driving direction V, so that the piste grooming vehicle 1 Upstream runway section 16 can be measured by means of the lidar system 17.
- the runway 15 is optically scanned line by line, the movement of the piste grooming vehicle 1 along the forward driving direction V causing this line-by-line scanning along the runway 15.
- the determination device 13 connected to the detection device 12 is set up to determine a geometric deviation between the actual topography TI and the reference topography TR.
- the determination device 13 in the present case has a processor unit 18 ( Fig. 1 ), which is set up for data-based evaluation of the actual topography TI and the reference topography TR acquired by means of the detection device 12.
- the reference topography TR is in the form of a data-based surface model in a storage unit 19 assigned to the determination device 13 ( Fig. 1 ) deposited.
- the determination device 13 determines at least one difference value D between coordinates X2, Y2, Z2 of the actual topography TI and coordinates X1, Y1, Z1 of the reference topography TR.
- the difference value D can represent, for example, a scalar or a vectorial deviation between the actual topography TI and the reference topography TR.
- the control device 11 connected to the determination device 13 is set up to control the hydraulic actuating cylinders 9, 10 of the clearing blade 5 as a function of the difference value D.
- the clearing blade 5 is controlled by means of the control device 11 as a function of the previously determined deviation between the actual topography TI and the reference topography TR of the runway 15.
- the reference topography TR describes the runway 15 not covered with snow 14, so that the difference value D describes a current snow depth, depending on which the clearing blade 5 can be controlled.
- the actual topography TI described above is carried out in relation to a movable local vehicle coordinate system K 'assigned to the piste grooming vehicle 1. That is, the metrological detection of the runway 15 is, in simple terms, superimposed by the driving movements of the piste grooming vehicle 1. Because of this superimposition, it is not easy to establish a relationship between coordinates X2 ', Y2', Z2 'of runway 15, which are detected by means of the detection device 12 and refer to the vehicle coordinate system K', and the coordinates X1, Y1, Z1 of the reference topography TR. This is because the latter are related to a global reference coordinate system K in the present case.
- the global reference coordinate system K can also be referred to as a GPS coordinate system.
- the detection device 12 is set up to detect a position S and a position L of the piste grooming vehicle 1 - and thus of the vehicle coordinate system K '- in relation to the reference coordinate system K.
- the detection device 12 has a GPS unit 20 and a position measuring unit 21.
- the GPS unit 20 interacts in a fundamentally known manner with a fundamentally known differential GPS locating system 22, 23, which has a plurality of locating satellites 22 and a reference unit 23.
- the reference unit 23 is arranged in a fixed position in the vicinity of the runway 15 at a position known in relation to the reference coordinate system K and is used to determine correction data which enable a better detection of the position S with regard to its accuracy. Since the basic structure and mode of operation of differential GPS location systems is known, there is no need to go into this here.
- the position measuring unit 21 is set up to detect the position L of the piste grooming vehicle 1 or the vehicle coordinate system K '.
- the position measuring unit 21 can have, for example, at least one inertial sensor (not specified in more detail) for detecting a longitudinal and / or transverse inclination of the piste grooming vehicle 1.
- inertial sensors for inclination measurement are basically known as such.
- the position S and position L determined in this way can be used as the basis for a coordinate transformation of the coordinates X2 ', Y2', Z2 'of the actual topography TI determined by means of the lidar system 17 into the reference coordinate system K.
- the processor unit 18 is set up for such a transformation of the coordinates of the actual topography TI into the reference coordinate system K. That is, the coordinates X2 ', Y2', Z2 'detected by means of the lidar system 17 are converted by means of the processor 18, using data which are known in principle, to the data X2, Y2, Z2 which are related to the reference coordinate system K and which are known in principle.
- the difference value D is calculated on the basis of the transformation described above by means of the processor unit 18.
- the difference value D is a difference between the height coordinate Z2 and the height coordinate Z1 of the actual or reference topography TI or TR.
- the difference value D describes an absolute height of the snow 14 above the snow-free base of the runway 15.
- the control unit 11 controls the dozer blade 5 with regard to a change in a position SR and / or a position LR of the dozer blade 5 relative to the actual value determined.
- Topography TI In the present case, the position SR is a stroke position and the position LR in the present case is a longitudinal and / or transverse inclination of the clearing blade 5 relative to the surface of the runway 15.
- the piste grooming vehicle 1 also has a display device 24 which is set up to display the determined actual topography TI in the form of a virtual terrain model G.
- the display device 24 is connected to the determination device 13 by means of a signal line indicated by dashed lines.
- the determination device 13 is set up to determine the virtual terrain model G on the basis of the actual topography TI determined by means of the lidar system 17 in relation to the global reference coordinate system K.
- the virtual terrain model G can be displayed by means of the display device 24 in the form of a two- and / or three-dimensional surface model of the upstream slope section 16.
- the virtual terrain model G can identify obstacles located on the slope section 16.
- the display device 24 serves in particular as a kind of visual support for a driver of the piste grooming vehicle 1 in the event of limited visibility due to the weather and / or the time of day.
- the display device 24 has a head-up display 25, which is arranged to display the virtual terrain model G in the region of a front window of the piste grooming vehicle 1, which is not described in any more detail.
- the display device 24 may alternatively or in addition to the head-up display 25 have a screen and / or data glasses.
- a first step a the actual topography TI of the piste section 16 of the piste 15 upstream in the forward direction V of the piste grooming vehicle 1 is recorded. In the present case, this is done by means of the lidar system 17 of the detection device 12.
- the at least one difference value D between the coordinates X2, Y2, Z2 of the actual topography TI and the coordinates X1, Y1, Z1 of the reference topography TR of runway 15 determined. In the present case, this is done by means of the processor unit 18.
- a further step c) at least one of the piste grooming devices 5, 6 is activated as a function of the difference value D. In the present case, this is done by means of the control device 11, the front slope grooming device 5 being controlled.
- step a1) the coordinates X2 ', Y2', Z2 'of the actual topography are first TI in relation to the local vehicle coordinate system K 'is detected. This is because the detection device 12 and the lidar system 17 are attached to the grooming vehicle 1 so that they can move.
- step a2) the position S and the position L of the piste grooming vehicle 1 - and thus of the local vehicle coordinate system K '- are recorded in relation to the reference coordinate system K on which the coordinates X1, Y1, Z1 of the reference topography TR are based.
- the position and position are detected by means of the GPS unit 20 and the position measuring unit 21 of the detection device 12.
- the coordinates X2 ', Y2', Z2 'of the actual topography TI are in the reference coordinate system K as a function of the determined position S and the position L transformed.
- this coordinate transformation is carried out by means of the processor unit 18 of the determination device 13, the transformation relationships known in principle being used as such.
- step d) of the Fig. 3 illustrated process the previously determined actual topography is displayed in the form of the virtual terrain model G. In the embodiment shown, this is done by means of the head-up display 25.
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
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- Cleaning Of Streets, Tracks, Or Beaches (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
1. Die Erfindung betrifft ein Pistenpflegefahrzeug mit wenigstens einer Pistenpflegevorrichtung zur Bearbeitung einer Piste und ein Verfahren zum Betreiben eines solchen Pistenpflegefahrzeugs.2. Einsatz bei der Pflege von Ski- oder Snowboardpisten.1. The invention relates to a piste grooming vehicle with at least one piste grooming device for processing a piste and a method for operating such a piste grooming vehicle. Use in the maintenance of ski or snowboard slopes.
Description
Die Erfindung betrifft ein Pistenpflegefahrzeug mit wenigstens einer Pistenpflegevorrichtung zur Bearbeitung einer Piste und ein Verfahren zum Betreiben eines solchen Pistenpflegefahrzeugs.The invention relates to a piste grooming vehicle with at least one piste grooming device for processing a piste and a method for operating such a piste grooming vehicle.
Ein derartiges Pistenpflegefahrzeug ist aus der
Aufgabe der Erfindung ist es, ein Verfahren und ein Pistenpflegefahrzeug der eingangs genannten Art bereitzustellen, die eine nochmals verbesserte Pistenpflege ermöglichen.The object of the invention is to provide a method and a piste grooming vehicle of the type mentioned at the outset which enable a further improved piste grooming.
Diese Aufgabe wird durch das Bereitstellen eines erfindungsgemäßen Verfahrens mit den Merkmalen des Anspruchs 1 und eines erfindungsgemäßen Pistenpflegefahrzeugs mit den Merkmalen des Anspruchs 7 gelöst.This object is achieved by providing a method according to the invention with the features of claim 1 and a snow grooming vehicle according to the invention with the features of
Das erfindungsgemäße Verfahren zum Betreiben eines Pistenpflegefahrzeugs weist die Schritte auf: a) Erfassen einer Ist-Topographie eines in Vorwärtsfahrtrichtung des Pistenpflegefahrzeugs demselben vorgelagerten Pistenabschnittes der Piste; b) Ermitteln wenigstens eines Differenzwertes zwischen Koordinaten der Ist-Topographie und Koordinaten einer Referenz-Topographie der Piste; und c) Ansteuern der wenigstens einen Pistenpflegevorrichtung in Abhängigkeit des wenigstens einen ermittelten Differenzwertes. Durch die erfindungsgemäße Lösung können naturgemäß stets vorhandene Veränderung der Topographie der Piste, die beispielsweise durch Schneefall, -schmelze oder -verfrachtung bedingt sein können, bereits vor dem Befahren eines zu bearbeitenden Pistenabschnittes erfasst und bei der Ansteuerung der Pistenpflegevorrichtung berücksichtigt werden. Hierdurch kann die Pistenpflegevorrichtung gleichsam vorausschauend angesteuert und letztlich eine im Hinblick auf eine Qualität der Piste verbesserte Pistenpflege erreicht werden.The method according to the invention for operating a piste grooming vehicle has the steps of: a) detecting an actual topography of a piste section of the piste upstream of the piste grooming vehicle in the forward direction of travel; b) determining at least one difference value between coordinates of the actual topography and coordinates of a reference topography of the runway; and c) triggering the at least one slope maintenance device as a function of the at least one determined difference value. By means of the solution according to the invention, naturally existing changes in the topography of the slope, which may be caused, for example, by snowfall, melting or shipping, can be detected even before driving onto a slope section to be worked on and can be taken into account when controlling the slope maintenance device. As a result, the piste grooming device can be controlled with foresight, and ultimately piste grooming can be improved with regard to the quality of the piste.
Der Schritt a) umfasst das Erfassen der Ist-Topographie des dem Pistenpflegefahrzeug vorgelagerten Pistenabschnittes. Der Pistenabschnitt wird somit vor einem Befahren mit dem Pistenpflegefahrzeug und damit vor der Bearbeitung mittels der Pistenpflegevorrichtung messtechnisch erfasst. Bei der messtechnischen Erfassung wird der vorgelagerte Pistenabschnitt mittels grundsätzlich bekannter Messverfahren zur Umgebungserfassung berührungslos abgetastet. Auf Grundlage der hierdurch erfassten Messwerte kann die Ist-Topographie der Piste beispielsweise in Form eines datenbasierten Ist-Oberflächenmodells ab- oder zwischengespeichert und hierdurch für eine Berücksichtigung in weiteren Verfahrensschritten bereitgestellt werden.Step a) includes recording the actual topography of the piste section upstream of the piste grooming vehicle. The piste section is thus metrologically recorded before driving onto the piste grooming vehicle and thus before processing using the piste grooming device. In the case of metrological recording, the upstream runway section is scanned in a contactless manner by means of generally known measuring methods for the detection of the surroundings. On the basis of the measurement values acquired in this way, the actual topography of the runway can be stored or temporarily stored, for example in the form of a data-based actual surface model, and can thus be made available for consideration in further method steps.
Der Schritt b) umfasst einen Abgleich zwischen der erfassten Ist-Topographie und der Referenz-Topographie der Piste. Die Referenz-Topographie beschreibt die Oberfläche der zu bearbeitenden Piste in Bezug auf einen Referenz-Zustand. Dieser Referenz-Zustand kann beispielsweise ein mittels der Bearbeitung der Piste herzustellender Soll-Zustand sein. Alternativ kann der Referenz-Zustand beispielsweise ein schneefreier Zustand der Piste sein, so dass die Referenz-Topographie einen schneefreien Oberflächenzustand der Piste beschreibt. Weiter alternativ kann die Referenz-Topographie einen der beabsichtigten Pflege zeitlich vorangegangenen Zustand der Piste beschreiben. Beispielsweise kann die Referenz-Topographie die Oberfläche der Piste am Vortag repräsentieren. Die Referenz-Topographie kann beispielsweise in Form eines datenbasierten Oberflächenmodells vorliegen. Der Differenzwert zwischen den Koordinaten der Ist-Topographie und den Koordinaten der Referenz-Topographie repräsentiert somit eine geometrische Abweichung zwischen dem Ist-Zustand und dem Referenz-Zustand der Pistenoberfläche. Sofern sich die Referenz-Topographie auf einen zeitlich der Pistenpflege vorangegangenen Zustand bezieht, beschreibt der Differenzwert somit eine geometrische Änderung der Pistenoberfläche über der Zeit und somit beispielsweise eine Schneehöhenänderung, sofern die Piste eine Schneepiste ist.Step b) involves a comparison between the recorded actual topography and the reference topography of the runway. The reference topography describes the surface of the runway to be processed in relation to a reference state. This reference state can be, for example, a target state to be produced by processing the slope. Alternatively, the reference state can be, for example, a snow-free state of the runway, so that the reference topography describes a snow-free surface state of the runway. Alternatively, the reference topography can describe a state of the runway that preceded the intended maintenance. For example, the reference topography can represent the surface of the slope on the previous day. The reference topography can be in the form of a data-based surface model, for example. The difference value between the coordinates of the actual topography and the coordinates of the reference topography thus represents a geometric deviation between the actual state and the reference state of the slope surface. If the reference topography relates to a state that preceded the runway maintenance in time, the difference value thus describes a geometric change in the runway surface over time and thus, for example, a change in snow depth if the runway is a snow runway.
Der Schritt c) umfasst das Ansteuern der Pistenpflegevorrichtung in Abhängigkeit des zuvor erfolgten Abgleichs zwischen der Ist- und der Referenz-Topographie. Hierbei wird vorzugsweise wenigstens eine Stellgröße der Pistenpflegevorrichtung in Abhängigkeit des ermittelten Differenzwertes verändert. Die Stellgröße kann beispielsweise ein Anpressdruck, eine Bearbeitungsgeschwindigkeit, eine Höhen- oder Neigungseinstellung oder dergleichen der Pistenpflegevorrichtung sein. Die Pistenpflegevorrichtung ist vorzugsweise in Form eines - in Bezug auf die Vorwärtsfahrtrichtung des Pistenpflegefahrzeugs - frontseitig angeordneten Frontanbaugeräts ausgebildet.Step c) comprises actuating the piste grooming device as a function of the previous comparison between the actual and the reference topography. In this case, preferably at least one manipulated variable of the piste grooming device is changed depending on the difference value determined. The manipulated variable can be, for example, a contact pressure, a processing speed, a height or incline setting or the like of the slope maintenance device. The piste grooming device is preferably designed in the form of a front attachment arranged on the front in relation to the forward driving direction of the piste grooming vehicle.
Das erfindungsgemäße Verfahren eignet sich in besonders vorteilhafter Weise zum Betreiben eines Pistenpflegefahrzeugs zur Pflege von Ski- oder Snowboardpisten mit einer Pistenpflegevorrichtung in Form eines in Vorwärtsfahrtrichtung frontseitig angeordneten Frontanbaugeräts, wie beispielsweise einem Räumschild, einer Half- oder Quarterpipe-Fräse, einem Parkblade zur Gestaltung von Funparks oder dergleichen.The method according to the invention is particularly advantageously suitable for operating a piste grooming vehicle for the maintenance of ski or snowboard slopes with a piste grooming device in the form of a front attachment device arranged in the forward direction of travel, such as a dozer blade, a half or quarter pipe milling machine, a park blade for designing Fun parks or the like.
In Ausgestaltung der Erfindung umfasst der Schritt a) die Schritte: a1) Erfassen der Koordinaten der Ist-Topographie in Bezug auf ein dem Pistenpflegefahrzeug zugeordnetes lokales Fahrzeugkoordinatensystem; a2) Erfassen einer Position und einer Lage des Pistenpflegefahrzeugs und damit des lokalen Fahrzeugkoordinatensystems in Bezug auf ein den Koordinaten der Referenz-Topographie zugrunde liegendes globales Bezugskoordinatensystem; und a3) Transformieren der erfassten Koordinaten der Ist-Topographie in das Bezugskoordinatensystem in Abhängigkeit der ermittelten Position und der Lage des Fahrzeugkoordinatensystems. Durch diese Ausgestaltung der Erfindung wird insbesondere ein Erfassen der Ist-Topographie ausgehend von dem Pistenpflegefahrzeug ermöglicht. Hierdurch kann insbesondere auf stationär angeordnete Erfassungseinrichtungen zur Erfassung der Ist-Topographie verzichtet werden. Dies ist besonders vorteilhaft, sofern es sich bei der zu pflegenden Piste um eine Ski- oder Snowboardpiste handelt, da etwaige stationär auf der Piste angeordnete Erfassungseinrichtungen ein Hindernis und damit ein potentielles Sicherheitsrisiko für sich auf der Piste bewegende Ski- oder Snowboardfahrer darstellen können.In an embodiment of the invention, step a) comprises the steps: a1) acquiring the coordinates of the actual topography in relation to a local vehicle coordinate system assigned to the piste grooming vehicle; a2) detecting a position and a position of the piste grooming vehicle and thus of the local vehicle coordinate system in relation to a global reference coordinate system on which the coordinates of the reference topography are based; and a3) transforming the detected coordinates of the actual topography into the reference coordinate system as a function of the determined position and the position of the vehicle coordinate system. This embodiment of the invention makes it possible, in particular, to record the actual topography starting from the piste grooming vehicle. As a result, in particular stationary detection devices for detecting the actual topography can be dispensed with. This is particularly advantageous if the slope to be groomed is a ski or snowboard slope, since any detection devices arranged stationary on the slope can represent an obstacle and thus a potential safety risk for skiers or snowboarders moving on the slope.
Der Schritt a1) umfasst eine messtechnische Ermittlung der die Ist-Topographie der Pistenoberfläche beschreibenden Koordinaten ausgehend von dem Pistenpflegefahrzeug. Hierfür kann eine an dem Pistenpflegefahrzeug angeordnete Erfassungseinrichtung vorgesehen sein. Die Koordinaten der Ist-Topographie werden somit in Bezug auf das lokale Fahrzeugkoordinatensystem erfasst. Das Fahrzeugkoordinatensystem ist fahrzustandsbedingt hinsichtlich seiner Position und Lage veränderlich und bewegt sich quasi zusammen mit dem Pistenpflegefahrzeug über die Piste. Hierdurch sind die im Schritt a1) erfassten Koordinaten der Ist-Topographie - in Bezug auf ein ortsfestes gedachtes Bezugskoordinatensystem - durch die fahrzustandsbedingte Positions- und/oder Lageänderung des Pistenpflegefahrzeugs überlagert bzw. verfälscht. Um dies zu berücksichtigen, umfasst der Schritt a2) eine Positions- und Lageerfassung des Pistenpflegefahrzeugs in Bezug auf ein den Koordinaten der Referenz-Topographie zugrunde liegendes globales Bezugskoordinatensystem. Das globale Bezugskoordinatensystem ist ein gedachtes ortsfestes Bezugskoordinatensystem. Die aktuelle Position des Pistenpflegefahrzeugs und damit des lokalen Fahrzeugkoordinatensystems kann beispielsweise mittels einer GPS-Ortung ermittelt werden. Die Lage des Pistenpflegefahrzeugs bzw. des lokalen Fahrzeugkoordinatensystems im Raum kann beispielsweise mittels einer hierfür geeigneten Sensorik, die vorzugsweise grundsätzlich bekannte Inertialsensoren aufweisen kann, erfasst werden. Der Schritt a3) umfasst eine als solche grundsätzlich bekannte Koordinatentransformation und stellt somit einen Bezug der in Schritt a1) erfassten Koordinaten der Ist-Topographie zum globalen Bezugskoordinatensystem her. Ist dieser Bezug hergestellt, kann der wenigstens eine Differenzwert in Schritt b) auf einfache Weise unmittelbar ermittelt werden.Step a1) comprises a metrological determination of the coordinates describing the actual topography of the slope surface based on the slope grooming vehicle. For this purpose, a detection device arranged on the slope grooming vehicle can be provided. The coordinates of the actual topography are thus recorded in relation to the local vehicle coordinate system. The vehicle coordinate system is variable in terms of its position and location due to the driving state and moves over the slope together with the piste grooming vehicle. As a result, the coordinates of the actual topography recorded in step a1) - in relation to a stationary reference coordinate system - are superimposed or falsified by the change in position and / or position of the piste grooming vehicle due to the driving state. In order to take this into account, step a2) includes a position and position detection of the piste grooming vehicle in relation to a global reference coordinate system on which the coordinates of the reference topography are based. The global reference coordinate system is an imaginary fixed reference coordinate system. The current position of the piste grooming vehicle and thus the local vehicle coordinate system can be determined, for example, by means of GPS location. The location of the piste grooming vehicle or the local vehicle coordinate system in space can be detected, for example, by means of a sensor system suitable for this purpose, which may preferably have basically known inertial sensors. Step a3) comprises a coordinate transformation which is known as such and thus relates the coordinates of the actual topography recorded in step a1) to the global reference coordinate system. Once this relationship has been established, the at least one difference value can be determined directly in a simple manner in step b).
In weiterer Ausgestaltung der Erfindung ist der Differenzwert eine Differenz zwischen einer Höhenkoordinate der Ist-Topographie und einer Höhenkoordinate der Referenz-Topographie. In diesem Fall beschreibt der Differenzwert beispielsweise eine Schneehöhendifferenz zwischen einem Ist-Zustand und einem Referenz-Zustand der Pistenoberfläche. Diese Schneehöhendifferenz kann sich beispielsweise durch Schneefall oder Schneeverfrachtungen ausgehend von einem am Vortag ermittelten Referenz-Zustand der Pistenoberfläche ergeben. Alternativ kann die Schneehöhendifferenz eine Abweichung des Ist-Zustands zu einem mittels der Pistenpflegevorrichtung herzustellenden Referenz- und damit Soll-Zustand der Pistenoberfläche beschreiben.In a further embodiment of the invention, the difference value is a difference between a height coordinate of the actual topography and a height coordinate of the reference topography. In this case, the difference value describes, for example, a snow depth difference between an actual state and a reference state of the slope surface. This difference in snow depth can result, for example, from snowfall or snow deliveries based on a reference state of the slope surface determined on the previous day. Alternatively, the snow depth difference can describe a deviation of the actual state from a reference state, and thus the target state, of the slope surface to be produced by means of the slope maintenance device.
In weiterer Ausgestaltung der Erfindung umfasst das Ansteuern der wenigstens einen Pistenpflegevorrichtung ein Verändern einer Position und/oder einer Lage der Pistenpflegevorrichtung relativ zu der ermittelten Ist-Topographie. Die Position und/oder Lage stellen eine Steuergröße der Pistenpflegevorrichtung dar. Sofern es sich bei der Pistenpflegevorrichtung beispielsweise um ein frontseitig angeordnetes Räumschild handelt, kann die Position eine Hubposition und die Lage eine Neigung des Räumschilds gegenüber der Pistenoberfläche sein.In a further embodiment of the invention, the control of the at least one piste grooming device comprises changing a position and / or a position of the piste grooming device relative to the determined actual topography. The position and / or position represent a control variable of the piste grooming device. If the piste grooming device is, for example, a snow plow arranged on the front, the position can be a lifting position and the position can be an inclination of the snow plow towards the slope surface.
In weiterer Ausgestaltung der Erfindung weist das Verfahren den Schritt auf: d) Anzeigen der ermittelten Ist-Topographie in Form eines virtuellen Geländemodells. Das virtuelle Geländemodell kann als zweidimensionales oder dreidimensionales Geländemodell des vorgelagerten Pistenabschnittes angezeigt werden. Durch das Anzeigen des Geländemodells erhält ein Fahrzeugführer des Pistenpflegefahrzeugs zusätzliche Informationen, die insbesondere bei einer wetter- oder tageszeitbedingten beeinträchtigten Sicht hilfreich sein können. Das angezeigte virtuelle Geländemodell kann insbesondere dem Pistenpflegefahrzeug in Vorwärtsfahrtrichtung vorgelagerte Hindernisse erkennen lassen. Alternativ oder zusätzlich kann das virtuelle Geländemodell erkennen lassen, ob der vorgelagerte Pistenabschnitt bereits gepflegt wurde oder nicht. Das Anzeigen der Ist-Topographie erfolgt vorzugsweise in Bezug auf das globale Bezugskoordinatensystem.In a further embodiment of the invention, the method has the step: d) displaying the ascertained actual topography in the form of a virtual terrain model. The virtual terrain model can be displayed as a two-dimensional or three-dimensional terrain model of the upstream slope section. By displaying the terrain model, a driver of the piste grooming vehicle receives additional information that can be particularly helpful when the view is impaired due to the weather or the time of day. The displayed virtual terrain model can, in particular, identify obstacles in front of the piste grooming vehicle in the forward driving direction. As an alternative or in addition, the virtual terrain model can show whether the upstream slope section has already been maintained or not. The actual topography is preferably displayed in relation to the global reference coordinate system.
In weiterer Ausgestaltung der Erfindung umfasst der Schritt d) ein Anzeigen des virtuellen Geländemodells mittels eines Bildschirm und/oder eines Head-Up-Displays und/oder einer Datenbrille.In a further embodiment of the invention, step d) comprises displaying the virtual terrain model using a screen and / or a head-up display and / or data glasses.
Das erfindungsgemäße Pistenpflegefahrzeug kann gemäß dem vorbeschriebenen Verfahren betrieben werden bzw. ist zum Durchführen des vorbeschriebenen Verfahrens eingerichtet und weist auf: eine Erfassungseinrichtung, die zum Erfassen einer Ist-Topographie eines in Vorwärtsfahrtrichtung des Pistenpflegefahrzeugs demselben vorgelagerten Pistenabschnittes der Piste eingerichtet ist; eine mit der Erfassungseinrichtung verbundene Ermittlungseinrichtung, die zum Ermitteln wenigstens eines Differenzwertes zwischen Koordinaten der Ist-Topographie und Koordinaten einer Referenz-Topographie der Piste eingerichtet ist; und eine mit der Ermittlungseinrichtung verbundene Steuereinrichtung, die zum Ansteuern der wenigstens einen Pistenpflegevorrichtung in Abhängigkeit des wenigstens einen ermittelten Differenzwertes eingerichtet ist. Durch die erfindungsgemäße Lösung können Abweichungen zwischen der Ist-Topographie und der Referenz-Topographie der Piste bereits vor dem Befahren eines zu bearbeitenden Pistenabschnittes erfasst und bei der Ansteuerung der Pistenpflegevorrichtung entsprechend berücksichtigt werden. Hierdurch kann die Pistenpflegevorrichtung gleichsam vorausschauend angesteuert und letztlich ein im Hinblick auf eine Qualität der Piste verbesserte Pistenpflege erreicht werden. Die Erfassungseinrichtung ist derart am Pistenpflegefahrzeug angeordnet, dass der vorgelagerte Pistenabschnitt mittels der Erfassungseinrichtung messtechnisch erfassbar ist. Die Erfassungseinrichtung weist vorzugsweise ein Sensor-System zur optischen oder akustischen Abtastung der Pistenoberfläche auf. Solche Sensor-Systeme sind im Bereich der Umgebungserfassung als solches grundsätzlich bekannt. Die Erfassungseinrichtung ist insbesondere zum Ausführen des Schrittes a) des erfindungsgemäßen Verfahrens eingerichtet. Die Ermittlungseinrichtung dient insbesondere einem datenbasierten Abgleich zwischen der Ist-Topographie und der Referenz-Topographie. Die Referenz-Topographie kann beispielsweise in einer der Ermittlungseinrichtungen zugeordneten elektronischen Speichereinheit datenbasiert abgespeichert und zum Zwecke des Abgleichs mit der Ist-Topographie zugrunde liegenden Daten abrufbar sein. Die Ermittlungseinrichtung ist insbesondere zum Ausführen des Schrittes b) des erfindungsgemäßen Verfahrens eingerichtet. Die Steuereinrichtung dient der Steuerung der Pistenpflegevorrichtung. Mittels der Steuereinrichtung kann wenigstens eine Stellgröße der Pistenpflegevorrichtung verändert werden. Die Pistenpflegevorrichtung ist vorzugsweise in Form eines in Bezug auf die Vorwärtsfahrtrichtung frontseitig angeordneten Frontanbaugeräts ausgebildet. Die Steuereinrichtung ist insbesondere zum Ausführen des Schrittes c) des erfindungsgemäßen Verfahrens eingerichtet.The snow grooming vehicle according to the invention can be operated in accordance with the above-described method or is set up to carry out the above-described method and has: a detection device which is set up to detect an actual topography of a piste section of the piste that is upstream of the same in the forward direction of the piste grooming vehicle; a determination device connected to the detection device, which is set up to determine at least one difference value between coordinates of the actual topography and coordinates of a reference topography of the runway; and a control device connected to the determination device, which is set up to control the at least one slope maintenance device as a function of the at least one determined difference value. By means of the solution according to the invention, deviations between the actual topography and the reference topography of the slope can be detected even before driving onto a slope section to be worked on and can be taken into account accordingly when controlling the slope maintenance device. As a result, the piste grooming device can be controlled with foresight, and ultimately piste grooming improved with regard to the quality of the piste. The detection device is arranged on the slope grooming vehicle in such a way that the upstream slope section can be detected by means of the detection device using measurement technology. The detection device preferably has a sensor system for optically or acoustically scanning the slope surface. Such sensor systems are generally known as such in the area of environmental detection. The detection device is in particular set up to carry out step a) of the method according to the invention. The determination device is used in particular for a data-based comparison between the actual topography and the reference topography. The reference topography can, for example, be stored in a data-based manner in an electronic memory unit assigned to the determination devices and can be called up for the purpose of comparison with the data on which the actual topography is based. The determination device is in particular set up to carry out step b) of the method according to the invention. The control device is used to control the slope maintenance device. At least one manipulated variable of the slope maintenance device can be changed by means of the control device. The piste grooming device is preferably designed in the form of a front attachment device arranged on the front with respect to the forward driving direction. The control device is in particular set up to carry out step c) of the method according to the invention.
In Ausgestaltung der Erfindung ist die Erfassungseinrichtung zum Erfassen der Koordinaten der Ist-Topographie in Bezug auf ein dem Pistenpflegefahrzeug zugeordnetes lokales Fahrzeugkoordinatensystem eingerichtet, und die Erfassungseinrichtung ist zum Erfassen einer Position und einer Lage des Pistenpflegefahrzeugs und damit des lokalen Fahrzeugkoordinatensystems in Bezug auf ein den Koordinaten der Referenz-Topographie zugrunde liegendes globales Bezugskoordinatensystem eingerichtet, und die Ermittlungseinrichtung ist zum Transformieren der erfassten Koordinaten der Ist-Topographie in das Bezugskoordinatensystem in Abhängigkeit der ermittelten Position und Lage des Fahrzeugkoordinatensystems eingerichtet. Die Erfassungseinrichtung ist somit insbesondere zum Ausführen der Schritte a1) und a2) eingerichtet. Die Ermittlungseinrichtung ist insbesondere zum Ausführen des Schrittes a3) des Verfahrens eingerichtet. Im Übrigen wird ergänzend und zur Vermeidung von Wiederholungen auf die Offenbarung in Zusammenhang mit den vorgenannten Schritten a1), a2) und a3) des Verfahrens verwiesen, die in entsprechender Weise für diese Ausgestaltung des erfindungsgemäßen Pistenpflegefahrzeugs gilt.In one embodiment of the invention, the detection device is designed to detect the coordinates of the actual topography in relation to a local vehicle coordinate system assigned to the piste grooming vehicle, and the detection device is designed to detect a position and a position of the piste grooming vehicle and thus the local vehicle coordinate system with respect to one of the coordinates global reference coordinate system on which the reference topography is based, and the determination device is set up to transform the detected coordinates of the actual topography into the reference coordinate system as a function of the determined position and position of the vehicle coordinate system. The detection device is thus set up in particular to carry out steps a1) and a2). The determination device is in particular set up to carry out step a3) of the method. In addition, in order to avoid repetition, reference is made to the disclosure in connection with the aforementioned steps a1), a2) and a3) of the method, which applies in a corresponding manner to this embodiment of the piste grooming vehicle according to the invention.
In weiterer Ausgestaltung der Erfindung weist die Erfassungseinrichtung ein Lidar-System auf, das derart in Vorwärtsfahrtrichtung orientiert angeordnet ist, dass der dem Pistenfahrzeug vorgelagerte Pistenabschnitt mittels des Lidar-Systems messtechnisch erfassbar ist. Lidar-Systeme sind im Bereich der messtechnischen Umgebungserfassung als solche grundsätzlich bekannt. Das Lidar-System dient einer optischen Abtastung der Pistenoberfläche mittels Lasers und damit dem Erfassen der Ist-Topographie der Pistenoberfläche.In a further embodiment of the invention, the detection device has a lidar system, which is arranged so that it is oriented in the forward driving direction in such a way that the slope section in front of the snow groomer can be measured using the lidar system. Lidar systems are generally known as such in the field of environmental measurement. The lidar system is used to optically scan the slope surface using a laser and thus to record the actual topography of the slope surface.
In weiterer Ausgestaltung der Erfindung weist die Erfassungseinrichtung eine GPS-Einheit auf, die zum Erfassen der Position des Pistenpflegefahrzeugs in Bezug auf das Bezugskoordinatensystem eingerichtet ist, und die Erfassungseinrichtung weist eine Lagemesseinheit auf, die zum Erfassen der Lage des Pistenpflegefahrzeugs in Bezug auf das Bezugskoordinatensystems eingerichtet ist. Die GPS-Einheit dient demnach einer satellitengestützten Ortung des Pistenpflegefahrzeugs und damit des Fahrzeugkoordinatensystems. Die Lagemesseinheit dient dem Erfassen der räumlichen Lage des Pistenpflegefahrzeugs und weist zu diesem Zweck vorzugsweise wenigstens einen als solchen grundsätzlich bekannten Inertialsensors zur Winkelmessung auf. Mittels der GPS-Einheit und der Lagemesseinheit kann demnach ein Bezug zwischen dem lokalen Fahrzeugkoordinatensystem, das der Erfassung der Ist-Topographie zugrunde gelegt ist, und dem globalen Bezugskoordinatensystem, das den Koordinaten der Referenz-Topographie zugrunde gelegt ist, hergestellt werden.In a further embodiment of the invention, the detection device has a GPS unit which is set up to detect the position of the piste grooming vehicle in relation to the reference coordinate system, and the detection device has a position measuring unit which is set up to detect the position of the piste grooming vehicle in relation to the reference coordinate system is. The GPS unit is therefore used for satellite-based positioning of the piste grooming vehicle and thus the vehicle coordinate system. The position measuring unit is used to record the spatial position of the piste grooming vehicle and, for this purpose, preferably has at least one inertial sensor, known as such, for angle measurement. The GPS unit and the position measuring unit can therefore be used to establish a relationship between the local vehicle coordinate system, which is the basis for the detection of the actual topography, and the global reference coordinate system, which is the basis for the coordinates of the reference topography.
In weiterer Ausgestaltung der Erfindung weist die Ermittlungseinrichtung eine Prozessoreinheit auf, die zur datenbasierten Transformation der erfassten Koordinaten der Ist-Topographie in das globale Bezugskoordinatensystem und zur Berechnung des wenigstens einen Differenzwertes zwischen den transformierten Koordinaten der Ist-Topographie und den Koordinaten der Referenz-Topographie eingerichtet ist. Die Prozessoreinheit dient demnach einer computergestĂĽtzten Auswertung der mittels der Erfassungseinrichtung erfassten Messwerte bzw. Daten.In a further embodiment of the invention, the determination device has a processor unit which is set up for the data-based transformation of the detected coordinates of the actual topography into the global reference coordinate system and for calculating the at least one difference value between the transformed coordinates of the actual topography and the coordinates of the reference topography is. The processor unit accordingly serves for computer-aided evaluation of the measured values or data recorded by means of the detection device.
In weiterer Ausgestaltung der Erfindung weist die Pistenpflegevorrichtung ein - in Bezug auf die Vorwärtsfahrtrichtung - frontseitig angeordnetes Räumschild auf, wobei die Steuereinrichtung zur Ansteuerung des Räumschildes im Hinblick auf eine Veränderung einer Position und/oder einer Lage des Räumschildes relativ zur Ist-Topographie eingerichtet ist. Die Position ist vorzugsweise eine Hub-Position und die Lage ist vorzugsweise eine Längs- und/oder Querneigung des Räumschildes relativ zur Pistenoberfläche.In a further embodiment of the invention, the piste grooming device has a clearing blade arranged on the front with respect to the forward direction of travel, the control device being set up to control the clearing blade with regard to a change in a position and / or a position of the clearing blade relative to the actual topography. The position is preferably a lifting position and the position is preferably a longitudinal and / or transverse inclination of the snow blade relative to the slope surface.
In weiterer Ausgestaltung der Erfindung ist eine Anzeigeeinrichtung vorgesehen, die zum Anzeigen der ermittelten Ist-Topographie in Form eines virtuellen Geländemodells eingerichtet ist. Die Anzeigeeinrichtung dient insbesondere als eine Art Sichtunterstützung für einen Fahrzeugführer des Pistenpflegefahrzeugs bei wetter- oder tageszeitbedingt eingeschränkten Sichtverhältnissen. Anhand des mittels der Anzeigeeinrichtung anzeigbaren virtuellen Geländemodells, das als zwei- oder dreidimensionales Modell angezeigt werden kann, erhält der Fahrzeugführer zusätzliche Informationen in Bezug auf den vorgelagerten Pistenabschnitt. Insbesondere kann das virtuelle Geländemodell Hindernisse oder eine bereits erfolgte Pflege des Pistenabschnittes erkennen lassen.In a further embodiment of the invention, a display device is provided which is set up to display the determined actual topography in the form of a virtual terrain model. The display device serves in particular as a kind of visual support for a driver of the piste grooming vehicle with limited visibility due to weather or time of day. On the basis of the virtual terrain model which can be displayed by means of the display device and which can be displayed as a two- or three-dimensional model, the vehicle driver receives additional information relating to the upstream slope section. In particular, the virtual terrain model can identify obstacles or maintenance of the slope section that has already taken place.
In weiterer Ausgestaltung der Erfindung weist die Anzeigeeinrichtung einen Bildschirm und/oder ein Head-Up-Display und/oder eine Datenbrille auf.In a further embodiment of the invention, the display device has a screen and / or a head-up display and / or data glasses.
Weitere Vorteile und Merkmale der Erfindung ergeben sich aus den AnsprĂĽchen sowie aus der nachfolgenden Beschreibung bevorzugter AusfĂĽhrungsbeispiele der Erfindung, die anhand der Zeichnungen dargestellt sind.
- Fig. 1
- zeigt in schematischer Seitenansicht eine Ausführungsform eines erfindungsgemäßen Pistenpflegefahrzeugs, wobei einzelne Komponenten des Pistenpflegefahrzeugs stark vereinfachend blockdiagrammartig dargestellt sind,
- Fig. 2
- in schematischer Seitenansicht das Pistenpflegefahrzeug nach
Fig. 1 in einem Betriebszustand bei der Pflege einer schematisch dargestellten schneebedeckten Ski- oder Snowboardpiste, - Fig. 3
- in schematischer Blockdiagrammdarstellung einer Ausführungsform eines erfindungsgemäßen Verfahrens und
- Fig. 4
- in schematischer Blockdiagrammdarstellung weitere Details des Verfahrens nach
Fig. 3 .
- Fig. 1
- shows a schematic side view of an embodiment of a piste grooming vehicle according to the invention, individual components of the piste grooming vehicle being shown in a highly simplified manner in block diagram form,
- Fig. 2
- the piste grooming vehicle in a schematic side view
Fig. 1 in an operating state when maintaining a schematically illustrated snow-covered ski or snowboard slope, - Fig. 3
- in a schematic block diagram representation of an embodiment of a method according to the invention and
- Fig. 4
- in a schematic block diagram representation further details of the method
Fig. 3 .
Gemäß
Die heckseitig angeordnete Pistenpflegevorrichtung 6 ist lösbar an einem nicht näher bezeichneten Heckgeräteträger angeordnet, der in Bezug auf eine Höhe und Neigung relativ zum Fahrzeugtragrahmen 2 mittels hydraulischer Stellelemente veränderlich ist. Vorliegend weist die Pistenpflegevorrichtung 6 eine Schneefräse 7 und eine nachgeschaltete Glätteinrichtung 8 auf, die auch als Finisher bezeichnet wird. Insoweit ist der Aufbau der Pistenpflegevorrichtung 6 grundsätzlich bekannt.The
Die frontseitig angeordnete Pistenpflegevorrichtung ist vorliegend in Form eines Räumschildes 5 ausgebildet, das mittels hydraulischer Stellzylinder 9, 10 am Fahrzeugtragrahmen 2 abgestützt und relativ zu demselben hub- und schwenkbeweglich ist. Ebenso wie die Pistenpflegevorrichtung 6 ist die Pistenpflegevorrichtung 5 als solche grundsätzlich bekannt, so dass auf die weitere Funktionsweise und konstruktive Ausgestaltung nicht näher eingegangen werden braucht.The piste grooming device arranged on the front is in the present case in the form of a
Zudem weist das Pistenpflegefahrzeug 1 eine Steuereinrichtung 11 auf, die anhand
Anhand
Anhand
Die Erfassungseinrichtung 12 ist zum Erfassen der Ist-Topographie TI eines in Bezug auf die Vorwärtsfahrtrichtung V dem Pistenpflegefahrzeug 1 vorgelagerten Pistenabschnittes 16 eingerichtet. Zu diesem Zweck weist die Erfassungseinrichtung 12 vorliegend ein Lidar-System 17 auf. Das Lidar-System17 dient einer lasergestützten messtechnischen Abtastung der Piste 15, wobei die grundsätzliche Funktionsweise von Lidar-Systemen als solches bekannt ist, so dass auf diese vorliegend nicht weiter eingegangen werden muss. Das Lidar-System 17 ist in Vorwärtsfahrtrichtung V orientiert angeordnet, so dass der dem Pistenpflegefahrzeug 1 vorgelagerte Pistenabschnitt 16 mittels des Lidar-Systems 17 messtechnisch erfassbar ist. Hierbei wird die Piste 15 vereinfacht ausgedrückt zeilenweise optisch abgetastet, wobei die Fahrbewegung des Pistenpflegefahrzeugs 1 entlang der Vorwärtsfahrtrichtung V einen Vorschub dieser zeilenweisen Abtastung entlang der Piste 15 bewirkt.The
Die mit der Erfassungseinrichtung 12 verbundene Ermittlungseinrichtung 13 (
Da die Erfassungseinrichtung 12 und insbesondere das Lidar-System 17 am Pistenpflegefahrzeug 1 angeordnet sind, erfolgt die vorbeschriebene Erfassung der Ist-Topographie TI in Bezug auf ein dem Pistenpflegefahrzeug 1 zugeordnetes, bewegliches lokales Fahrzeugkoordinatensystem K'. D. h. die messtechnische Erfassung der Piste 15 ist vereinfacht ausgedrückt von den Fahrbewegungen des Pistenpflegefahrzeugs 1 überlagert. Aufgrund dieser Überlagerung kann nicht ohne weiteres ein Bezug zwischen mittels der Erfassungseinrichtung 12 erfassten und auf das Fahrzeugkoordinatensystem K' bezogenen Koordinaten X2', Y2', Z2' der Piste 15 und den Koordinaten X1, Y1, Z1 der Referenz-Topographie TR hergestellt werden. Dies, da letztere vorliegend auf ein globales Bezugskoordinatensystem K bezogen sind. Das globale Bezugskoordinatensystem K kann auch als GPS-Koordinatensystem bezeichnet werden. Um einen Bezug zwischen den Koordinaten X2', Y2', Z2', die sich auf das lokale Fahrzeugkoordinatensystem K' beziehen, und den Koordinaten X1, Y1, Z1, die sich auf das globale Bezugskoordinatensystem K beziehen, herstellen zu können, ist eine Positions- und Lageermittlung des Pistenpflegefahrzeugs 1 und damit des Fahrzeugkoordinatensystems K' in Relation zu dem globalen Bezugskoordinatensystem K erforderlich. Die Erfassungseinrichtung 12 ist zu diesem Zweck zum Erfassen einer Position S und einer Lage L des Pistenpflegefahrzeugs 1 - und damit des Fahrzeugkoordinatensystems K' - in Bezug auf das Bezugskoordinatensystem K eingerichtet. Hierfür weist die Erfassungseinrichtung 12 eine GPS-Einheit 20 und eine Lagemesseinheit 21 auf. Die GPS-Einheit 20 wirkt hierfür auf grundsätzlich bekannte Weise mit einem grundsätzlich bekannten differenziellen GPS-Ortungssystem 22, 23 zusammen, das mehrere Ortungssatelliten 22 und eine Referenzeinheit 23 aufweist. Die Referenzeinheit 23 ist an einer in Bezug auf das Bezugskoordinatensystem K bekannten Position in der Nähe der Piste 15 ortsfest angeordnet und dient einer Ermittlung von Korrekturdaten, die eine im Hinblick auf ihre Genauigkeit verbesserte Erfassung der Position S ermöglichen. Da der grundsätzliche Aufbau und die Funktionsweise differenzieller GPS-Ortungssysteme bekannt ist, braucht vorliegend nicht näher darauf eingegangen werden. Die Lagemesseinheit 21 ist zum Erfassen der Lage L des Pistenpflegefahrzeugs 1 bzw. des Fahrzeugkoordinatensystems K' eingerichtet. Zu diesem Zweck kann die Lagemesseinheit 21 beispielsweise wenigstens einen nicht näher bezeichneten Inertialsensor zum Erfassen einer Längs- und/oder Querneigung des Pistenpflegefahrzeugs 1 aufweisen. Solche Inertialsensoren zur Neigungsmessung sind als solche grundsätzlich bekannt.Since the
Die auf diese Weise ermittelte Position S und Lage L können einer Koordinatentransformation der mittels des Lidar-Systems 17 ermittelten Koordinaten X2', Y2', Z2' der Ist-Topographie TI in das Bezugskoordinatensystem K zugrunde gelegt werden. Vorliegend ist die Prozessoreinheit 18 zu einer solchen Transformation der Koordinaten der Ist-Topographie TI in das Bezugskoordinatensystem K eingerichtet. D. h. die mittels des Lidar-Systems 17 erfassten Koordinaten X2', Y2', Z2' werden mittels der Prozessoreinheit 18 unter Rückgriff auf grundsätzlich bekannte geometrische Transformationsbeziehungen datenbasiert in die auf das Bezugskoordinatensystem K bezogenen Daten X2, Y2, Z2 umgerechnet. Der Differenzwert D wird auf Grundlage der vorbeschriebenen Transformation mittels der Prozessoreinheit 18 berechnet. Vorliegend ist der Differenzwert D eine Differenz zwischen der Höhenkoordinate Z2 und der Höhenkoordinate Z1 der Ist- bzw. der Referenz-Topographie TI bzw. TR. Insoweit beschreibt der Differenzwert D eine absolute Höhe des Schnees 14 über dem schneefreien Grund der Piste 15. Vorliegend steuert die Steuereinheit 11 das Räumschild 5 im Hinblick auf eine Veränderung einer Position SR und/oder einer Lage LR des Räumschildes 5 relativ zu der ermittelten Ist-Topographie TI an. Die Position SR ist vorliegend eine Hubposition und die Lage LR ist vorliegend eine Längs- und/oder Querneigung des Räumschilds 5 relativ zur Oberfläche der Piste 15.The position S and position L determined in this way can be used as the basis for a coordinate transformation of the coordinates X2 ', Y2', Z2 'of the actual topography TI determined by means of the
Das Pistenpflegefahrzeug 1 weist zudem eine Anzeigeeinrichtung 24 auf, die zum Anzeigen der ermittelten Ist-Topographie TI in Form eines virtuellen Geländemodells G eingerichtet ist. Die Anzeigeeinrichtung 24 ist mittels einer strichliert angedeuteten Signalleitung mit der Ermittlungseinrichtung 13 verbunden. Im vorliegenden Fall ist die Ermittlungseinrichtung 13 zur Ermittlung des virtuellen Geländemodells G auf Grundlage der mittels des Lidar-Systems 17 ermittelten Ist-Topographie TI in Bezug auf das globale Bezugskoordinatensystem K eingerichtet. Das virtuelle Geländemodell G kann mittels der Anzeigeeinrichtung 24 in Form eines zwei- und/oder dreidimensionalen Oberflächenmodells des vorgelagerten Pistenabschnittes 16 angezeigt werden. Beispielsweise kann das virtuelle Geländemodell G auf dem Pistenabschnitt 16 befindliche Hindernisse erkennen lassen. Insoweit dient die Anzeigeeinrichtung 24 insbesondere als eine Art Sichtunterstützung eines Fahrzeugführers des Pistenpflegefahrzeugs 1 bei wetter- und/oder tageszeitbedingt eingeschränkten Sichtverhältnissen.The piste grooming vehicle 1 also has a
Bei der gezeigten Ausführungsform weist die Anzeigeeinrichtung 24 ein Head-Up-Display 25 auf, das zur Anzeige des virtuellen Geländemodells G im Bereich einer nicht näher bezeichneten Frontscheibe des Pistenpflegefahrzeugs 1 angeordnet ist. Bei einer zeichnerisch nicht näher dargestellten Ausführungsform kann die Anzeigeeinrichtung 24 alternativ oder zusätzlich zu dem Head-Up-Display 25 einen Bildschirm und/oder eine Datenbrille aufweisen.In the embodiment shown, the
Die
Weitere Teilaspekte der Erfassung der Ist-Topographie TI gemäß Schritt a) sind anhand
In einem weiteren Schritt d) des anhand
Claims (14)
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DE102018217049.5A DE102018217049A1 (en) | 2018-10-05 | 2018-10-05 | Snow grooming vehicle and method for operating a snow grooming vehicle |
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US20240150982A1 (en) | 2024-05-09 |
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CA3056646A1 (en) | 2020-04-05 |
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EP3633107B1 (en) | 2022-03-30 |
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