JPH07286312A - Method for automatically controlling right and left edge pressure of vibration-sensitive type and snow plow using the method - Google Patents

Abstract

PURPOSE:To facilitate operation, by electrically treating vibrating conditions detected by a vibration sensor at respective right and left sides and independently controlling the right and left edge pressure in accordance with an estimated result of the clearing condition of snow. CONSTITUTION:A blade structure provided with edges at the lower end is arranged at the underface of chassis of a truck to clean snow away on a road. Vibration sensors S, S are equipped at both right and left ends of the blade structure. The detected vibration is electrically converted to transmit it to an automatically snow-clearing controller C. Next, the absolute value of respective vibration figures measured in respective right and left sensors S, S is adopted from the vibration pattern of the blade structure detected by the sensor S and the maximum figure is compared with a threshold empirically defined and it is discriminated whether the snow on the road is completely removed or not. The sensor S transmits control signals and the fluid pressure actuated on fluid pressure cylinders 14, 14 is varied by electro magnetic proportional pilot relief valves V1, V1 and balancing valves V2, V2 to change the grounding pressure of the edges.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for automatically controlling the ground contact pressure at the edge so that the asphalt road surface is completely exposed when snow is removed from the road, and an automatically controlled snow removing vehicle using this method. .

[0002]

2. Description of the Related Art Recently, the number of snowplow operators tends to be insufficient, and along with this, the number of unskilled elderly operators is also increasing. Among such unskilled operators,
Some of them cannot perform high-level snow removal work. For example, in order to completely remove snow on a road surface, a snow removing member such as a blade mounted on a snow removing vehicle must be grounded on the road surface with a predetermined pressure to expose the asphalt surface. However,
The pressure required to expose this asphalt surface changes depending on conditions such as whether or not the snow on the road surface has been compacted, so an unskilled operator may not be able to adjust the pressure sufficiently and ideal snow removal may not be possible. .

If such an operator is distracted by whether the asphalt surface is exposed or not, he or she may be distracted from the front and cause an accident.

[0004]

Therefore, in the present invention, it is a technical object to automatically adjust the ground pressure of the snow removing member so that anyone can easily operate the snow removing vehicle. To do.

[0005]

The means adopted by the present invention for solving the above problems will be described below. The edge pressing means capable of adjusting the ground contact pressure of the edge to the road surface and the edge vibration can be detected. A vibration sensor is provided independently on the left and right of the edge, and the vibration state detected by each of the left and right vibration sensors is electrically processed, and the processing result is compared with the empirical value to detect the current edge left and right edges. The snow removal state of each is estimated, and the pressing states of the left and right edge pressing means are changed according to the snow removal state estimation result to independently control the left and right edge pressures.

[0006] The way of vibration is different when the edge is in contact with the exposed asphalt surface and when the edge is in contact with the road surface where there is snow. Therefore, the edge pressure can be feedback-controlled by the above means so that the asphalt surface is exposed.

In order to electrically process the vibration state detected by the vibration sensor, a method of picking up only the maximum value of the vibration absolute value within a fixed time can be adopted. If this method is adopted, control can be performed with a very simple process.

The electrical processing and control may be performed by installing an automatic snow removal controller such as a microcomputer in the snow removal vehicle. Further, the edge pressing means may be composed of a fluid pressure cylinder that suspends and supports the snow removal grounding member having an edge on the snow removal vehicle body, and a fluid pressure supply mechanism that supplies fluid pressure to the fluid pressure cylinder. The vibration sensor may be an accelerometer. The snow removal grounding member refers to a member such as a blade or plow that removes snow by contacting the road surface.

[0009]

EXAMPLES The present invention will be described below based on examples.

A blade structure is arranged on the lower surface of the chassis of the truck T. This blade structure has an edge at the lower edge, and the edge is pressed against the road surface by a predetermined contact pressure under the control of the automatic snow removal controller C provided in the truck cab by the edge pressing means P described later, To remove the snow. Furthermore, vibration detectors S and S are installed at the left and right ends of this blade structure, and these vibration sensors S and S are
The detected vibration is converted into an electric signal and transmitted to the automatic snow removal controller C.

An accelerometer is used as the vibration sensor S. The vibration sensor S / S is connected to an automatic controller via a signal line and an AD converter, captures vibration transmitted from the edge to the end of the blade structure as acceleration, and converts the acceleration into an electric signal. And sends it to the automatic controller C.

Further, the automatic snow removal controller C employs a microcomputer, and based on the vibration pattern of the blade structure detected by the vibration sensor S, each of the left and right vibration sensors S is detected.
・ Obtain the absolute value of each vibration measured in S, and then
The maximum value of the vibration absolute value every 5 seconds is picked up for each of the left and right vibration sensors, and the maximum value is compared with an empirically determined threshold value to estimate whether or not the snow on the road has been completely removed. In other words, if the maximum vibration absolute value within a certain period of time is greater than the empirically determined threshold value, it is determined that the asphalt surface is exposed, and conversely, if it is less than the threshold value, it is determined that there is residual snow on the road surface (Fig. 2, see Figure 21).

Originally, in snow removal work by running a snow blower, the edge of the blade structure is pressed against the road surface, and the running of the truck causes the edge to rub against the road surface and vibrate. But,
When the snow is completely removed from the road surface and the edge rubs directly against the asphalt, the vibration is large, and conversely, when there is residual snow, the vibration is small. Therefore, as in the above method, the presence or absence of the exposure of the asphalt surface can be determined by capturing the edge vibration as the acceleration of the blade structure and determining the magnitude thereof. In the above judgment, the exposure of the asphalt surface is judged independently for the left and right edges by using the information from the left and right vibration sensors.

Then, the ground pressure at the edge is controlled based on the result of this judgment. The edge is pressed against the road surface by the action of the edge pressing means P, and by controlling the operating condition of the edge pressing means P, the control of the edge ground pressure is achieved. The edge pressing means P includes a parallel link, a clearance cylinder, a first fluid pressure cylinder, and a predetermined bracket that supports these. To describe this in detail, a pair of main brackets 16 and 16 which are horizontally arranged in a front right and rear left state are fixedly mounted on the lower surface of the chassis of the truck T, and the first fluid pressure cylinders 14 and 14 are horizontally arranged on the bracket. (See FIG. 7). And, to this bracket, parallel links 18 ・ 18 ・
The clearance cylinders 17 and 17 are connected via the ..., At the same time, the rod ends of the first fluid pressure cylinders 14 and 14 are
It is pivotally connected to 17 ・ 17 (see Fig. 8). Furthermore, after the pivots 15 and 15 are horizontally arranged on the cylindrical bodies 17 and 17 via brackets, the composite blade bracket 12 that holds a blade structure described later is pivotally supported on the pivots 15 and 15. It When the first fluid pressure cylinders 14 and 14 expand and contract, the substantially triangular link frame composed of the parallel link, the first fluid pressure cylinder, the cylinder and the main bracket is deformed, and the substantially triangular link frame The cylinders 17 located at the top move up and down. Then, the composite blade bracket 12 can be moved up and down as the cylinders 17 and 17 are moved up and down, and the blade structure can be moved up and down or pressed against the road surface with a predetermined ground pressure.

The first fluid pressure cylinder 14, 14
Are operated by the fluid pressures independently supplied to the left and right, so that the edge of the lower edge of the blade structure can be grounded with independent left and right pressures. That is, by applying a stronger fluid pressure to only the first fluid pressure cylinder 14 on the left side with the edge grounded, the ground pressure can be increased only on the left side of the edge. Left and right first fluid pressure cylinder 14, 14
The fluid pressure supplied to is controlled by electromagnetic proportional pilot relief valves V1 and V1 and balancing valves V2 and V2, which are arranged in independent left and right fluid conduits. These valves operate under the control of the automatic controller C via the DA converter. Therefore, when the automatic controller C issues an appropriate control signal, the fluid pressure applied to the fluid pressure cylinders 14, 14 changes, and the ground pressure at the edge changes.

Of course, the automatic controller C issues a control signal for valve operation based on the above-mentioned judgment of the presence or absence of the asphalt surface exposure. That is, when it is determined that there is residual snow on the left side of the edge, the valve is controlled so that the fluid pressure supplied to the left fluid pressure cylinder 14 is increased by a certain value. Nevertheless, if vibration is small on the left side of the edge and it is determined that there is snow, then a certain amount of
Increase the fluid pressure applied to the cylinder.

In the present invention, more effective snow removal control is realized by separately controlling the ground contact pressure at the time of snow removal on the left and right sides. For example, when the blade structure is constructed so as to project from the snow removing vehicle separately as in the present embodiment, it is possible to remove snow better by changing the left and right edge pressures.

In other words, the blade structure of this embodiment can be separately projected from the left and right sides of the snow removing vehicle. More specifically, the blade structure according to the present embodiment has a state in which two divided blade pieces 11 having a slide guide on the rear surface are placed slightly in front of the divided blade pieces to be positioned on the right side. With the above composite blade bracket
It is configured by being slidably arranged with respect to 12 (see FIG. 7). The lower edge of the blade piece becomes the edge. A second fluid pressure cylinder 13, 13 is installed between the left and right divided blade pieces 11, 11 and the composite blade bracket 12, respectively. When either one or both of the second fluid pressure cylinders 13 and 13 are extended, one or both of the blade pieces largely protrudes to the side of the snow removing vehicle. Conversely, the second fluid pressure cylinder 13 ・ 13
When the blade is degenerated, the protrusion of the blade piece becomes small.

Besides, on the upper part of the rear surface of the composite blade bracket 12 pivotally provided on the shaft 15, a link mechanism connecting the triangular plate 23 and the arc-shaped plate 25 and a separable joint to be described later, The rod ends of the third fluid pressure cylinder 24 are connected (see FIG. 10). This third fluid pressure cylinder
Since the bottom end of 24 is pivotally supported by the frame 26 taken out from the shaft, when the third fluid pressure cylinder 24 extends, the blade structure falls forward, and conversely, the third fluid pressure cylinder.
When 24 is retracted, the blade structure rises (see Figures 10 and 11). In addition, the separable joint includes a male mating member 21 fixed to the composite blade bracket 12 and a third
It is composed of a female mating member 22 fixed to a link pivotally provided at the rod end of a fluid pressure cylinder 24, and by engaging the irregularities of both mating members 21 and 22, the composite blade bracket
Connect 12 and the link (see Figures 12-14). Further, the link is pivotally mounted not only on the fluid pressure cylinder but also on the shaft 15, and even if the separable joint is separated into two as will be described later,
It is taken into consideration that the female engagement member 22 is kept at a predetermined distance from the shaft 15. Therefore, after the separation of the separable joint, only by extending the third fluid pressure cylinder 24, the male meshing member 21 and the female meshing member 22 meet again and mesh with each other.

A frame 36 having rails is arranged above the blade structure. Then, the shutter bracket 34 is held on this rail in a state in which it can be moved back and forth by the expansion and contraction of the fifth fluid pressure cylinder 35. The bracket 34 is arranged so as to be taken out to the left end side of the blade structure, and a parallel link is provided at the taken out tip.
33 ・ 33 is rotatably equipped. Each of the parallel links 33, 33 has a shape in which two rods are connected and strengthened with a coffin, and the shutter blade 31 is supported at the end of the link opposite to the bracket.
Due to the expansion and contraction of the fourth fluid pressure cylinders 32, 32 installed between the 34 and the shutter blade 31, the blade surface is swung up and down while keeping the orientation of the blade surface constant (see FIG. 16).

Expansion and contraction of the second to fifth fluid pressure cylinders are controlled by a predetermined valve mechanism under the control of the automatic snow removal controller C. Next, control of each fluid pressure cylinder of the automatic snow removal controller C and automatic snow removal will be described.

First, the automatic snow removal controller C includes a controller 4 as an input device. This controller is arranged at a predetermined position in the truck driver's cab, and has eight push button type switches (automatic mode switch 5a, forwarding mode switch 5b, work standby mode switch 5c, grounding mode switch 5d, push mode switch) on its upper surface. 5e, temporary avoidance mode switch 5f, side shutter open switch 5g and side shutter close switch 5h) and 3 types of slide type setting shooting (pressing pressure setting shooting 5i, left and right balance setting shooting 5j, blade width setting shooting 5k) and (see Figures 17 and 18). Further, as an input device of the automatic snow removal controller C, in addition to the controller 4 and the vibration sensor S, two types of marker detectors (a shutter marker detector 5l, a temporary marker avoidance device) provided on the lower part of the front surface of the truck are used. Marker detector 5
m), a blade sensor 5n and a snow removal width detector 5o arranged on the composite blade bracket 12, a rotation speed detector 5p connected to an engine tachometer, a speed detector 5q connected to a speedometer, and a truck A braking sensor 5r that outputs a signal in conjunction with the anti-locking brake system, a grip sensor 5s that outputs a signal in conjunction with a limited slipping differential, and an accelerator sensor 5t that monitors the amount of depression of the accelerator are adopted.

On the other hand, in the output device of the automatic snow removal controller C,
Valves V1 ・ V2 ・ that control the operation of the fluid pressure cylinder
, And a work status indicator (not shown) arranged in the cab (see FIG. 18).

Of the above, any one of the automatic mode switch button, the forwarding mode switch button, the work standby mode switch button, the grounding mode switch button, the pressing mode switch button, and the temporary avoidance mode switch button is pressed to automatically switch from these switches. When a signal is input to the snow removal controller C, the controller C operates the valve mechanism according to the switch and operates the blade. Hereinafter, this blade operation will be described in detail.

First, the various blade operations most basically performed when the mode switch is selected are listed. In this mode, the blade structure is moved up and down, the edge is pressed and the left and right balances are adjusted, the rotation and the width are adjusted. These operations are expansion / contraction and lifting / lowering of the shutter blade. Of these operations,
The blade structure is moved up and down by the expansion and contraction of the first fluid pressure cylinder, and the pressing of the edge is performed in the left and right first fluid pressure cylinders with the first fluid pressure cylinder extended and the edge grounded. It is performed by maintaining the fluid pressure of the fluid at a predetermined value. At the time of this pressing, the initial balance of the left and right edge pressing is adjusted depending on whether the two first fluid pressure cylinders have the same fluid pressure or the left and right fluid pressures are the same. Then, as the snow plow travels, the left and right edge pressures are adjusted as described above according to the vibration state of the left and right edges.

Further, the automatic snow removal controller C realizes five kinds of working modes of the blade structure by the above blade operation. The first working mode is the forward mode, which is achieved by retracting the two first fluid cylinders together and extending the third fluid pressure cylinder so that the blade structure lays down and the whole floats above the road surface. It The second work mode is a work standby mode in which the two first fluid cylinders are both retracted and the third fluid pressure cylinder is retracted so that the edge is lifted from the road surface with the blade structure standing upright. Achieved by The third working mode is the grounding mode, in which the two first fluid pressure cylinders are extended to a predetermined length and the third fluid pressure cylinders are retracted to allow the blade structure to stand up and the edge to slide on the road surface. Achieved by keeping at height. The fourth work mode is a pressing mode, in which the third fluid pressure cylinders are contracted and the two first fluid pressure cylinders are each extended by applying a predetermined fluid pressure inside the two first fluid pressure cylinders. It is achieved by pressing the edge against the road surface with pressure.
Finally, the fifth work mode is the temporary avoidance mode,
From the state in which the third fluid pressure cylinder is degenerated and the two first fluid pressure cylinders are each extended by applying a prescribed fluid pressure, only the first fluid pressure cylinder on the right side is degenerated by a prescribed amount. Then, while the left end of the edge is grounded, the right end of the edge is slightly floated above the ground.

The realization of these five work modes is selected according to which of the six work mode selection switches is selected.

First, when the automatic mode switch is selected,
Based on the information from other input devices, the automatic snow removal controller uses the pressing mode, grounding mode,
The most appropriate mode is selected from the three types of temporary avoidance modes, and that mode is realized. The information that is the basis of this selection is detection information of the temporary avoidance marker, track speed information, engine speed information, accelerator depression amount information,
The information includes the operation information of the anti-locking brake system, the operation information of the limited slipping differential, the ground pressure setting value information and the left-right balance setting value information, and the above-mentioned information about the edge vibration.

Among these pieces of information, the detection information of the temporary avoidance marker has the highest priority as a judgment criterion, and when the temporary avoidance marker is detected, the edge is temporarily transited to the avoidance state. . This temporary avoidance marker detection information is provided by the temporary avoidance marker detector detecting a temporary avoidance marker that is pre-embedded in front of a place where there is an obstacle for edge running such as a bridge joint. To be done. The temporary avoidance marker needs to be, for example, an oscillator that oscillates an electromagnetic wave of a specific frequency in order to distinguish it from other types of markers. Alternatively, a marker is constructed by embedding a ferrite magnetic material in a specific pattern such as a bar code that is identified by its width and number, and the marker detector is composed of an electromagnetic coil and a ferrite sensor. A method of recognizing that the road surface is magnetized by the ferrite sensor may be adopted. In addition, the automatic snow removal controller was set in advance for the time required to pass the point where there is an obstacle from the standard running speed of the snow removal vehicle, and the temporary avoidance marker was detected and the mode was changed to the temporary avoidance mode. After that, after waiting for the passage of the required time, the snow removal mode is always returned.

The speed information of the truck, the combined information of the engine speed information and the accelerator depression amount information, the operation information of the anti-locking brake system, and the operation information of the limited slipping differential are the temporary avoidance marker detection information. Next, the priority as a criterion is high. These pieces of information are input to the automatic snow removal controller from the speed detector, the rotation speed detector, the accelerator sensor, the braking sensor, and the grip sensor, respectively. Then, the automatic snow removal controller shifts the blade to the grounding mode if the speed of the track input from the speed detector is equal to or lower than a predetermined value. Efficient snow removal requires a certain amount of speed, and a state where the speed is below a certain value is a transient state that is either trying to stop or accelerating from now on. If so, pressing the edge against the road surface will be a major obstacle to acceleration. Further, the automatic snow removal controller, when the engine speed input from the engine speed detector is below a predetermined value, and the depression amount input from the accelerator sensor is above a predetermined value, the ground contact pressure of the edge is reduced. Reduce left and right simultaneously. A considerable amount of torque is required to accelerate by depressing the accelerator while pressing the edge against the road surface.When the engine speed drops below a certain value while acceleration is required, lighten the engine load. This is because it is necessary to increase the rotation speed. In addition,
The accelerator sensor detects the amount of depression by monitoring the amount of movement of the wire end connected to the accelerator. Furthermore, when the detection information of the operation of the anti-locking brake system is input from the braking sensor, the automatic snow removal controller reduces the ground contact pressure of the blade by a predetermined amount. The operation of the anti-locking brake system is
This usually occurs when the tire is about to slip during sudden braking.In such a case, the contact pressure of the one-sided edge is relaxed to increase the grip of the tire and the force applied to the edge from the road surface causes the track to skid. This is because it is necessary to prevent this from happening. Furthermore, even when the limited slipping differential is activated,
The automatic snow removal controller reduces the ground contact pressure at the edge simultaneously by a predetermined amount on the left and right sides. This is because the operation of the limited slipping differential is caused by the slip of the tire, and in such a case, it is necessary to reduce the ground contact pressure at the edge and enhance the grip force of the tire. The sum of the pressing pressure applied to the edge and the load applied to each tire is approximately equal to the weight of the entire snow removing vehicle. Therefore, if the pressing pressure is reduced, the load applied to the tire increases and the grip force increases.

The information regarding the vibration of the edge is used as a criterion for determining the work mode: temporary avoidance marker detection information, truck speed information, engine speed information and accelerator depression amount information, anti-locking brake system operation information, It is inferior to the operating information of limited slipping differential. Then, only when the blade operation condition based on the priority information is not satisfied, the blade operation determination criterion is obtained. In other words, it is a criterion for judgment only under the condition that no special treatment is required for safety. Then, based on this judgment, the left and right edge pressures are controlled as described above.

Temporary avoidance marker detection information, truck speed information, engine speed information, accelerator depression amount information, anti-locking brake system operation information,
When the priority information regarding safe snow removal, which is the operation information of the limited slipping differential, is out of the conditions for blade operation determined by the automatic snow removal controller, the controller shifts the blade structure to the snow removal mode. . At this time, the ground contact pressure at the edge follows the ground contact pressure setting value information and the left-right balance setting value information. The ground pressure setting value information is input by pressing pressure setting shooting, and the left and right balance setting value information is input by left and right balance setting shooting. The microcomputer corrects the ground pressure setting value information based on the left-right balance setting information, loads predetermined fluid pressures inside the left and right first fluid pressure cylinders, respectively, and sets the left and right edges as photographed. Press it. Then, the snow removal work is performed under this edge pressing, and when the edge pressure needs to be corrected in the situation of the left and right edge vibrations, this is performed as described above.

Further, the automatic snow removal controller has any of five kinds of work mode selection switches (forwarding mode switch, work standby mode switch, grounding mode switch, pressing mode switch, temporary avoidance mode switch) other than the automatic mode switch. When selected, the blade structure is moved to a work mode corresponding to each switch. After this selection, the same work mode is maintained until one of the other work mode switches including the automatic mode switch is selected.

Further, the automatic snow removal controller irrespective of which of the five modes the blade structure is in, and which of the six operation mode selection switches is selected. , According to the current blade width,
Controls the sliding of the shutter bracket. First, a snow removal width detector that employs a rotary encoder measures the current amount of overhang of the divided blade pieces, and the automatic snow removal controller calculates the current blade width. At the same time, the automatic snow removal controller calculates the position of the left edge of the blade and slides the shutter bracket so that when the shutter blade is closed, the shutter blade is positioned slightly left of the left edge position of the blade structure. Let

It should be noted that the width of the blade structure is irrespective of which of the six working mode selection switches is selected and whether the blade structure is in any of the five modes. In principle, the automatic snow removal controller expands or contracts according to the width set by the blade width setting shooting. Therefore, when the blade width setting shot is moved, the blade width and the shutter position change simultaneously.

Further, in principle, the shutter blade is opened and closed by the automatic snow removal controller when the side shutter open switch and the side shutter close switch are selected. However, when the automatic mode switch is selected and a marker is detected by the shutter marker detector, the shutter blade is opened and closed. This shutter marker can have a structure similar to that of the temporary avoidance marker, and must be placed at both ends of a section where snowfall should be stopped, such as an intersection. When the snowplow is approaching this section with the shutter blade open, the shutter marker detector detects the first shutter marker and the automatic snowplow controller closes the shutter blade to remove the snowplow. When the vehicle passes the section, the shutter marker detector detects the second shutter marker, and the automatic snow removal controller closes the shutter blade.

Further, the automatic snow removal controller, when the edge of the blade structure is caught by an obstacle and inverted and falls, regardless of which of the six work mode selection switches is selected, A blade sensor that uses a proximity switch detects this, and after a sufficient amount of time has passed for the blade to pass over the obstacle, the third fluid pressure cylinder is extended and retracted to raise the blade structure to the upright state. Return to.

In addition, the automatic snow removal controller, based on the current blade mode and the left and right edge vibrations, is displayed on the work status indicator in the cab regardless of which of the six work mode selection switches is selected. Display whether the asphalt surface is exposed or not, and whether the shutter blade is open or closed. As a result, the operator can check the blade state without directly visually observing the blade structure behind the driver's seat.

In the present invention, the data that is the basis for determining whether or not the asphalt surface is exposed is collected by picking up the vibration of the edge with a vibration sensor. Of course, it is not impossible to judge whether or not the asphalt surface is exposed by grounding a predetermined vibrating body independently of the edge behind the edge, but it was excluded because it complicates the structure.

Incidentally, in the above-mentioned embodiment, the electric treatment of the vibration state has adopted the method of picking up the maximum absolute value within a fixed time, but various treatments other than this are possible. For example, a method of calculating an average value within a fixed time may be used.

[0041]

INDUSTRIAL APPLICABILITY As described above, the automatic edge pressure control method and the snow removing vehicle of the present invention realize the safe high speed snow removal by automating the operation of the edge pressure during the snow removing work to reduce the burden on the operator. It has a high industrial utility value.

[Brief description of drawings]

FIG. 1 is a block diagram illustrating a main part of an embodiment.

FIG. 2 is a graph showing a relationship between a measured value and an absolute value of edge vibration.

FIG. 3 is a side view of the embodiment.

FIG. 4 is a plan view of the embodiment.

FIG. 5 is a side view of the embodiment with the shutter blade omitted.

FIG. 6 is a plan view of the embodiment with the shutter blade omitted.

FIG. 7 is a plan view of a composite blade (standing state) in the example.

FIG. 8 is a side view of the composite blade in the example.

FIG. 9 is a rear view of the composite blade in the embodiment in which the first fluid pressure cylinder and the third fluid pressure cylinder are omitted.

FIG. 10 is a cross-sectional view of the composite blade (standing state) in the embodiment, with the upper part omitted.

FIG. 11 is a cross-sectional view of the composite blade (with the joints separated) in the embodiment, with the upper part omitted.

FIG. 12 is a sectional view of a separable joint (connected state) in the example.

FIG. 13 is a sectional view of a separable joint (transitional state) in the example.

FIG. 14 is a sectional view of a separable joint (separated state) in the example.

FIG. 15 is a rear view of the shutter blade according to the embodiment.

FIG. 16 is a plan view of a shutter blade in the example.

FIG. 17 is a plan view of the snow removal controller according to the embodiment.

FIG. 18 is a block diagram illustrating an operation of the automatic snow removal controller in the embodiment.

FIG. 19 is a side view illustrating the temporary avoidance mode of the blade in the embodiment with the shutter blade omitted.

FIG. 20 is a fluid path diagram of the example.

FIG. 21 is a chart diagram of vibration sensing type road surface determination in the example.

[Explanation of symbols]

 C Automatic snow removal controller S Vibration sensor P Edge pressing means

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Ken Kai 30-7 Ishimoricho, Fukui City, Fukui Prefecture

Claims (6)

[Claims] 1. An automatic control method applied to a snow removal vehicle in which the left and right independent edge pressing means can adjust the ground contact pressure of the edge to the road surface, and the left and right independent vibration sensors can detect the edge vibration. Then, the vibration state detected by each of the left and right vibration sensors is electrically processed, and the snow removal state at each of the left and right edges of the current edge is estimated by comparing the processing result with the empirical value. A method for automatically controlling left and right edge pressures by changing the pressing state of each of the left and right edge pressing means according to the above, and independently controlling the left and right edge pressures. 2. The left and right edges of the vibration sensing type according to claim 1, wherein the electrical processing of the vibration state detected by the vibration sensor is performed by taking the maximum value of the absolute value of the vibration within a fixed time. Automatic pressure control method. 3. The edge pressure control means capable of adjusting the ground contact pressure of the edge to the road surface, and the vibration sensor for detecting the vibration of the edge pressure are separately provided on the left and right sides of the edge, and the left and right vibrations are sensed. The vibration state detected by the instrument is electrically processed, and the snow removal state at each of the left and right edges of the current edge is estimated by comparing the processing result with the empirical value. A vibration-sensing left / right edge pressure automatic control snow removal vehicle having an automatic snow removal controller that controls the left and right edge pressures independently by changing the pressing state of the pressing means. 4. The vibration-sensing left-right edge pressure automatic control snowblower according to claim 3, wherein the vibration sensor is an accelerometer. 5. The edge pressing means includes a fluid pressure cylinder that suspends and supports a snow removal grounding member having an edge on a snow removal vehicle body, and a fluid pressure supply mechanism that supplies fluid pressure to the fluid pressure cylinder. 4. The vibration-sensing left and right edge pressure automatic control snow removal vehicle according to claim 3, wherein 6. The vibration-sensing left / right edge pressure automatic control snow removal vehicle according to claim 3, wherein the automatic snow removal controller is a microcomputer.