EP1390583B1 - Self-propelled ice preparation machine comprising a navigation system - Google Patents

Self-propelled ice preparation machine comprising a navigation system Download PDF

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Publication number
EP1390583B1
EP1390583B1 EP02729897A EP02729897A EP1390583B1 EP 1390583 B1 EP1390583 B1 EP 1390583B1 EP 02729897 A EP02729897 A EP 02729897A EP 02729897 A EP02729897 A EP 02729897A EP 1390583 B1 EP1390583 B1 EP 1390583B1
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EP
European Patent Office
Prior art keywords
ice
preparation machine
machine according
ice preparation
rink
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Expired - Lifetime
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EP02729897A
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German (de)
French (fr)
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EP1390583A1 (en
Inventor
Friedrich-Wilhelm Hellwig
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Siemens AG
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Siemens AG
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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C19/00—Design or layout of playing courts, rinks, bowling greens or areas for water-skiing; Covers therefor
    • A63C19/10—Ice-skating or roller-skating rinks; Slopes or trails for skiing, ski-jumping or tobogganing
    • 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
    • E01H4/023—Maintaining surfaces for ice sports, e.g. of skating rinks
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25C—PRODUCING, WORKING OR HANDLING ICE
    • F25C3/00—Processes or apparatus specially adapted for producing ice or snow for winter sports or similar recreational purposes, e.g. for sporting installations; Producing artificial snow
    • F25C3/02—Processes or apparatus specially adapted for producing ice or snow for winter sports or similar recreational purposes, e.g. for sporting installations; Producing artificial snow for ice rinks

Definitions

  • the invention relates to a self-propelled ice conditioning machine with a surface of the ice rink smoothing knife element, a conveyor mechanism for removing abraded ice chips, a ice chips receiving snow tank and a water tank.
  • Such machines are for example from the DE-A-32 14 698 , of the DE 32 49 984 C2 and the DE 36 08 960 C2 known. With them, an operator can recycle a worn or finished ice rink within a short time to carry out sporting events such as ice hockey games or for skating. Such ice conditioning machines are operated by an operator, wherein the ice rink is partially traversed and processed.
  • the invention has for its object to offer a self-propelled ice conditioning machine, which can be operated without operator.
  • a navigation system for automatic operation of the ice making machine is provided.
  • the navigation system takes on a variety or even all activities that were previously performed by the operator.
  • the self-propelled ice processing machine according to the invention can also be operated automatically automatically.
  • a navigation system e.g. the product SINAS of the company Siemens can be used.
  • At least one sensor element is provided according to the invention for detecting state and / or process variables of the ice conditioning machine and / or the ice rink to be processed, including ice rink environment.
  • a laser scanner is provided which continuously or periodically performs distance measurements in at least one particular horizontal plane of the ice conditioning machine to detect whether the self-propelled ice processing machine approaches an obstacle at one of its boundary surfaces, which must be evaded, or by reversing the ice making machine by a control command should be initiated.
  • At least one ultrasonic sensor may be provided, this being used in ultrasound units having transmitting and receiving elements, wherein in each direction to Eisaufhneungsmaschine determined where obstacles such as an ice rink boundary present to the ice conditioning machine by appropriate steering movements to react obstinately to let.
  • the angular velocity of the self-propelled ice conditioning machine can be determined, whereby at a fixed starting point at the start of the ice-making machine, the respective current position can be determined on the ice rink.
  • the ice conditioning machine When activating all the described sensor elements, the ice conditioning machine according to the invention can be operated in accordance with a stored area plan.
  • a surface plan of the skating surface to be traversed contains boundaries of the ice rink to be used as landmarks.
  • the ice conditioning machine can automatically move to the ice rink on the ice rink for ice processing in the following ice processing trips according to the adjusted with the stored area plan route.
  • Such landmarks used by the sensor elements for position determination and for comparison with the stored travel plan can be, for example, vertical columns mounted in an ice rink on the surrounding boundary surfaces of the ice rink. Furthermore, in an ice rink or in a hall in which the ice making machine according to the invention is operated, geometric landmarks (eg bars or other colored or formal symbols) can also be applied in the ceiling area. Sensor elements mounted on the top side of the ice conditioning machine can perform permanent position determination of the self-propelled ice conditioning machine by continuous contact with such orientation points mounted on a hall ceiling, without disturbances being able to flow into the transmission line between sensor element and hall ceiling, as may be the case, for example, when the ice conditioning machine while the rink is used by athletes or skaters.
  • sensors mounted laterally on the ice conditioning machine may mistakenly regard persons and athletes as obstacles, and therefore misorientation may occur in the positioning performed in the ice conditioning machine in alignment with the stored travel plan.
  • the ice making machine takes over all tasks previously taken over by the operator and can also determine the fill level of the ice chips picked up in the snow tank, which have been removed from the ice rink for processing via at least one measuring sensor.
  • the ice conditioning machine can automatically control a drainage station and automatically empty the snow tank, in order to then continue the ice conditioning.
  • At least one measuring sensor for determining the delivery rate of the conveying mechanism for removing the cut off from the blade element ice chips can be provided, which can be carried out on the sensor accelerated or slowed down operation of the conveyor mechanism and thus always working with optimized delivery capacity conveyor mechanism is achieved and any blockages detected be prevented or prevented.
  • At least one water level sensor may be installed in the water tank to allow the water used for ice conditioning and emptied from the water tank to be replenished, if necessary, at a water refilling station to be automatically controlled by the ice conditioning machine.
  • the ice-making machine has, in particular, various servomotors in order to be able to undertake tasks previously assumed by the operator, such as acceleration, braking, steering, etc.
  • at least one servomotor can be provided for driving the ice conditioning machine.
  • servomotors may be provided for driving the conveying mechanism, for removing planed ice chips and for opening / closing the snow tank or for opening / closing a drain opening of the water tank.
  • the respective existing servomotors and sensor elements are advantageously connected via a programmable control electronics (small computer) for separate or simultaneous control and mutual tuning.
  • the navigation system can include the control electronics with all sensor elements and servomotors.
  • the ice making machine now makes it possible to carry out all the tasks hitherto undertaken by the operator and to move the ice making machine automatically by constant adjustment with a stored travel plan within the confining area of the ice rink and, after evaluating the signals of the sensor elements, by appropriate control of the respective servomotors Effect ice making machine.
  • emergency switches for stopping the ice-making machine by the users of the ice rink can advantageously be provided.
  • a skater bring about by operating the appropriate emergency stop a stoppage of ice making machine.
  • the navigation system for autonomous service robots can be used according to the invention for an ice-making machine with the features described.
  • Such navigation systems eg the SINAS navigation system from Siemens
  • the sensor system already known per se in this connection and the construction of such navigation systems for autonomous service robots can now also be used for a self-propelled ice conditioning machine. This results already described in connection with the ice-making machine advantages, including operation of the ice-making machine without operator.
  • the drawing figure shows a schematic representation of an ice-making machine with a knife element 1 for processing the surface of a not shown ice rink.
  • the snow and ice chips occurring during this processing are fed to the snow tank 4 via a conveying screw 2 known per se via a transport screw 3 in a manner known per se.
  • the latter has a flap 5 for opening and emptying the filled snow tank. 4
  • the screw conveyor 2 and the screw conveyor 3 together form a conveyor mechanism for removing sohobelter ice chips.
  • water is discharged from the water tank 6 onto the surface of the ice rink to form a new smooth surface. This concludes the preparation of the rink.
  • the ice-making machine according to the drawing figure has wheels 7, 8.
  • the illustrated ice making machine has sensor elements, e.g. a laser scanner 9 for distance measurement in the horizontal direction 10. Furthermore, schematically illustrated ultrasonic sensors 11 are mounted on the ice-making machine, wherein the ultrasonic sensors 11 perform distance measurements in directions 12. About schematically illustrated servomotors 13, 14 of the conveying mechanism and the wheels 7, 8 are operated. All the sensors, ie the laser scanner 9 and the ultrasonic sensors 11 and the servomotors 13, 14 are (partially shown) connected to an electronic control unit 15 in which, in a manner known per se in navigation systems for autonomous service robots, a surface plan applied in a first drive the rink to be processed is stored. This surface plan is traversed during further automatic and independent journeys of the ice conditioning machine, step by step and successively on the basis of the characteristic maps stored in the site plan and queried and recognized by the respective sensor elements ("Landrnarks").
  • sensor elements e.g. a laser scanner 9 for distance measurement in the horizontal direction 10.
  • ultrasonic sensors 11a, 11b mounted on the top side 16 of the ice conditioning machine can communicate with reference elements 18 attached to a hall cover 17, which is shown schematically, as a result of which the ice conditioning machine can orient itself and process its planned path successively.
  • An advantage of communicating the ultrasonic sensors 11a, 11b mounted on the upper side 16 with the reference elements 18 on the hall ceiling 17 is that this communication is not disturbed by persons who may be on the ice rink during the work of the ice conditioning machine. As a result, a particularly reliable operation of the ice-making machine is achieved.
  • the ice making machine may further include an operator's particular detachable and unillustrated seat that may be used by an operator during an initial trip to create and place a surface plan.
  • the operator can steer and operate the ice making machine according to the invention by means of own actions like a conventional ice making machine.
  • the seat can be removed and the ice processing machine with activated navigation system automatically started for ice conditioning.
  • multiple emergency switches 19 mounted on the ice conditioning machine which are used by persons on the ice rink, e.g. can be operated by skaters, the ice conditioning machine can be stopped during ice preparation during skating in a dangerous situation by pressing a button.
  • the ice making machine according to the invention also makes it possible to carry out ice conditioning at all times of the day and night, since no natural or artificial light is required for this, and thus the ice conditioning can also be carried out to save energy in complete darkness and switched off hall lighting of the ice rink.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Thermal Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Cleaning Of Streets, Tracks, Or Beaches (AREA)

Abstract

The invention relates to self-propelled ice preparation machine comprising a blade element (1) that smoothes the surface of the ice-rink, and a conveying mechanism (2, 3) for removing planed off ice shavings. The ice preparation machine also comprises a snow tank (4), which holds the ice shavings, and a water tank (6). In addition, a navigation system is provided for automatically operating the ice preparation machine.

Description

Die Erfindung betrifft eine selbstfahrende Eisaufbereitungsmaschine mit einem die Oberfläche der Eisbahn glättenden Messerelement, einem Fördermechanismus zum Abtransport abgehobelter Eisspäne, einem die Eisspäne aufnehmenden Schneetank und einem Wassertank.The invention relates to a self-propelled ice conditioning machine with a surface of the ice rink smoothing knife element, a conveyor mechanism for removing abraded ice chips, a ice chips receiving snow tank and a water tank.

Solche Maschinen sind z.B. aus der DE-A-32 14 698 , der DE 32 49 984 C2 und der DE 36 08 960 C2 bekannt. Mit ihnen kann eine Bedienperson eine abgenutzte oder abgearbeitete Eisbahn innerhalb kurzer Zeit wieder zur Durchführung von Sportveranstaltungen wie z.B. Eishockeyspielen oder für den Schlittschuhlaufbetrieb aufbereiten. Derartige Eisaufbereitungsmaschinen werden von einer Bedienperson betrieben, wobei die Eisbahn abschnittsweise abgefahren und aufbereitet wird.Such machines are for example from the DE-A-32 14 698 , of the DE 32 49 984 C2 and the DE 36 08 960 C2 known. With them, an operator can recycle a worn or finished ice rink within a short time to carry out sporting events such as ice hockey games or for skating. Such ice conditioning machines are operated by an operator, wherein the ice rink is partially traversed and processed.

Weiterhin sind aus der DE 3536974 A1 Mittel zur bedienerlosen Steuerung von beweglichen Maschinen bekannt, welche eine Bildung einer nicht-permanenten Leitspur zur Führung der Maschine voraussetzen.Furthermore, from the DE 3536974 A1 Means for unmanned control of mobile machines are known, which require the formation of a non-permanent guide track for guiding the machine.

Der Erfindung liegt die Aufgabe zugrunde, eine selbstfahrende Eisaufbereitungsmaschine anzubieten, welche auch ohne Bedienperson betrieben werden kann.The invention has for its object to offer a self-propelled ice conditioning machine, which can be operated without operator.

Die Aufgabe wird für die selbstfahrende Eisaufbereitungsmaschine durch die Merkmale des kennzeichnenden Teils des Patentanspruchs 1 in Verbindung mit den Merkmalen des Oberbegriffs gelöst. Vorteilhafte Ausführungsformen der Eisaufbereitungsmaschine werden in den Unteransprüchen 2 - 14 beschrieben.The object is achieved for the self-propelled ice conditioning machine by the features of the characterizing part of claim 1 in conjunction with the features of the preamble. Advantageous embodiments of the ice-making machine are described in the subclaims 2-14.

Bei der erfindungsgemäßen Eisaufbereitungsmaschine ist ein Navigationssystem zum automatischen Betrieb der Eisaufbereitungsmaschine vorgesehen. Das Navigationssystem übernimmt dabei eine Vielzahl oder sogar sämtliche Tätigkeiten, welche bislang von der Bedienperson ausgeführt wurden. Damit kann die erfindungsgemäße selbstfahrende Eisaufbereitungsmaschine auch selbsttätig automatisch betrieben werden. Als Navigationssystem kann z.B. das Produkt SINAS der Firma Siemens verwendet werden.In the ice making machine according to the invention, a navigation system for automatic operation of the ice making machine is provided. The navigation system takes on a variety or even all activities that were previously performed by the operator. Thus, the self-propelled ice processing machine according to the invention can also be operated automatically automatically. As a navigation system, e.g. the product SINAS of the company Siemens can be used.

Beim automatischen Betrieb der Eisaufbereitungsmaschine auf der Eisfläche ist erfindungsgemäß mindestens ein Sensorelement zur Erfassung von Zustands- und/oder Prozessgrößen der Eisaufbereitungsmaschine und/oder der zu bearbeitenden Eisbahn einschließlich Eisbahnumgebung vorgesehen.In the automatic operation of the ice conditioning machine on the ice surface, at least one sensor element is provided according to the invention for detecting state and / or process variables of the ice conditioning machine and / or the ice rink to be processed, including ice rink environment.

Während beim Stand der Technik über die Bedienperson festgestellt wird, welche Route auf der Eisbahn abgefahren werden soll und welche Begrenzungsflächen die Eisbahn aufweist, müssen diese Merkmale von der erfindungsgemäßen Eisaufbereitungsmaschine durch geeignete Sensorelemente festgestellt werden. In diesem Zusammenhang ist z.B. ein Laserscanner vorgesehen, der in mindestens einer insbesondere horizontalen Ebene der Eisaufbereitungsmaschine ständig oder periodisch Abstandsmessungen durchführt, um zu erkennen, ob sich die selbstfahrende Eisaufbereitungsmaschine an einer ihrer Begrenzungsflächen einem Hindernis nähert, welchem ausgewichen werden muss oder bei dem durch einen Steuerbefehl ein Umkehren der Eisaufbereitungsmaschine eingeleitet werden soll.While it is determined in the prior art on the operator, which route is to be traversed on the rink and which boundary surfaces has the ice rink, these features must be determined by the ice making machine according to the invention by suitable sensor elements. In this context, e.g. a laser scanner is provided which continuously or periodically performs distance measurements in at least one particular horizontal plane of the ice conditioning machine to detect whether the self-propelled ice processing machine approaches an obstacle at one of its boundary surfaces, which must be evaded, or by reversing the ice making machine by a control command should be initiated.

Ergänzend oder alternativ kann mindestens ein Ultraschallsensor vorgesehen sein, wobei dieser in Ultraschalleinheiten verwendet wird, die Sende- und Empfangselemente aufweisen, wobei in jeder Richtung zur Eisaufbereitungsmaschine festgestellt wird, wo Hindernisse wie z.B. eine Eisbahnbegrenzung vorliegen, um die Eisaufbereitungsmaschine durch entsprechende Lenkbewegungen hindernisgerecht reagieren zu lassen.Additionally or alternatively, at least one ultrasonic sensor may be provided, this being used in ultrasound units having transmitting and receiving elements, wherein in each direction to Eisaufbereitungsmaschine determined where obstacles such as an ice rink boundary present to the ice conditioning machine by appropriate steering movements to react obstinately to let.

Über ein Gyroskop kann die Winkelgeschwindigkeit der selbstfahrenden Eisaufbereitungsmaschine festgestellt werden, wodurch bei einem festgelegten Ausgangspunkt beim Start der Eisaufbereitungsmaschine die jeweilige aktuelle Position auf der Eisbahn ermittelt werden kann.Via a gyroscope, the angular velocity of the self-propelled ice conditioning machine can be determined, whereby at a fixed starting point at the start of the ice-making machine, the respective current position can be determined on the ice rink.

Bei Aktivierung sämtlicher beschriebener Sensorelemente kann die erfindungsgemäße Eisaufbereitungsmaschine entsprechend einem abgespeicherten Flächenplan betrieben werden. Ein derartiger Flächenplan der abzufahrenden Eislauffläche enthält als Orientierungspunkte ("landmarks") zu verwendende Begrenzungen der Eisbahn. Nachdem ein derartiger Flächenplan nach einer ersten üblicherweise von einer Bedienperson geführten Fahrt erstellt und in einer Steuerelektronik der Eisaufbereitungsmaschine abgelegt wurde, kann die Eisaufbereitungsmaschine bei folgenden Eisaufbereitungsfahrten sich entsprechend der mit dem abgelegten Flächenplan abzustimmenden Route auf der Eisbahn zur Eisaufbereitung selbsttätig bewegen.When activating all the described sensor elements, the ice conditioning machine according to the invention can be operated in accordance with a stored area plan. Such a surface plan of the skating surface to be traversed contains boundaries of the ice rink to be used as landmarks. After such a surface plan has been created after a first drive usually led by an operator and stored in control electronics of the ice conditioning machine, the ice conditioning machine can automatically move to the ice rink on the ice rink for ice processing in the following ice processing trips according to the adjusted with the stored area plan route.

Derartige von den Sensorelementen zur Positionsbestimmung und zum Abgleich mit dem abgelegten Fahrtenplan verwendete Orientierungspunkte können z.B. in einem Eisstadion an den umliegenden Begrenzungsflächen der Eisbahn angebrachte senkrechte Säulen sein. Ferner können in einem Eisstadion oder in einer Halle, in welcher die erfindungsgemäße Eisaufbereitungsmaschine betrieben wird, auch im Deckenbereich geometrische Orientierungspunkte (z.B. Balken oder andere farbige oder formale Symbole) angebracht werden. Auf der Oberseite der Eisaufbereitungsmaschine angebrachte Sensorelemente können durch ständigen Kontakt mit derartigen an einer Hallendecke angebrachten Orientierungspunkten eine ständige Positionsbestimmung der selbstfahrenden Eisaufbereitungsmaschine durchführen, ohne dass in die Sendestrecke zwischen Sensorelement und Hallendecke Störgrößen einfließen können, wie dies z.B. der Fall sein kann, wenn die Eisaufbereitungsmaschine betrieben wird, während die Eisbahn von Sportlern oder Eisläufern benutzt wird.Such landmarks used by the sensor elements for position determination and for comparison with the stored travel plan can be, for example, vertical columns mounted in an ice rink on the surrounding boundary surfaces of the ice rink. Furthermore, in an ice rink or in a hall in which the ice making machine according to the invention is operated, geometric landmarks (eg bars or other colored or formal symbols) can also be applied in the ceiling area. Sensor elements mounted on the top side of the ice conditioning machine can perform permanent position determination of the self-propelled ice conditioning machine by continuous contact with such orientation points mounted on a hall ceiling, without disturbances being able to flow into the transmission line between sensor element and hall ceiling, as may be the case, for example, when the ice conditioning machine while the rink is used by athletes or skaters.

In diesem Fall kann es geschehen, dass seitlich an der Eisaufbereitungsmaschine angebrachten Sensoren unter Umständen Personen und Sportler fälschlicherweise als Hindernisse ansehen und deshalb eine Fehlorientierung bei der in der Eisaufbereitungsmaschine durchgeführten Positionsbestimmung im Abgleich mit dem abgelegten Fahrtenplan auftreten kann.In this case, it may happen that sensors mounted laterally on the ice conditioning machine may mistakenly regard persons and athletes as obstacles, and therefore misorientation may occur in the positioning performed in the ice conditioning machine in alignment with the stored travel plan.

Gemäß besonders vorteilhafter Ausführungsformen übernimmt die erfindungsgemäße Eisaufbereitungsmaschine sämtliche bislang von der Bedienperson übernommenen Aufgaben und kann über mindestens einen Messfühler auch den Füllstand der im Schneetank aufgenommenen Eisspäne, welche zur Aufbereitung von der Eisbahn entfernt wurden, feststellen. Bei gefülltem Füllstand kann die erfindungsgemäße Eisaufbereitungsmaschine selbsttätig eine Entleerungsstation ansteuern und den Schneetank selbsttätig entleeren, um danach die Eisaufbereitung fortzusetzen.According to particularly advantageous embodiments, the ice making machine according to the invention takes over all tasks previously taken over by the operator and can also determine the fill level of the ice chips picked up in the snow tank, which have been removed from the ice rink for processing via at least one measuring sensor. When the fill level is full, the ice conditioning machine according to the invention can automatically control a drainage station and automatically empty the snow tank, in order to then continue the ice conditioning.

Ferner kann mindestens ein Messfühler zur Feststellung der Fördermenge des Fördermechanismus zum Abtransport der vom Messerelement abgehobelten Eisspäne vorgesehen sein, wodurch über den Messfühler ein beschleunigter oder verlangsamter Betrieb des Fördermechanismus durchgeführt werden kann und damit ein stets mit optimierter Förderkapazität arbeitender Fördermechanismus erreicht wird und etwaige Verstopfungen erkannt werden oder diesen vorgebeugt wird. Mindestens ein Messfühler zur Feststellung des Wasserstandes kann im Wassertank installiert werden, um das zur Eisaufbereitung verwendete und aus dem Wassertank entleerte Wasser gegebenenfalls an einer selbsttätig von der Eisaufbereitungsmaschine anzusteuernden Wassernachfüllstation nachfüllen zu lassen.Furthermore, at least one measuring sensor for determining the delivery rate of the conveying mechanism for removing the cut off from the blade element ice chips can be provided, which can be carried out on the sensor accelerated or slowed down operation of the conveyor mechanism and thus always working with optimized delivery capacity conveyor mechanism is achieved and any blockages detected be prevented or prevented. At least one water level sensor may be installed in the water tank to allow the water used for ice conditioning and emptied from the water tank to be replenished, if necessary, at a water refilling station to be automatically controlled by the ice conditioning machine.

Neben der beschriebenen Sensorik besitzt die erfindungsgemäße Eisaufbereitungsmaschine insbesondere diverse Servomotoren, um bislang vom Bediener übernommene Aufgaben, wie z.B. Beschleunigen, Bremsen, Lenken etc., übernehmen zu können. Hierbei kann mindestens ein Servomotor zum Antrieb der Eisaufbereitungsmaschine vorgesehen sein. Ferner können Servomotoren zum Antrieb des Fördermechanismus, zum Abtransport abgehobelter Eisspäne und zur Öffnung/Schließung des Schneetanks bzw. zur Öffnung/Schließung einer Abflussöffnung des Wassertanks vorgesehen sein.In addition to the described sensors, the ice-making machine according to the invention has, in particular, various servomotors in order to be able to undertake tasks previously assumed by the operator, such as acceleration, braking, steering, etc. In this case, at least one servomotor can be provided for driving the ice conditioning machine. Furthermore, servomotors may be provided for driving the conveying mechanism, for removing planed ice chips and for opening / closing the snow tank or for opening / closing a drain opening of the water tank.

Die jeweiligen vorhandenen Servomotoren und Sensorelemente sind vorteilhafterweise über eine programmierbare Steuerelektronik (Kleincomputer) zur separaten oder simultanen Ansteuerung und gegenseitigen Abstimmung verbunden. Das Navigationssystem kann dabei die Steuerelektronik mit sämtlichen Sensorelementen und Servomotoren umfassen.The respective existing servomotors and sensor elements are advantageously connected via a programmable control electronics (small computer) for separate or simultaneous control and mutual tuning. The navigation system can include the control electronics with all sensor elements and servomotors.

Insgesamt ermöglicht es die erfindungsgemäße Eisaufbereitungsmaschine sämtliche bislang vom Bediener übernommenen Aufgaben nun selbsttätig auszuführen und die Eisaufbereitungsmaschine selbsttätig durch ständigen Abgleich mit einem abgelegten Fahrtenplan innerhalb des Begrenzungsbereichs der Eisbahn zu bewegen und dabei nach Auswertung der Signale der Sensorelemente durch entsprechende Ansteuerung der jeweiligen Servomotoren geeignete Reaktionen der Eisaufbereitungsmaschine zu bewirken.In total, the ice making machine according to the invention now makes it possible to carry out all the tasks hitherto undertaken by the operator and to move the ice making machine automatically by constant adjustment with a stored travel plan within the confining area of the ice rink and, after evaluating the signals of the sensor elements, by appropriate control of the respective servomotors Effect ice making machine.

Um einen Betrieb einer (langsam fahrenden) Eisaufbereitungsmaschine während der Nutzung der Eisbahn zu ermöglichen, können vorteilhafterweise Notschalter zur Stillsetzung der Eisaufbereitungsmaschine durch die Benutzer der Eisbahn vorgesehen sein. So kann z.B. ein Schlittschuhläufer durch Betätigung des entsprechenden Notschalters einen Stillstand der Eisaufbereitungsmaschine herbeiführen.In order to enable operation of a (slow-moving) ice-making machine during use of the ice rink, emergency switches for stopping the ice-making machine by the users of the ice rink can advantageously be provided. Thus, e.g. a skater bring about by operating the appropriate emergency stop a stoppage of ice making machine.

Das Navigationssystem für autonome Serviceroboter kann erfindungsgemäß für eine Eisaufbereitungsmaschine mit den beschriebenen Merkmalen verwendet werden. Derartige Navigationssysteme (z.B. das Navigationssystem SINAS der Firma Siemens) werden üblicherweise im Reinigungsbereich z.B. zur Reinigung von Bodenflächen in Supermärkten verwendet. Erfindungsgemäß kann die in diesem Zusammenhang bereits an sich bekannte Sensorik und der Aufbau derartiger Navigationssysteme für autonome Serviceroboter nun auch für eine selbstfahrende Eisaufbereitungsmaschine verwendet werden. Hierdurch ergeben sich bereits im Zusammenhang mit der Eisaufbereitungsmaschine beschriebene Vorteile, u.a. ein Betrieb der Eisaufbereitungsmaschine ohne Bedienperson.The navigation system for autonomous service robots can be used according to the invention for an ice-making machine with the features described. Such navigation systems (eg the SINAS navigation system from Siemens) are usually used in the cleaning sector, for example for cleaning used by floor areas in supermarkets. According to the invention, the sensor system already known per se in this connection and the construction of such navigation systems for autonomous service robots can now also be used for a self-propelled ice conditioning machine. This results already described in connection with the ice-making machine advantages, including operation of the ice-making machine without operator.

Weitere Einzelheiten der Erfindung gehen aus der Zeichnungsfigur hervor.Further details of the invention will become apparent from the drawing figure.

Die Zeichnungsfigur zeigt in schematischer Darstellung eine Eisaufbereitungsmaschine mit einem Messerelement 1 zur Bearbeitung der Oberfläche einer nicht abgebildeten Eisbahn. Die bei dieser Bearbeitung auftretenden Schnee- und Eisspäne werden über eine an sich bekannte Förderschnecke 2 über eine Transportschnecke 3 auf an sich bekannte Weise dem Schneetank 4 zugeführt. Letzterer besitzt eine Klappe 5 zur Öffnung und Entleerung des befüllten Schneetanks 4.The drawing figure shows a schematic representation of an ice-making machine with a knife element 1 for processing the surface of a not shown ice rink. The snow and ice chips occurring during this processing are fed to the snow tank 4 via a conveying screw 2 known per se via a transport screw 3 in a manner known per se. The latter has a flap 5 for opening and emptying the filled snow tank. 4

Die Förderschnecke 2 und die Transportschnecke 3 bilden zusammen einen Fördermechanismus zum Abtransport abgehobelter Eisspäne. Nachdem die zu bearbeitende Eisbahn von Eisspänen gesäubert wurde, wird aus dem Wassertank 6 Wasser auf die Oberfläche der Eisbahn zur Ausbildung einer neuen glatten Oberfläche abgelassen. Damit ist die Aufbereitung der Eisbahn abgeschlossen. Ferner besitzt die Eisaufbereitungsmaschine gemäß der Zeichnungsfigur Räder 7, 8.The screw conveyor 2 and the screw conveyor 3 together form a conveyor mechanism for removing abgehobelter ice chips. After the ice rink to be processed has been cleaned of ice chips, water is discharged from the water tank 6 onto the surface of the ice rink to form a new smooth surface. This concludes the preparation of the rink. Furthermore, the ice-making machine according to the drawing figure has wheels 7, 8.

Die bisher beschriebenen Elemente einer Eisaufbereitungsmaschine sind an sich bekannt und gehen zum Teil auch aus den in der DE 32 49 984 C2 und in der DE 36 08 960 C2 beschriebenen Eisaufbereitungsmaschinen hervor.The previously described elements of an ice-making machine are known per se and go partly from the in the DE 32 49 984 C2 and in the DE 36 08 960 C2 described ice making machines.

Die abgebildete Eisaufbereitungsmaschine besitzt Sensorelemente, z.B. einen Laserscanner 9 zur Abstandsmessung in horizontaler Richtung 10. Ferner sind schematisch dargestellte Ultraschallsensoren 11 an der Eisaufbereitungsmaschine angebracht, wobei die Ultraschallsensoren 11 in Richtungen 12 Abstandsmessungen durchführen. Über schematisch dargestellte Servomotoren 13, 14 werden der Fördermechanismus und die Räder 7, 8 betätigt. Sämtliche Sensoren, also der Laserscanner 9 und die Ultraschallsensoren 11 sowie die Servomotoren 13, 14 sind (teilweise dargestellt) mit einer Steuerelektronik 15 verbunden, in welcher auf eine bei Navigationssystemen für autonome Serviceroboter an sich bekannten Art und Weise ein in einer ersten Fahrt angelegter Flächenplan der zu bearbeitenden Eisbahn abgelegt ist. Dieser Flächenplan wird bei weiteren automatischen und selbständigen Fahrten der Eisaufbereitungsmaschine abgefahren, und zwar etappenweise und sukzessive anhand der im Lageplan abgelegten und von den jeweiligen Sensorelementen abgefragten und erkannten charakteristischen Orientierungspunkte ("landrnarks").The illustrated ice making machine has sensor elements, e.g. a laser scanner 9 for distance measurement in the horizontal direction 10. Furthermore, schematically illustrated ultrasonic sensors 11 are mounted on the ice-making machine, wherein the ultrasonic sensors 11 perform distance measurements in directions 12. About schematically illustrated servomotors 13, 14 of the conveying mechanism and the wheels 7, 8 are operated. All the sensors, ie the laser scanner 9 and the ultrasonic sensors 11 and the servomotors 13, 14 are (partially shown) connected to an electronic control unit 15 in which, in a manner known per se in navigation systems for autonomous service robots, a surface plan applied in a first drive the rink to be processed is stored. This surface plan is traversed during further automatic and independent journeys of the ice conditioning machine, step by step and successively on the basis of the characteristic maps stored in the site plan and queried and recognized by the respective sensor elements ("Landrnarks").

Insbesondere durch auf der Oberseite 16 der Eisaufbereitungsmaschine angebrachte Ultraschallsensoren 11a, 11b kann eine Kommunikation mit an einer schematisch dargestellten Hallendecke 17 angebrachten Bezugselementen 18 erfolgen, wodurch sich die Eisaufbereitungsmaschine orientieren und ihren geplanten Bahnverlauf sukzessive abarbeiten kann. Ein Vorteil einer Kommunikation der auf der Oberseite 16 angebrachten Ultraschallsensoren 11a, 11b mit den Bezugselementen 18 an der Hallendecke 17 besteht darin, dass diese Kommunikation nicht von Personen gestört wird, die sich während der Arbeit der Eisaufbereitungsmaschine auf der Eisbahn befinden können. Hierdurch wird ein besonders zuverlässiger Betrieb der Eisaufbereitungsmaschine erreicht.In particular, ultrasonic sensors 11a, 11b mounted on the top side 16 of the ice conditioning machine can communicate with reference elements 18 attached to a hall cover 17, which is shown schematically, as a result of which the ice conditioning machine can orient itself and process its planned path successively. An advantage of communicating the ultrasonic sensors 11a, 11b mounted on the upper side 16 with the reference elements 18 on the hall ceiling 17 is that this communication is not disturbed by persons who may be on the ice rink during the work of the ice conditioning machine. As a result, a particularly reliable operation of the ice-making machine is achieved.

Die Eisaufbereitungsmaschine kann ferner einen insbesondere abnehmbaren und nicht abgebildeten Sitz für eine Bedienperson aufweisen, der bei einer anfänglichen Fahrt zur Erstellung und Ablage eines Flächenplans von einem Bediener benutzt werden kann. Bei einer derartigen ersten Fahrt kann der Bediener die erfindungsgemäße Eisaufbereitungsmaschine wie eine konventionelle Eisaufbereitungsmaschine durch eigene Aktionen lenken und bedienen. Nach Durchführung der ersten Fahrt kann der Sitz abgenommen und die Eisaufbereitungsmaschine mit aktiviertem Navigationssystem selbsttätig zur Eisaufbereitung gestartet werden.The ice making machine may further include an operator's particular detachable and unillustrated seat that may be used by an operator during an initial trip to create and place a surface plan. In such a first trip, the operator can steer and operate the ice making machine according to the invention by means of own actions like a conventional ice making machine. After the first ride, the seat can be removed and the ice processing machine with activated navigation system automatically started for ice conditioning.

Über vorteilhafterweise mehrfach an der Eisaufbereitungsmaschine angebrachte Notschalter 19, welche von auf der Eisbahn befindlichen Personen, z.B. von Schlittschuhläufern, bedient werden können, kann die Eisaufbereitungsmaschine bei einer Eisaufbereitung während laufendem Schlittschuhbetrieb in einer Gefahrensituation durch einfachen Knopfdruck stillgesetzt werden.Advantageously, multiple emergency switches 19 mounted on the ice conditioning machine, which are used by persons on the ice rink, e.g. can be operated by skaters, the ice conditioning machine can be stopped during ice preparation during skating in a dangerous situation by pressing a button.

Durch die erfindungsgemäße Eisaufbereitungsmaschine wird es ferner ermöglicht, eine Eisaufbereitung zu allen Tages- und Nachtzeiten durchzuführen, da hierfür kein natürliches oder künstliches Licht benötigt wird und damit die Eisaufbereitung auch stromsparend bei völliger Dunkelheit und abgeschalteter Hallenbeleuchtung der Eisbahn durchgeführt werden kann.The ice making machine according to the invention also makes it possible to carry out ice conditioning at all times of the day and night, since no natural or artificial light is required for this, and thus the ice conditioning can also be carried out to save energy in complete darkness and switched off hall lighting of the ice rink.

Claims (14)

  1. Self-propelled ice preparation machine having a blade element (1) that smoothes the surface of the ice-rink, a conveyor mechanism (2, 3) for removing planed-off ice shavings, a snow tank (4) which holds the ice shavings and a water tank (6),
    characterised by
    a navigation system, which is provided for the automatic operation of the ice preparation machine,
    a surface plan of an ice-rink to be processed stored in the navigation system, and;
    at least one sensor element provided on the top of the ice preparation machine to allow the determination of the position of the ice preparation machine by the navigation system with reference to a plurality of characteristic orientation points attached to an ice-rink ceiling and stored in the surface plan.
  2. Ice preparation machine according to claim 1, characterised in that at least one sensor element is provided to capture state and/or process variables of the ice preparation machine.
  3. Ice preparation machine according to claim 2, characterised in that a laser scanner (9) is provided for distance measurement.
  4. Ice preparation machine according to claim 2 or 3, characterised in that at least one ultrasonic sensor (11) is provided for distance measurement.
  5. Ice preparation machine according to one of claims 2 - 4, characterised in that at least one gyroscope is provided.
  6. Ice preparation machine according to one of claims 2 - 5, characterised in that at least one gauge is provided to detect the fill level of the ice shavings held in the snow tank (4).
  7. Ice preparation machine according to one of claims 2 - 6, characterised in that at least one gauge is provided to detect the quantity conveyed by the conveyor mechanism (2, 3) for removing planed-off ice shavings.
  8. Ice preparation machine according to one of claims 2 - 7, characterised in that at least one gauge is provided to detect the water level in the water tank (6).
  9. Ice preparation machine according to one of the preceding claims,
    characterised in that at least one servomotor (13) is provided to drive the ice preparation machine.
  10. Ice preparation machine according to one of the preceding claims,
    characterised in that at least one servomotor (14) is provided to drive the conveyor mechanism (2, 3) for removing planed-off ice shavings.
  11. Ice preparation machine according to one of the preceding claims,
    characterised in that at least one servomotor is provided to open/close the snow tank, for example for the purpose of emptying it.
  12. Ice preparation machine according to one of the preceding claims,
    characterised in that at least one servomotor is provided to open/close a drain opening of the water tank.
  13. Ice preparation machine according to one of the preceding claims,
    characterised in that at least one emergency switch (19) is provided to stop the ice preparation machine.
  14. Ice preparation machine according to one of the preceding claims,
    characterised in that an electronic control unit (15) is provided to evaluate and/or activate the sensor elements and servomotors of the ice preparation machine.
EP02729897A 2001-05-31 2002-05-21 Self-propelled ice preparation machine comprising a navigation system Expired - Lifetime EP1390583B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE20108881U DE20108881U1 (en) 2001-05-31 2001-05-31 Self-propelled ice-making machine with navigation system
DE20108881U 2001-05-31
PCT/DE2002/001822 WO2002097198A1 (en) 2001-05-31 2002-05-21 Self-propelled ice preparation machine comprising a navigation system

Publications (2)

Publication Number Publication Date
EP1390583A1 EP1390583A1 (en) 2004-02-25
EP1390583B1 true EP1390583B1 (en) 2011-11-09

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Application Number Title Priority Date Filing Date
EP02729897A Expired - Lifetime EP1390583B1 (en) 2001-05-31 2002-05-21 Self-propelled ice preparation machine comprising a navigation system

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EP (1) EP1390583B1 (en)
AT (1) ATE532906T1 (en)
DE (1) DE20108881U1 (en)
DK (1) DK1390583T3 (en)
WO (1) WO2002097198A1 (en)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7510247B2 (en) 2003-03-17 2009-03-31 Kalannin Kaspek Oy Ice resurfacing machine as well as system and method for ice maintenance
GB0330103D0 (en) * 2003-12-29 2004-02-04 Fawcett Christopher Ice rink and track resurfacing device
DE102008013730B4 (en) * 2008-03-11 2011-01-13 Mabeomat Produktionstechnik Gmbh Ice machine
EP3041996A1 (en) * 2013-09-02 2016-07-13 Nausicaa Tilde Sartori Unmanned mobile device and relative method for treating a snow covered surface, and in particular of glaciers
NO337419B1 (en) * 2014-03-04 2016-04-11 Roy Erik Eriksson Cooling device for cooling solid material and / or freezing liquid
CN104863081B (en) * 2015-06-03 2016-06-29 华北理工大学 A kind of flat ice ice removing machine of Sledge type
US10669682B2 (en) 2018-06-27 2020-06-02 James SEARS Ice re-conditioning assembly

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3249984C2 (en) 1982-04-21 1991-07-04 Heinrich 4500 Osnabrueck De Schliehe Self propelled ice rink prepn. machine
DE3214698A1 (en) * 1982-04-21 1983-10-27 Heinrich 4500 Osnabrück Schliehe Self-propelled ice preparation machine
DE3536974A1 (en) * 1985-10-17 1987-04-23 Knepper Hans Reinhard Operatorless, externally controlled machine with a chassis, and process for its external control
DE3608960C2 (en) 1986-03-18 1994-08-04 Heinrich Schliehe Self-propelled ice preparation machine for ice rinks
JPH0313611A (en) * 1989-06-07 1991-01-22 Toshiba Corp Automatic cleaner

Also Published As

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DE20108881U1 (en) 2002-07-04
EP1390583A1 (en) 2004-02-25
ATE532906T1 (en) 2011-11-15
DK1390583T3 (en) 2012-02-06
WO2002097198A1 (en) 2002-12-05

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