EP1431236A2 - Procédé pour commander le treuil de halage d'un vehicule pour l'entretien des pistes et cedit vehicule - Google Patents

Procédé pour commander le treuil de halage d'un vehicule pour l'entretien des pistes et cedit vehicule Download PDF

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Publication number
EP1431236A2
EP1431236A2 EP03023400A EP03023400A EP1431236A2 EP 1431236 A2 EP1431236 A2 EP 1431236A2 EP 03023400 A EP03023400 A EP 03023400A EP 03023400 A EP03023400 A EP 03023400A EP 1431236 A2 EP1431236 A2 EP 1431236A2
Authority
EP
European Patent Office
Prior art keywords
speed
rope
proportional
winch
detected
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP03023400A
Other languages
German (de)
English (en)
Other versions
EP1431236B1 (fr
EP1431236A3 (fr
Inventor
Helmut Kanzler
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kassbohrer Gelandefahrzeug AG
Kaessbohrer Gelaendefahrzeug AG
Original Assignee
Kassbohrer Gelandefahrzeug AG
Kaessbohrer Gelaendefahrzeug AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kassbohrer Gelandefahrzeug AG, Kaessbohrer Gelaendefahrzeug AG filed Critical Kassbohrer Gelandefahrzeug AG
Publication of EP1431236A2 publication Critical patent/EP1431236A2/fr
Publication of EP1431236A3 publication Critical patent/EP1431236A3/fr
Application granted granted Critical
Publication of EP1431236B1 publication Critical patent/EP1431236B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B66D1/48—Control devices automatic
    • B66D1/50—Control devices automatic for maintaining predetermined rope, cable, or chain tension, e.g. in ropes or cables for towing craft, in chains for anchors; Warping or mooring winch-cable tension control
    • B66D1/505—Control devices automatic for maintaining predetermined rope, cable, or chain tension, e.g. in ropes or cables for towing craft, in chains for anchors; Warping or mooring winch-cable tension control electrical
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H4/00—Working on surfaces of snow or ice in order to make them suitable for traffic or sporting purposes, e.g. by compacting snow
    • E01H4/02—Working on surfaces of snow or ice in order to make them suitable for traffic or sporting purposes, e.g. by compacting snow for sporting purposes, e.g. preparation of ski trails; Construction of artificial surfacings for snow or ice sports ; Trails specially adapted for on-the-snow vehicles, e.g. devices adapted for ski-trails

Definitions

  • the invention relates to a method for winch control of a piste grooming vehicle.
  • a device is known from European patent application EP 1 118580 A1 for automatic regulation of the tensile force of a rope for a Piste grooming device known in which a pressure in the hydrostatic drive of the grooming vehicle and an angle of the rope relative to the Vehicle are detected. On the basis of these recorded quantities, a Target value for the cable pull force determined. In a closed loop the setpoint obtained in this way is recorded with an actual value Rope pull force compared and the pull force regulated to the setpoint. The Pressure in the hydrostatic drive is separated according to the pressure the forward side of the travel drive as well as after the pressure on the Reverse side of the travel drive detected. Pulls the winch rope e.g.
  • the invention aims to provide a quickly responsive and reliable regulation a winch can be reached.
  • the winch can be used quickly and reliably Regulation can be realized because the control of the winch in Principle is independent of the cable pull. This is particularly so for the large rope lengths of. used for snow grooming vehicles Advantage, because of the long rope length due to the rope elasticity that is always present the tension in the rope is subject to large fluctuations is. If a drive chain slips, the increases measured chain speed so that the rope speed is increased at least in the short term. This can ensure that the traction of the Winch is increased in the short term to ensure even movement of the slope grooming vehicle.
  • the target value is determined a recorded current tensile force in the rope and a specifiable one Maximum value for the pulling force considered.
  • the permissible maximum value can be set, for example, according to environmental conditions, rope age and rope type as well as vehicle type.
  • a speed of the drive chains and a speed of a rope drum or a pulley with a known diameter is easy Detectable and reliably and at chain or rope speed proportional.
  • the rope speed or a size proportional to this according to their amount and their direction relative to a direction of travel or a longitudinal axis of the piste grooming vehicle detected.
  • a consideration the cable pull angle makes sense. For example, this is the case if in the case of flat intermediate pieces, the rope should be kept taut.
  • the target value is determined a climb angle between the direction of travel or the vehicle's longitudinal axis and the horizontal as well as a direction of the rope speed considered relative to the direction of travel.
  • the chains of the piste grooming vehicle slip detected and the detected slip when determining the setpoint considered.
  • a setpoint for the rope speed can be increased so that the cable pull increases and the slope grooming vehicle with The winch is pulled over the critical point.
  • a ground speed and the rope speed are immediately comparable, because the rope of a winch on off-road Points is anchored.
  • a ground speed can for example using a satellite navigation system alone or the Coupling of multiple navigation systems determined with good accuracy become.
  • the problem underlying the invention is also caused by a piste grooming vehicle with winch for performing the invention Method solved, the means for detecting a chain speed, a size proportional to this and / or a driving speed above ground, means for detecting a rope speed or a variable proportional to this, means for comparing the detected Rope speed and the detected chain speed or the quantities proportional to this and / or the driving speed about the reason and means for determining a nominal value for the rope speed taking into account the comparison result.
  • FIG. 1 shows a piste grooming vehicle according to the invention 10 to recognize that with a so-called overhead winch 12 is equipped.
  • the overhead winch 12 is rotatable on one Chassis of the grooming vehicle 10 attached so that a direction of pull the winch 12 to the direction of the slope grooming vehicle 10 is essentially adjustable.
  • the cable winch 12, for example used on very steep slopes to be worked.
  • the slope grooming vehicle 10 can anchor the rope in the terrain edit a slope, for example in upward and downward travel, without anchoring or relocating a pulling rope 14 of the winch 12 should be.
  • a driving speed of the piste grooming vehicle 10 is determined by a Rotational speed of its drive chains 16 and, if necessary occurring slip determined. Due to the known diameter the drive wheels 18 for the drive chains 16 can Rotational speed of the drive chains 16 via a speed detection the drive wheels 18 are determined.
  • the pull rope 14 should always be under tension being held.
  • a rope speed of the pull rope 14 is detected, for example by detecting the speed of a deflection roller 20 with a constant Diameter.
  • the changing drum diameter by coiled Rope layers are taken into account.
  • the traction cable 14 is conventional in and of itself
  • a tensile force monitoring of the pull cable 14 is provided. In this way, negative tensile forces can be recognized for the rope's service life and be prevented if possible.
  • FIG. 2 shows the piste grooming vehicle 10 of Fig. 1 provided elements for performing the invention Process.
  • a central control and regulation unit 22 receives data from various sensors and gives control signals to the winch 12 to increase the rope speed of the pull rope 14 regulate.
  • the cable winch 12 has sensors 24 that determine a speed of rotation Detect the rope pulley with a known diameter and send it to the central one Control and regulating unit 22 handed over. Beyond capture the sensors 24 also make an angle of the cable pull direction to a longitudinal axis of the grooming vehicle 10 and hand over the measured Angle also to the control and regulating unit 22.
  • the cable winch 12 also has a drive motor 26, for example one hydraulic motor, which uses control signals from the control unit 22 is controlled.
  • the control and regulating unit 22 receives further input signals from one Sensor 28, the speed of the drive wheel 18 of the drive chains 16 recorded. Due to the known diameter of the drive wheel 18, the control and regulating unit 22 from the sensor 28 delivered speed of the drive wheel 18 a revolution speed of the drive chains 16 determined. In the same way, the tax and control unit 22 from the cable reel speed supplied by the sensors 24 determine a rope speed.
  • the cable speed is thus in the control and regulating unit 22 of the pull rope 14, if necessary according to the amount and direction to the direction of travel or vehicle longitudinal axis, as well as the chain speed determined on the basis of the signals from the sensors 24 and 28.
  • the determined Rope speed and the determined chain speed is compared with each other and based on the comparison result Setpoint for the rope speed determined.
  • the nominal value for the rope speed after corrected above.
  • the chain speed increases when the drive chains slip through, because the chain drive suddenly less resistance is opposed.
  • the control unit 22 sets the target value for the Rope speed up.
  • the drive motor then tries 26 to increase the rope speed, which increases the tensile force in the Rope increased. In this way, when slip occurs, the Travel drive chains 16 increases the pulling force for a short time to the slope grooming vehicle 10 pull over a critical point.
  • the tensile force in the rope is limited to a maximum permissible value, to avoid damage to the rope.
  • a Tensile force sensor 30 detects the force currently acting in the rope and a the corresponding value is passed to the control and regulating unit 22. If it is found within the control and regulating unit 22 that the Tensile force in the rope threatens to exceed the maximum permissible value, the drive motor 26 is driven accordingly to the tensile force in Decrease rope.
  • control and regulating unit 22 can input signals from receive a navigation system 32, by means of which a driving speed of the piste grooming vehicle is determined above ground.
  • a navigation system 32 by means of which a driving speed of the piste grooming vehicle is determined above ground.
  • a driving speed of the piste grooming vehicle is determined above ground.
  • a navigation system 32 for example is by combining several navigation subsystems, for example satellite navigation, terrestrial direction finding navigation and the like, an exact determination of the position of a snow grooming vehicle and thus an accurate determination of the driving speed over Reason possible. Since the pull rope 14 of the winch 12 is immobile Points are fastened in the terrain, the driving speed compare directly over ground and a rope speed, without having to take slip into account.

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Road Paving Machines (AREA)
  • Loading Or Unloading Of Vehicles (AREA)
  • Earth Drilling (AREA)
  • Maintenance And Inspection Apparatuses For Elevators (AREA)
  • Jib Cranes (AREA)
  • Suspension Of Electric Lines Or Cables (AREA)
EP03023400A 2002-12-17 2003-10-17 Procédé pour commander le treuil de halage d'un vehicule pour l'entretien des pistes et cedit vehicule Expired - Lifetime EP1431236B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10261944A DE10261944A1 (de) 2002-12-17 2002-12-17 Verfahren zur Steuerung einer Seilwinde eines Pistenpflegefahrzeugs und Pistenpflegefahrzeug
DE10261944 2002-12-17

Publications (3)

Publication Number Publication Date
EP1431236A2 true EP1431236A2 (fr) 2004-06-23
EP1431236A3 EP1431236A3 (fr) 2005-04-27
EP1431236B1 EP1431236B1 (fr) 2009-12-09

Family

ID=32336631

Family Applications (1)

Application Number Title Priority Date Filing Date
EP03023400A Expired - Lifetime EP1431236B1 (fr) 2002-12-17 2003-10-17 Procédé pour commander le treuil de halage d'un vehicule pour l'entretien des pistes et cedit vehicule

Country Status (4)

Country Link
US (1) US7165758B2 (fr)
EP (1) EP1431236B1 (fr)
AT (1) ATE451322T1 (fr)
DE (2) DE10261944A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007101519A1 (fr) * 2006-03-07 2007-09-13 Pat Gmbh Protection contre les surcharges pour des grues
WO2011156829A1 (fr) * 2010-06-17 2011-12-22 Palfinger Ag Grue sur camion
EP2444355B1 (fr) 2010-10-19 2015-09-02 Kässbohrer Geländefahrzeug AG Procédé de commande d'un treuil à câble d'un véhicule chenillé et dameuse
AT526150A4 (de) * 2022-10-03 2023-12-15 Konrad Forsttechnik Gmbh Vorrichtung und Verfahren zum Transportieren von Holz in steilem Gelände
AT527871A1 (de) * 2024-01-09 2025-07-15 Lechner Konrad Forstwirtschaftliches Nutzfahrzeug

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005031076B4 (de) * 2005-06-27 2007-11-29 Kässbohrer Geländefahrzeug AG Pistenpflegefahrzeug mit Seilzugmoment-Kompensation
GB2443619B (en) * 2006-11-09 2011-09-14 Ford Global Tech Llc Apparatus for asssisting recovery of a vehicle using a winch
IT1394923B1 (it) * 2009-02-18 2012-07-27 Rolic Invest Sarl Veicolo battipista comprendente un gruppo verricello di ausilio alla movimentazione del veicolo battipista lungo pendii ripidi e metodo di azionamento del gruppo verricello
US20110203817A1 (en) * 2010-02-19 2011-08-25 Todd Hanson Trail grooming device
FR2981300B1 (fr) * 2011-10-13 2013-12-20 Aztec Bati retractable pour vehicule d'entretien de pistes skiables
ITMI20120922A1 (it) 2012-05-28 2013-11-29 Snowgrolic S A R L Metodo di controllo, programma per elaboratore elettronico e dispositivo di controllo di un veicolo cingolato
GB2540885B (en) * 2013-03-26 2017-10-25 Jaguar Land Rover Ltd Vehicle winch control system and method of controlling a winch
ITMI20150686A1 (it) * 2015-05-15 2016-11-15 Windfin Bv Veicolo cingolato; apparato di alimentazione per alimentare il veicolo cingolato e sistema di movimentazione in un'area di lavoro comprendente il veicolo cingolato e l'apparato di alimentazione
ITUA20162388A1 (it) * 2016-04-07 2017-10-07 Prinoth Spa Apparato per realizzare una pista da sci di fondo
IT201700064293A1 (it) * 2017-06-09 2018-12-09 Prinoth Spa Gruppo verricello di ausilio alla movimentazione di un veicolo cingolato e relativo metodo di controllo
US11518295B2 (en) * 2019-10-03 2022-12-06 Deere & Company Traction assist apparatus and method for a work machine
CN114537060A (zh) * 2020-11-24 2022-05-27 普瑞诺斯股份公司 用于准备滑雪道的履带式车辆和控制履带式车辆的绞盘的方法

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GB1076108A (en) * 1964-03-05 1967-07-19 Daniel Jourdan A device for enabling vehicles to climb obstacles, and vehicles comprising the same
US4093034A (en) * 1975-12-15 1978-06-06 Caterpillar Tractor Co. Vehicle supported winch
GB1589769A (en) * 1976-12-14 1981-05-20 Secretary Industry Brit System for controlling the position of a tethered floating vessel
JPS5657542A (en) * 1979-10-16 1981-05-20 Shikoku Nogyo Shikenjo Truck jointly using winch for steep slope
US4365927A (en) * 1980-05-02 1982-12-28 Schenck Ray B Slash recovery system
US4353424A (en) * 1980-05-27 1982-10-12 Schenck Ray B Slash gathering vehicle
IT1236962B (it) * 1989-10-17 1993-05-07 Prinoth Spa Mezzi per la preparazione della pista di atterraggio di un trampolino da sci.
DE29607651U1 (de) * 1996-04-26 1997-08-28 Kässbohrer Geländefahrzeug AG, 89250 Senden Kettenfahrzeug
IT1316116B1 (it) * 2000-01-21 2003-03-28 Leitner Spa Dispositivo per la impostazione e regolazione automatica della forzadi trazione di una fune di un verricello sopratesta per una macchina
WO2001055511A2 (fr) * 2000-01-28 2001-08-02 Bombardier Inc. Dispositif de damage a commandes electroniques ameliorees
US6276449B1 (en) * 2000-03-23 2001-08-21 Frederic M. Newman Engine speed control for hoist and tongs
AT410378B (de) * 2000-08-21 2003-04-25 Wintertechnik Engineering Gmbh Rechnergesteuerte einrichtung zur beschneiung und pflege von skipisten

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007101519A1 (fr) * 2006-03-07 2007-09-13 Pat Gmbh Protection contre les surcharges pour des grues
WO2011156829A1 (fr) * 2010-06-17 2011-12-22 Palfinger Ag Grue sur camion
US8875912B2 (en) 2010-06-17 2014-11-04 Palfinger Ag Vehicle crane
RU2564059C2 (ru) * 2010-06-17 2015-09-27 Палфингер Аг Автомобильный кран
EP2444355B1 (fr) 2010-10-19 2015-09-02 Kässbohrer Geländefahrzeug AG Procédé de commande d'un treuil à câble d'un véhicule chenillé et dameuse
EP2444355B2 (fr) † 2010-10-19 2022-08-17 Kässbohrer Geländefahrzeug AG Procédé de commande d'un treuil à câble d'un véhicule chenillé et dameuse
AT526150A4 (de) * 2022-10-03 2023-12-15 Konrad Forsttechnik Gmbh Vorrichtung und Verfahren zum Transportieren von Holz in steilem Gelände
AT526150B1 (de) * 2022-10-03 2023-12-15 Konrad Forsttechnik Gmbh Vorrichtung und Verfahren zum Transportieren von Holz in steilem Gelände
AT527871A1 (de) * 2024-01-09 2025-07-15 Lechner Konrad Forstwirtschaftliches Nutzfahrzeug

Also Published As

Publication number Publication date
ATE451322T1 (de) 2009-12-15
US20040173784A1 (en) 2004-09-09
DE50312200D1 (de) 2010-01-21
DE10261944A1 (de) 2004-07-01
EP1431236B1 (fr) 2009-12-09
EP1431236A3 (fr) 2005-04-27
US7165758B2 (en) 2007-01-23

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