EP1431236B1 - 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
EP1431236B1
EP1431236B1 EP03023400A EP03023400A EP1431236B1 EP 1431236 B1 EP1431236 B1 EP 1431236B1 EP 03023400 A EP03023400 A EP 03023400A EP 03023400 A EP03023400 A EP 03023400A EP 1431236 B1 EP1431236 B1 EP 1431236B1
Authority
EP
European Patent Office
Prior art keywords
cable
velocity
proportional
winch
speed
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.)
Expired - Lifetime
Application number
EP03023400A
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German (de)
English (en)
Other versions
EP1431236A2 (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 cable winch control of a piste grooming vehicle.
  • a device for automatic control of the tensile force of a rope for a piste grooming device in which a pressure in the hydrostatic drive of the piste grooming vehicle and an angle of the rope are detected relative to the vehicle.
  • a setpoint for the cable pull force is determined.
  • the desired value thus obtained is compared with a detected actual value of the cable traction force and the traction force is regulated to the desired value.
  • the pressure in the hydrostatic drive is detected separately after the pressure on the forward side of the traction drive and after the pressure on the reverse side of the traction drive.
  • the setpoint for the winch tension is chosen to be correspondingly higher to relieve the traction drive. If, on the other hand, there is a high pressure on the rearward side of the traction drive in a cable pulling direction in the forward direction of travel, this means that the winch is working against the traction drive. In this case, the wind tensile force should be withdrawn. If a drive chain slips suddenly when driving uphill, the pressure on the forward side of the travel drive inevitably decreases. This leads to a reduction in the cable traction, although due to the slip occurring even a higher cable traction would be required.
  • a method for controlling the winch of a piste grooming vehicle is provided with the following steps:
  • a detected current tensile force in the rope and a predeterminable maximum value for the tensile force are taken into account in the determination of the desired value.
  • a tensile force limitation of the rope can be considered and ensured that a maximum permissible tensile force is not exceeded.
  • the maximum permissible value can be set, for example according to ambient conditions, rope age and rope type and vehicle type.
  • a speed of the drive chains and a speed of a cable drum or a pulley of known diameter is easily and reliably detected and proportional to the chain or rope speed.
  • the cable speed or a variable proportional thereto is detected according to its amount and its direction relative to a direction of travel or a vehicle longitudinal axis of the piste care vehicle.
  • a climbing angle between the direction of travel or the longitudinal axis of the vehicle and the horizontal as well as a direction of the cable speed relative to the direction of travel is taken into account in the determination of the desired value.
  • the setpoint for the cable speed is chosen to be less than or equal to the chain speed in order to achieve a braking effect.
  • the setpoint for the rope speed is greater than or equal to the chain speed selected to maintain a tensile force in the rope and to support the travel drive.
  • the rope should be kept taut and under tension in all driving situations.
  • slippage of the chains of the piste care vehicle is detected and the detected slip taken into account in the setpoint determination.
  • a setpoint for the rope speed may be increased so that the traction force increases and the slope grooming vehicle is pulled over the critical point by means of the winch.
  • Ground speed and rope speed are directly comparable because the rope of a winch is anchored to off-road points.
  • a ground speed can, for example, be determined by means of a satellite navigation system alone or the coupling of multiple navigation systems with good accuracy.
  • a slope maintenance vehicle with winch for performing the method according to the invention, the means for detecting a chain speed, a size proportional thereto and / or a ground speed, means for detecting a rope speed or a size proportional thereto, means for comparing the detected rope speed and the detected chain speed or the quantities proportional thereto and / or the ground speed over ground and means for determining a set value for the rope speed taking into account the comparison result.
  • an inventive piste care vehicle 10 can be seen, which is equipped with a so-called overhead winch 12.
  • the overhead winch 12 is rotatably mounted on a chassis of the piste grooming vehicle 10, so that a pulling direction of the winch 12 to the direction of travel of the piste grooming vehicle 10 is substantially adjustable.
  • the winch 12 is used, for example, on very steep slopes to be worked. After anchoring the rope in the terrain, the piste care vehicle 10 can edit a slope, for example, in upward and downward travel, without a traction cable 14 of the winch 12 would have to be re-anchored or implemented.
  • a travel speed of the piste care vehicle 10 is determined by a rotational speed of its traction drive chains 16 and possibly occurring slip. Due to the known diameter of the drive wheels 18 for the drive drive chains 16, the rotational speed of the drive drive chains 16 can be determined via a speed detection of the drive wheels 18.
  • a rope speed of the traction cable 14 is detected, for example by detecting the rotational speed of a deflection roller 20 with a constant diameter.
  • the changing drum diameter must be taken into account by wound rope layers, if necessary.
  • a tensile force monitoring of the traction cable 14 is also provided in a conventional manner. This can be recognized for the life of the rope detrimental tensile forces and prevented if possible.
  • FIG. 2 The schematic block diagram of Fig. 2 shows in the Pistennostintz 10 of Fig. 1 provided elements for carrying out the method according to the invention.
  • a central control unit 22 receives data from various sensors and outputs drive signals to the cable winch 12 in order to control the cable speed of the pull cable 14.
  • the winch 12 has sensors 24 which detect a rotational speed of a Seilumlenkrolle with known diameter and transferred to the central control unit 22.
  • the sensors 24 also detect an angle of the cable pulling direction to a longitudinal axis of the piste grooming vehicle 10 and pass the measured angle also to the control unit 22.
  • the winch 12 also has a drive motor 26, for example, a hydraulic motor, via drive signals is controlled by the control unit 22.
  • control unit 22 Further input signals to the control unit 22 from a sensor 28 which detects a rotational speed of the drive wheel 18 of the traction drive chains 16. Due to the known diameter of the drive wheel 18, the control unit 22 from the speed supplied by the sensor 28 of the drive wheel 18, a rotational speed of the drive drive chains 16 determined. In the same way, the tax and control unit 22 from the supplied from the sensors 24 pulley speed determine a rope speed.
  • the rope speed of the traction cable 14 optionally determined by amount and direction to the direction of travel or vehicle longitudinal axis, and the chain speed based on the signals of the sensors 24 and 28 respectively.
  • the determined rope speed and the determined chain speed are compared with each other and based on the comparison result, a set value for the rope speed is determined.
  • the set point for the rope speed is corrected upwards.
  • the chain speed increases when slipping the drive chains in the short term, since the chain drive suddenly less resistance is opposed.
  • the ratio of the chain speed to the line speed changes, and the control unit 22 sets the rope speed command value upward.
  • the drive motor 26 tries to increase the rope speed, which increases the tensile force in the rope. In this way, when slip occurs on the traction drive chains 16, the cable traction force is briefly increased in order to pull the runway care vehicle 10 over a critical point.
  • the tensile force in the rope is limited to a maximum permissible value in order to avoid damaging the rope.
  • the currently acting in the rope force is detected by means of a tension sensor 30 and passed a corresponding value to the control unit 22. If it is determined within the control and regulation unit 22 that the tensile force in the rope threatens to exceed the maximum permissible value, the drive motor 26 is driven accordingly in order to reduce the tensile force in the rope.
  • control unit 22 can receive input signals from a navigation system 32, by means of which a ground speed of the snow grooming vehicle is determined.
  • a navigation system 32 by means of which a ground speed of the snow grooming vehicle is determined.
  • a navigation system 32 by means of the combination of a plurality of navigation subsystems, for example satellite navigation, terrestrial Peilnavigation and the like, an accurate position determination of a Pistennosti flirts and thus an accurate determination of the ground speed above ground possible. Since the pull rope 14 of the winch 12 is fixed at immovable points in the field, the speed of travel over ground and a rope speed can be compared directly without having to consider slip.

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  • 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)

Claims (7)

  1. Procédé servant à réguler le treuil à câble équipant un véhicule (10) d'entretien de piste, comprenant les étapes suivantes :
    - Saisir au moyen d'un capteur (28) une vitesse de chaîne ou une grandeur proportionnelle à la vitesse de chaîne d'entraînement,
    - Saisir au moyen d'un capteur (24) une vitesse de câble ou une grandeur proportionnelle à la vitesse de câble,
    - Comparer la vitesse de chaîne saisie et la vitesse de câble saisie ou les grandeurs proportionnelles afférentes dans une unité centrale (22) de commande et de régulation et
    - Déterminer une valeur de consigne pour la vitesse du câble ou la grandeur proportionnelle afférente en tenant compte du résultat de la comparaison pour la régulation du treuil à câble au moyen de l'unité centrale (22) de commande et de régulation.
  2. Procédé selon la revendication 1, caractérisé en ce que lors de la définition de la valeur de consigne, une force de traction actuelle saisie dans le câble et une valeur maximale qu'il est possible de spécifier de la force de traction sont prises en compte.
  3. Procédé selon la revendication 1 ou 2, caractérisé en ce que sont saisis un nombre de tours de chaîne et un nombre de tours de treuil à câble.
  4. Procédé selon l'une des revendications précédentes, caractérisé en ce que la vitesse du câble ou une grandeur proportionnelle à celle-ci est saisie, en la forme de son quantum et de sa direction, par rapport à un sens de déplacement ou à un axe longitudinal du véhicule (10) d'entretien de piste.
  5. Procédé selon l'une des revendications précédentes, caractérisé en ce que sont pris en compte, lors de la définition de la valeur de consigne, un angle de montée entre le sens de déplacement ou l'axe longitudinal du véhicule et l'horizontale, ainsi qu'un sens de la vitesse du câble relativement au sens de déplacement.
  6. Procédé, selon l'une des revendications précédentes, servant à réguler le treuil à câble d'un véhicule d'entretien de piste et comprenant les étapes suivantes :
    - Saisir la direction et le quantum d'une vitesse, au dessus du sol, à laquelle se déplace le véhicule d'entretien de piste (10),
    - Saisir la direction et le quantum d'une vitesse de câble ou saisir une grandeur proportionnelle à la vitesse du câble,
    - Comparer la vitesse de déplacement au dessus du sol saisie et la vitesse du câble saisie ou la grandeur proportionnelle à cette dernière et
    - Déterminer une valeur de consigne pour la vitesse du câble ou la grandeur proportionnelle à cette dernière pour réguler le treuil en tenant compte du résultat de la comparaison.
  7. Véhicule d'entretien de piste avec treuil à câble (12) pour réaliser le procédé selon l'une des revendications précédentes, comprenant des moyens (28, 32) qui permettent de saisir une vitesse de chaîne, une grandeur proportionnelle à cette vitesse et/ou une vitesse de déplacement au dessus du sol, des moyens (24) qui permettent de saisir une vitesse de câble ou une grandeur proportionnelle à cette dernière, des moyens (22) qui permettent de comparer la vitesse de câble saisie et la vitesse de chaîne saisie, ou les grandeurs proportionnelles à ces vitesses et/ou la vitesse de déplacement au dessus du sol, et des moyens (22) servant à déterminer une valeur de consigne assignée à la vitesse du câble en tenant compte du résultat de la comparaison.
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 EP1431236A2 (fr) 2004-06-23
EP1431236A3 EP1431236A3 (fr) 2005-04-27
EP1431236B1 true 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 (1)

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Publication number Priority date Publication date Assignee Title
DE102010049984A1 (de) 2010-10-19 2012-04-19 Kässbohrer Geländefahrzeug AG Verfahren zur Steuerung einer Seilwinde eines Kettenfahrzeugs und Pistenraupe

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DE102005031076B4 (de) * 2005-06-27 2007-11-29 Kässbohrer Geländefahrzeug AG Pistenpflegefahrzeug mit Seilzugmoment-Kompensation
DE102006010346A1 (de) * 2006-03-07 2007-09-13 Pat Gmbh Überlastschutz für Krane
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
AT12086U1 (de) * 2010-06-17 2011-10-15 Palfinger Ag Fahrzeugkran
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
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

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010049984A1 (de) 2010-10-19 2012-04-19 Kässbohrer Geländefahrzeug AG Verfahren zur Steuerung einer Seilwinde eines Kettenfahrzeugs und Pistenraupe
EP2444356A1 (fr) 2010-10-19 2012-04-25 Kässbohrer Geländefahrzeug AG Procédé de commande d'un treuil à câble d'un véhicule chenillé et dameuse
EP2444355A1 (fr) 2010-10-19 2012-04-25 Kässbohrer Geländefahrzeug AG Procédé de commande d'un treuil à câble d'un véhicule chenillé et dameuse

Also Published As

Publication number Publication date
EP1431236A2 (fr) 2004-06-23
ATE451322T1 (de) 2009-12-15
US20040173784A1 (en) 2004-09-09
DE50312200D1 (de) 2010-01-21
DE10261944A1 (de) 2004-07-01
EP1431236A3 (fr) 2005-04-27
US7165758B2 (en) 2007-01-23

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