Note : Les descriptions sont présentées dans la langue officielle dans laquelle elles ont été soumises.
CA 02365602 2001-09-17
WO 01/55511 PCT/CA01/00088
-1-
SNOW GROOMER HAVING I1VIPROVED ELECTRONIC CONTROLS
This application claims priority from U.S. provisional application 60/178,774
filed
January 28, 2000, the contents of which are incorporated herein by reference
FIELD OF INVENTION
This invention relates to snow grooming devices for snow areas and, more
particularly, the invention is directed to control and instrumentation systems
for snow
grooming vehicles.
BACKGROUND OF THE INVENTION
At modern ski resorts, with increased skier traffic and the frequent need to
accommodate a wide variety of ski terrain, skier skills, interests, and
equipment, snow
making and snow grooming have become essential operations at any successful
ski center.
Tracked vehicles are widely used in these operations, providing the propulsion
and/or power
1o for a number of snow grooming attachments including plows, tillers, and
halfpipe tools.
Generally, a tracked vehicle used in a grooming operation has a blade on the
front for
collecting snow from areas where there is too much and moving it to areas
which are worn or
require an excess of snow for the creation of particular snow profiles. The
tracked vehicle
may also include a tiller attached to the rear that breaks up ice chunks or
other undesirable
15 types of snow.
Typical snow grooming vehicles use manually controlled and adjusted
implements.
Such manual control makes it difficult to obtain carefully groomed snow
surfaces, especially
surfaces that require special grooming techniques, have irregular terrain, or
contain unmarked
obstacles.
2o One of the problems encountered by traditional snow grooming devices is
slippage of
the track that propels the vehicle. During grooming operations, it is
preferable to reduce
track slippage as much as possible as track slippage may damage or blemish the
snow surface
or formation the grooming operation is intended to produce. Current tracked
vehicles rely on
the operator to reduce track slippage by manually adjusting the speed of the
tracked vehicle
25 or manually adjusting the position of the wheels around which the track is
arranged to adjust
the track tension. Current tracked vehicles do not provide dynamic monitoring
and control of
track tension, nor do current tracked vehicles provide dynamic setting of a
target track
tension either automatically or by the operator.
SUBSTITUTE SHEET (RULE 26)
CA 02365602 2001-09-17
WO 01/55511 PCT/CA01/00088
_2_
Other problems encountered during grooming relate to controlling the tiller.
The tiller
can be provided in a variety of configurations and employ a variety of control
systems. One
such tiller configuration, disclosed in U.S. Patent Application No.
60/172,157, which was
filed on December 17, 1999 and is incorporated herein by reference, includes a
plurality of
tiller subassemblies, each subassembly including at lease one tiller element,
coupled with a
control system for adjusting the relative orientation of the tiller
subassemblies to provide
automatic control of the tiller for safely maintaining a selected snow
profile.
Other variations to the tiller assembly itself have been used to provide
greater control
over the tiller performance. For example, the volume and configuration of the
incorporated
1o snow chamber may be varied during snow grooming operation according to the
teachings of
U.S. Patent 5,067,263 to Pelletier, which is incorporated herein by reference.
A flexible mat
(or mats) having grooved fnishing elements is generally provided at the rear
of the tiller
assembly to provide the final snow surface conditioning by smoothing or,
alternatively, by
providing a "corduroy" texture to the surface of the tilled snow. U.S. Patent
5,067,263 does
not disclose or suggest, however, dynamically providing information to the
operator
regarding the tiller chamber, pressure, position, and direction and dynamic
control of the tiller
chamber, pressure, position, and direction during grooming operations.
U.S. Patent 5,632,106 to Sinykin, which is herein incorporated by reference,
discloses
a tiller with an adjustable depth cutter and snow comb entry angle including
an adjustable
2o cover that directs the snow to the snow comb. The operator determines the
till depth and time
in response to snow conditions. U.S. Patent 5,632,106 does not disclose or
suggest
dynamically providing information regarding the tiller pressure and direction
to the operator
and dynamically controlling the tiller pressure and direction during grooming
operations.
Current tiller assemblies also may include a relief valve that reduces the
tiller pressure
upon detection of a pressure exceeding a threshold value. The pressure must be
manually re-
increased or recharged, however, in the event that the tiller pressure is
reduced. The operator
must then discontinue the grooming operation to manually recharge the
pressure.
Determining the vehicle path and controlling the vehicle based on terrain are
also
problems experienced by operators of snow grooming vehicles. Typically, during
grooming,
3o the operator manually monitors and controls the tracked vehicle's path to
maintain a desired
grooming path or configuration relative to the grooming starting position.
Current tracked
vehicles do not include the ability to dynamically monitor and display the
vehicle's tilt and
SUBSTITUTE SHEET (RULE 26)
CA 02365602 2001-09-17
WO 01/55511 PCT/CA01/00088
-3-
roll angles relative to the starting position and the slope being groomed.
Therefore, the skill
of the operator is relied upon to control the vehicle to accurately groom the
slope.
In order to groom steep slopes, the tracked vehicle including a blade, a
tiller, and/or
other grooming device, may also include a winch and cable. The cable is
attached to the top
of the slope and guides and supports the tracked vehicle while it performs
grooming
operations along the slope. When the vehicle turns, the cable inherently
twists. To avoid
undue twisting of the cable, operators must remember to alternate turning and
must be careful
to alternately turn the tracked vehicle left and right in a figure-8 motion.
Presently, the
operator must device his own mental system to keep track of the number and
direction of
io each left and right turn during the grooming operation. If the operator
fails to alternate
correctly between the number of left and right turns, the cable will become
twisted and may
become damaged and possibly break.
A further problem encountered during grooming is the lack of information about
the
surface. As snow depth varies and obstacles are often obscured by snow, it is
difficult for an
operator to adjust the grooming operation to account for variations in the
surface condition.
To accurately perform grooming operations, it is necessary to have accurate
and complete
information regarding the snow depth at each point of the snow area. The snow
depth should
be controlled by moving snow from areas where there is more than needed to
perform the
grooming operations to areas where there is less than needed to perform
grooming
operations, so that it is unnecessary to make snow.
U.S. Patent 5,761,095 to Warren discloses a system for monitoring the depth of
snow
that includes global positioning system and an initialization unit that
generates ground surface
data representative of the surface of the ground without snow and a snow
surface data
acquisition unit that generates snow surface data representative of the
surface of the snow.
The difference between the snow surface data and the ground surface data is
then used to
generate snow depth data representative of the area between the ground and
snow surfaces.
U.S. Patent 5,761,095 does not disclose or suggest, however, dynamically
collecting,
displaying, and recording snow depth data during snow grooming operations,
including
displaying an instant snow depth corresponding to the tracked vehicle's
location during a
3o snow grooming operation and/or a snow depth history of the tracked
vehicle's path during a
snow grooming operation. In addition, U.S. Patent 5,761,095 does not disclose
or suggest
dynamically displaying and recording a trace of the vehicle's path over a map
of the snow
SUBSTITUTE SHEET (RULE 26)
CA 02365602 2001-09-17
WD 01/55511 PCT/CA01/00088
-4-
area during a grooming operation so that an operator or even a base location
can monitor the
vehicles progress with respect to obstacles in the terrain.
Problems encountered during grooming have also increased with respect to the
special
terrain features that many resorts now provide, especially snow boarding
features. The
popularity of snow boarding has caused many ski centers to form halfpipe ramps
for snow
board use. Currently, tools used to form halfpipe ramps are manually
controlled by the
operator. This is difficult when maneuvering on a slope, especially when the
terrain or snow
conditions are variable. Presently, there does not exist a control mechanism
for a halfpipe
tool that allows for dynamic monitoring and manipulation of the halfpipe tool
during
to formation of the halfpipe ramp. .
At the present time, much of the actual operation of the snow grooming vehicle
remains in the direct manual control of the operator who is provided with a
limited amount of
information regarding the conditions of the tools and terrain. Although many
operators are
quite skilled, their ability to create, accurately and efficiently, the
desired snow conditions
and profiles varies, limited in part by the complexity inherent in
consistently coordinating the
action of the various components and operations of the snow grooming vehicle
and by the
scope and format of information readily available to the operator. There
remains, therefore, a
need to provide more automated control and expand the scope and utility of
information
available to the operator and others.
2o SUMMARY OF THE INVENTION
The invention provides a number of control and data collection/display
features that
can be incorporated into a vehicle for improving the snow grooming operation
and aiding the
operator in efficiently achieving the desired snow profiles.
It is therefore an aspect of the invention to provide improved control over
various
facets of snow grooming operation.
It is also an aspect of the invention to provide data having expanded scope
and
improved format available to the snow grooming operator to assist in the
efficient operation
of the vehicle.
Another aspect of the invention provides an operator-specific data collection
and
3o interface system that controls certain aspects of the tiller operation and
provides a means for
data collection and transfer.
SUBSTITUTE SHEET (RULE 26)
CA 02365602 2001-09-17
WO 01/55511 PCT/CA01/00088
-5-
The invention can also provide an operator-specific data collection and
interface
system that controls certain aspects of the track tension adjuster and
provides a means for
automatic and manual reduction of track slippage.
Additionally, an operator-specific data collection and interface system can be
provided that controls certain aspects of a halfpipe tool operation and
provides a means for
data collection and transfer.
Another aspect of the invention provides an operator-specific data collection
and
interface system that controls certain aspects of the vehicle operation on
sloped snow areas
and provides a means for data collection and transfer.
to Further, the invention can provide an operator-specific data collection and
interface
system that controls certain aspects of a vehicle winch and vehicle operation
during use of the
winch and provides a means for data collection and transfer.
The invention can also provide for an operator-specific data collection and
interface
system that controls certain aspects of snow depth data collection and display
and provides a
i5 means for data collection and transfer.
Also, an operator-specific data collection and interface system can be
provided to
control certain aspects of mapping the vehicle's path over a snow area,
display the vehicle's
position and trace the vehicle's path over a map of the snow area and to
provide a means for
data collection and transfer.
2o It is to be understood that the invention described herein can be varied in
a number of
ways and is not restricted to the particular embodiments described below, but
generally
includes any vehicle that incorporates one or more of the disclosed control or
data collection
elements to assist in snow grooming.
BRIEF DESCRIPTION OF THE DRAWINGS
25 The invention will be described in greater detail in conjunction with the
following
drawings wherein:
Fig. 1 is a schematic of a vehicle including a track tension control system
according to
one embodiment of the invention;
Fig. 2 is a schematic of vehicle including a tiller up-down position control
system
3o according to one embodiment of the invention;
SUBSTITUTE SHEET (RULE 26)
CA 02365602 2001-09-17
WD 01/55511 PCT/CA01/00088
-6-
Fig. 3 is a schematic of a data and mapping collecting and transferring system
according to one embodiment of the invention;
Figs. 4(a)-4(c) are representations of slope angle calculation and display
systems
according to one embodiment of the invention;
Figs. 5(a) and 5(b) are representations of a halfpipe tool angle calculation
and display
system according to one embodiment of the invention;
Figs. 6(a) and 6(b) are representations of a tiller information collection and
display
system according to one embodiment of the invention;
Figs. 7(a)-7(c) are representations of a Figure-8 counting, winch information
to collection and display system according to one embodiment of the invention;
Figs. 8(a) and 8(b) are representations of a weather information collection
and display
system according to one embodiment of the invention; and
Figs. 9(a) and 9(b) are representations of a snow depth information collection
and
display system according to one embodiment of the invention.
15 DETAILED DESCRIPTION OF EXEMPLARY EMBODIMENTS
The system described herein is explained in conjunction with a tracked vehicle
having
snow grooming implements. The various systems are used to provide automatic
and dynamic
operation of the snow grooming implements and vehicle. It is understood that
such systems
could be used independently or in any number of combinations depending on the
desired use.
2o It is also understood that the various systems can be used on different
vehicles and devices
and is not limited to the tracked snow grooming device described herein.
To provide an operator with information and dynamic automatically controlled
functions, the following systems explained in detail below are provided in
accordance with
this invention. The device can be provided with the following functions: track
slippage
25 control; track tension adjustment control; tiller pressure control; a
memory card and data
module; slope angle control and display; half pipe tool angle control and
display; tiller
control and display; figure-8 count and display; winch control and display;
weather
information collection and display; snow depth information collection and
display; and,
vehicle position trace control and display.
SUBSTITUTE SHEET (RULE 26)
CA 02365602 2001-09-17
WO 01/55511 PCT/CA01/00088
_7_
These systems can be implemented by connection to the existing electronic
system in
a snow grooming vehicle or can be provided as separate components and
connected to the
vehicle in a manner as would be known by one of ordinary skill in the art.
The systems are hereafter described separately in detail.
Track slippage control
Referring to Fig. 1, one of the parameters of particular concern during the
operation of
the vehicle 1 is track slippage, i.e., linear movement of the track 60 that
exceeds the linear
movement of the vehicle 1. According to the invention, in addition to the
automatic track
tension adjustment control by the microcontroller 50, the operator has the
ability to reduce
to the track slippage manually by incrementing the track adjuster position.
For instance, should the operator detect unacceptable track slippage, the
operator can
toggle a switch 70 to a "release position." Each time the switch 70 is
toggled, the target
track adjuster position of the track adjuster 30 will be decreased by a
predefined increment,
typically less than one inch, to reduce the track tension and reduce track
slippage.
According to one embodiment of the invention, the presence of a track slippage
condition will be automatically detected by using a combination of speed radar
80 and at least
one track speed sensor 90, which may be, for example, a motor speed sensor.
Any difference
between track speed and ground speed indicates that a track slippage condition
exists and the
measured speed values and the detected difference may be used to calculate a
corresponding
2o track slippage percentage that can be continuously or intermittently
displayed to the operator.
The calculated track slippage percentage can also be monitored by the
microcontroller
50 and compared with a predetermined value so if excessive track slippage is
detected, the
track adjuster position can be adjusted automatically to reduce track
slippage. The
microcontroller 50 can also be configured to provide a visual and/or auditory
alert to the
operator that an excessive track slippage has been detected or is likely to
occur unless
corrective action is taken.
In a preferred embodiment of the invention, the vehicle tracks 60 include a
large
rubber band or belt with metal cross-links arranged around a plurality of
aligned wheels 10,
11, 12, and 20. The track adjuster 30 may include a hydraulic cylinder
installed between the
3o two forwardmost wheels 10 and 20 on each side of the vehicle 1. Extending
the cylinder will
move the front wheel 20 forward relative to the fixed position of the second
wheel 10,
SUBSTITUTE SHEET (RULE 26)
CA 02365602 2001-09-17
WO 01/55511 PCT/CA01/00088
_$_
increasing the distance between the two wheels 10 and 20. Increasing this
distance results in
a corresponding increase to the track tension. Similarly, retracting the
cylinder will move the
front wheel 20 backward, bringing the wheels 10 and 20 closer together, thus
reducing the
track tension.
The movement and position of the track adjuster cylinder is monitored and
controlled
by the microcontroller 50 . The target cylinder position is set in the
microcontroller 50 using
a potentiometer installed in the vehicle cab 160 as the operator input 40. In
response to the
target position input and the detected track adjuster position, the
microcontroller 50 will
activate and adjust the appropriate hydraulic valves until a cylinder position
sensor 35
1o indicates that the target position has been reached. The cylinder position
is constantly
monitored by the microcontroller 50. If an external event shifts the position
of the track
adjuster 30, the microcontroller 50 will automatically reposition the track
adjuster 30 to
reestablish the target position.
In some instances, it may not be convenient or advisable to adjust the track
adjuster
target position (as set by the potentiometer of the operator input 40) during
vehicle operation.
To accommodate "on-the-fly" adjustments, the invention provides the switch 70,
installed,
for example on the dashboard, to provide incremental adjustments of track
tension.
Depending on the conditions, the operator can toggle the switch 70 to adjust
the track tension
by incremental movements of the track adjuster 30.
2o If, for example, the operator wishes to reduce the track tension (as this
would be
desired in case of slippage), the operator would toggle the switch 70 to send
a signal 71 to the
microcontroller 50. In response to the signal 71, the microcontroller 50 will
establish a new
retracted target position for the track adjuster 30 and operate the
appropriate hydraulic
circuits and valves to automatically retract the cylinder of the track
adjuster 30 to the new
target position. Typically the increment of adjustment in the target track
adjuster position
would be less than one inch (approx. 3/4 " or approx. 19 mm), but may be set
as desired.
When the vehicle 1 is climbing up a slope or working against a particular
load, the
track 60 will tend to slip. Track slippage is not desired because it can
damage the snow
surface as the track 60 churns and digs into the snow. One way to reduce the
track slippage is
3o to reduce the track tension. This reduction in track tension produces
additional grip for the
track 60.
SUBSTITUTE SHEET (RULE 26)
CA 02365602 2001-09-17
WD 01/55511 PCT/CA01/00088
-9-
In order to automatically improve the situation, an on-board computer 100,
installed
in the vehicle cab 160 monitors the track slippage. This may be done by
comparing the track
speed (by sensing the motor speed using the motor speed sensor 90) with the
actual speed
(given by the speed radar 80 installed on the vehicle 1). Using these measured
values, the
on-board computer 100 can calculate a percentage of slippage. If the slippage
percent
exceeds a preset value, the on-board computer 100 will send a signal 110 to
the
microcontroller 50. The microcontroller 50 will then retract the cylinder of
the track adjuster
30 a predefined distance (approx. 3/4" or approx. 19 mm) to reduce the belt
tension and reduce
the track slippage.
to Track tension adjustment control
Track tension can also be adjusted. Referring to Fig. l, the track tension on
a vehicle
l, for example a tracked snow grooming vehicle, is typically determined by the
relative
spacing of fixed and moveable components, for instance wheels, plates, or
other track guides.
According to one embodiment of the invention, the track tension is determined
by the spacing
between a fixed wheel 10 and a moveable wheel 20. The position of the moveable
wheel 20
is determined by the movement of a track adjuster 30, such as a hydraulic
piston assembly,
over a known range of movement. The operator can then input a target track
adjuster
position into an on-board microcontroller 50. The operator inputs the target
track adjuster
position using an input 40, for example, a potentiometer, a keyboard, a
touchscreen, or a
2o toggle switch, connected to the microcontroller 50.
Once the target track adjuster position is set, the microcontroller 50
monitors and
automatically repositions the track adjuster 30 to maintain the target track
adjuster position.
If, for example, some external event causes a change in the track adjuster
position, the
microcontroller 50 automatically resets the track adjuster 30 to the target
track adjuster
position without further input from the operator.
Un and down tiller pressure control
Referring to Fig. 2, according to the invention, tiller pressure can also be
controlled.
A target pressure for a tiller 120 is set within a second microcontroller 51
using a second
operator input 41, for example, a potentiometer. In addition to the target
pressure, the
3o hydraulic system may include an electrically operated pressure relief valve
130. Depending
on the system capabilities, the release pressure may be set as a percentage
above the target
SUBSTITUTE SHEET (RULE 26)
CA 02365602 2001-09-17
WO 01/55511 PCT/CA01/00088
-10-
pressure, some predetermined increment above the target pressure, or at some
predetermined
pressure necessary to protect the system components.
Regardless of how the release pressure is set, should an overpressure
condition be
detected, the microprocessor 51 will open the relief valve 130 to bleed off
hydraulic fluid
thereby bringing the system pressure back into the target range. Similarly, if
the
microcontroller 51 detects an underpressure condition, it will automatically
operate the
appropriate hydraulic circuits andlor valves to feed hydraulic fluid into the
cylinders
controlling a rear lift frame position to reestablish the target pressure. The
microcontroller 51
will automatically maintain the target pressure and prevent overpressure
conditions despite
l0 fluctuations resulting from external events acting on the tiller 120 or the
vehicle 1.
The movement involved in controlling the tiller pressure is the up and down
movement, depicted by the arrow Y in Fig. 2, of the vehicle rear lift frame
(not shown).
Moving the frame up tends to lift the tiller 120, resulting in a corresponding
reduction in the
pressure the tiller 120 exerts against the snow pack. Similarly, lowering the
rear lift frame
tends to press the tiller 120 into the snow pack, resulting in a corresponding
increase in the
applied pressure. During the snow grooming work, depending on snow condition
or desired
snow finish, it may be useful to maintain a target pressure on the tiller 120.
Again based on
the desired result, the target pressure could be reduced to prevent the tiller
120 from digging
too deeply into the snow pack or increased to provide for deeper tilling
action. These two
2o conditions will be called respectively up pressure and down pressure.
The second operator input 41, in this embodiment a potentiometer, in the cab
160
allows the operator to indicate to the microcontroller 51 the target pressure.
The
microcontroller 51 will then set the current and/or voltage applied to the
electrically operated
relief valve 130 according to the potentiometer position to set the maximum
target pressure.
Once the relief valve 130 is set, its mechanical features will allow it to
open at all pressures in
excess of the target pressure.
The microcontroller 51 monitors the actual pressure within the appropriate
cylinders
using one or more pressure sensors 140 installed at various points throughout
in the hydraulic
system. If the pressure is below the target pressure by a preset value, the
microcontroller 51
3o activates a feed valve 150, which will feed oil into the hydraulic system,
thereby increasing
the pressure until the target pressure is reached.
SUBSTITUTE SHEET (RULE 26)
CA 02365602 2001-09-17
WD 01/55511 PCT/CA01/00088
-11-
This system will be activated according to the operation mode. The actual
tiller
direction and operation mode is controlled by a third microcontroller 52. The
operation mode
is communicated to the second microcontroller 51 using a signal 111, for
example a digital
signal.
Memory card and data module
Referring to Fig. 3, a memory card 101, for example, a PCMCIA card, can be
provided for collecting and transferring operational data and mapping data.
This allows
operational and mapping data to be carried from a base computer 500 to the on-
board
computer and on-board microcontrollers 50-59 of the vehicle 1. Similarly, the
memory card
l0 1 O 1 allows operatioxial and mapping data gathered during the operation of
the vehicle 1 to be
transferred from the vehicle 1 to the base computer 500. The memory card 101
also
identifies a particular operator and controls the operation of the vehicle 1.
For example,
unless the operator number provided on the memory card 101 matches a number
included on
a validation list stored in the on-board computer 100, the computer 100 will
not allow the
is engine start system to be enabled.
According to the present invention, the memory card 101 is a standard PCMCIA
computer memory card. The on-board computer 100 in the vehicle 1 can access
the memory
card 101 through a data module 102, for example a PCMCIA module. In the
operator
validation mode, a particular file containing the operator ID is saved to the
memory card 101.
2o When the on-board computer 101 is turned ON, it sets a digital output to
prevent engine
cranking. It then reads the operator ID from the memory card 101. If there is
a file on the
memory card 101 and it matches a number already registered in the on-board
computer 100
as a valid operator number, the output is closed and the engine may be
started.
The on-board computer 100 may also be configured to save data to the memory
card
25 101 periodically and/or upon the occurrence of a certain event or events.
This data remains
resident on the memory card 101 after it is removed from the on-board computer
100 and
may be transferred to the base computer 500, for example a desktop computer,
or a server for
review and analysis.
Slope angle control and display_
3o Referring to Figs. 4(a)-4(c), slope angle control can also be provided,
along with a
display. Using a dual axis inclinometer 170 or a pair of single axis
inclinometers 175, a pair
of signals 180 and 181, for example 0-SV analog signals, corresponding to
actual tilt and
SUBSTITUTE SHEET (RULE 26)
CA 02365602 2001-09-17
WD 01/55511 PCT/CA01/00088
-12-
pitch angles 211 and 212, respectively, of the vehicle 1 are received by a
fourth
microcontroller 53. The inclinometers may be attached to the vehicle l, the
tiller 120 or to a
plow (blade) attached to the front of the vehicle 1.
The actual tilt and pitch angles 211 and 212 are graphically depicted on a
display 200,
for example a touch screen display, connected to and controlled by the on-
board computer
100. Based on the signals 180 and 181, the actual slope angle 213 is
calculated and displayed
to the operator on the display 200, by selecting a tab 218. In one embodiment,
the operator
can also set the present actual values of the tilt, pitch, and slope angles,
211-213, respectively,
as new zero references 214-216, respectively, by selecting a reference (REF)
button 217.
to Activating this option allows the operator to monitor the differential
pitch, tilt and slope
angles, thereby improving the operator's ability to monitor the progress of
the grooming
operation relative to the starting position. The vehicle 1 or the grooming
device may also be
automatically controlled on the basis of the signals 180 and 181, for example,
to prevent the
vehicle 1 or the grooming device from exceeding predetermined pitch, tilt, and
slope angles.
Half pipe tool angle control and display
Referring to Figs. 5(a) and 5(b), according to the invention, an additional
inclinometer
176 may be installed on a halfpipe tool (grinder) frame 220 (shown graphically
depicted on
the display 200 in Fig. 5(b)) pivotally connected to the vehicle 1. This
allows the operator to
monitor the actual tilt and roll angles 231 and 232, respectively, being
worked during the
2o formation of a halfpipe tool by selecting a tab 236. The signal 182 from
the additional
inclinometer 176 also allows a fifth microcontroller 54 to calculate and
display the
differential angles 233 and 234, respectively, between the halfpipe tool tilt
and roll angles
231 and 232 and the vehicle tilt and roll angles 211 and 212, which permits
the halfpipe tool
frame's position in reference to the vehicle 1 to be shown on the display 200.
The operator can set a target working angle and a tolerance 235, by selecting
a button
237, that will be monitored by the microcontroller 54. If the difference
between halfpipe tool
frame actual angle and the target working angle 235 is higher then tolerance,
an alarm can be
sounded, be flashed on the display 200, andlor trigger a warning light. The
signals 180-182
from the inclinometers 170, 175, and 176 and the target working angles
provided by the
3o microcontrollers 53 and 54, read from the memory card 101, or input in some
other fashion,
can also be used to automatically control the positioning of the halfpipe tool
frame 220, either
relative to the vehicle 1 or relative to a target slope.
SUBSTITUTE SHEET (RULE 26)
CA 02365602 2001-09-17
WO 01/55511 PCT/CA01/00088
-13-
Further, as with the slope angle, the operator can also have the option of
setting the
present actual values of the tilt and roll angles 231 and 232 as new zero
values, allowing the
microcontroller 54 to calculate and display the differential tilt and roll
angles 233 and 234 as
the grooming operation progresses.
Tiller control and display
Referring to Figs. 6(a) and 6(b), the invention also provides an operator with
the
ability to quickly ascertain various tiller parameters (chamber, lateral
position, depth, etc.)
displayed on display 200 during operation of the vehicle 1, by selecting a tab
248. A sixth
microcontroller 55 collects and formats the information and provides the
operator with a
to consolidated and simplified display 200. The relative positions of the
tiller components axe
detected using a transducer 240 in the various positioning cylinders and the
pressures applied
in various positioning cylinders are detected using a pressure sensor 241.
Each of these parameters is monitored and compared by the microcontroller 55
against target position and pressure values 246 and 247. Each of the
transducer 240 and the
pressure sensor 241 provides a signal 242 and 243, for example a 0-SV analog
signal, to the
on-board computer 100 through the microcontroller 55. Each of the signals 242
and 243 can
be calibrated so that the signals 242 and 243 received correspond to an actual
position 244
and an actual pressure 245, or other parameter. Using the signals 242 and 243,
the on-board
computer 100 can also extrapolate the information to provide the operator more
useful
2o information. For example, by using the tiller oil pressure and the tiller
rpm, the computer 100
can calculate the actual horsepower being consumed by the tiller 120.
Similarly, the on-
board computer 100 can use the collected information to approximate fuel
consumption.
Figure-8 count and display
Referring to Figs. 7(a) and 7(c), in certain situations noted above in the
background
description, the vehicle 1 can be equipped to carry a winch and a length of
cable. The cable
is, in turn, anchored above that portion of the slope upon which the vehicle 1
will be
operating. During typical winch dependent operations, the operator attempts to
balance the
number of right and left turns to avoid subjecting the cable to excessive
winding or twisting
(and the associated damage and decreased cable life). Balancing the turns
results in a vehicle
3o track resembling a "figure-8" 250 (as graphically depicted on display 200)
across the
snowfield.
SUBSTITUTE SHEET (RULE 26)
CA 02365602 2001-09-17
WO 01/55511 PCT/CA01/00088
-14-
In this invention, the on-board computer 100 monitors the turns and upon
selection of
a tab 256 displays the differential 251 between right and left turns. Using
this information,
the operator can better balance the vehicle operation and increase the
operating life of the
cable.
Two proximity sensors 260 and 261 are installed on the winch tower base (the
point at
which the end of the cable is fixed). The sensors 260 and 261 are wired to the
on-board
computer 100 through a seventh microcontroller 56. A metal block, detectable
by both
sensors 260 and 261, is installed on the moving part of the tower of the
winch. If the on-
board computer 100 detects the output 262 from the sensor 260 followed by the
output 263
to from sensor 261, it will define the triggering motion as clockwise tower
rotation. Similarly,
if it detects the output 263 followed by the output 262, it will define the
triggering motion as
counter-clockwise rotation.
The computer 100 will kept track of these rotational inputs 262 and 263 and
advise
the operator as to the direction and number of turns necessary to return the
cable to the
desired untwisted condition. The figure-8 count may be reset by selecting a
button 258.
Winch control and displaX
Referring to Figs. 7(b) and 7(c), an operator may also quickly ascertain
various winch
parameters, for example, winch pressure 252, cable tension 253, cable length
remaining on
drum 254, cable age 255, that are displayed on the display 200. An eighth
microcontroller 57
2o collects data from a pressure sensor 270, a tension sensor 271, a cable
length sensor 272, and
a timer 273 and formats the data and provides the operator with a consolidated
and simplified
display 200 similar to that for the tiller control described above with
respect to Figs. 6(a) and
6(b). In the event the cable is replaced, the cable age may be reset by
selecting a button 257.
Weather information collection and display
Referring to Figs. 8(a) and 8(b), it is possible with this invention to
provide dynamic
weather information to the vehicle operator. Upon selection of a tab 284 the
display 200 will
show outside temperature 280, wind direction 281 (with calculation considering
the vehicle
orientation), wind speed 282 (with calculation considering actual vehicle
movement) and
snow temperature 283 provided by a temperature sensor 290, a wind direction
sensor 291, a
3o wind speed sensor 292, and a snow temperature sensor 293, connected to a
ninth
microcontroller 58. Wind speed and direction are calculated considering that
the vehicle 1 is
SUBSTITUTE SHEET (RULE 26)
CA 02365602 2001-09-17
WD 01/55511 PCT/CA01/00088
-IS-
not a fixed weather station and calculations axe required to compensate for
the vehicle
movement in order to provide the true wind speed and direction.
A global positioning system (GPS) 294 is used to detect and provide a signal
294
corresponding to the actual vehicle orientation. It should be appreciated that
an electronic
compass could also be used. In either case, the on-board computer 100 uses the
speed and
directional information provided by the sensors 291 and 292 to normalize the
measured
weather information and provide the true conditions. The wind direction 281
and wind
speed 282 displayed on the display 00 are the resulting direction and speed
(vehicle + wind).
Because the vehicle direction and speed are known, vector calculations will
provide wind
to information.
Snow depth information collection and display
Referring to Figs. 9(a) and 9(b), data indicative of the snow depth beneath
the vehicle
1 may be monitored and collected in conjunction with the GPS signal 295 to
generate a snow
depth map. Upon selection of a tab 301, the snow depth will be displayed on
the display 200.
The preferred method of collecting this information is described in U.S.
Patent Application
No. 60/167,914, the contents of which are hereby incorporated by reference.
The on-board
computer 100 processes a signal 311 from ground penetrating radar (GPR) 310
through a
tenth microcontroller 59 and provides the operator with a display of the
underlying snow
depth 320.
2o One possible representation of this information is illustrated in Figure
9(b). The
operator will be provided with a scan 300 of the snow depth along the
vehicle's path that is
based on time, for example, by taking a new measurement every predetermined
number of
milliseconds. It should also be appreciated, however, that instead of a scan
based on time, the
GPS 294 may be used by selecting a tab 302 to generate a grid base to be
displayed on the
display 200. The GPR 310 generates a signal 311, for example a 0-SV analog
signal, that is
provided to the on-board computer 100. The computer 100 processes the signal
311 and
applies any necessary calibration or adjustment information to calculate the
snow depth 320.
As shown in Fig. 9(b), in the top right corner of the display 200 the snow
depth 320
may be constantly displayed while below a scan 300 provides a graphical
representation of
3o the historical snow depth data. According to the operator's needs, the
length of time or the
depth scale range displayed can be adjusted manually or can be allowed to self
range in
response to the snow depths being measured. The display 200 can also be
provided with an
SUBSTITUTE SHEET (RULE 26)
CA 02365602 2001-09-17
WO 01/55511 PCT/CA01/00088
-16-
alarm should the GPR 310 detect some anomaly, e.g. stumps or rocks above the
ground-snow
interface, or snow depths less than the minimum required for the safe
operation of the tiller
120 as presently configured.
Vehicle trace control and display
It is also possible to monitor the position and progress of the vehicle 1
during its
progress throughout the snow area being processed. According to one embodiment
of the
invention, the display 200 shows the vehicle's present location and a trace as
an overlay
against stored map information, stored for example in the on-board computer
100 or the
memory card 101. Based on the GPS signal 295, the on-board computer 100 will
draw the
actual passage of the vehicle 1 on the display 200. While tracing the
vehicle's passage on the
display 200, the computer 100 will also record the map of the passage. The
recorded
information can be associated with a slope number and transferred via the
memory card 101
to the base computer 500. The slope information can then be used to maintain a
slope
database that can be loaded via the memory card 101 into the on-board computer
100 of the
vehicle 1 or other vehicles for use during future operations. The trace will
then be on top of
the slope map. This will allow the operator to locate the vehicle 1 more
accurately with
regard to the shape of the snowfield as it changes over the season. Obstacle
location can also
be recorded. This information can then be used in future operations to inform
the operators
and avoid unnecessary damage to the vehicles.
2o Although the invention has been described in relation to the various
exemplary
embodiments outlined above, it should be appreciated that many changes may
occur to one of
ordinary skill in the art without departing from the spirit of the invention.
For example, the
microcontrollers 50-59 may be provided as a single microcontroller, and the
display 200 may
be provided as a plurality of displays. Accordingly, the scope of the
invention is defined by
the claims appended hereto.
SUBSTITUTE SHEET (RULE 26)
