JP7001502B2 - snowblower - Google Patents

Description

The present invention relates to a snowplow, more specifically to a rotary snowplow.

As an example of this type of conventional technique, Patent Document 1 discloses an automatic snowplow chute attitude control device for a snowplow. In this control device, the position data of the snowplow that matches the position of the snowplow output from the GPS receiver corresponds to the position of the snowplow in the snowplow work route of the snowplow and the posture of the snowplow. It is searched from the attitude data, and the target value of the attitude of the snowplow at each snowplow point of the snowplow work route of the snowplow is determined. Then, the deviation amount is calculated by comparing the target value of the snow-throwing shoot posture with the current value of the snow-throwing shooting posture, and the operation amount according to the deviation amount is feedback-controlled and output to the actuator. The posture of the snow throwing shoot is changed.

Japanese Unexamined Patent Publication No. 10-30220

In such a control device of Patent Document 1, in order to acquire position / attitude data, the operator operates the snowplow along the snowplow work path in advance, and the assistant operates the operation lever to shoot the snow. It has to be operated, and it takes time and effort to prepare in advance. Further, the posture of the snow throwing chute can be automatically controlled only in the snow removal work route for which the position / posture data is acquired in advance, and the snow cannot be automatically thrown at a desired position in an arbitrary area.

Therefore, a main object of the present invention is to provide a snowplow capable of automatically throwing snow at a desired position in an arbitrary area without the hassle of preparation in advance.

In order to achieve the above objectives, the snow throwing section, the recognition section that recognizes the target snow throwing location, and the actual snow throwing location from the snow throwing section. A place detection unit that detects a location, a deviation detection unit that detects the deviation between the target snowfall location and the actual snowfall location, and a control unit that controls snow throwing from the snow throwing unit based on the detection results of the deviation detection unit. A snow remover is provided with and.

In the present invention, first, the target snow throwing place, which is the target place of the snow thrown from the snow throwing portion, is recognized. Then, the actual snow-throwing place, which is the place where the snow actually thrown falls, is detected from the snow-throwing part, the deviation between the target snow-throwing place and the actual snow-throwing place is detected, and the snow is thrown based on the detection result. Snow throwing from the snow area is controlled. As a result, even if the snowplow moves during the snow removal work, the target snow throwing place can be automatically tracked and snow can be thrown from the snow throwing section to the target snow throwing place. Therefore, it is possible to automatically throw snow at a desired position in any area without the need for preparation in advance.

Preferably, the snow throwing section includes a chute that can swing in the left-right direction and the up-down direction, and the control section controls the left-right orientation and / or the up-down orientation of the chute based on the detection result of the deviation detection section. do. In this case, the lateral orientation of the chute and / or the vertical orientation of the chute is controlled based on the deviation between the detected target snowfall location and the actual snowfall location. This makes it possible to adjust the left and right snow throwing directions and / or the snow throwing distance from the snow throwing portion.

Further preferably, the auger that collects snow during driving and the first detection unit that detects the lateral orientation of the chute are further included, and the control unit is the detection result and recognition unit of the first detection unit when the auger is not driven. Controls the lateral orientation of the chute at the start of driving the auger based on the target snowfall location recognized by. In this case, by controlling the left-right direction of the chute when the auger is not driven and aiming the chute at the target snow throwing place in advance, the target snow is thrown from the chute immediately after the start of the subsequent snow throwing by the auger drive. Snow can be thrown smoothly toward the place.

More preferably, it further includes a first determination unit for determining whether or not the lateral orientation of the shoot can be corrected, and a notification unit for notifying when the lateral orientation of the shoot cannot be corrected. In this case, it is possible to notify the operator that the orientation of the shoot in the left-right direction cannot be corrected.

Preferably, the first determination unit determines whether or not the orientation of the shoot in the left-right direction can be corrected based on the movable range in the left-right direction of the chute and the target snow throwing location recognized by the recognition unit. In this case, if the target snowfall location recognized by the recognition unit is within the movable range in the left-right direction of the shoot, it is determined that the correction is possible, and if not, it is determined that the correction is not possible. In this way, it is possible to easily determine whether or not the orientation of the shoot in the left-right direction can be corrected.

Further preferably, the auger that collects snow during driving and the second detection unit that detects the vertical orientation of the chute are further included, and the control unit is the detection result and recognition unit of the second detection unit when the auger is not driven. Controls the vertical orientation of the chute at the start of driving the auger based on the target snowfall location recognized by. In this case, by controlling the vertical direction of the shoot in advance according to the target snow throwing location recognized by the recognition unit when the auger is not driven, the shoot is started immediately after the start of the subsequent snow throwing by the auger drive. You can smoothly throw snow toward the target snow throwing place.

More preferably, the auger that collects snow during driving, the second judgment unit that determines whether or not the vertical orientation of the chute can be corrected, and the load applied to the auger during driving when the vertical orientation of the chute cannot be corrected. Further includes a load adjusting unit for adjusting. There is a correlation between the load applied to the auger and the snow throwing distance from the snow throwing part during snow removal, and the larger the load applied to the auger, the shorter the snow throwing distance from the snow throwing part. Therefore, when the vertical orientation of the chute cannot be corrected, the snow throwing distance from the snow throwing portion can be easily adjusted by adjusting the load applied to the auger.

Preferably, the load adjusting unit adjusts the load applied to the auger by adjusting the moving speed of the snowplow. There is a correlation between the moving speed of the snowplow and the load applied to the auger during snow removal, and the smaller the moving speed of the snowplow, the smaller the resistance of the snow to the auger, and the load applied to the auger. It gets smaller. Therefore, the load applied to the auger can be easily adjusted by adjusting the moving speed of the snowplow.

Further, preferably, the second determination unit determines whether or not the vertical orientation of the chute can be corrected based on the vertical movable range of the chute and the target snow throwing location recognized by the recognition unit. There is a correlation between the vertical orientation of the chute and the snow throwing distance from the chute during snow removal, and the vertical orientation of the chute required to throw snow from the chute to the target snow throwing location is from the chute to the target throwing. It is required according to the distance to the snowy place. Then, it can be determined whether or not the vertical direction of the chute can be corrected depending on whether or not the direction is within the movable range in the vertical direction of the chute. Here, the distance from the shoot to the target snowfall location can be obtained if the target snowfall location is known. Therefore, if the target snowfall location is known by the recognition unit, it can be easily determined whether or not the vertical orientation of the chute can be corrected.

According to the present invention, it is possible to obtain a snowplow capable of automatically throwing snow at a desired position in an arbitrary area without the need for preparation in advance.

It is a perspective view which shows the snowplow which concerns on one Embodiment of this invention. It is a side view which shows the snowplow which concerns on embodiment of FIG. It is a top view which shows the snowplow which concerns on embodiment of FIG. It is a block diagram which shows the electric structure of the snowplow which concerns on embodiment of FIG. It is a flow chart which shows an example of the operation of the snowplow which concerns on embodiment of FIG. It is a flow chart which shows the continuation of the operation of FIG. It is a flow chart which shows the continuation of the operation of FIG. It is a flow chart which shows the continuation of the operation of FIG. 7.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

With reference to FIGS. 1 to 3, the snowplow 10 according to the embodiment of the present invention includes a frame 12, a main body 14, a pair of traveling devices 16a and 16b, an auger 18, a snow throwing unit 20, an operating unit 22, and a detection unit. Includes device 24. In the embodiment of the present invention, the terms front-back, left-right, and up-down mean front-back, left-right, and up-down based on the state in which the operator pushes the snowplow 10.

The frame 12 is formed in the shape of a housing.

The main body 14 has an engine 26 and a speed change motor 28, and is provided on the frame 12. The engine 26 is located inside the main body 14 and generates a driving force for driving a pair of traveling devices 16a and 16b, an auger 18 and an impeller (not shown). The driving force for driving the pair of traveling devices 16a and 16b is transmitted to the pair of traveling devices 16a and 16b via a transmission (not shown). An engine tachometer 30 for measuring the rotation speed of the engine 26 is attached to the engine 26. The transmission motor 28 is located behind the engine 26 inside the main body 14, and is provided to control the transmission by the controller 78 (described later).

The pair of traveling devices 16a and 16b each have a driving sprocket 32, a driven sprocket 34, 36 and a track belt 38, respectively. The drive sprocket 32 is rotatably supported by the rear end of the frame 12. The driving force from the engine 26 is transmitted to the drive sprocket 32 via the transmission, and the drive sprocket 32 rotates forward or reverses by the transmission. Further, a vehicle speed sensor 40 for measuring the vehicle speed of the snowplow 10 is attached to the drive sprocket 32. The driven sprocket 34 is rotatably supported by the frame 12 diagonally downward in front of the drive sprocket 32. The driven sprocket 36 is rotatably supported by the frame 12 in front of the driven sprocket 34. The track belt 38 has a plurality of protrusions protruding outward and inward, is formed in a belt shape, and is wound around a drive sprocket 32 and a driven sprocket 34, 36. The track belt 38 rotates as the drive sprocket 32 rotates, which allows the snowplow 10 to move forward, backward or turn left and right.

The auger 18 extends in the left-right direction and is rotatably supported by an auger cover 42 provided at the front end portion of the frame 12. The auger 18 is driven by the driving force from the engine 26 and collects snow at the time of driving.

The snow throwing portion 20 has a chute 44 that can swing in the left-right direction and the up-down direction. The snow collected by the auger 18 is rolled up by an impeller provided in the auger cover 42, and is thrown from the chute 44 to a predetermined place. The chute 44 has a first portion 46 swingable in the left-right direction and a second portion 48 swingable in the up-down direction, and extends upward from the rear portion of the auger cover 42 (see FIG. 2). The first portion 46 is connected to the auger cover 42, and the second portion 48 is connected to the upper end of the first portion 46. An electrical box 50 is attached to the lower portion of the first portion 46. Inside the electrical box 50, a first sensor 52 for detecting the left-right orientation of the first portion 46 and a first motor 54 for swinging the first portion 46 in the left-right direction are provided. An electrical box 56 is attached to the upper part of the first portion 46. Inside the electrical box 56, a second sensor 58 for detecting the vertical orientation of the second portion 48 and a second motor 60 for swinging the second portion 48 in the vertical direction are provided.

The operation unit 22 is supported by the rear end portion of the frame 12 behind the main body 14. The operation unit 22 includes a pair of grip portions 62a and 62b, a traveling clutch lever 64, a left swivel lever 66a, a right swivel lever 66b, a speed change lever 68, a switch 70, an operation lamp 72, a first warning lamp 74, and a second warning lamp. It has a 76 and a controller 78. The pair of grips 62a and 62b are provided for gripping when the operator operates the snowplow 10. The traveling clutch lever 64 is provided so as to be swingable in the vertical direction, and when the traveling clutch lever 64 is gripped (the traveling clutch lever 64 is swung downward) while the engine 26 is being driven, the snowplow 10 moves forward or moves forward. Go backwards. Further, when the snowplow switch (not shown) is pressed while the traveling clutch lever 64 is held, the auger 18 is driven while the snowplow 10 is moving. When the traveling clutch lever 64 is released (the traveling clutch lever 64 is swung upward), the auger 18 and the snowplow 10 are stopped. The left turn lever 66a is provided to turn the snowplow 10 to the left. The right turn lever 66b is provided to turn the snowplow 10 to the right. The speed change lever 68 is formed so as to be swingable in the front-rear direction on the upper surface of the operation unit 22, and is provided for the operator to operate the transmission. The operator can move the snowplow 10 forward, backward, or switch by swinging the shift lever 68 forward or backward. Further, the speed of the snowplow 10 can be adjusted by the angle at which the shift lever 68 is swung. The switch 70 is located on the upper surface of the operation unit 22 and is provided to automatically track the target snow-throwing place, which is the target place at the time of snow-throwing, and switch whether or not to throw snow. When the controller 78 (described later) automatically tracks the target snow throwing location and controls the snow throwing, the controller 78 adjusts the speed of the snowplow 10 without the operator operating the shift lever 68. Can be done. The operation lamp 72, the first warning lamp 74, and the second warning lamp 76 are located on the upper surface of the operation unit 22, and are provided so as to be turned on or off in a predetermined case as described later. The controller 78 is located inside the operation unit 22 and controls the operation of the snowplow 10 to automatically track the target snowplow location and control the snowplow.

The detection device 24 has a pair of detection units 80a and 80b and a warning buzzer 82, and extends upward from the front portion of the operation unit 22. The pair of detection units 80a and 80b are located above the detection device 24, the detection unit 80a has a marker sensor 84a and a camera 86a inside the detection unit 80a, and the detection unit 80b is inside the detection unit 80b. It has a marker sensor 84b and a camera 86b. The marker sensors 84a and 84b are provided to recognize the target snowfall location. A marker 90 connected to the power supply 88 is installed at the target snowfall location (see FIG. 4), and the marker sensors 84a and 84b capture radio waves transmitted from the marker 90. By using the two marker sensors 84a and 84b, blind spots can be reduced and the target snowfall location can be easily recognized. The cameras 86a and 86b are provided to detect the actual snow-throwing place, which is the place where the snow actually thrown from the snow-throwing unit 20, falls, and photograph the snow-throwing situation. In this embodiment, since an infrared camera capable of 360-degree shooting is used as the cameras 86a and 86b, a wide range can be shot with one camera 86a (86b), and the actual snow throwing location can be easily detected. Further, by using the two cameras 86a and 86b, blind spots can be reduced and the actual snowfall location can be detected more easily. The warning buzzer 82 is located between the pair of detection units 80a and 80b, and is provided so as to emit a sound in a predetermined case as described later.

The electrical configuration of the snowplow 10 will be described with reference to FIG.

The controller 78 includes a CPU and memory (not shown) and is connected to the power supply 92, the switch 70 and the operation lamp 72. When the switch 70 is turned on by the operator, the controller 78 operates based on the electric power from the power source 92, turns on the operation lamp 72, and automatically tracks the target snow throwing place and starts the control of throwing snow. On the other hand, when the switch 70 is turned off by the operator, the operation lamp 72 is turned off, and the control of automatically tracking the target snow throwing place and throwing snow is terminated.

The controller 78 is also connected to the first sensor 52, the first motor 54, the second sensor 58, and the second motor 60. Further, the first motor 54 and the second motor 60 are also connected to the power supply 94. The controller 78 acquires information regarding the horizontal orientation of the first portion 46 from the first sensor 52, and acquires information regarding the vertical orientation of the second portion 48 from the second sensor 58. Further, when the first portion 46 is swung in the left-right direction, the controller 78 drives the first motor 54 based on the electric power from the power source 94 and swings the first portion 46 in the left-right direction. When the second portion 48 is swung in the vertical direction, the controller 78 drives the second motor 60 based on the electric power from the power source 94, and swings the second portion 48 in the vertical direction.

The controller 78 is also connected to the marker sensors 84a and 84b and the cameras 86a and 86b. The controller 78 identifies the position of the marker 90, that is, the target snowfall location, based on the radio waves from the marker 90 captured by the marker sensors 84a and 84b. There is a correlation between the strength of radio waves and the reach, and the longer the reach of radio waves, the lower the strength of radio waves. The controller 78 has data on the correlation between the intensity of the radio wave and the reachable distance, and calculates the distance from the marker sensors 84a and 84b to the marker 90 based on the intensity of the captured radio wave. Then, the controller 78 calculates the position of the marker 90 in the left-right direction from the marker sensors 84a and 84b based on the direction of the captured radio wave. Further, since the positional relationship between the marker sensors 84a and 84b and the rotation axis A (see FIG. 3) in the left-right direction (horizontal direction) of the chute 44 (first portion 46) is constant, the controller 78 can be used with the marker sensors 84a. Based on the distance from 84b to the marker 90 and the position of the marker 90 in the left-right direction from the marker sensors 84a and 84b, the distance from the rotation axis A of the chute 44 to the marker 90 and the rotation axis A of the chute 44. The position of the marker 90 in the left-right direction is calculated. In this way, the target snowfall location is recognized by the controller 78 and the marker sensors 84a and 84b. Further, the controller 78 analyzes the images (snow throwing conditions) taken by the cameras 86a and 86b, and identifies the actual snow throwing place. Therefore, even if the snow thrown is affected by the wind or the like, the place where the snow thrown actually fell can be specified. For example, in the actual snow throwing place, a snowy mountain is formed so as to rise upward due to the accumulation of snow thrown, so that the controller 78 compares the images before and after being continuously shot and raises upward. Specify the changed place (the place where the snowy mountain was formed) as the actual snow throwing place. In this way, the actual snowfall location is detected by the controller 78 and the cameras 86a and 86b. Further, the controller 78 detects the deviation between the target snowfall location and the actual snowfall location. For example, the controller 78 determines the target snowfall location and the actual snowfall location based on the position of the marker 90 and the central position of the snowy mountain formed at the actual snowfall location in the images taken by the cameras 86a and 86b. Detects the deviation of the snow throwing direction and the deviation of the snow throwing distance.

The controller 78 is also connected to the speed change motor 28 and the vehicle speed sensor 40. Further, the speed change motor 28 is connected to the power supply 94. The controller 78 drives the speed change motor 28 based on the electric power from the power source 94, and controls the vehicle speed of the snowplow 10. Further, the controller 78 acquires information on the vehicle speed of the snowplow 10 from the vehicle speed sensor 40.

The controller 78 is also connected to the engine tachometer 30 and the electronic governor 96. The controller 78 acquires information on the rotation speed of the engine 26 from the engine tachometer 30. Further, the controller 78 drives the electronic governor 96 and controls the rotation speed of the engine 26.

The controller 78 is also connected to the first warning lamp 74, the second warning lamp 76, and the warning buzzer 82, turns on the first warning lamp 74 or the second warning lamp 76, and sounds the warning buzzer 82 in a predetermined case.

In this embodiment, the controller 78 and the marker sensors 84a, 84b correspond to the recognition unit, the controller 78 and the cameras 86a, 86b correspond to the location detection unit, and the controller 78 is the deviation detection unit, the control unit, and the first determination. Corresponds to the unit and the second judgment unit. Further, the controller 78 and the first sensor 52 correspond to the first detection unit, the controller 78 and the second sensor 58 correspond to the second detection unit, and the first warning lamp 74 and the warning buzzer 82 serve as the notification unit. The controller 78 and the speed change motor 28 correspond to the load adjusting unit.

The operation of the snowplow 10 will be described with reference to FIGS. 5 to 8.

With reference to FIG. 5, the controller 78 determines whether or not the switch 70 is turned on (step S1). The controller 78 waits until the switch 70 is turned on, and when the switch 70 is turned on, the operation lamp 72 is turned on (step S3), and the control for automatically tracking the target snow throwing place and throwing snow is started. do.

First, the controller 78 determines whether or not the auger 18 is ON (driving) (step S5). If the auger 18 is driven, the process proceeds to step S7, and if the auger 18 is not driven, the process proceeds to steps S101 and S201 (see FIGS. 6 and 7).

If the auger 18 is driven, the marker sensors 84a and 84b capture the radio waves transmitted from the marker 90 (step S7), and the cameras 86a and 86b collect snow by the auger 18 and throw snow from the snow throwing unit 20. The snow throwing situation is photographed (step S9).

Then, the controller 78 determines the distance from the rotation axis A of the chute 44 to the marker 90 and the left and right of the marker 90 from the rotation axis A of the chute 44 based on the radio waves from the markers 90 captured by the marker sensors 84a and 84b. Calculate the position in the direction and specify the target snowfall location. Further, the controller 78 identifies the actual snowfall location based on the images taken by the cameras 86a and 86b, and detects the deviation between the target snowfall location and the actual snowfall location (step S11).

The controller 78 controls the lateral orientation and / or the vertical orientation of the chute 44 based on the deviation between the target snowfall location and the actual snowfall location. The controller 78 determines whether or not it is necessary to correct the left-right orientation of the first portion 46 based on the deviation of the snow-throwing direction between the target snow-throwing place and the actual snow-throwing place (step S13). If the correction is necessary, the process proceeds to step S111 (see FIG. 6), and if the correction is not necessary, the process proceeds to step S15. For example, the controller 78 determines that it is not necessary to correct the left-right orientation of the first portion 46 if there is no deviation in the snow throwing direction, and if there is a deviation in the snow throwing direction, the controller 78 of the first portion 46. Judge that it is necessary to correct the orientation in the left-right direction. If it is not necessary to correct the horizontal orientation of the first portion 46, the controller 78 has the vertical orientation of the second portion 48 based on the difference in the snow throwing distance between the target snow throwing place and the actual snow throwing place. It is determined whether or not it is necessary to correct (step S15). The controller 78 proceeds to step S211 (see FIG. 7) if it is necessary to correct the vertical orientation of the second portion 48, and proceeds to step S17 if it is not necessary to correct it. Here, there is a correlation between the vertical orientation of the second portion 48 and the snow throwing distance from the chute 44 to the actual snow throwing place, and by correcting the vertical orientation of the second portion 48, snow throwing occurs. You can increase or decrease the distance. For example, the controller 78 determines that it is not necessary to correct the vertical orientation of the second portion 48 if there is no deviation in the snow throwing distance, and if there is a deviation in the snow throwing distance, the controller 78 determines that the second portion 48 does not need to be corrected. Judge that it is necessary to correct the vertical orientation. In this way, based on the deviation between the actual snow-throwing place where the snow-thrown snow actually fell and the target snow-throwing place, the shoot 44 is oriented in the left-right direction according to the influence from the outside such as wind. And / or the vertical orientation can be corrected.

If it is not necessary to correct the vertical orientation of the second portion 48, the controller 78 determines whether or not the switch 70 has been turned off (step S17), and if the switch 70 remains on, returns to step S3. , Continue to throw snow. If the switch 70 is turned off, the controller 78 turns off the operation lamp 72 (step S19), and automatically tracks the target snow-throwing location and ends the control of snow-throwing.

When it is necessary to correct the horizontal orientation of the first portion 46 (when proceeding from step S13 to step S111) and when it is necessary to correct the vertical orientation of the second portion 48 (from step S15 to step S211). (When proceeding) will be described later.

With reference to FIG. 6, if the auger 18 is not driven, the controller 78 is based on information about the left-right orientation of the first portion 46 from the first sensor 52 to the left-right current of the first portion 46. (Step S101), which is the first portion 46 in the left-right direction from the current position based on the current orientation of the first portion 46 in the left-right direction and the movable range in the left-right direction of the first portion 46. It is calculated whether or not it can be moved only (step S103).

Then, the marker sensors 84a and 84b capture the radio wave transmitted from the marker 90 (step S105), and the controller 78 rotates the chute 44 based on the radio wave from the marker 90 captured by the marker sensors 84a and 84b. The position of the marker 90 in the left-right direction from the axis A is calculated (step S107).

The controller 78 needs to correct the left-right orientation of the first portion 46 based on the left-right position of the marker 90 from the rotation axis A of the chute 44 and the current left-right orientation of the first portion 46. It is determined whether or not there is (step S109), and if it is necessary to correct it, the process proceeds to step S111, and if it is not necessary to correct it, the process returns to step S3. For example, the controller 78 determines that it is not necessary to correct the left-right orientation of the first portion 46 if the chute 44 faces the marker 90. Further, when the controller 78 cannot direct the chute 44 toward the marker 90 even if the first portion 46 is swung in the left-right direction within the movable range, that is, the marker 90 is within the movable range of the first portion 46. If not, it is determined that it is not necessary to correct the orientation of the first portion 46 in the left-right direction. On the other hand, the controller 78 needs to correct the lateral orientation of the first portion 46 when the chute 44 does not face the marker 90 but the marker 90 is within the movable range of the first portion 46. Judge that there is.

In step S111, the controller 78 determines whether or not the orientation of the first portion 46 in the left-right direction can be corrected, and if the correction is possible, the process proceeds to step S113, and if the correction is not possible, the process proceeds to step S123. For example, when the auger 18 is driven (when the process proceeds from step S13 to step S111), when the controller 78 swings the first portion 46 in the left-right direction within the movable range, the target snow throwing place and the actual snow throwing place If it is possible to eliminate the deviation in the snow throwing direction from the above, it is determined that the orientation of the first portion 46 in the left-right direction can be corrected. On the other hand, if the controller 78 cannot eliminate the deviation in the snow throwing direction even if the first portion 46 is swung in the left-right direction within the movable range, the controller 78 corrects the left-right orientation of the first portion 46. Judge that it cannot be done. Further, when the auger 18 is not driven (when the process proceeds from step S109 to step S111), the marker 90 is within the movable range of the first portion 46, so that the controller 78 is oriented in the left-right direction of the first portion 46. Is judged to be correctable.

When the controller 78 can correct the left-right orientation of the first portion 46, the first warning lamp 74 remains off (step S113), the warning buzzer 82 is not sounded (step S115), and the first portion Swing 46 to the left or right. The controller 78 determines whether or not to swing the first portion 46 to the right (step S117), and if the first portion 46 is to be swung to the right, proceeds to step S119 and moves the first portion 46 to the right. In the case of not swinging to the left, that is, swinging to the left, the process proceeds to step S121. For example, when the auger 18 is driven, the controller 78 determines that the first portion 46 is swung to the right when the actual snow throwing place is shifted to the left side with respect to the target snow throwing place, and the actual snow throwing place is made. When the snow place is shifted to the right side with respect to the target snow throwing place, it is determined that the first portion 46 is swung to the left side. Further, when the auger 18 is not driven, the controller 78 determines that the first portion 46 swings to the right when the chute 44 faces the left side with respect to the target snow throwing place, and the chute 44 determines that the chute 44 swings to the right side. When facing the right side with respect to the target snow throwing place, it is determined that the first portion 46 is swung to the left side.

In step S119, the controller 78 drives the first motor 54 to swing the first portion 46 to the right by a necessary amount between 0 degrees and 2 degrees, and returns to step S3. In step S121, the controller 78 drives the first motor 54 to swing the first portion 46 to the left by a necessary amount between 0 degrees and 2 degrees, and returns to step S3. When the first portion 46 is to be swung more than twice, the processes up to step S119 or step S121 are repeated.

If the lateral orientation of the first portion 46 cannot be corrected when the auger 18 is driven in step S111, the controller 78 turns on the first warning lamp 74 (step S123) and sounds the warning buzzer 82 (step S125). , Notify the operator to that effect. Then, the controller 78 turns off the switch 70 (step S127), turns off the operation lamp 72 (step S19), and ends the control of automatically tracking the target snow throwing place and throwing snow.

Also, referring to FIG. 7, if the auger 18 is not driven, the controller 78 will base the up and down direction of the second portion 48 based on information about the up and down orientation of the second portion 48 from the second sensor 58. The current orientation of the second portion 48 is detected (step S201), and the second portion 48 moves up and down from the current position based on the current orientation of the second portion 48 in the vertical direction and the vertical movable range of the second portion 48. Calculate how much it can move (step S203).

Then, the marker sensors 84a and 84b capture the radio wave transmitted from the marker 90 (step S205), and the controller 78 rotates the chute 44 based on the radio wave from the marker 90 captured by the marker sensors 84a and 84b. The distance from the axis A to the marker 90 and the vertical orientation (necessary angle) of the second portion 48 required to fly the snow to be thrown to the marker 90 are calculated (step S207). As described above, since there is a correlation between the vertical orientation of the second portion 48 and the snow throwing distance, the controller 78 is provided with data on the correlation between the vertical orientation of the second portion 48 and the snow throwing distance. By storing it, it is possible to calculate the vertical direction of the second portion 48 required to fly the snow to be thrown to the marker 90 based on the distance from the rotation axis A of the chute 44 to the marker 90.

The controller 78 moves the second portion 48 up and down based on the vertical orientation of the second portion 48 required to fly the snow to be thrown to the marker 90 and the current vertical orientation of the second portion 48. It is determined whether or not it is necessary to correct the direction (step S209), and if it is necessary to correct it, the process proceeds to step S211. If it is not necessary to correct it, the process returns to step S3. For example, the controller 78 corrects if the vertical orientation of the second portion 48, which is necessary to fly the snow to be thrown to the marker 90, and the current vertical orientation of the second portion 48 match. Judge that it is not necessary. Further, if the vertical direction of the second portion 48 required to fly the snow thrown to the marker 90 is not within the movable range of the second portion 48, the controller 78 is in the vertical direction of the second portion 48. Judge that it is not necessary to correct the orientation. On the other hand, the controller 78 does not match the vertical orientation of the second portion 48, which is necessary for flying the snow to be thrown to the marker 90, with the current vertical orientation of the second portion 48, but the snow is thrown. If the vertical orientation of the second portion 48 required to fly the snow to the marker 90 is within the movable range of the second portion 48, it is necessary to correct the vertical orientation of the second portion 48. Judge.

In step S211 the controller 78 determines whether or not the vertical orientation of the second portion 48 can be corrected, and if it can be corrected, the process proceeds to step S213, and if it cannot be corrected, the process proceeds to step S301. For example, when the auger 18 is driven (when the process proceeds from step S15 to step S211), when the controller 78 swings the second portion 48 in the vertical direction within the movable range, the target snow throwing place and the actual snow throwing place If it is possible to eliminate the deviation of the snow throwing distance from the above, it is determined that the vertical orientation of the second portion 48 can be corrected. On the other hand, if the controller 78 cannot eliminate the deviation of the snow throwing distance even if the second portion 48 is swung in the vertical direction within the movable range, the controller 78 corrects the vertical orientation of the second portion 48. Judge that it cannot be done. Further, when the auger 18 is not driven (when the process proceeds from step S209 to step S211), the vertical direction of the second portion 48 required to fly the snow to be thrown to the marker 90 is the second portion 48. Since it is within the movable range of, the controller 78 determines that the vertical orientation of the second portion 48 can be corrected.

If the vertical orientation of the second portion 48 can be corrected, the controller 78 swings the second portion 48 upward or downward while keeping the first warning lamp 74 turned off (step S213). The controller 78 determines whether or not to swing the second portion 48 upward (step S215), and if the second portion 48 is to swing upward, the process proceeds to step S217 and the second portion 48 is moved upward. In the case of not swinging to the lower side, that is, swinging downward, the process proceeds to step S219. For example, when the auger 18 is being driven, the controller 78 is the first when the actual snow throwing place is on the front side of the target snow throwing place (the snow throwing distance is small) when viewed from the rotation axis A of the chute 44. If it is determined that the second part 48 is to be swung upward and the actual snow throwing place is behind the target snow throwing place (the snow throwing distance is large), the second part 48 is swung downward. Judge. Further, when the auger 18 is not driven, the controller 78 has a second portion 48 when the second portion 48 faces downward with respect to the direction required to fly the snow to be thrown to the marker 90. Is determined to swing upward, and when the second portion 48 faces upward, it is determined to swing the second portion 48 downward.

In step S217, the controller 78 drives the second motor 60 to swing the second portion 48 upward by a necessary amount from 0 degrees to 2 degrees, and returns to step S3. In step S219, the controller 78 drives the second motor 60 to swing the second portion 48 downward by a required amount from 0 degrees to 2 degrees, and returns to step S3. When the second portion 48 is to be swung more than twice, the processes up to step S217 or step S219 are repeated.

If the vertical orientation of the second portion 48 cannot be corrected when the auger 18 is driven in step S211 the controller 78 turns on the second warning lamp 76 (step S301) (see FIG. 8), and the auger 18 is engaged. Performs the process of adjusting the load.

When adjusting the load applied to the auger 18 with reference to FIG. 8, first, the controller 78 determines whether or not the actual snow throwing place is behind the target snow throwing place when viewed from the rotation axis A of the chute 44. Is determined (step S303). If the actual snow throwing place is on the back side of the target snow throwing place, the process proceeds to step S305, and if the actual snow throwing place is on the front side of the target snow throwing place, the process proceeds to step S307. That is, the controller 78 determines whether or not the snow thrown is flying too much with respect to the target snow throwing place, and if the snow thrown is flying too much, the process proceeds to step S305, and the snow thrown is removed. If the target snowfall location has not been reached, the process proceeds to step S307.

When the snow thrown is too much for the target snow throwing place, the controller 78 lowers the rotation speed of the engine 26 while maintaining the vehicle speed of the snowplow 10, that is, maintains the load applied to the auger 18. While reducing the number of revolutions of the auger 18 and the impeller, the snow throwing distance is reduced.

First, the controller 78 grasps the vehicle speed of the snowplow 10 based on the detection result of the vehicle speed sensor 40 (step S305), and grasps the rotation speed of the engine 26 based on the detection result of the engine tachometer 30 (step S309).

Then, the controller 78 drives the electronic governor 96 to close the throttle of the engine 26 once (step S311), and lowers the rotation speed of the engine 26. The controller 78 grasps the rotation speed of the engine 26 after the rotation speed decreases based on the detection result of the engine tachometer 30 (step S313), and the rotation speed of the engine 26 in step S313 is the rotation speed of the engine 26 in step S309. On the other hand, it is determined whether or not the rotation speed has decreased by 100 rpm or more (step S315). The controller 78 returns to step S311 if the rotation speed of the engine 26 has not decreased by 100 rpm or more, closes the throttle of the engine 26 once more, and proceeds to step S317 if the rotation speed of the engine 26 has decreased by 100 rpm or more.

When the rotation speed of the engine 26 decreases by 100 rpm or more, the controller 78 grasps the vehicle speed of the snowplow 10 that has decelerated as the rotation speed of the engine 26 decreases (step S317) based on the detection result of the vehicle speed sensor 40. A return value for returning to the vehicle speed before deceleration (vehicle speed in step S305) is calculated (step S319). For example, when the speed changes from 3 km / h to 1 km / h, the speed is restored to the speed before deceleration by increasing the speed by 2 km / h, so that the return value is 2 km / h.

Based on the calculated return value, the controller 78 drives the transmission motor 28 to increase the speed of the snowplow 10 (step S321) in order to return to the vehicle speed before deceleration (vehicle speed in step S305), and the vehicle speed sensor 40 Based on the detection result, the vehicle speed of the snowplow 10 after speed increase is grasped (step S323). The controller 78 determines whether or not the vehicle speed of the snowplow 10 has returned to the vehicle speed before deceleration (step S325), and if not, returns to step S321 to further increase the speed of the snowplow 10 and return. If so, the process proceeds to step S327.

When the vehicle speed of the snowplow 10 has returned to the vehicle speed before deceleration, the controller 78 determines whether the rotation speed of the engine 26 is 1800 rpm or less (step S327), and if it is not 1800 rpm or less, the controller 78 proceeds to step S3. return. When the rotation speed of the engine 26 is 1800 rpm or less, the controller 78 turns on the first warning lamp 74 because it is difficult to further reduce the rotation speed of the engine 26 to reduce the snow throwing distance. (Step S329), the warning buzzer 82 is sounded (step S331), and the switch 70 is turned off (step S333). Then, the controller 78 turns off the operation lamp 72 (step S19), and automatically tracks the target snow throwing place and ends the control of throwing snow.

If the snow thrown in step S303 has not reached the target snow throwing location, the controller 78 decelerates the snowplow 10 to reduce the load on the auger 18 and increase the rotation speed of the engine 26, that is, the auger 18. The snow throwing distance is increased by reducing the load applied to the auger 18 and increasing the rotation speed of the auger 18 and the impeller.

First, the controller 78 grasps the rotation speed of the engine 26 based on the detection result of the engine tachometer 30 (step S307), and determines whether or not the rotation speed of the engine 26 is 3400 rpm or less (step S335).

If the rotation speed of the engine 26 is 3400 rpm or less, the controller 78 grasps the vehicle speed of the snowplow 10 based on the detection result of the vehicle speed sensor 40 (step S337), drives the speed change motor 28, and decelerates the snowplow 10. (Step S339).

The controller 78 grasps the vehicle speed of the snowplow 10 after deceleration based on the detection result of the vehicle speed sensor 40 (step S341), and the vehicle speed of the snowplow 10 before deceleration (vehicle speed in step S337) and the snowplow 10 after deceleration. The deceleration value is calculated based on the vehicle speed (vehicle speed in step S341) of (step S343). For example, when the speed changes from 3 km / h to 1 km / h, the speed is reduced by 2 km / h, so that the deceleration value is 2 km / h.

The controller 78 determines whether or not the snowplow 10 has decelerated by 0.2 km / h or more based on the calculated deceleration value (step S345). If the snowplow 10 has not decelerated by 0.2 km / h or more, the controller 78 returns to step S339 to further decelerate the snowplow 10. If the snowplow 10 is decelerating by 0.2 km / h or more, the controller 78 returns to step S307 to grasp the rotation speed of the engine 26, and again in step S335 whether the rotation speed of the engine 26 is 3400 rpm or less. to decide.

If the rotation speed of the engine 26 is 3400 rpm or less, the controller 78 proceeds to step S337 again, and if the rotation speed of the engine 26 is not 3400 rpm or less, the rotation speed of the engine 26 is further increased to increase the snow throwing distance. Is difficult, so the process returns to step S3.

In this way, the correction of the snow throwing direction and the snow throwing distance is automatically performed during the snow removal work, so that the operator can perform the shift lever 68, the snow throwing direction adjusting lever (not shown) and the snow throwing during the snow removing work. There is no need to operate the distance adjustment lever (not shown), which simplifies snow removal work.

According to such a snowplow 10, first, a target snow throwing place (marker 90), which is a target place of snow thrown from the snow throwing unit 20, is recognized. Then, the actual snow-throwing place, which is the place where the snow actually thrown falls, is detected from the snow-throwing unit 20, and the deviation between the target snow-throwing place and the actual snow-throwing place is detected, and based on the detection result. Snow throwing from the snow throwing unit 20 is controlled. As a result, even if the snow remover 10 moves during the snow removal work, the target snow throwing place can be automatically tracked and snow can be thrown from the snow throwing unit 20 to the target snow throwing place. Therefore, it is possible to automatically throw snow at a desired position in any area without the need for preparation in advance.

The horizontal orientation of the chute 44 and / or the vertical orientation of the chute 44 is controlled based on the deviation between the detected target snowfall location and the actual snowfall location. Thereby, the left and right snow throwing directions and / or the snow throwing distance from the snow throwing portion 20 (rotation axis A of the chute 44) can be adjusted.

By controlling the lateral orientation of the chute 44 when the auger 18 is not driven and aiming the chute 44 at the target snow throwing place in advance, the chute 44 is targeted immediately after the start of the subsequent snow throwing by the auger 18 drive. Snow can be thrown smoothly toward the snow throwing place.

The first warning lamp 74 and the warning buzzer 82 can notify the operator that the orientation of the chute 44 in the left-right direction cannot be corrected.

By controlling the vertical orientation of the chute 44 in advance according to the target snow throwing location recognized when the auger 18 is not driven, the target from the chute 44 immediately after the start of the subsequent snow throwing by the auger 18 drive. Snow can be thrown smoothly toward the snow throwing place.

There is a correlation between the load applied to the auger 18 and the snow throwing distance from the snow throwing section 20 during snow removal, and the larger the load applied to the auger 18, the shorter the snow throwing distance from the snow throwing section 20. .. Therefore, when the vertical orientation of the chute 44 cannot be corrected, the snow throwing distance from the snow throwing portion 20 can be easily adjusted by adjusting the load applied to the auger 18.

There is a correlation between the moving speed of the snowplow 10 during snow removal and the load applied to the auger 18 during driving. If the moving speed of the snowplow 10 decreases, the resistance of snow to the auger 18 decreases, and the auger The load applied to 18 becomes smaller. Therefore, the load applied to the auger 18 can be easily adjusted by adjusting the moving speed of the snowplow 10.

In the above-described embodiment, even if the chute 44 does not face the marker 90 when the auger 18 is not driven, if the marker 90 is within the movable range of the first portion 46, the first portion 46 is oriented in the left-right direction. Has been described when it is determined that it is necessary to correct, but the present invention is not limited to this. For example, if the chute 44 does not face the marker 90 when the auger 18 is not driven, it may be determined that the orientation of the first portion 46 in the left-right direction needs to be corrected. In this case, if the marker 90 is within the movable range in the left-right direction of the first portion 46, it is determined that correction is possible, and if the marker 90 is not within the movable range in the left-right direction of the first portion 46, it is determined that correction is not possible. Therefore, it can be easily determined whether or not the orientation of the first portion 46 in the left-right direction can be corrected.

In the above-described embodiment, the vertical orientation of the second portion 48 required to fly the snow to be thrown to the marker 90 and the current orientation of the second portion 48 coincide with each other when the auger 18 is not driven. Even if it is not, if the vertical direction of the second part 48 required to fly the snow to be thrown to the marker 90 is within the movable range of the second part 48, the vertical direction of the second part 48 is set. The case where it is determined that correction is necessary has been described, but the present invention is not limited to this. For example, when the auger 18 is not driven, if the vertical orientation of the second portion 48 required to fly the snow to be thrown to the marker 90 does not match the current orientation of the second portion 48, It may be determined that the vertical orientation of the second portion 48 needs to be corrected. In this case, the second part depends on whether or not the vertical direction of the second part 48 required to fly the snow to be thrown to the target snow throwing place is within the vertical movable range of the second part 48. It can be easily determined whether or not the vertical orientation of 48 can be corrected.

In the above-described embodiment, the case where the marker sensors 84a and 84b for capturing the radio waves from the marker 90 are used has been described, but the present invention is not limited thereto. For example, a marker that generates infrared rays may be used, and the marker sensor may recognize the target snowfall location by capturing the infrared rays from the marker. Further, a millimeter-wave radar may be used as the marker sensor, and the target snowfall location may be recognized by the marker sensor emitting a radio wave and capturing the radio wave reflected by the marker sensor.

In the above-described embodiment, the case where the controller 78 and the marker sensors 84a and 84b correspond to the recognition unit has been described, but the present invention is not limited thereto. For example, the controller 78 and the cameras 86a and 86b may correspond to the recognition unit. In this case, if a reflective marker is used, the marker reflects the light when the light is applied to the marker from the snowplow 10, so that the cameras 86a and 86b can easily capture the marker and the target snow throwing location. Can be easily recognized. Further, if a light emitting marker is used, the marker emits light, so that the cameras 86a and 86b can easily capture the marker, and the target snowfall location can be easily recognized.

In the above-described embodiment, the case where the controller 78 and the cameras 86a and 86b correspond to the location detection unit has been described, but the present invention is not limited thereto. For example, the controller 78 and the marker sensor may correspond to the location detection unit. In this case, if the above-mentioned millimeter-wave radar is used as a marker sensor, the snowy mountain formed by the snow thrown can be easily captured, so that the actual snow throwing place can be easily detected.

In the above-described embodiment, the case where the position of the marker 90 is specified as the target snow throwing place has been described, but the present invention is not limited to this. For example, the position near the marker may be specified as the target snowfall location. In this case, it is possible to prevent the marker from being buried by the thrown snow and becoming difficult to recognize.

In the above-described embodiment, the case where one marker 90 is used has been described, but the present invention is not limited thereto. For example, a plurality of markers having a communication function with the snowplow 10 may be used, and the operator may switch the target snowplow location (marker). Further, two markers may be used to throw snow between the markers, or three markers may be used so that the snow throwing location can be freely set.

In the above-described embodiment, the case where the marker 90 is used has been described, but the present invention is not limited thereto. For example, an existing target such as a tree may be used instead of the marker 90. In this case, if the above-mentioned millimeter-wave radar is used as a marker sensor, the target can be easily captured, so that the target snowfall location can be easily recognized.

When the auger 18 is not driven, the auger 18 may not be driven when there is a person or the like between the marker 90 and the marker sensors 84a and 84b. Further, when the auger 18 is being driven, the auger 18 may be stopped when there is a person or the like between the marker 90 and the marker sensors 84a and 84b. In this case, it is possible to prevent the thrown snow from accidentally hitting a person or the like.

In the above-described embodiment, the first portion 46 and the second portion 48 are swung by a required amount between 0 degrees and 2 degrees in one process (steps S119, S121, S217, S219), 2 The case where the process is repeated in the case of swinging more than the degree is described, but the present invention is not limited to this. For example, the first portion 46 and the second portion 48 may be swung by a required amount between 0 degrees and an arbitrary angle in one process.

In the above-described embodiment, the case where the electronic governor 96 is driven and the throttle of the engine 26 is closed once to reduce the rotation speed of the engine 26 (step S311) has been described, but the present invention is not limited to this. For example, the throttle of the engine 26 may be closed by an arbitrary angle.

In the above-described embodiment, the case of determining whether or not the rotation speed of the engine 26 has decreased by 100 rpm or more has been described (step S315), but the present invention is not limited to this. For example, it may be determined whether or not the rotation speed of the engine 26 has dropped by an arbitrary value or more.

In the above-described embodiment, the case of determining whether or not the rotation speed of the engine 26 is 1800 rpm or less (step S327) has been described, but the present invention is not limited to this. For example, it may be determined whether or not the rotation speed of the engine 26 is equal to or less than an arbitrary value.

In the above-described embodiment, the case of determining whether or not the rotation speed of the engine 26 is 3400 rpm or less (step S335) has been described, but the present invention is not limited to this. For example, it may be determined whether or not the rotation speed of the engine 26 is equal to or less than an arbitrary value.

In the above-described embodiment, the case of determining whether or not the snowplow 10 has decelerated by 0.2 km / h or more has been described (step S345), but the present invention is not limited to this. For example, it may be determined whether or not the snowplow 10 has decelerated by an arbitrary value or more.

10 Snowplow 18 Auger 20 Snow thrower 28 Speed change motor 44 Shoot 52 1st sensor 54 1st motor 58 2nd sensor 60 2nd motor 74 1st warning lamp 76 2nd warning lamp 78 Controller 82 Warning buzzer 84a, 84b Marker sensor 86a, 86b camera

Claims (9)

The snow-throwing part and the snow-throwing part
A recognition unit that recognizes the target snowfall location, which is the target snowfall location,
A place detection unit that detects the actual snow throwing place, which is the actual snow throwing place from the snow throwing part,
A deviation detection unit that detects a deviation between the target snowfall location and the actual snowfall location,
A snowplow including a control unit that controls snow throwing from the snow throwing unit based on the detection result of the deviation detecting unit. The snow throwing portion includes a chute that can swing in the left-right direction and the up-down direction.
The snowplow according to claim 1, wherein the control unit controls the horizontal direction and / or the vertical direction of the chute based on the detection result of the deviation detection unit. An auger that collects snow when driving,
Further including a first detection unit for detecting the left-right direction of the chute.
The control unit is based on the detection result of the first detection unit when the auger is not driven and the target snow throwing location recognized by the recognition unit, in the left-right direction of the chute at the start of driving the auger. The snowplow according to claim 2, which controls the orientation of the snowplow. The first determination unit for determining whether or not the orientation of the shoot in the left-right direction can be corrected, and
The snowplow according to claim 2 or 3, further comprising a notification unit for notifying when the orientation of the chute in the left-right direction cannot be corrected. The first determination unit determines whether or not the lateral orientation of the chute can be corrected based on the movable range of the chute in the left-right direction and the target snow throwing location recognized by the recognition unit. The snowplow according to claim 4. An auger that collects snow when driving,
Further includes a second detection unit that detects the vertical orientation of the chute, and includes a second detection unit.
The control unit moves the chute up and down at the start of driving the auger based on the detection result of the second detection unit when the auger is not driven and the target snow throwing location recognized by the recognition unit. The snowplow according to claim 2, which controls the orientation of the snowplow. An auger that collects snow when driving,
A second determination unit for determining whether or not the vertical orientation of the chute can be corrected, and
The snowplow according to claim 2, further comprising a load adjusting unit for adjusting a load applied to the auger during driving when the vertical orientation of the chute cannot be corrected. The snowplow according to claim 7, wherein the load adjusting unit adjusts the load applied to the auger by adjusting the moving speed of the snowplow. The second determination unit determines whether or not the vertical orientation of the chute can be corrected based on the vertical movable range of the chute and the target snow throwing location recognized by the recognition unit. The snowplow according to claim 7 or 8.

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