JPH1030220A - Automatic snow throwing chute attitude controller of snow remover and teaching method of snow throwing chute attitude - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve work efficiency by detecting a position of a snow remover by utilizing GPS, determining a target value of posture of a snow throwing chute at a snow throwing point in a snow removing work path, and operating the snow remover in accordance with deviation amount obtained by comparing it with a current value. SOLUTION: A position of a snow remover is detected by utilizing GPS, and a target locus of attitude of a snow throwing chute in a snow removing work path is determined based on a position which is given and attitude data in advance. Next, attitude of a current snow throwing chute which is detected by attitude detection sensors 6A, 9A 10A along the target locus is feedback-controlled. Then, the snow remover is driven along the snow removing work path, and attitude of the snow throwing chute is adjusted automatically along the snow removing work path to charge snow at a snow charging point which is scheduled. A position of a self-car of the snow remover is detected by a GPS receiver 15, and a position of the snow remover is detected stably and accurately without being affected by slip of wheels even in the case of snow removing work over a long distance. Consequently, it is possible to reduce work burden of the snow removing work and improve its work efficiency.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic snow throwing chute attitude control device and a snow throwing chute teaching method for automating the operation of a snow throwing chute of a snow plow such as a rotary snow plow.

[0002]

2. Description of the Related Art Generally, in a snow removal operation using a rotary snow plow, snow is thrown on the side of a road or the like by a snow throwing chute. Particularly, in an urban area, there are many obstacles such as signs and buildings on the side of the road. It is necessary to frequently operate the snow throwing chute to move the snow throwing point.

[0003] However, in order to concentrate on steering operation so as not to cause contact with other vehicles, pedestrians, guardrails and the like running near the operator during snow removal work, it is not possible for the operator to operate the snow throw chute alone. Have difficulty. For this reason, in a rotary snowplow, it is general that an assistant who specializes in the operation of the snow throwing chute is on duty, but since the operation is shared, the operator and the assistant must perform the operation at the same time. Rather, the assistant needed advanced snow throwing chute operation skills, and the work load was heavy.

[0004] In order to prevent the snow throwing chute operation and the traveling operation from being performed alone, for example, Japanese Utility Model Laid-Open No. 5-26089.
As shown in the official gazette, snowfall point data corresponding to the passing point of the rotary snowplow is given in advance, and the position of the snowplow is calculated from the traveling distance of the rotary snowplow at the time of snow removal work. A method of controlling a snow throw chute so that snow is automatically thrown has been devised.

[0005]

However, this method is a relative position detection method for obtaining the position of the rotary snowplow from the running position, elapsed time, running distance, etc. of the vehicle. Due to factors such as wheel slip, the accumulated error between the calculated position of the rotary snowplow and the actual position of the rotary snowplow increases, making it difficult to control the snow-throwing chute accurately. . That is, when the slip of the wheel of the rotary snowplow occurs, a distance greater than the distance traveled by the rotary snowplow is output to the traveling distance detector. For this reason, it is determined that the rotary snowplow has reached the change point of the snow throwing chute even though it has not actually reached the change point of the snow throw chute. Is changed before the change point of the snow throwing chute.

Further, if the position of the rotary snowplow is shifted when the rotary snowplow starts, the change point of the snow throwing attitude of all the snow throwing chutes will shift. SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and has as its object to enable stable and accurate detection of the position of a snowplow without being affected by wheel slippage and the like, It is an object of the present invention to provide an automatic snow throwing chute attitude control device and a snow throwing chute attitude teaching method for a snow plow, which can automatically automatically control the snow throwing chute attitude in accordance with the conditions.

[0007]

According to the first aspect of the present invention,
Using a snow throwing chute attached to a snow plow, an actuator for changing the attitude of the snow throwing chute, an attitude detection sensor for detecting the attitude of the snow throwing chute, and a radio wave transmitted from a GPS satellite and DGPS correction information. A GPS receiver that outputs position data of the snowplow at predetermined time intervals, a control device connected to an input side with a posture detection sensor and a GPS receiver, and an output side connected to an actuator; , Searching for the position data of the snowplow corresponding to the position of the snowplow output from the GPS receiver from the position / posture data corresponding to the position of the snowplow in the snowplow operation path of the snowplow and the attitude of the snow throwing chute, A snow throwing chute attitude target value determining means for determining a snow throwing chute attitude target value at each snow throwing point on a snow removing work route of a snow plow, a snow throwing chute attitude target value and snow throwing. The deviation is calculated by comparing the current value of the chute position, characterized in that to feedback control of the operation amount corresponding to the deviation amount and a Toyuki chute position changing means for outputting to the actuator.

According to a second aspect of the present invention, a change in the attitude of a snow throwing chute of a snow plow controlled by an actuator operated by an operation lever is detected by an attitude detecting sensor to create attitude data of the snow throwing chute. Then, the attitude data of the snow plow and the position data of the snow plow output from the GPS receiver mounted on the snow plow are input to the control device,
By associating the position data of the snowplow with the position data of the snowplow output at predetermined time intervals from the PS receiver, the position and
It is characterized in that the posture data is recorded.

(Function) In the first aspect of the present invention,
The position of the snowplow is detected by the GPS receiver using the radio waves transmitted from the GPS satellites and the DGPS correction information.
The signal is output from the receiver at predetermined time intervals, and is input to the snow throwing shot attitude target value determining means of the control device.

[0010] In the snow throwing chute attitude target value determining means of the control device, the position data of the snow removing vehicle corresponding to the position of the snow removing vehicle output from the GPS receiver is used as the position of the snow removing vehicle on the snow removing work route of the snow removing vehicle. The position and orientation data corresponding to the orientation of the snow chute are searched, and the target value of the orientation of the snow chute at each snow throwing point on the snow removal work path of the snow plow is determined.

A target value of the attitude of the snow throwing chute is determined with respect to the progress of the snow plow, and the target value of the attitude of the snow throwing chute at each snow throwing point on the snow removing work route is connected. A target trajectory is generated. The current attitude of the snow throwing chute detected by the attitude detecting sensor along the target locus of the attitude of the snow throwing chute is tracked as follows.

[0012] By the snow throwing chute mounted on the snowplow,
Snow is thrown in a predetermined direction. The attitude of the snow throwing chute is changed by the actuator, and the current attitude of the snow throwing chute is detected by the attitude detecting sensor and input to the snow throwing chute attitude changing means of the control device. In the snow throwing chute attitude changing means of the control device, the target value of the snow throwing chute attitude and the current value of the snow throwing chute attitude are compared to calculate the deviation amount, and the operation amount is feedback-controlled from the deviation amount and output to the actuator. Is done.

The attitude of the snow throw chute is changed by the output of the actuator. As described above, the control in the automatic snow throwing chute attitude control device for the snow plow is a program control for determining the target trajectory of the snow throwing chute attitude according to the position of the snow plow when viewed from the entire snow removing work path. Visually, it is feedback control in which the current attitude of the snow throwing chute detected by the attitude detecting sensor is controlled to follow the target trajectory of the attitude of the snow throwing chute.

According to the second aspect of the present invention, the snowplow having the snow throwing chute is driven along the snow removing work path in a state where the attitude is adjusted by the actuator. While the snowplow is driven by the operator, the operation lever is operated and the snow throw chute is operated. Thereby, the attitude of the snow throwing chute is changed along the snow removing work route.

The attitude data of the snow chute detected by the attitude detection sensor and the position data of the snow plow output from the GPS receiver mounted on the snow plow are input to the control device. The position data of the snowplow and the attitude data of the snow throwing chute output from the GPS receiver at predetermined time intervals are corresponded by the control device. Thereby, the position / posture data of the snowplow at each snow throwing point in the snow removal work route is recorded.

[0016]

Embodiments of the present invention will be described below with reference to the drawings. An automatic snow throwing chute attitude control apparatus and a snow throwing chute attitude teaching method for a snow plow according to the first and second embodiments of the present invention will be described with reference to FIGS. Here, a rotary snowplow will be described as an example of a snowplow.

In FIGS. 1 to 3 and 5, reference numeral 1 denotes a rotary snow plow, and the rotary snow plow 1 is a snow plow 2
The snow removing device 2 includes an auger 3 for scraping snow and a snow throwing chute 4 for throwing snow by rotating a blower (not shown).
And The snow throwing chute 4 is supported by a frame 5, and the frame 5 is provided with a first actuator 6 composed of a hydraulic motor. The first actuator 6 has a first attitude composed of a potentiometer for detecting its turning position. The detection sensor 6A is attached. The snow throw chute 4 has a body 7 and a cap 8.

A second actuator 9 comprising a hydraulic cylinder for expanding and contracting the body 7 is mounted on the body 7, and a second attitude detecting sensor 9A comprising a potentiometer for detecting the length of the body 7 is provided. Is attached.
A third actuator 10 composed of a hydraulic cylinder for opening and closing the cap 8 is attached to the cap 8, and a third attitude detection sensor 10A composed of a potentiometer is attached for detecting the opening / closing position.

As shown in FIG. 5, the first actuator 6
Is connected to the hydraulic pump 26 and the hydraulic tank 27 via the first proportional solenoid valve 11. The first actuator 6 is operated by the first proportional solenoid valve 11 to turn the snow throwing chute 4 right or left, so that the chute turning angle changes. The second actuator 9 is connected to the hydraulic pump 26 and the hydraulic tank 27 via the second proportional solenoid valve 12. The second actuator 9 is operated by the second proportional solenoid valve 12, and the snow throwing chute 4 is extended and contracted, and the chute extended / contracted position is changed.

The third actuator 10 is connected to a hydraulic pump 26 and a hydraulic tank 27 via a third proportional solenoid valve 13. The third actuator 10 is operated by the third proportional solenoid valve 13, and the cap 8 of the snow throwing chute 4 is opened and closed, and the chute cap angle changes. The turning direction of the snow throwing chute 4 determines the snow throwing direction, and the throwing distance is adjusted by the shoot cap angle of the cap 8 and the amount of expansion and contraction of the snow throwing chute 4.

In FIG. 1, reference numeral 14 denotes a control device comprising a microcomputer. An input side of the control device 14 is connected to a GPS receiver 15 and an operation lever 16 comprising a joystick lever. Reference numeral 17 denotes a wireless telephone, 18 denotes a modem, 19 denotes an input device, 19A denotes a display device, 19B denotes an external storage device, 20 denotes a GPS satellite, and 21 denotes a DGPS correction information transmitting base.

For example, an IC card (not shown) is used as the external storage device 19B, and a teaching file stored in the IC card corresponds to the position coordinates of the rotary snowplow 1 at each snowfall point. , The chute turning angle, the chute cap angle, and the chute expansion / contraction position are written. The modem 18 modulates and demodulates signals between the radio telephone 17 and the GPS receiver 15.

The wireless telephone 17 receives the DGPS correction information transmitted from the DGPS correction information transmission base 21,
This is given to the GPS receiver 15 via the modem 18. In the GPS receiver 15, DGPS is used. That is, DGPS is an abbreviation of Differential GPS, and enables high-accuracy positioning by correcting a measurement error of a position coordinate of a moving object (the rotary snowplow 1) obtained by a GPS (Global Positioning System).
In other words, the reference station whose position is accurately determined (the DGPS correction information transmitting base 21 in the present embodiment) receives the navigation radio wave to determine the position coordinates of the reference station, and determines the determined position coordinates and the known accurate position. An error included in the navigation radio wave is calculated by comparing the coordinates with the coordinates, and the error is transmitted as data for correction of a positioning error on the mobile body side.

As described above, in the GPS receiver 15, the radio wave transmitted from the GPS satellite 20 and the DGPS
The accurate position coordinates of the rotary snowplow 1 are calculated using the DGPS correction information transferred from the correction information transmission base 21, and the current position data of the rotary snowplow 1 is output from the GPS receiver 15 every second, for example. You. GPS receiver 1
The GPS No. 5 receives, for example, navigation radio waves transmitted to the ground from four GPS satellites 20 via the GPS antenna 15A, and detects the current position of the rotary snowplow 1 as its own vehicle in real time in longitude and latitude. That is, the GPS receiver 15 and each GPS satellite 20 have a built-in high-precision clock such as an atomic emission unit such as cesium therein, and transmit the radio wave transmission time and the orbit information of the GPS satellite as navigation radio waves from the GPS satellite 20. For example, the distance between the GPS satellite 20 and the GPS receiver 15 can be detected by measuring the arrival time of the radio wave with the GPS receiver 15. By receiving similar information from at least four GPS satellites 20, the intersection of each spherical surface is set as the reception position, that is, the own vehicle position, and the current position of the rotary snowplow 1 as the own vehicle is detected in three-dimensional coordinates. Can be.

The control device 14 includes a storage means 22, a snow throwing shot attitude target value determining means 24, and a snow throwing shot attitude changing means 25.
Data is taken out from the storage means 22 in a series of procedures, arithmetic is performed, and the data is output to the first proportional solenoid valve 11, the second proportional solenoid valve 12, and the third proportional solenoid valve 13. Storage means 22
In the field, position / posture data corresponding to the position of the rotary snowplow 1 and the posture of the snow throwing chute 4 at each snow throwing point of the snowplowing work path of the rotary snowplow 1 are written. At the time of initial setting of the control device 14, for example, the attitude data of the snow throwing chute 4 (chute turning angle, chute cap angle, chute expansion / contraction position) and rotary snow removal are stored in the storage device 22 via the external storage device 19B. The position data of the car 1 is transferred.

The snow throwing shoot attitude target value determining means 24 includes:
The position data that matches the position of the rotary snowplow 1 output from the GPS receiver 15 is searched from the position / posture data in which the position of the snowplow in the snowplow work path of the rotary snowplow 1 corresponds to the attitude of the snow throwing chute. , Rotary snowplow 1
The target value of the attitude of the snow throwing chute 4 at each snow throwing point on the snow removing work path of the present embodiment is determined.

The snow throwing chute attitude changing means 25 compares the target value of the snow throwing chute attitude with the current value of the snow throwing chute attitude, calculates the deviation amount, and feedback-controls the operation amount based on the deviation amount to the actuator. Output. As shown in FIG. 3, the first attitude detection sensor 6A, the second attitude detection sensor 9A, and the third attitude detection sensor 10A
It is switchably connected to the snow throwing chute posture changing means 25 or the storage means 22 of the control device 14.

First proportional solenoid valve 11, second proportional solenoid valve 1
The second and third proportional solenoid valves 13 are switchably connected to the snow throwing chute attitude changing means 25 or the operation lever 16 of the control device 14. Hereinafter, the operation in the present embodiment will be described. First, the position / posture data to be stored in the storage means 22 is obtained as follows by the operator operating the rotary snow plow 1 along the snow removal work route of a predetermined route and teaching the control device 14. . Hereinafter, description will be made with reference to FIG.

First, the operator drives the rotary snowplow 1 along a predetermined snow removal operation route to start the snow removal operation. In this case, the rotary snowplow 1 runs at a low speed of, for example, about 5 km / h. The operating lever 16 is operated by an assistant riding in the rotary snowplow 1. The operation state of the operation lever 16 is converted into an electric signal and input to the control device 14.

An electric signal corresponding to the operation state of the operation lever 16 is output from the control device 14, and the first actuator 6 passes through the first proportional solenoid valve 11 and the second actuator 9 passes through the second proportional solenoid valve 12. Thus, the third actuators 10 are simultaneously operated via the third proportional solenoid valve 13, respectively. Thereby, the attitude of the snow throwing chute 4 changes. By changing the attitude of the snow throwing chute 4 (shoot turning angle, chute cap angle, chute expansion / contraction position), the snow throwing direction and position are adjusted.

The changed attitude data of the snow throwing chute 4 is sent to the first attitude detection sensor 6A and the second attitude detection sensor 9
A, detected by the third attitude detection sensor 10A. On the other hand, the position data of the rotary snowplow 1 is output from the GPS receiver 15 every second, for example, and is input to the storage unit 22 of the control device 14. As described above, the attitude data of the snow throwing chute 4 and the position data of the rotary snow plow 1 are stored in the control device 14.
Is input to the storage means 22.

In the control device 14, the position data of the rotary snowplow 1 output from the GPS receiver 15 every second and the posture data of the snow throwing chute 4 at that time are taken out from the storage means 22 and corresponded. The data is sent to the external storage device 19B and stored as position / posture data. In this manner, the attitude data of the snow throwing chute 4 at each snow throwing point on the snow removing work route of the rotary snow removing machine 1 from the start point to the end point of the snow removing work is obtained.
And the position / posture data of the snow removal work route of the predetermined route is obtained.

Here, the attitude of the snow throwing chute 4 (chute turning angle, chute cap angle, chute expansion / contraction position)
Is a value obtained by normalizing the output voltage of the corresponding potentiometer. "Normalization" means that the displacement of the potentiometer and the output voltage are in direct proportional relation, and the minimum output when the potentiometer is mounted on the snow throwing chute 4 is 0, and the maximum output is, for example, 1000. This is a value obtained by converting the output voltage. Taking the snow throwing chute 4 as an example, the output of the potentiometer when the snow throwing chute 4 is fully turned in the counterclockwise direction is V1, and when the snow throwing chute 4 is turned fully in the clockwise direction. Assume that the output of the tension meter is V2, and the output of the potentiometer when the turning angle of the snow throwing chute 4 is in the range is Vx
Then, the value A calculated by the following equation is recorded as a normalized value of the turning angle of the snow throwing chute 4.

A = (Vx−V1) × 1000 / (V2−V1) By recording with such a normalized value, the output range (V2, V1) of the potentiometer changes when the potentiometer is replaced or the like. In this case, the contents of the teaching file need not be changed. Further, the minimum output V1 and the maximum output V2 in a state where each potentiometer is mounted on the snow throwing chute 4 are separately stored, and are referred to at the time of teaching the chute operation and at the time of the chute automatic control.

In this manner, the position / posture data of the snow removing work route corresponding to various routes of the rotary snow removing vehicle 1 is obtained. In accordance with the procedure of the flowchart of FIG. 6, the attitude of the snow throwing chute 4 is controlled every second as follows. This will be described with reference to FIGS. In FIG.
Various initial settings are made by the operator, and a route to be selected is entered into the input device 19 (step S1).

Then, from the position / posture data of the snow removal work route corresponding to various routes stored in the external storage device 19B, the position / posture data of the snow removal work route of the route from which snow is to be removed is selected and stored. It is read by the means 22 (step S2). Then, the operator operates the rotary snow plow 1 along the snow removal operation route of the predetermined route.
Is driven to start snow removal work. In this case, the rotary snowplow 1 runs at a low speed of, for example, about 5 km / h.

In response to a work start command, the rotary snow plow 1
The snow is thrown in a predetermined direction by the snow throw chute 4 mounted on the vehicle. Radio wave transmitted from GPS satellite 20 and D
Using the GPS correction information, the position of the rotary snowplow 1
In step S 3, which is detected by the S receiver 15, output from the GPS receiver 15 every second, and read by the snow throwing shot attitude target value determining means 24 of the control device 14, G
It is determined whether or not new position data of the rotary snowplow 1 has been output from the PS receiver 15. If YES is determined, the process proceeds to step S4.

In step S4, the position data of the rotary snow plow 1 that matches the position of the rotary snow plow 1 output from the GPS receiver 15 is stored by the snow throwing chute attitude target value determining means 24 of the control device 14. The position / posture data of the means 22 is searched. In step S5, if there is a match, YES is determined, and one position / posture data is determined. Thereby, it is determined which position in the snow removal work route the rotary snowplow 1 is traveling. That is, the current position of the rotary snowplow 1 and
The distance from a series of position data of the rotary snowplow 1 stored in the position / posture data of the storage means 22 is calculated,
Data having a minimum distance and a distance equal to or less than an allowable value (about 1 m) is regarded as matching data. In the "match determination", when the current position of the rotary snowplow 1 is located between two adjacent position coordinates in the teaching file, a position coordinate closer to the current position is selected. Therefore, even if the instruction file is written in the teaching file to change the attitude of the snow throwing chute 4 at a certain point X, the automatic control of the attitude of the snow throwing chute 4 causes the snow throwing chute 4 to be slightly short of the point X. The posture change may be started in some cases.

If no match is found in step S5, NO is determined, and the process ends. That is, even if the distance is the minimum, if the distance exceeds the allowable value, it is determined that the vehicle deviates from the snow removal work route, and the automatic control of the snow throwing chute 4 is stopped. In step S6, the target value of the attitude of the snow throwing chute 4 at the current position is determined and updated by the snow throwing shot attitude target value determining means 24 of the control device 14 based on the determined position and attitude data.

On the other hand, the attitude of the snow throwing chute 4 is operated by the first actuator 6, the second actuator 9, and the third actuator 10, and the attitude of the snow throwing chute 4 is the first attitude detecting sensor 6A and the second attitude detecting sensor 9A. , Is detected by the third attitude detection sensor 10A, and is read by the snow throwing shot attitude changing means 25 of the control device 14 (Step S).
7).

Then, the target value of the attitude of the snow throwing chute 4 is determined with respect to the progress of the rotary snow plow 1, and the target values of the attitude of the snow throwing chute 4 at each snow throwing point on the snow removing work route are linked. The target attitude of the snow throwing chute 4 shown in FIG. 7 is generated. The first attitude detection sensor 6A, the second attitude detection sensor 9A,
The current attitude of the snow throwing chute 4 detected by the third attitude detection sensor 10A is tracked and controlled as follows. That is, in FIGS. 8 and 9, the target attitude of the snow throwing chute 4 is determined by the
As shown in FIG. 7, the snow chute 4 shown in FIG.
The current posture follows the desired posture of the user.

In step S8, the snow throwing chute attitude changing means 25 of the control device 14 compares the target value of the attitude of the snow throwing chute 4 with the current value of the attitude of the snow throwing chute 4 to determine whether they match. Is determined. Step S8
If the answer is YES, the process proceeds to step S10. If NO is determined in the step S8, the process proceeds to a step S9.

In step S9, the deviation between the target value of the attitude of the snow throwing chute 4 and the current value of the attitude of the snow throwing chute 4 is calculated, and the first proportional solenoid valve 11 and the second proportional solenoid valve are calculated from the difference. 12, the flow rate of the third proportional solenoid valve 13 (the amount of operation of the first actuator 6, the second actuator 9, and the third actuator 10) is calculated and output to the first actuator 6, the second actuator 9, and the third actuator 10. You.

With this control, as shown in FIG. 9, when the rotary snowplow 1 comes to the (i) th snow throwing position,
In the section K (i), the target attitude of the snow throwing chute 4 is M
(I), the attitude change operation of the snow throwing chute 4 is started by the feedback control, and the current attitude of the snow removing chute approaches the (i) th target attitude M (i). When the rotary snowplow 1 comes to the (i + 1) th snow throwing position, the target attitude of the snow throwing chute 4 is changed to M (i + 1).

In the section K (i + 1), the target attitude of the snow throwing chute 4 is M (i + 1), and the feedback control shown in FIG. Current posture is (i + 1)
It approaches the target posture M (i + 1). Then, the attitude of the snow throwing chute 4 is operated by the outputs of the first actuator 6, the second actuator 9, and the third actuator 10, and the process proceeds to Step S10.

If it is determined in step S10 that the end point has been reached or an end instruction has been issued, "YES" is determined, and all the operations are ended. If NO is determined in the step S10, the process returns to the step S3, and the same operation as described above is repeated to perform the feedback control. As described above, the control performed by the automatic snow throwing chute attitude control device of the rotary snow plow 1 is based on the position of the snow throwing chute 4 according to the position of the rotary snow plow 1 stored in the storage means 22 when viewed from the entire snow removing work path. Program control to determine the target trajectory of
Microscopically, the current attitude of the snow throwing chute 4 detected by the first attitude detecting sensor 6A, the second attitude detecting sensor 9A, and the third attitude detecting sensor 10A follows the target locus of the attitude of the snow throwing chute 4. Feedback control is performed.

According to the above-described configuration, the position of the rotary snowplow 1 is detected using the GPS, and the position / posture data given in advance to the storage means 22 corresponding to the position of the rotary snowplow 1 is used. A target trajectory of the attitude of the snow throwing chute 4 in the snow removing work route is determined, and this snow throwing chute 4 is determined.
The posture detection sensors 6A. 9A,
Since the current attitude of the snow throwing chute 4 detected by 10A is feedback-controlled, if the operator drives the rotary snow plow 1 along the snow removing work path, the operating lever 16 operates the actuators 6, 9, and 10 to operate. Even if the attitude of the snow throwing chute 4 is not adjusted, the attitude of the snow throwing chute 4 is automatically adjusted along the snow removing work path, and the snow throwing chute 4 is thrown at a predetermined snow throwing point at each snow throwing position. You can do snow.

The rotary snow plow 1 does not accumulate the running distance by the rotation of its own wheel, but accurately detects the position of the rotary snow plow 1 by the GPS receiver 15. No accumulation problem. Even during long-time snow removal work, the position of the rotary snow removal vehicle 1 can be detected stably and accurately without being affected by wheel slips, etc., and snow can be accurately thrown according to the passing position of the rotary snow removal vehicle 1. Automatically controlling the shooting attitude and adjusting the snow throwing point,
This eliminates the need to adjust the snow throwing chute attitude during normal snow removal work, thereby reducing the work load of snow removal work and improving work efficiency.

Further, since the current position data of the rotary snowplow 1 is recognized by the GPS receiver 15, even if the rotary snowplow 1 is started from an arbitrary place without first needing any origin, the rotary There is no hindrance to the operation of the snowplow 1. In addition, rotary snowplow 1
By operating the operation lever 16 to change the attitude of the snow throwing chute 4 while driving along the work route,
It is possible to obtain position / posture data obtained by associating the position data of the rotary snowplow 1 with the attitude data of the snow throwing chute using the GPS, so that stable and accurate teaching of the snow throwing chute attitude of the rotary snowplow 1 can be obtained. Enable.

In this embodiment, a rotary snowplow is given as an example of a snowplow, but the present invention can be applied to snowplows other than the rotary snowplow. In the present embodiment, the DGPS correction information transmitted from the DGPS correction information transmitting base 21 is received by the wireless telephone 17, and the GPS correction information is transmitted from the wireless telephone 17 via the modem 18 to the GPS.
Although transmitted to the receiver 15, this function is not limited to the wireless telephone 17. For example, FM multiplex broadcasting, PHS, ITS (Intelligent Transport System)
m), VICS (Vehicle I
nformation and Communication System), a radio beacon, an optical beacon, or the like.

Further, in the present embodiment, the target attitude of the snow throwing chute 4 is given in a stepwise manner as shown in FIG. 7, but is not limited to this, and various lines along the snow removing work path are provided. But it is good. Further, in the present embodiment, 1
The position data of the rotary snowplow 1 is output from the GPS receiver 15 once every second. However, the present invention is not limited to such time intervals, and may be, for example, every 0.5 seconds. It does not have to be at fixed time intervals.

In the present embodiment, the position / posture data is written in the storage means 22.
It is also possible to store the position / posture data in a storage device other than the control device 14 and send the position / posture data from the storage device to the control device 14 via appropriate communication means to perform the calculation. Further, in the present embodiment, a hydraulic cylinder and a hydraulic motor are used as the actuator, but the present invention is not limited to this. For example, a servo motor can be used.

[0053]

According to the first aspect of the present invention, the position of the snowplow is detected by using the GPS, and the snow is removed by the position / posture data previously provided to the storage means corresponding to the position of the snowplow. The target trajectory of the attitude of the snow throwing chute on the work route is determined, and the current snow throwing chute attitude detected by the attitude detection sensor is feedback-controlled along the target locus of the snow throwing chute attitude. Driving the snowplow along the route automatically adjusts the position of the snow throw chute along the snow removal work route without having to operate the actuator with the operating lever to adjust the position of the snow throw chute. Snowfall points.

The snowplow does not accumulate the running distance by the rotation of its own wheel, but accurately detects its own position by the GPS receiver. There is no. Even during long-distance snow removal work, the position of the snow removal vehicle can be detected stably and accurately without being affected by wheel slips, etc. By controlling the snow throwing point, it is not necessary to adjust the attitude of the snow throwing chute during the normal snow removing work, so that the work load of the snow removing work can be reduced and the working efficiency can be improved.

Further, since the current position of the snowplow is recognized by the GPS receiver, even if the snowplow is started from an arbitrary place without first needing any origin, the operation of the snowplow is hindered. Will not come. According to the second aspect of the present invention, while driving the snowplow along the work route, the operating lever is operated to change the attitude of the snow throwing chute, so that the position data of the snowplow can be obtained using the GPS. The position corresponding to the attitude data of the snow throw chute
Since the attitude data can be obtained, stable and accurate teaching of the attitude of the snow throwing chute is enabled.

[Brief description of the drawings]

FIG. 1 is a diagram corresponding to a claim showing an automatic snow throwing chute attitude control apparatus for a snow plow according to an embodiment of the invention described in claims 1 and 2;

FIG. 2 is a side view of the rotary snowplow.

FIG. 3 is a block diagram showing a flow of signals during a snow removing operation of the automatic snow throwing chute attitude control device.

FIG. 4 is a block diagram showing a signal flow at the time of position teaching of the automatic snow throwing chute attitude control device.

FIG. 5 is a hydraulic system diagram of the actuator.

FIG. 6 is a flowchart showing the operation of the automatic snow throwing chute attitude control device.

FIG. 7 is an explanatory diagram showing a target attitude of a snow throwing chute corresponding to a position of a rotary snow plow.

FIG. 8 is an explanatory diagram showing a current snow throwing chute attitude following a change in a target value of the snow throwing chute attitude.

FIG. 9 is an explanatory diagram of feedback control of the attitude of a snow throwing chute.

[Explanation of symbols]

 Reference Signs List 1 rotary snowplow 6 first actuator 6A first attitude detection sensor 9 second actuator 9A second attitude detection sensor 10 third actuator 10A third attitude detection sensor 14 control device 15 GPS receiver 16 operation lever 22 storage means 24 snow throwing Shooting posture target value determining means 25 Snow throwing shoot posture changing means

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Kazuhiko Koura Fukushima Pref. (72) Inventor Masayoshi Suzuki 1-2-1 Akiha, Niigata City, Niigata Prefecture In-house Niigata Ironworks Oyama Plant (72) Inventor Satoshi Dengawa 1-2 Akiha, Niigata City, Niigata -1 Inside the Niigata Iron Works Oyama Plant

Claims (2)

[Claims] 1. A snow throwing chute mounted on a snow plow, an actuator for changing the attitude of the snow throwing chute, an attitude detection sensor for detecting the attitude of the snow throwing chute, a radio wave transmitted from a GPS satellite and DGPS A GPS receiver that outputs position data of the snowplow at predetermined time intervals using the correction information; and a control device in which an input side is connected to an attitude detection sensor and a GPS receiver, and an output side is connected to an actuator. The control device, the position data of the snowplow that matches the position of the snowplow output from the GPS receiver, the position corresponding to the position of the snowplow and the attitude of the snow throwing chute in the snowplow work path of the snowplow. A snow throwing shoot attitude target value determining means for searching from the attitude data and determining a snow throwing shoot attitude target value at each snow throwing point of the snow removing work route of the snow removing vehicle; A snow throwing chute attitude changing means for comparing the target value of the force with the current value of the snow throwing chute attitude to calculate a deviation amount, feedback-controlling an operation amount according to the deviation amount, and outputting to the actuator. An automatic snow throwing chute attitude control device for a snow plow. 2. An attitude detection sensor detects a change in the attitude of a snow throwing chute of a snow plow controlled by an actuator operated by an operation lever to create attitude data of the snow throwing chute. Attitude data and GPS on snowplow
The snow removal vehicle position data output from the receiver is input to the control device, and the snow removal vehicle position data output from the GPS receiver at predetermined time intervals and the snow throwing chute attitude data are made to correspond to each other to remove snow. A method of teaching a snow throwing shoot attitude of a snowplow, characterized by recording position and attitude data at each snow throwing point on a route.