JPH0583682B2 - - Google Patents

Description

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

[Prior Art] In regions with heavy snowfall, snowplows are essential tools for removing snow accumulated on roads and sidewalks. Such a snowplow is an integrated vehicle that includes a snow removal device that has functions for cutting and shoveling snow and functions for throwing snow, a traveling mechanism for moving the snow removal device, a driver's cab for driving, etc. Rotary types with special features are widely used.
And to take advantage of these features, typically
Currently, two workers are independently responsible for the work of driving the vehicle and the work of controlling the snow removal equipment.

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

In addition, with conventional snowplows, when there is a large amount of snow, it is impossible to understand the road surface conditions under the snow.
There are an increasing number of cases in which vehicles run onto the shoulder of the road or fall into roadside ditches, rivers, or fields. In order to deal with such problems, it is conceivable to use a vehicle guidance device that has already been put into practical use in golf carts and the like. However, in this vehicle guidance system, in order to detect magnetic markers laid on the road surface, it is necessary to install a magnetic sensor for guidance so as to maintain a certain height (several centimeters) from the marker. However, it is extremely difficult to use it directly in snowplows that remove snow from snowy roads where there are obstacles such as snow and stones.

[Problems to be Solved by the Invention] A technical problem of the present invention is to eliminate such conventional drawbacks, reduce the workload for driving a traveling vehicle during snow removal work, and improve safety and reliability by one worker. To provide an automatic snowplow that can perform snow removal work.

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

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

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

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

In addition, a magnetic sensor is attached to the body of the snowplow,
The height of the magnetic sensor can be lowered to the operating position for detecting magnetic markers, or kept in the elevated retracted position for driving on general roads, so the height of the magnetic sensor can be lowered to the operating position for detecting magnetic markers, or kept in the raised retracted position for driving on general roads. No more damage or impact.

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

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

Embodiment 1 FIG. 1 shows the configuration of an automatic snowplow according to a first embodiment of the present invention, and FIG. 2 shows the configuration of a guidance control section of the automatic snowplow. The automatic snowplow in this embodiment includes a body 1, a snow removal device 2, a lifting mechanism 3 for adjusting the height of the snow removal device 2, a traveling body 4 for moving the body 1, and personnel riding on it. It is equipped with a driver's cab 5 for performing operations, etc., and further includes a road surface 1.
The snowplow is equipped with a vehicle guidance device 6 that detects a magnetic marker (for example, a ferrite marker) 11 placed on the vehicle and guides the snowplow along the marker.

The snow removal device 2 includes an auger device 21 for scraping and shoveling snow 15 on the road surface 10, a blower device 23 for throwing the shoveled snow through a chute 22, and a device for positioning the auger device 21. The lifting mechanism 3 for adjusting the height of the snow removal device 2 includes a plurality of cylinders 31 and 32 and a torque rod 33 installed between the support base 18 on the body 1 and the snow removal device 2. Accordingly, the snow removal device 2 is supported so as to be movable up and down relative to the body 1. The traveling mechanism 4 for moving the snow removal device 2 together with the body 1 is a traveling mechanism similar to that of a general snow removal vehicle, but in relation to the vehicle guidance device 6, an automatic This also makes it possible to control the steering. Also,
The driver's cab 5 is configured so that personnel can ride in it and manually operate the traveling mechanism 4 and the snow removal device 2, but in the case of automatic operation in which steering is automatically controlled by the vehicle guidance device 6. For this purpose, it is only necessary to be able to perform driving operations mainly including starting, stopping, and speed setting of the traveling mechanism.

The vehicle guidance device 6 connects a guidance magnetic sensor 61 for detecting the magnetic marker 11 laid on the road surface 10 to the support base 18 of the vehicle body 1 via a hydraulic cylinder 63 driven by a hydraulic drive device 62. It is installed so that it can be raised and lowered. This magnetic sensor 61 is
By manual operation in the driver's cab 5, a height adjustment signal is output from a control section (not shown) to the hydraulic drive device 62, which operates the hydraulic cylinder 63 to raise and lower the magnetic sensor 61. In the case of automatic driving that automatically controls the steering by the magnetic sensor 61
is held in the lowered operating position by the hydraulic cylinder 63, and held in the raised retracted position when automatic operation is not performed.

As the magnetic sensor 61, for example, "NEC
A ``ferrite sensor for guiding automatic guided vehicles'' as disclosed in ``Technical Report, Vol. 41, No. 1, P. 78-80, 1988'' can be used. This ferrite sensor magnetizes the magnetic marker 11 with a magnetic field generated from a magnetic coil, and calculates the change in the magnetic field distribution by 2.
It is obtained as a voltage change using two detection coils. Then, the sensor position (magnetic marker 1
As shown in FIG. 3, the characteristics of the output signal voltage with respect to the lateral deviation (with respect to the center line of It is used to control the steering of snowplows. That is, if the output signal of the sensor is greater than or less than 0,
The steering motor is driven to perform steering control, and the driving of the snowplow is controlled so that the magnetic sensor 61 returns to the center of the magnetic marker.

In the automatic snow removal vehicle having the above configuration, in the case of automatic operation in which steering is controlled by the vehicle guidance device 6, the guidance magnetic sensor 61 is connected to the hydraulic cylinder 6.
3, or while adjusting its height according to the snow surface, the magnetic sensor 61 detects the magnetic marker 11 laid along the road surface 10, and based on the detection output. By controlling the steering, the snowplow is automatically guided to travel along the marker 11.
At the same time, the snow 15 on the road surface 10 is broken down and shoveled by the auger device 21, and the shoved snow is thrown through the chute 22 by the blower device 23.

In this way, when the snowplow is automatically guided along the marker 11, the snowplow can deviate from the marker laying route even when there is so much snow that it is impossible to visually grasp the road surface conditions under the snow. , there is no risk of running onto the road shoulder or falling into roadside ditches, rivers, or fields, and the operational burden on the driver is reduced except for starting, stopping, and speed setting of the vehicle, and the driver does not operate the steering wheel at all. There will be no need. Therefore, the main task of personnel is to control the snow removal equipment, and the snow removal vehicles are equipped with personnel who are responsible for moving the snow removal equipment up and down according to the amount of snow on the road, and for rotating, starting, stopping, and controlling the speed of the auger. This makes it possible to reduce the number of personnel from the conventional two to one.

In addition, when automatic operation by the vehicle guidance device 6 is not performed or during normal driving, the cylinders 31 and 32 of the lifting mechanism 3 are driven as necessary to raise the snow removal device 2, and the hydraulic cylinder 63 is used to raise the snow removal device 2. By keeping it in the highest retracted position, even when driving at high speed on the road, the magnetic sensor will not come into contact with or collide with obstacles such as snow or stones on the road surface, causing operational fluctuations or damage. It can be prevented.

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

The bumper 25, which has a built-in pressure sensor that detects such external pressure, is installed at the same height as or slightly higher than the height of the sled 24 installed directly below the snow removal device in order to specify the depth at which the snow is to be cut down. do. When the sled 24 passes through an obstacle such as a large stone while removing snow, this bumper 2
5 is detected by the external pressure acting on it, and a signal is output, and a control section (not shown) instantly activates the hydraulic drive device 6.
2 to move the hydraulic cylinder 63 and raise the magnetic sensor 61 to a retracted position that is sufficiently higher than the height of the bumper 25. As a result, a collision between the magnetic sensor 61 and an obstacle can be avoided in real time.

The magnetic sensor 61 is returned to its original position after a certain period of time (several hundred milliseconds to several seconds) by a signal from the control unit, and thereby the magnetic marker 1
If you enter the mode of guiding the magnetic sensor 6
1 operates stably again, and stable snow removal can be performed with guidance by the magnetic marker 11. That is, it becomes possible to protect the magnetic sensor 61 in real time.

Note that other configurations and operations are substantially the same as those of the first embodiment, so the same or corresponding parts are given the same reference numerals as those of the first embodiment, and the explanation thereof will be omitted.

[Effects of the Invention] As explained in detail above, according to the present invention,
By making the snowplow an automatic snowplow that is guided to run along magnetic markers, it not only significantly reduces the load on snowplow workers, but also allows for safe driving on snowy roads and clearing snow with fewer workers. In addition, by adjusting the height of the magnetic sensor, it can be used even when driving at high speeds on general roads or when there is an obstacle moving underneath the vehicle toward the magnetic sensor on a snowy road. , safety against breakage and damage to the magnetic sensor is ensured.

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

[Brief explanation of the drawing]

FIG. 1 is a side view showing the configuration of an automatic snowplow according to the first embodiment of the present invention, FIG. 2 is a front view of main parts showing the configuration of the guidance control section in the above embodiment, and FIG. 3 is a view of the magnetic sensor. A graph showing the characteristics; FIG. 4 is a side view showing the configuration of the automatic snowplow according to the second embodiment of the present invention;
FIG. 5 is a front view of main parts showing the positional relationship of the magnetic sensor, sled, bumper, etc. during guided travel in the same embodiment. DESCRIPTION OF SYMBOLS 1... Airframe, 2... Snow removal device, 3... Lifting mechanism, 4... Traveling mechanism, 5... Driver's cab, 6... Vehicle guidance device, 10... Road surface, 11... Magnetic marker,
18... Support stand, 25... Bumper, 61... Magnetic sensor for guidance.

Claims (1)

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