EP4286591A1 - Piste grooming vehicle and method for operating a piste grooming vehicle - Google Patents

Abstract

1. The invention relates to a piste grooming vehicle for maintaining a pressure-compliant snow piste, comprising a drive device with a tracked chassis and a travel drive and a method for operating such a piste grooming vehicle.2. Used in the maintenance of ski or snowboard slopes.

Description

The invention relates to a piste grooming vehicle for maintaining a snow piste, comprising a drive device with a tracked chassis and a travel drive, the piste grooming vehicle being driven by the drive device on the snow piste and a method for operating such a piste grooming vehicle.

Such a piste maintenance vehicle is generally known and is intended for the maintenance of ski or snowboard slopes. For manually controlling the snow grooming vehicle on the snow slope, an operating device with a joystick, a steering wheel and/or an accelerator pedal or the like is usually provided. The operating device allows manual control of the travel drive and/or the tracked chassis for driving and steering the snow grooming vehicle. As a result of the flexibility of the snow slope, the snow grooming vehicle usually sinks into the snow slope during the driving movement. In addition, the movement of the snow grooming vehicle on the snow slope is generally subject to traction slip of the tracked chassis (in short: slip). As a result of pressure flexibility and slippage, a position and/or orientation of the snow grooming vehicle changes. When manually controlling the snow grooming vehicle, this effect must be compensated for by the driver's skill and experience.

The object of the invention is to provide a piste grooming vehicle of the type mentioned at the outset and a method for operating a piste grooming vehicle, which enable simplified operation and in particular operation regardless of the driver's skill or experience.

This object is achieved by providing a piste grooming vehicle according to the invention with the features of claim 1 and a method according to the invention for operating a piste grooming vehicle with the features of claim 13.

The piste grooming vehicle according to the invention for maintaining a snow piste has a drive device with a tracked chassis and a travel drive. The piste grooming vehicle can be moved on the snow piste by means of the drive device. The piste grooming vehicle also has a detection device that is set up to record a topography of the snow piste and an actual position of the piste grooming vehicle on the snow piste. The detection device is also set up for detecting and/or determining compliance data, which at least indirectly represent compliance of the snow slope under pressure from the weight of the slope maintenance vehicle. The piste grooming vehicle also has a determination and control unit that is operatively connected to the drive device and the detection device and is set up to determine a control variable of the drive device depending on a predetermined target position of the piste grooming vehicle, the detected topography, the detected actual position and the detected Compliance data. Furthermore, the determination and control unit is set up to control the drive device depending on the determined control variable of the drive device, in particular for the purpose of driving and / or steering the snow grooming vehicle from the determined actual position to the predetermined target position. Through the solution according to the invention, the determination and control unit takes over the control of the drive device for driving and/or steering the snow grooming vehicle on the snow slope. This eliminates the need for a driver to control the drive device and consequently the piste grooming vehicle drives and steers on the pressure-compliant snow piste autonomously and in particular independently of the driver's skill or experience. The snow slope can preferably also be referred to as a ski slope, snowboard slope or fun park or the like. The control variable of the drive device can in particular include a control variable for the travel drive and a control variable for the crawler chassis. The travel drive can, for example, have a diesel engine, a gasoline engine, a fuel cell and/or an electric motor. If the travel drive is controlled by the determination and control unit with the control variable for the travel drive, the travel drive can generate drive power. With the drive power, the tracked chassis can be driven in such a way that the snow grooming vehicle drives on the snow slope. A value of the control variable for the travel drive can represent a speed at which the snow grooming vehicle travels on the snow slope. The tracked chassis preferably has two tracked tracks, namely a left and a right tracked track. If the tracked undercarriage is controlled by the determination and control unit with the control variable for the tracked undercarriage, the tracked undercarriage can steer the piste maintenance vehicle. A value of the control variable for the crawler chassis can in particular represent a change in direction in terms of type and/or extent. If the crawler track has two tracked drives, the control variable for the tracked drive can represent a power distribution of the drive power to the individual tracked drives. As a result of an uneven power distribution between the two track drives, the snow grooming vehicle can perform a steering movement. The detection device can be set up to record the topography of a section of the snow slope before it is driven on with the snow grooming vehicle. The topography can be captured by measuring a Surface of the snow slope and any obstacle that may be located on it, in particular the obstacle can be a tree, a boulder and / or a person. Therefore, the recorded topography can also be referred to as an environmental model and/or surface model of an environment of the snow grooming vehicle. If an obstacle is detected on the snow slope, the determination and control unit can determine the control variable of the drive device depending on the detected topography in such a way that the detected obstacle is avoided autonomously by the snow grooming vehicle. This allows a collision between the snow grooming vehicle and the obstacle to be avoided. The compressive compliance of the snow slope occurs as a result of compression of the snow of the snow slope under the load of the snow grooming vehicle. The yielding of the slope and thus the compliance data can be dependent in particular on a condition of the snow and/or on a thickness of the snow on the snow slope. The yielding can change the actual position, a vertical acceleration and/or an orientation, in particular a longitudinal inclination and/or a transverse inclination, of the piste grooming vehicle. The compliance data can in particular be a measure of the strength of the change in the actual position, the vertical acceleration and/or the orientation.

In an embodiment of the invention, the determination and control unit is set up to determine a target movement path depending on the predetermined target position of the snow grooming vehicle, the recorded topography, the recorded and/or determined actual position and the recorded compliance data. Furthermore, the determination and control unit is set up to determine the control variable of the drive device depending on the target trajectory, in particular for the purpose of driving and / or steering the snow grooming vehicle along the target trajectory to the target position. The target trajectory is preferably a route from the detected actual position to the target position. The target movement path is preferably determined permanently or quasi-permanently over time. As a result, the target movement path can advantageously be adapted to this when the snow slope is flexible to different degrees at different positions while driving and / or steering the snow grooming vehicle on the snow slope.

In a further embodiment of the invention, the detection device has an orientation measuring unit, in particular a 3-axis inclination sensor and/or a gyro sensor and/or an acceleration sensor, for detecting an orientation of the snow grooming vehicle, in particular the orientation being a spatial orientation, ie orientation in space . The detection device is preferably set up to determine the compliance data from a difference between the detected orientation and the detected topography. The detection device is alternative or additional designed to determine the compliance data from a difference between the captured actual position and the captured topography. A value of the difference and/or a value of the difference may be a measure of a value of the compliance data. The compliance data can be recorded and determined while driving and/or steering the snow grooming vehicle on the snow slope. This achieves a reliable and accurate determination of the compliance data. The topography, ie the environment and/or surface model, is recorded during the driving movement of the snow grooming vehicle, in particular continuously, by means of the detection device. In a preferred embodiment, the detection device has a lidar system for this purpose. The same applies analogously to the recording of the actual position and/or orientation. In a preferred embodiment, the detection device has a satellite navigation system for detecting the actual position and/or the orientation. The satellite navigation system is particularly preferably a differential GPS system. This allows the actual position and/or orientation to be recorded particularly precisely. A further surface model can be determined based on the recorded actual position and/or orientation. During the driving movement of the snow grooming vehicle, a comparison of the surface model of the environment (captured topography) and the other surface model (from the actual position and orientation) can take place. In a preferred embodiment, the determination and control unit is set up for this purpose. The comparison of the two surface models therefore provides the compliance data in question. In other words: If the snow grooming vehicle sinks into the snow slope, it is recognized as a deviation between the two surface models.

In a further embodiment of the invention, the detection device for detecting the topography has a lidar system, a camera, an ultrasonic sensor and/or a radar sensor. Such detection devices enable reliable and precise detection of the topography.

In a further embodiment of the invention, the detection device has a satellite navigation system for detecting the actual position and/or orientation. The satellite navigation system can receive a GPS signal, a GLONASS signal, a Galileo signal and/or a Beidou signal in order to preferably detect the actual position and/or orientation using satellite-based positioning. In particular, the global satellite navigation system is set up to record the actual position and/or the orientation with respect to a reference coordinate system. In a preferred embodiment, the satellite navigation system is a differential GPS system.

In a further embodiment of the invention, the crawler chassis has a first Turas wheel and/or a second Turas wheel, the determination and control unit being set up to determine the control variable of the drive device as a function of slip data of the first Turas wheel and/or the second Turas wheel. In other words, the control variable is determined depending on the prevailing drive slip of the crawler chassis. As a result, the traction slip or slip can be compensated for regardless of the skill or experience of the driver of the snow grooming vehicle. The slip data represents the prevailing slip and can, for example, be determined based on sensors in the area of the tracked chassis. For this purpose, the snow groomer preferably has at least one slip sensor in the area of the first Turas wheel and/or the second Turas wheel. Alternatively or additionally, a speed sensor is assigned to each of the two Turas wheels. In a preferred embodiment, the detection device has said speed sensors. The speed sensors are set up to record an actual speed of the respective turret wheel. Depending on the recorded actual speeds, actual chain peripheral speeds of the chain drives can be determined. In a preferred embodiment, the determination and control unit is set up for this purpose. Target speeds are defined depending on driving parameters, such as an accelerator pedal position, a steering angle or the like. Without slip, the target speeds and the actual speeds are identical. Consequently, the slip data can be determined depending on a comparison between the target speeds and the actual speeds. In a preferred embodiment, the determination and control unit is set up for this purpose. Alternatively or additionally, a, preferably spatial, speed vector of the driving movement can be determined. This is preferably GPS-based. Deviations between the speed vector and the chain circumferential speeds expected in a driving situation reveal whether and to what extent slip is present or not. In other words: The slip data can be determined depending on a comparison between the speed vector and the chain peripheral speeds.

In a further embodiment of the invention, the piste grooming vehicle has a warning device for sending a warning signal to warn people in the vicinity of the piste grooming vehicle. The determination and control unit is set up to determine a control variable of the warning device as a function of the control variable of the drive device and to control the warning device as a function of the determined control variable of the warning device. The determination and control unit can be set up to determine the control variable of the warning device in such a way that the warning signal is sent when the control variable of the drive device affects the driving and/or steering of the The piste grooming vehicle is moved in a forward direction and/or in a reverse direction. The warning signal can in particular be a light signal and/or a sound signal.

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

In a further embodiment of the invention, the snow grooming vehicle has a winch. The determination and control unit is set up to determine a control variable of the winch depending on the control variable of the drive device and to control the winch depending on the determined control variable of the winch. The winch can prevent the piste grooming vehicle from slipping on steep terrain and thus enables the snow piste to be maintained even on steep terrain.

In a further embodiment of the invention, the piste maintenance vehicle has a piste processing device, for example a snow plow and/or a rear cutter, for processing the snow piste, in particular the snow piste being processed while driving and/or steering the piste grooming vehicle on the snow piste. The determination and control unit is set up to determine at least one control variable of the slope processing device depending on the detected topography and the detected actual position and to control the slope processing device depending on the determined control variable of the slope processing device for the purpose of processing the snow slope.

In a further embodiment of the invention, the detection device has an orientation measuring unit, in particular a 3-axis inclination sensor and/or a gyro sensor and/or an acceleration sensor, for detecting an orientation of the snow grooming vehicle. In particular, the orientation of the piste grooming vehicle is an inclination of the piste grooming vehicle relative to a vertical direction and/or a spatial orientation, ie alignment in space. The determination and control unit is set up to determine the control variable of the slope processing device depending on the to determine the captured orientation. In particular, the determination and control unit can determine the control variable of the piste processing device in such a way that the snow piste is processed by the piste processing device regardless of the orientation and/or the change in orientation of the piste maintenance vehicle. This results in improved quality of the processed snow slope. The orientation measuring unit for determining the control variable of the slope processing device can also be provided for detecting and/or determining the compliance data.

In a further embodiment of the invention, the slope processing device has a clearing blade and/or a milling machine. In particular, the plow blade can be arranged at the front and the milling machine at the rear in relation to a forward direction of travel of the snow grooming vehicle. Preferably, the control variable of the slope processing device comprises a control variable of the clearing blade and/or a control variable of the milling machine, wherein the determination and control unit is set up to control the clearing blade depending on the control variable of the clearing blade and/or the milling machine depending on the control variable of the milling machine To control the purpose of processing the snow slope with the plow blade and/or with the milling machine. As a result of controlling the plow blade, a position and/or an orientation of the plow blade can be changed relative to the snow slope. The position of the clearing blade is preferably a lifting position and the orientation of the clearing blade is preferably a longitudinal and/or transverse inclination and/or pivoting inclination of the clearing blade relative to the snow slope. As a result of the control of the milling machine, the milling machine can be switched on or off and/or at least one setting parameter of the milling machine can be changed.

The object on which the invention is based is also achieved by a method for operating a previously described piste maintenance vehicle, the method having the method steps: a) detecting the topography of the snow piste; b) recording the actual position of the snow grooming vehicle on the snow slope; c) recording and/or determining the compliance data, which at least indirectly represent the compliance of the snow slope under the pressure of the weight of the slope maintenance vehicle; d) determining the control variable of the drive device depending on the specified target position of the snow grooming vehicle, the recorded topography, the recorded actual position and the recorded compliance data; e) Controlling the drive device depending on the determined control variable of the drive device. Through the method according to the invention, the piste grooming vehicle drives and/or steers autonomously on the pressure-compliant snow piste and in particular independently of the skill or experience of a driver. Snow can also be transported and/or shipped autonomously. This means “autonomous driving and/or steering" so that the piste grooming vehicle can carry out a given work task at least largely, preferably completely, autonomously.

Fig. 1

eine schematische Seitenansicht eines erfindungsgemäßen Pistenpflegefahrzeugs, wobei einzelne Komponenten des Pistenpflegefahrzeugs stark vereinfacht und blockdiagrammartig dargestellt sind,

Fig. 2

eine schematische Seitenansicht des Pistenpflegefahrzeugs nach Fig. 1, während einer Fahrt von einer Ist-Position zu einer Ziel-Position und

Fig. 3

eine schematische Blockdiagrammdarstellung eines erfindungsgemäßen Verfahrens.

Further advantages and features of the invention result from the claims and from the following description of preferred exemplary embodiments of the invention, which are explained below with reference to the figures. Show:

Fig. 1

a schematic side view of a piste grooming vehicle according to the invention, individual components of the piste grooming vehicle being shown in a highly simplified manner and in the form of a block diagram,

Fig. 2

a schematic side view of the snow grooming vehicle Fig. 1 , during a journey from an actual position to a target position and

Fig. 3

a schematic block diagram representation of a method according to the invention.

Fig. 1 shows a piste maintenance vehicle 10 according to the invention, which is intended for maintaining a snow piste 15. The piste maintenance vehicle 10 can be moved on the snow piste 15.

The piste maintenance vehicle 10 has a detection device 30 which is set up to detect a topography TI of the snow slope 15. The topography TI is detected by the detection device 30 before the snow slope 15 is driven on with the piste maintenance vehicle 10. The topography TI is recorded by measuring a surface of the snow slope 15 and any obstacles present on the snow slope 15. Typical obstacles on the snow slope 15 are, for example, trees, boulders or people. Such obstacles must be avoided by the snow grooming vehicle 10.

In the present case, the topography TI is detected by means of a lidar system 36, a camera 37, in particular a thermal imaging camera, an ultrasonic sensor 38 and a radar sensor 39 of the detection device 30, which are arranged oriented on the piste grooming vehicle 10 in such a way that the topography TI can be detected by measurement. The metrological detection is carried out by scanning the topography TI in the case of the lidar system 36 using laser radiation, in the case of the ultrasonic sensor 38 using ultrasound and in the case of the radar sensor 39 using radar beams. In addition, the camera 37 takes a photo of the surroundings, with the detection device 30 for detecting the topography TI Performs pattern recognition. All measurement data obtained are combined by the detection device 30 to form a single recorded topography TI, which can then also be referred to as an environmental model. By simultaneously using the lidar system 36, the camera 37, the ultrasonic sensor 38 and the radar sensor 39, a particularly reliable and precise detection of the topography TI is achieved.

In an alternative embodiment, not shown, the detection device can have only a lidar system, only a camera, only an ultrasonic sensor, only a radar sensor or any other combination of these devices.

Furthermore, the detection device 30 is set up to detect an actual position S of the snow grooming vehicle 10 on the snow slope 15 using a global satellite navigation system 34. The global satellite navigation system 34 receives a GPS signal, a GLONASS signal, a Galileo signal and a Beidou signal and uses the received signals to detect the actual position S with respect to a reference coordinate system. While the snow grooming vehicle 10 is driving on the snow slope 15, the actual position S is recorded continuously.

In addition, the detection device 30 is set up to record and/or determine compliance data, which at least indirectly represents a compliance of the snow slope 15 under a pressure effect of the weight of the slope maintenance vehicle 10. The compliance data depends on a condition of the snow of the snow slope 15 and a thickness of the snow of the snow slope 15. When the piste grooming vehicle 10 drives over the snow piste 15, this is loaded with the weight of the piste grooming vehicle 10 and gives way as a result of the load. As a result of the yielding of the snow slope 15, the actual position S and/or an orientation L of the slope maintenance vehicle 10 on the snow slope 15 changes. A measure of the strength of the flexibility of the snow slope 15 is expressed and/or represented by means of the compliance data. The compliance data is recorded and/or determined while driving and/or steering the snow grooming vehicle 10 on the snow slope 15.

For detecting and/or determining the compliance data, the detection device 30 in the present case has an orientation measuring unit 31 with a 3-axis inclination sensor 32 and an acceleration sensor 33, which determines the orientation L in the form of an inclination of the piste grooming vehicle 10 relative to a perpendicular direction at the actual position Capture S. If the acceleration sensor 33 does not indicate any acceleration, the orientation L can preferably be adjusted with the 3-axis inclination sensor 32 in a regular manner Time intervals of, for example, five seconds can be recorded. When the acceleration sensor 33 indicates acceleration, the orientation L is continuously detected with the 3-axis tilt sensor 32. But continuous recording can also be advantageous in other ways. After detecting the orientation L, the detection device 30 determines the compliance data from a difference between the detected orientation L and the detected topography Tl. The detected topography TI represents the state of the snow slope 15 before the snow grooming vehicle 10 has driven over the snow slope 15, while the detected orientation L represents the state of the snow slope 15 when the snow slope 15 is loaded with the weight of the slope maintenance vehicle 10.

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

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

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

The determination and control unit 40 is operatively connected to the drive device 20 and to the detection device 30 and is set up to generate a control variable of the drive device 20 depending on the detected topography TI, on the detected actual position S, on the detected and / or determined compliance data and to determine from a predetermined target position Z of the snow grooming vehicle 10. For the purpose of driving and/or steering the piste grooming vehicle 10 from the determined actual position S to the predetermined target position Z, the determination and control unit 40 is set up to control the drive device 20 depending on the determined control variable Drive device 20 to control that the piste grooming vehicle 10 moves from the actual position S to the predetermined target position Z. The target position Z can be specified, for example, by a user of the snow grooming vehicle 10. Alternatively or additionally, a work task, for example “Prepare a section of the slope”, can be specified.

The drive device 20 has a crawler chassis 22 and a travel drive 26 in the form of a diesel engine. In this respect, the control variable of the drive device in the present case includes a control variable for the travel drive 26 and a control variable for the crawler chassis 22.

If the traction drive 26 is controlled by the determination and control unit 40 with the control variable for the traction drive 26, the traction drive 26 generates a drive power. With the drive power generated, the crawler chassis 22 is driven in such a way that the piste grooming vehicle 10 travels on the snow piste 15. A value of the control variable for the travel drive 26 represents a speed at which the piste grooming vehicle 10 travels on the snow piste 15.

The tracked chassis 22 comprises two tracked tracks 25, 27, with one of the two tracked tracks 25 facing a viewer Fig. 1 facing and the other chain drive 27 towards the viewer Fig. 1 is turned away. Since both chain drives 25, 27 are identical in construction, a description of one chain drive also applies to the other.

If the crawler chassis 22 is controlled by the determination and control unit 40 with the control variable for the crawler chassis 22, the crawler chassis 22 steers the piste grooming vehicle 10. In the present case, steering is carried out by distributing the drive power between the two tracked units 25, 27, with the control variable for the tracked unit 22 representing the power distribution of the drive power between the two tracked units 25, 27. Due to an uneven power distribution between the two track drives 25, 27, they are driven to different degrees from one another, as a result of which the piste grooming vehicle 10 is steered.

The crawler chassis 22 has a first Turas wheel 23 and a second Turas wheel 24, with the first Turas wheel 23 facing the viewer Fig. 1 facing chain drive 25 is assigned and the second Turas wheel 24 to the viewer Fig. 1 the chain drive 27 facing away is assigned. The determination and control unit 40 is set up to record and/or determine slip data of the crawler chassis 22. The slip data represents the traction slip (slip for short) of the crawler chassis 22 on the snow slope 15. The determination and control unit 40 is also set up in the present case to determine a rotational position of the first Turas wheel 23 and a rotational position of the second Turas wheel 24 to determine, the control variable of the drive device 20 being determined from the rotational position of the first Turas wheel 23 and depending on the rotational position of the second Turas wheel 24 in such a way that any slip of the crawler track 22 to the snow slope 15 is compensated is.

In the present case, the piste grooming vehicle 10 also has a winch 70 in the form of a cable winch with a cable 71 and a swivel arm 73. The rope 71 is guided over a swivel arm 73, which can be rotated freely. A hook 72 is attached to one end of the rope 71. The hook 72 is designed to be inserted into a corresponding eyelet which is attached to a base of the snow slope 15. When the hook 72 is inserted into the eyelet, the snow grooming vehicle 10 is attached to the surface by means of the winch 70. The determination and control unit 40 is set up to determine a control variable of the winch 70 as a function of the control variable of the drive device 20 and to control the winch 70 as a function of the determined control variable of the winch 70. By controlling the winch 70, a rope section of the rope 71 can be unwound or wound up, whereby a rope length between the pivot arm 73 and the eyelet is variable. In particular, the cable length is adjusted between the swivel arm 73 and the eyelet in such a way that the cable 71 is tightened when the piste grooming vehicle 10 is driving on the snow piste 15. As a result, the winch 70 prevents the piste grooming vehicle 10 from slipping or crashing when it is maintaining a snow piste in steep terrain.

Furthermore, the piste grooming vehicle 10 in the present case also has a warning device 50 for sending a warning signal for warning people in the vicinity of the piste grooming vehicle. In the present case, the warning signal includes a light signal in the form of a flashing light and an audio signal in the form of a warning tone. The determination and control unit 40 is set up to determine a control variable of the warning device 50 as a function of the control variable of the drive device 20 and to control the warning device 50 as a function of the determined control variable of the warning device 50. For example, the determination and control unit 40 can control the warning device 50 with the control variable of the warning device 50 in such a way that it emits the light signal and the sound signal when the control variable of the drive device 20 causes the piste grooming vehicle 10 to move backwards.

The piste grooming vehicle 10 also has a display device 60, by means of which the detected topography TI, the actual position S, the compliance data and/or slip data of the tracked undercarriage and/or the control variable of the drive device 20 are transmitted by the determination and control unit 40 to a user of the piste grooming vehicle 10 displayed become. In the present case, the display device 60 comprises several units, namely a screen 62, a head-up display 64 and data glasses 66. Of course, only one of the aforementioned units can also be provided. Depending on the displayed topography TI, actual position S, compliance data, slip data and control variable of the drive device 20, the user can in particular monitor the maintenance of the snow slope 15, interrupt it and/or manually correct the control variable of the drive device 20.

For the maintenance of the snow slope 15, the slope maintenance vehicle 10 has a slope processing device 80. The slope processing device 80 maintains the snow slope 15 by processing the snow slope 15 while the slope maintenance vehicle 10 is driving on the snow slope 15.

To process the snow slope 15, the slope processing device 80 in the present case has a front shield 82 and a milling machine 84. Relative to a forward direction of travel 86, the front plate 82 is arranged at the front and the milling machine 84 at the rear.

In the embodiment shown, the snow slope 15 is processed by specifying a target slope path to the determination and control unit 40. After processing, the snow slope 15 should correspond to the course of the target slope. Therefore, the determination and control unit 40 determines a control variable of the slope processing device 80 depending on the target slope path, on the detected topography TI and on the detected actual position S. A strong deviation between the target slope path and the detected topography TI requires a Strong processing by means of the slope processing device 80 and a small deviation between the target slope path and the detected topography TI requires little processing by means of the slope processing device 80.

In addition, the determination and control unit 40 determines the control variable of the slope processing device 80 depending on the orientation L detected with the orientation measuring unit 31.

Furthermore, the determination and control unit 40 is set up to control the slope processing device 80 depending on the determined control variable of the slope processing device 80 for the purpose of processing the snow slope 15. The control variable of the slope processing device 80 includes a control variable of the clearing blade 82 and a control variable of the milling machine 84. By controlling the clearing blade 82 with the control variable of the clearing blade 82, a position SR and / or an orientation LR of the Plow blade 82 changed relative to the topography TI. By controlling the milling machine 84, the milling machine is switched on or off or at least one setting parameter, such as speed, contact pressure, milling depth, of the milling machine is changed.

Fig. 2 shows the snow grooming vehicle 10 Fig. 1 during a journey controlled by the determination and control unit 40 from the actual position S to the predetermined target position Z.

In the embodiment shown, the target position Z determines the origin of the reference coordinate system BK and the detection device 30 detects the actual position S in coordinates of the reference coordinate system BK with the global navigation satellite system 34. For this purpose, the global navigation satellite system 34 interacts in a fundamentally known manner with a fundamentally known differential satellite-based positioning system 42, 44, which has a plurality of positioning satellites 42 and a reference unit 44. The reference unit 44 is arranged in a stationary manner at a position known in relation to the reference coordinate system BK in the vicinity of the snow slope 15 and is used to determine correction data which enables improved detection of the actual position S in terms of its accuracy. Since the basic structure and functionality of differential satellite-based positioning systems is known, it does not need to be discussed in more detail here.

In order to drive to the target position Z and/or prepare a section of terrain, the determination and control unit 40 determines a target movement path SB depending on the predetermined target position Z, the detected topography TI, the detected actual position S and the collected compliance data and/or slip data. The target movement path SB describes a route, in particular a shortest route, from the actual position S to the target position Z. In addition, defined routes can be stored based on criteria (slope, snow conditions, weather data) or the determination and control unit 40 can carry out dynamic route planning or determine a dynamic route. This is particularly dependent on the flexibility data and/or the slip data and thus depending on the flexibility of the snow slope 15 and/or the prevailing slip of the crawler track 22. The determination and control unit 40 further determines the control variable of the drive device 20 depending on the target trajectory SB and controls the drive device 20 with the control variable of the drive device 20, the piste grooming vehicle 10 traveling along the target movement path SB by controlling with the control variable of the drive device 20.

When the determination and control unit 40 controls the drive device 20 for driving and/or steering along the target movement path SB in the forward travel direction 86, the determination and control unit 40 controls the warning device 50 in such a way that it signals the light signal in the form of the flashing light warning people in the area 12 is generated.

While driving and/or steering along the target movement path SB, the detection device 30 continuously records the topography TI of the snow slope 15. In the present case, an obstacle in the form of a tree 90 is present on the snow slope 15 as an example. Tree 90 must be avoided. For this purpose, the target movement path SB is adjusted by the determination and control unit 40, so that the tree 90 is avoided by the piste maintenance vehicle 10.

The nature of the snow of the snow slope 15 and a thickness D of the snow of the snow slope 15 vary locally, so that the snow slope 15 is flexible to different degrees at different positions. In this respect, the actual position S and the orientation L depend on the flexibility of the snow slope 15. In addition, the traction slip can vary locally. The detection device 30 continuously records the compliance data and/or the slip data while driving and/or steering along the target trajectory SB, and the determination and control unit 40 adapts the target trajectory SB to the compliance data of the snow slope 15 and/or the prevailing slip at.

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

Claims (13)

Slope maintenance vehicle (10) for maintaining a snow slope (15), comprising - a drive device (20) with a crawler chassis (22) and a travel drive (26), the piste grooming vehicle (10) being driven by the drive device (20) on the snow slope (15), - a detection device (30) which is set up for detection - a topography (TI) of the snow slope (15), - an actual position (S) of the snow grooming vehicle (10) on the snow slope (15) - and/or for determining compliance data, which at least indirectly represent the flexibility of the snow slope (15) under pressure from the weight of the slope maintenance vehicle (10), - and having a determination and control unit (40) operatively connected to the drive device (20) and the detection device (30), which is set up - to determine a control variable of the drive device (20) depending on - a predetermined target position (Z) of the snow grooming vehicle (10), - the recorded topography (TI), - the recorded actual position (S) and - the collected and/or determined compliance data - and for controlling the drive device (20) depending on the determined control variable of the drive device (20). Snow grooming vehicle (10) according to claim 1, characterized in that - The determination and control unit (40) is set up - to determine a target trajectory (SB) depending on - the specified target position (Z) of the snow grooming vehicle (10), - the recorded topography (TI), - the recorded actual position (S) and - the collected and/or determined compliance data - and to determine the control variable of the drive device (20) depending on the target movement path (SB). Snow grooming vehicle (10) according to claim 1 or 2, characterized in that - the detection device (30) has an orientation measuring unit (31), in particular a 3-axis inclination sensor (32) and/or a gyro sensor and/or an acceleration sensor (33), for detecting an orientation (L) of the snow grooming vehicle (10), the detection device (30) being included is set up to determine the compliance data from a difference between the detected orientation (L) and the detected topography (TI) and / or - The detection device (30) is set up to determine the compliance data from a difference between the detected actual position (S) and the detected topography (TI). Snow grooming vehicle (10) according to one of the preceding claims, characterized in that the detection device (30) for detecting the topography (TI) is a lidar system (36), a camera (37), an ultrasonic sensor (38) and / or a radar sensor (39). Snow grooming vehicle (10) according to one of the preceding claims, characterized in that the detection device (30) has a satellite navigation system (34) for detecting the actual position (S) and/or orientation (L). Snow grooming vehicle (10) according to one of the preceding claims, characterized in that the crawler chassis (22) has a first Turas wheel (23) and / or a second Turas wheel (24), the determination and control unit (40) being set up to To determine the control variable of the drive device (20) as a function of slip data of the first Turas wheel (23) and/or the second Turas wheel (24). Snow grooming vehicle (10) according to one of the preceding claims, characterized by a warning device (50) for sending a warning signal for warning people in an environment (12) of the snow grooming vehicle (10), the determination and control unit (40) being set up for this purpose to determine a control variable of the warning device (50) depending on the control variable of the drive device (20) and to control the warning device (50) depending on the determined control variable of the warning device (50). Snow grooming vehicle (10) according to one of the preceding claims, characterized by a display device (60), in particular a screen (62), a head-up display (64) and / or data glasses (66), wherein the determination and control unit ( 40) is set up to display the detected topography (TI), the detected actual position (S), the determined compliance data and/or the determined slip data and/or the determined control variable of the drive device (20) by means of the display device (60). Snow grooming vehicle (10) according to one of the preceding claims, characterized by a winch (70), wherein the determination and control unit (40) is set up to determine a control variable of the winch (70) as a function of the control variable of the drive device (20). and to control the winch (70) depending on the determined control variable of the winch (70). Slope maintenance vehicle (10) according to one of the preceding claims, characterized by a slope processing device (80) for processing the snow slope (15), the determination and control unit (40) being set up to generate a control variable of the slope processing device (80) depending on the detected Topography (TI) and the detected actual position (S) and to control the slope processing device (80) depending on the determined control variable of the slope processing device (80) for the purpose of processing the snow slope (15). Snow grooming vehicle (10) according to claim 10, characterized in that the detection device (30) has an orientation measuring unit (31), in particular a 3-axis inclination sensor (32) and/or a gyro sensor and/or an acceleration sensor (33), for detecting a Orientation (L) of the piste grooming vehicle (10), wherein the determination and control unit (40) is set up to determine the control variable of the piste processing device (80) depending on the detected orientation (L). Snow grooming vehicle (10) according to claim 10 or 11, characterized in that the snow grooming device (80) has a front shield (82) and/or a milling machine (84). Method for operating a snow grooming vehicle (10) according to one of the preceding claims, wherein the method has the method steps: a) recording the topography (TI) of the snow slope (15), b) detecting the actual position (S) of the snow grooming vehicle (10) on the snow slope (15), c) recording and/or determining compliance data, which at least indirectly represent the compliance of the snow slope (15) under the pressure of the weight of the slope maintenance vehicle (10), d) determining the control variable of the drive device (20) as a function of the predetermined target position (Z) of the snow grooming vehicle (10), the recorded topography (TI), the recorded actual position (S) and the recorded compliance data, e) Controlling the drive device (20) depending on the determined control variable of the drive device (20).

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