JPH03228907A - Automatic snow-removing vehicle - Google Patents

Abstract

PURPOSE:To enhance the safety by providing an elevating mechanism of a snow- removing device between the supporting table on the machine body and the snow- removing device, and fitting a guide magnetic sensor so as to be capable of being elevated or lowered, and further, by providing a guiding device which travels along a magnetic marker by steering control. CONSTITUTION:A machine body 1 is provided with a snow-removing device 2, an elevating mechanism 3, a traveling mechanism 4, a driver's seat 5, and a vehicle guiding device 6. And the snow-removing device 2 is provided with an auger device 21, a snow-throwing blower 23, and a sledge 24, and the snow-removing device 2 is supported by the elevating mechanism so as to be capable of being elevated or lowered with respect to the machine body 1. Further, a guiding magnetic sensor 61 is elevatably fitted to a supporting table 18 so that automatic steering control can be enabled by a vehicle guiding device 6. In the case of automatic operation in which steering control is carried out by the vehicle guiding device 6, the sensor 61 is kept in the operating position where it has been lowered by a hydraulic cylinder 63, and while detecting a magnetic marker 11, steering control is carried out, so that the snow- removing vehicle can be automatically guided and traveled. Further, snow 15 is cut through and scraped up by means of the auger device 21, and is thrown out through a chute 22 by a blower 23.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a snowplow that automatically guides the snowplow along a guiding magnetic marker on a road surface.

[Prior Art] In regions with heavy snowfall, snowplows are an essential tool for removing snow accumulated on roads and sidewalks. Such a snowplow is an integrated vehicle that includes a snow removal device that has functions for cutting and shoveling snow and functions for throwing snow, a traveling mechanism for moving the snow removal device, a driver's cab for driving, etc. A rotary type with a special function is widely used.

In order to take advantage of these functions, two workers are usually responsible for driving the vehicle and controlling the snow removal equipment independently. This is the current situation.

However, in this way, assigning two people to one snowplow takes up a lot of man-hours, and with labor costs rising these days, it becomes a factor that increases the cost of snow removal. .

In addition, with conventional snowplows, when there is a large amount of snow, it is impossible to grasp the road surface conditions under the snow (this can cause the vehicle to run onto the shoulder of the road or fall into roadside ditches, rivers, or fields). In order to deal with such problems, it is possible to use a vehicle guidance system that has already been put into practical use in golf carts, etc.However, with this vehicle guidance system, To detect the installed magnetic force, a certain height (
It is extremely difficult to use it directly in a snowplow, especially when removing snow from snowy roads where there are obstacles such as snow or stones on the road surface. There was sex.

[Problems to be Solved by the Invention] A technical problem of the present invention is to eliminate such conventional drawbacks, reduce the workload for driving a traveling vehicle during snow removal work, and make it safer and easier for human workers. To provide an automatic snowplow vehicle capable of reliably performing snow removal work.

[Means for Solving the Problems] An automatic snowplow of the present invention for solving the above problems includes a snow removal device for scraping and removing snow on the road surface, and a traveling mechanism for moving the machine body. and a driver's cab for driving the traveling mechanism and operating the snow removal device, the snow removal vehicle having a height adjustment function for the snow removal device between the support stand on the machine body and the snow removal device. Equipped with a lifting mechanism, a guiding magnetic sensor for detecting magnetic markers placed on the road surface is attached to the aircraft so that it can be moved up and down by operation from the driver's cab, and the driving mechanism is steered by the detection output of the magnetic sensor. The vehicle is characterized by being equipped with a vehicle guidance device that controls the snowplow to travel along magnetic markers.

In addition, the above-mentioned guidance magnetic sensor is attached to the aircraft body so that it can be raised and lowered, and a bumper with a function of detecting obstacles moving towards the above-mentioned magnetic sensor is provided under the vehicle, and obstacles are detected from this bumper. The output signal is used to raise the height of the magnetic sensor to a retracted position to avoid contact with obstacles.

[For use] In the case of automatic driving in which steering is controlled by a vehicle guidance system on a snowy road, the guidance magnetic sensor is held in a lowered operating position, or its height is adjusted according to the snow surface. While driving the snowmobile. As a result, the guidance magnetic sensor installed on the underside of the snowplow detects magnetic markers placed along the road surface, and the steering is controlled based on the detection output, so the snowplow automatically follows the markers. be guided by. At the same time, the snow removal equipment cuts and shovels the snow on the road surface and removes it from the road surface.

In this way, if the snowplow is automatically guided along the markers, there is no risk of the snowplow deviating from the marker-laid route even when the road surface condition under snow cannot be visually grasped, and it is easier to drive. The operational burden on personnel is reduced except for starting, stopping, and speed setting of the vehicle, and there is no need to operate the steering wheel, so the snowplow has the ability to move the snow removal device up and down depending on the snow situation on the road surface, and operate the auger. All you have to do is deploy personnel to handle rotation, starting, stopping, and speed control.
It becomes possible to reduce the number of personnel from the conventional two to one.

In addition, a magnetic sensor is attached to the body of the snowplow, so that the height of the magnetic sensor can be lowered to an operating position for detecting magnetic markers, or maintained at an elevated retracted position for driving on general roads. This prevents the magnetic sensor from being damaged or impacted by obstacles on the road.

On the other hand, a bumper with the function of detecting obstacles moving toward the magnetic sensor is installed under the vehicle, and a signal output from the bumper is used to adjust the height of the magnetic sensor to avoid contact with the obstacle. When the magnetic sensor is raised to the position, the magnetic sensor is instantly raised to the retracted position to avoid contact with the obstacle based on the output signal, thereby avoiding a collision between the magnetic sensor and the obstacle.

[Example] Embodiments of the present invention will be described in detail below with reference to the drawings.

(Embodiment 1) FIG. 1 shows the configuration of an automatic snowplow that is a first embodiment of the present invention, and FIG. 2 shows the configuration of a guidance control section of the automatic snowplow. The automatic snowplow in this embodiment has a body 1 that includes:
It is equipped with a snow removal device 2, a lifting mechanism 3 for adjusting the height of the snow removal device 2, a traveling mechanism 4 for moving the machine body 1, and a driver's cab 5 on which personnel sit and perform driving operations, and further,
The snowplow is equipped with a vehicle guiding device 6 that detects magnetic markers (for example, ferrite markers) 11 placed on the road surface 10 and guides the snowplow along the markers.

The snow removal device 2 includes an auger device 21 for scraping and shoveling snow 15 on the road surface 10, a blower device 23 for throwing the shoveled snow through a chute 22, and a blower device 23 for positioning the auger device 21. Equipped with sled 24,
The elevating mechanism 3 for adjusting the height of the snow removal device 2 is
With a plurality of cylinders 31, 32 and a dorkrondo 33 installed between the support stand 18 on the machine body 1 and the snow removal device 2,
The snow removal device 2 is supported so as to be movable up and down relative to the body 1. The traveling mechanism 4 for moving the snow removal device 2 together with the machine body 1 is a traveling mechanism similar to that of a boat fishing snow removal vehicle, but in relation to the vehicle guidance device 6, it automatically moves as described below. This also makes it possible to control the steering. Further, the driver's cab 5 is configured so that personnel can ride in it and manually operate the traveling mechanism 4 and the snow removal device 2, but it is also configured to allow automatic operation in which steering is automatically controlled by the vehicle guidance device 6. In this case, it is only necessary to be able to perform driving operations that mainly include starting, stopping, and speed setting of the traveling mechanism.

The vehicle guidance device 6 connects a guidance magnetic sensor 61 for detecting the magnetic marker 11 placed on the road surface IO to the support base 18 of the vehicle body 1 via a hydraulic cylinder 63 driven by a hydraulic drive device 62. It is installed so that it can be raised and lowered. This magnetic sensor 61 is configured such that a height adjustment signal is outputted from a control section (not shown) to a hydraulic drive device 62 by manual operation in the driver's cab 5, thereby operating a hydraulic cylinder 63 to raise and lower the magnetic sensor 61. In the case of automatic driving in which steering is automatically controlled by the vehicle guidance device 6, the magnetic sensor 61 is connected to the hydraulic cylinder 63.
It is held in the lowered operating position, and when automatic operation is not performed, it is held in the raised retracted position.

Examples of the magnetic sensor 61 include rNEC technical report,
Vol, 41. No, 1. P, 78-80.1988J
It is possible to use a "ferrite sensor for guiding automatic guided vehicles" as disclosed in . This ferrite sensor uses a magnetic field generated from a magnetic coil to mark the magnetic marker 11.
is magnetized, and the change in the magnetic field distribution is obtained as a voltage change using two sensing coils. As shown in FIG. 3, the characteristics of the output signal voltage with respect to the sensor position (lateral deviation with respect to the center line of the magnetic marker 11 as a reference) become more or less linear as the magnetic marker 11 is displaced from the center. The output signal is used to control the steering of a snowplow. That is, if the output signal from the sensor is greater than or less than 0, the steering motor is driven to perform steering control, and the snowplow is controlled so that the magnetic sensor 61 returns to the center of the magnetic marker. .

In the case of automatic driving in which the steering is controlled by the vehicle guidance device 6, the automatic snowplow having the above configuration maintains the guidance magnetic sensor 61 in a lowered operating position by the hydraulic cylinder 63, or adjusts the steering according to the snow surface. While adjusting its height, the magnetic sensor 61 detects the magnetic marker 11 laid along the road surface IO, and the steering is controlled based on the detection output, so that the snowplow can be moved to the marker 11. Automatically guide the vehicle along the route. At the same time, the snow 15 on the road surface 10 is broken down and shoveled by the auger device 21, and the shoved snow is thrown through the snow 22 by the blower device 23.

In this way, when the snowplow is automatically guided along the marker 11, the snowplow can follow the marker laying route even when there is a large amount of snow and the road surface condition cannot be visually grasped. veering off the road and running onto the shoulder of the road,
There is no risk of falling into roadside ditches, rivers, or fields.The operating load on the driver is reduced, except for starting, stopping, and speed setting of the vehicle, and there is no need to perform all steering wheel operations. Therefore, the main task of personnel is to control the snow removal equipment, and the snow removal vehicles are equipped with personnel who are responsible for moving the snow removal equipment up and down according to the snow conditions on the road, and for controlling the rotation, starting, stopping, and speed of the auger. This makes it possible to reduce the number of personnel from the conventional two to one.

In addition, when automatic driving by the vehicle guidance device 6 is not performed,
Alternatively, during general driving, the snow removal device 2 is raised by driving the cylinders 31 and 32 of the lifting mechanism 3 as necessary, and the magnetic sensor is held at the highest retracted position by the hydraulic cylinder 63, so that it can move at high speed on the road. This prevents the magnetic sensor from coming into contact with or colliding with obstacles such as snow or stones on the road surface, resulting in fluctuations in operation or damage, even when the vehicle is traveling on the road.

(Embodiment 2) FIG. 4 shows the configuration of an automatic snowplow according to a second embodiment of the present invention, and FIG. 5 shows the configuration of a guidance control section in the automatic snowplow. This embodiment differs from the first embodiment in that a bumper 25 having a pressure sensor inside is provided behind the sled 24 in the snow removal device 2, and the hydraulic drive device 62 is instantaneously activated based on the output of the pressure sensor. By driving the magnetic sensor 61, the hydraulic cylinder 63 raises the magnetic sensor 61 to a retracted position where it avoids contact with an obstacle, thereby making it possible to avoid a collision between the magnetic sensor 61 and the obstacle. The pressure sensor may be of the optical fiber type, which monitors the attenuation of light passing through the optical fiber due to external pressure, or may consist of a simple mechanical switch.

The bumper 25, which has a built-in pressure sensor that detects such external pressure, is installed at the same height as or slightly higher than the height of the sled 24 installed directly below the snow removal device in order to specify the depth at which the snow is to be cut down. do.

When an obstacle such as a large stone passes over the sled 24 during snow removal, its presence is detected by the external pressure acting on the bumper 25 and a signal is output, and the control section (not shown) instantly controls the hydraulic pressure. The hydraulic cylinder 6 is driven by the drive device 62.
3 to raise the magnetic sensor 61 to a retracted position that is sufficiently higher than the height of the bumper 25. As a result, a collision between the magnetic sensor 61 and an obstacle can be avoided in real time.

The magnetic sensor 61 is returned to its original position after a certain period of time (several hundred m5 ec to several 5 ec) by a signal from the control unit. 61 operates stably again, and stable snow removal driving can be performed with guidance by the magnetic marker 11. That is, it becomes possible to protect the magnetic sensor 61 in real time.

5. Other configurations and operations are substantially the same as in the first embodiment, so the same or corresponding parts are given the same reference numerals as in the first embodiment and their explanation will be omitted.

[Effects of the Invention] As described above in detail, according to the present invention, by using the snowplow as an automatic snowplow that is guided to travel along magnetic markers, the load on the snowplow operator can be significantly reduced. It is now possible to safely drive on snowy roads and remove snow with fewer workers, and by adjusting the height of the magnetic sensor, it is possible to safely drive on snowy roads and remove snow when driving at high speeds on general roads or on snowy roads. Even if there is an obstacle that moves under the vehicle toward the magnetic sensor, safety is ensured against damage to the magnetic sensor.

Therefore, snow removal work can be carried out with low workload and high safety.

6

[Brief explanation of drawings]

FIG. 1 is a side view showing the configuration of an automatic snowplow according to the first embodiment of the present invention, FIG. 2 is a front view of main parts showing the configuration of the guidance control section in the above embodiment, and FIG. 3 is a view of the magnetic sensor. Graph showing the characteristics, FIG. 4 is a side view showing the configuration of the automatic snowplow according to the second embodiment of the present invention, and FIG. FIG. 3 is a front view of main parts showing the relationship. 1. Airframe, 2.. 3. Lifting mechanism, 4.. 5. Cab, 6.. lO.. Road surface, 11.. 18.. Support base, 25.. 61.. Magnetic sensor for guidance. . Snow removal equipment, traveling mechanism, vehicle guidance system, magnetic marker,

Claims (1)

[Scope of Claims] 1. The aircraft body includes a snow removal device for scraping and removing snow from the road surface, a traveling mechanism for moving the aircraft body, and an operation for operating the traveling mechanism and operating the snow removal device. A snowplow equipped with a stand, the snowplow is equipped with an elevating mechanism between the support stand on the machine body and the snowplow device to adjust the height of the snowplow device, and is configured to detect magnetic markers laid on the road surface. A vehicle guidance system in which a magnetic sensor for guidance is attached to the aircraft body so that it can be moved up and down by operation in the driver's cab, and the driving mechanism is steered by the detection output of the magnetic sensor to guide the snowplow along a magnetic marker. An automatic snowplow equipped with: 2. A snow removal device in which the aircraft body is equipped with a snow removal device for scraping and removing snow from the road surface, a traveling mechanism for moving the aircraft, and a driver's cab for operating the traveling mechanism and the snow removal device. The vehicle is equipped with an elevating mechanism for adjusting the height of the snow removal device between a support base on the body and the snow removal device, and a guidance magnetic sensor for detecting a magnetic marker laid on the road surface. Equipped with a vehicle guidance device that is attached to the aircraft body so that it can be raised and lowered, and guides the snowplow along the magnetic marker by controlling the steering of the traveling mechanism using the detection output of the magnetic sensor, and the magnetic sensor is installed under the vehicle. A bumper is installed that has the function of detecting obstacles moving toward the vehicle, and a signal output from the bumper when the obstacle is detected is sent to the height of the magnetic sensor at a retreat position to avoid contact with the obstacle. An automatic snowplow characterized by having a signal for raising the vehicle.