CN110312834B

CN110312834B - Automatic snow removing equipment and safety snow throwing method thereof

Info

Publication number: CN110312834B
Application number: CN201880003805.8A
Authority: CN
Inventors: 赵凤丽; 查霞红; 程坤
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2017-09-04
Filing date: 2018-09-04
Publication date: 2022-01-18
Anticipated expiration: 2038-09-04
Also published as: CN110312834A

Abstract

An automatic travel snow removing apparatus in which thrown snow or foreign matter does not cause injury to persons or things, comprising: a walking module (2200) for driving the snow removing device to move (2000); the working module (2300) comprises a working motor and a snow throwing mechanism driven by the working motor, the snow throwing mechanism collects snow and impurities on the ground under the driving of the working motor and throws out the snow throwing mechanism, and the maximum height of a throwing object in the air from the ground is called as the snow throwing height; and a control module (2100) configured to control the work module or the walking module such that the snow throwing height is not greater than a predetermined snow throwing height threshold.

Description

Automatic snow removing equipment and safety snow throwing method thereof

Technical Field

The invention relates to the field of intelligent control, in particular to automatic walking snow removing equipment.

Background

A large amount of accumulated snow is accumulated on the road surface after snowing in winter, and a lot of troubles are brought to people going out. The method for removing the ice and snow on the road mainly comprises several methods such as manual snow removal, snow melting and snow removal, mechanical snow removal and the like. Manual cleaning is high in labor intensity, time-consuming and labor-consuming, and low in cleaning efficiency. The method for promoting the snow to melt by utilizing heat energy or spreading chemical agents has large energy consumption and high cost, is easy to cause pollution and corrosion to the environment and the road surface, and is only suitable for some special occasions. The mechanical snow removing equipment used at present affects the use due to the reasons of large volume, complex structure, higher cost, poor snow removing effect, certain damage to the road surface and the like.

At present, a small mechanical snow removal vehicle mainly comprises a prime motor, a transmission device, a snow collecting device, a snow throwing device and an operating system. The prime mover can adopt a motor or an engine, and the gasoline engine or the diesel engine is mostly adopted at present; the snow collecting device is used for collecting accumulated snow and mainly adopts a snow pushing shovel, a spiral stirring cage, a rubber rolling brush and the like; the snow throwing device throws the collected accumulated snow to one side of the road or the collecting device. The main modes are a snow throwing impeller and a blower; the operating device mainly controls the operation of the equipment, and the advancing and running directions of the machine are realized by hand pushing. Therefore, under the push of manpower, the deicing and snow removing machine continuously advances, and accumulated ice and accumulated snow can be continuously removed.

In order to reduce the labor intensity of operators, some automatic walking snow cleaners are available, namely, the walking of the snow cleaner is driven by a prime motor, and the snow cleaner continuously advances while realizing high-efficiency snow cleaning through various mechanical transmission devices, so that the labor is saved to a great extent.

Lack intelligent snowplow among the prior art, intelligent snowplow should degree of automation higher, and the low in service cost, user's laborsaving save time, snow removing effectual snow removing equipment can shovel snow rapidly behind the snow to make things convenient for people's trip.

In a chinese prior application (hereinafter referred to as chinese patent application CN201710065902.7) entitled "self-propelled snow removal apparatus", having application No. 201710065902.7, of the same applicant (suzhongbao electric power tool limited), an intelligent snow sweeper with a high degree of intelligence has been proposed, and a self-propelled snow removal apparatus capable of controlling the momentum at which inclusions leave the snow throwing mechanism so as to prevent the thrown inclusions from causing damage to people or objects has also been proposed. This prior application is incorporated by reference in its entirety as if fully set forth herein.

There is no safe control scheme in the prior art for controlling the height of the snow throwing to prevent injury to people or objects.

Disclosure of Invention

The present invention has been made in view of the above circumstances.

According to an aspect of the present invention, there is provided an automatic walking snow removing apparatus in which thrown snow or foreign substances do not cause damage to people or things, comprising: the walking module is used for driving the snow removing equipment to move; the working module comprises a working motor and a snow throwing mechanism driven by the working motor, the snow throwing mechanism is driven by the working motor to collect snow cover and impurities on the ground and throw the snow cover out of the snow throwing mechanism, and the maximum height of a throwing object from the ground in the air is called as the snow throwing height; a control module configured to control the work module or the walking module such that the snow throwing height is not greater than a predetermined snow throwing height threshold.

In one embodiment, the predetermined snow throwing height threshold is 0.8 to 1.1 meters.

In one embodiment, the predetermined snow throwing height threshold is 0.8 meters.

In one embodiment, the snow throwing mechanism comprises a snow removing head rotating about a central axis, the working motor drives the snow removing head to rotate so as to collect snow and inclusions on the ground to the snow throwing mechanism, and the control module is configured to control the snow throwing height to be lower than a predetermined snow throwing height threshold when the throwing speed is detected to reach the predetermined speed threshold.

In one embodiment, the predetermined speed threshold is in a range of 18 to 19 meters/second.

In one embodiment, the snow-removing head has a radius of 0.088 meters and a rotational speed of 1800 to 2000 revolutions per minute.

In one embodiment, the speed of the throwing mechanism when throwing the throwing object is referred to as throwing speed, the initial throwing angle relative to the horizontal direction is a throwing angle, and the height of the throwing point is an initial height, wherein the snow throwing height is controlled by controlling at least one of the throwing speed, the throwing angle and the initial height.

In one embodiment, wherein the snow-removing head has a radius of 0.08 to 0.12 meters, the rotational speed of the snow-removing head is 1500 to 2500 revolutions per minute, and the predetermined snow throwing height threshold has a value in the range of 0.8 to 1.1 meters.

In one embodiment, wherein the initial height is 200mm to 800 mm.

In one embodiment, the ejection speed is controlled to be 15m/s to 20 m/s.

In one embodiment, the throwing angle is controlled to be-10 degrees to 25 degrees.

In one embodiment, the throwing speed is controlled to be 15m/s to 20m/s, and the throwing angle is controlled to be-10 degrees to 25 degrees.

In one embodiment, the throwing speed is controlled to be 15m/s to 20m/s, the throwing angle is controlled to be-10 degrees to +25 degrees, and the initial height is controlled to be 200mm to 800 mm.

In one embodiment, wherein the snow-removing head radius is 0.08m to 0.12m, and the snow-removing head rotation speed is controlled to be 1500 rpm to 2500 rpm.

In one embodiment, the throwing speed is controlled to be 18m/s to 19m/s, and the throwing angle is controlled to be 15 degrees.

In one embodiment, wherein the snow removing head radius is 0.088m, and the control speed is 1800 rpm to 2000 rpm.

In one embodiment, the snow throwing angle is controlled to be negative, and the initial height is less than or equal to 1 meter.

In one embodiment, the method further comprises controlling the snow throwing distance to meet the preset requirement simultaneously.

In one embodiment, the snow throwing mechanism includes a snow removing head that rotates about a central axis, and the working motor drives the snow removing head to rotate to collect snow and inclusions from the ground surface to the snow throwing mechanism, wherein the snow throwing height is controlled by controlling the rotational speed and/or throwing lift angle of the snow removing head given an initial height and a radius of the snow removing head.

In one of the embodiments, where the throwing angle is further given, the snow throwing height is controlled by controlling the rotational speed of the snow removing head.

In one embodiment, the automatic snow removing apparatus further includes: the snow removing head rotating speed detection component is used for detecting the rotating speed of the snow removing head, and when the rotating speed of the snow removing head is larger than a first preset rotating speed threshold value, the control module controls the throwing angle of the throwing object to be a first lifting angle.

In one embodiment, when the rotation speed of the snow removing head is greater than a second predetermined rotation speed threshold value, the control module controls the throwing angle of the throwing object to be a second lifting angle, wherein the second predetermined rotation speed threshold value is smaller than the first predetermined rotation speed threshold value, and the second lifting angle is larger than the first lifting angle.

In one embodiment, the automatic snow removing apparatus further includes: and the throwing raise angle detection part is used for detecting the throwing raise angle, and when the throwing raise angle is larger than a first preset raise angle threshold value, the control module controls the rotation speed of the snow removing head to be a first rotation speed.

In one embodiment, when the throwing lift angle is larger than a second preset lift angle threshold value, the control module controls the rotation speed of the snow removing head to be a second rotation speed, wherein the second preset lift angle threshold value is smaller than the first preset lift angle threshold value, and the second rotation speed is larger than the first rotation speed.

In one embodiment, the automatic snow removing apparatus further includes: based on the environmental resistance situation, at least one of the rotational speed and the snow throwing angle determined for the snow throwing height without taking into account the resistance situation is adjusted to be larger.

In one embodiment, the automatic snow removing apparatus further includes: snow throwing mechanism still includes: the snow throwing device comprises a snow throwing wheel and a snow throwing cylinder, wherein the snow throwing wheel gives secondary power to a throwing object from a snow removing head and throws the throwing object out of the snow throwing cylinder.

In one of the embodiments, the snow throwing height is controlled by controlling at least one of the rotation speed of the snow removing head, the rotation speed of the snow throwing wheel, and the throwing lift angle.

In one embodiment, the automatic snow removing apparatus further includes: the baffle plate structure is arranged at the end part of the snow throwing mechanism, the angle of the baffle plate can be adjusted, and the throwing angle can be adjusted by adjusting the angle of the baffle plate.

In one embodiment, the control module adjusts the speed of the walking module based on the thickness of the snow such that the snow throw height is not greater than a predetermined snow throw height threshold.

In one embodiment, when the thickness of the snow is less than 4cm, the control module controls the walking speed of the walking module to be 20-30 m/min.

In one embodiment, when the thickness of the snow is more than 4cm, the control module controls the walking speed of the walking module to be 10-25 m/min.

In one embodiment, the automatic snow removing apparatus further includes: and the grating is arranged in the snow throwing mechanism or at the end part of the snow throwing mechanism and is used for blocking the impurities back so as to reduce the impurities in the throwing substances.

In one embodiment, the grid spacing is less than 50 mm.

In one embodiment, the snow throwing mechanism further comprises a snow throwing cylinder which can rotate in the horizontal direction.

In one embodiment, the automatic snow removing apparatus further includes: the bag is provided with a ventilating structure in the snow throwing cylinder, and the ventilating structure is made of ventilating materials or is provided with holes, so that thrown objects leak into the bag from the ventilating structure.

In one embodiment, the automated snow removal apparatus further comprises a combination of a throw height and/or throw energy control structure:

the baffle plate structure is arranged at the end part of the snow throwing mechanism, the angle of the baffle plate can be adjusted, and the throwing angle can be adjusted by adjusting the angle of the baffle plate;

the grating is arranged in the snow throwing mechanism or at the end part of the snow throwing mechanism and is used for blocking impurities back so as to reduce the impurities in the throwing substances;

and a pocket having a ventilation function or a porous structure.

The invention also provides a safe snow throwing method for controlling the automatic walking snow removing equipment to prevent snow or impurities from damaging people or objects, wherein the automatic walking snow removing equipment comprises a walking module, a working module and a control module, and the safe snow throwing method comprises the following steps:

the walking module drives the snow removing equipment to move;

the working motor drives the snow throwing mechanism to collect snow cover and impurities on the ground and throw out the snow throwing mechanism, and the maximum height of the throwing matter from the ground in the air is called as the snow throwing height; and

and controlling the working module or the walking module by the control module to enable the snow throwing height not to be larger than a preset snow throwing height threshold value.

In one embodiment, the snow throwing mechanism comprises a snow removing head rotating around a central axis, the working motor drives the snow removing head to rotate so as to collect snow and foreign matters on the ground to the snow throwing mechanism,

wherein the control module is configured to control the snow throwing height to be no greater than a predetermined snow throwing height threshold when it is detected that the throwing speed reaches a predetermined speed threshold.

In one embodiment, the speed of the throwing mechanism when throwing the throwing object is the throwing speed, the initial throwing angle relative to the horizontal direction is the throwing angle, and the height of the throwing point is the initial height, wherein

The snow throwing height is controlled by controlling at least one of throwing speed, throwing angle and initial height.

In one embodiment, wherein the initial height is 200mm to 800 mm.

In one embodiment, the ejection speed is controlled to be 15m/s to 20 m/s.

In one embodiment, the throwing speed is controlled to be 15m/s to 20m/s, the throwing angle is 0 degree to +25 degrees, and the initial height is 200mm to 800 mm.

In one of the embodiments, wherein the snow-removing head radius is 0.08m to 0.12m, and

the rotation speed of the snow removing head is controlled to be 1500 rpm to 2500 rpm.

In one of the embodiments, wherein the snow-removing head radius is 0.088m, and

the rotation speed is controlled to be 1800 rpm to 2000 rpm.

In one embodiment, the snow throwing angle is controlled to be negative and the initial height is no greater than 1 meter.

In one embodiment, the safety snow throwing method further comprises simultaneously controlling the snow throwing distance to meet the predetermined requirement.

wherein the initial height and the radius of the snow-removing head are given, and the snow throwing height is controlled by controlling the rotational speed and/or throwing angle of the snow-removing head.

In one embodiment, the safety snow throwing method further comprises:

the rotational speed of the snow removing head is detected by the snow removing head rotational speed detecting means,

when the rotating speed of the snow removing head is greater than a first preset rotating speed threshold value, the control module controls the throwing angle of the throwing object to be a first throwing angle.

In one embodiment, the safety snow throwing method further comprises:

when the rotation speed of the snow removing head is greater than a second preset rotation speed threshold value, the control module controls the throwing angle of the throwing object to be a second throwing angle,

the second preset rotating speed threshold value is smaller than the first preset rotating speed threshold value, and the second raise angle is larger than the first raise angle.

In one embodiment, the safety snow throwing method further comprises:

detecting the throwing raise angle by a throwing raise angle detection part;

when the throwing lift angle is larger than a first preset lift angle threshold value, the control module controls the rotation speed of the snow removing head to be a first rotation speed.

In one embodiment, the safety snow throwing method further comprises:

when the throwing lift angle is larger than a second preset lift angle threshold value, the control module controls the rotation speed of the snow removing head to be a second rotation speed,

wherein the second predetermined lift angle threshold is smaller than the first predetermined lift angle threshold, and the second rotating speed is greater than the first rotating speed.

In one embodiment, the safety snow throwing method further comprises: the throwing lift angle is further given, and the snow throwing height is controlled by controlling the rotating speed of the snow removing head.

In one embodiment, the snow throwing mechanism further comprises: a snow throwing wheel and a snow throwing cylinder, the snow throwing wheel imparting secondary power to the throwing matter from the snow removing head and throwing it out of the snow throwing cylinder, and

the snow throwing height is controlled by controlling at least one of the rotation speed of the snow removing head, the rotation speed of the snow throwing wheel and the throwing raise angle.

In one embodiment, wherein:

the throwing angle is adjusted by adjusting the angle of the baffle plate, so that the snow throwing height is adjusted, the baffle plate structure is arranged at the end part of the snow throwing mechanism, and the angle of the baffle plate is adjustable.

In one embodiment, the speed of the walking module is adjusted by the control module according to the thickness of the snow so that the snow throwing height is not greater than a predetermined snow throwing height threshold.

In one embodiment, when the thickness of the snow is less than 4cm, the walking speed of the walking module is controlled to be 20-30 m/min.

In one embodiment, when the thickness of the snow is more than 4cm, the walking speed of the walking module is controlled to be 10-25 m/min.

In one embodiment, wherein:

some or all of the inclusions are retained back through a grate located in or at the end of the snow throwing mechanism to reduce the inclusions in the throwing material.

In one embodiment, the grid spacing is less than 50 mm.

In one embodiment, the safety snow throwing method further comprises:

the snow throwing cylinder is internally provided with a pocket with a ventilating structure, and the ventilating structure is made of ventilating materials or is provided with holes, so that thrown objects leak into the pocket from the ventilating structure.

In one embodiment, the safety snow throwing method further comprises controlling the throw height and/or throw energy by a combination of the following throw height and/or throw energy control structures:

a pocket with ventilation function or porous structure.

In one embodiment, the safe snow throwing method further comprises, based on the environmental resistance condition, adjusting at least one of a rotation speed and a snow throwing angle determined for the snow throwing height without considering the resistance condition to be large.

The present invention also provides an automatic travel snow removing apparatus in which thrown snow or foreign matter does not cause damage to people or objects, comprising:

the walking module is used for driving the snow removing equipment to move;

the working module comprises a working motor and a snow throwing mechanism driven by the working motor, the snow throwing mechanism is driven by the working motor to collect snow cover and impurities on the ground and throw the snow cover out of the snow throwing mechanism, and the maximum height of a throwing object from the ground in the air is called as the snow throwing height;

the snow throwing height is not greater than a predetermined snow throwing height threshold.

In one embodiment, the speed of the snow throwing mechanism when throwing the throwing object is called throwing speed, the initial throwing angle relative to the horizontal direction is a throwing angle, and the height of the throwing point is an initial height, wherein the initial height is not greater than a preset snow throwing height threshold value.

In one embodiment, the automatic snow removing apparatus further comprises a control module configured to control the operating module such that the snow throwing height is not greater than a predetermined snow throwing height threshold.

By utilizing the automatic snow removing equipment and the safe snow removing method provided by the embodiment of the invention, the snow throwing height of the throwing object is controlled, so that the throwing object is prevented from hitting the face of a child or an adult, and the safety factor is improved.

Further, in addition to controlling the height of the cast snow of the cast, any one or a combination of various structures are arranged to control the casting energy of the cast so that even when a child or an adult is hit, the child or the adult is not injured.

Drawings

These and/or other aspects and advantages of the present invention will become more apparent and more readily appreciated from the following detailed description of the embodiments of the invention, taken in conjunction with the accompanying drawings of which:

fig. 1(a) shows a schematic view of a simplified structure 1000 of an automatic walking snow-removing apparatus according to a first embodiment of the present invention, and fig. 1(b) shows a schematic view of a simplified structure 1000' of an automatic walking snow-removing apparatus according to a second embodiment of the present invention.

Fig. 2 shows a schematic view of a system frame 2000 of the self-propelled snow removal apparatus.

Fig. 3 shows a theoretical basis diagram of the control of the snow throwing height of the automatic traveling snow removing apparatus according to the present invention.

Fig. 4 shows a flow chart of a method for controlling the throwing-out head angle by detecting the rotational speed of the stirring cage for the purpose of controlling the throwing-out height.

Fig. 5 shows a flow chart of a method for controlling the rotational speed of the stirring cage by detecting the throw-out head angle for the purpose of controlling the throw-out height.

Fig. 6 shows a schematic structural view of an automatic snow removing apparatus provided with a shutter structure according to an embodiment of the present invention.

Fig. 7 shows a schematic configuration diagram of an automatic snow removing apparatus provided with a grill according to an embodiment of the present invention.

Fig. 8(a) to (e) show exemplary structural diagrams of the grid.

Fig. 9 shows a schematic configuration diagram of an automatic snow removing apparatus equipped with a pocket structure according to an embodiment of the present invention.

Fig. 10 shows a flowchart of an example method of an automated walking snow removal apparatus automatically controlling the snow throwing height in accordance with an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, the following detailed description of the invention is provided in conjunction with the accompanying drawings and the detailed description of the invention.

The automatic traveling snow removing equipment of the specific embodiment of the invention can be an automatic snow sweeper, an automatic snow throwing/throwing machine, an automatic snow pushing/shoveling machine, a combination of the automatic snow sweeper and the automatic snow throwing/throwing machine, the automatic snow sweeper and the automatic snow shoveling machine, and the like, and can automatically travel on the ground or the surface of a working area to carry out snow sweeping, snow throwing, snow pushing and the like and remove ice and snow, and can also be considered as a snow sweeper with automatic working capability, wherein the automatic working capability refers to that when the snow sweeper carries out snow removing work, a user does not need to operate in person and does not need to always carry out remote control or monitoring, the user can carry out other work only by finishing related settings, and the snow sweeper automatically executes related programs.

Automatic snow throwers, automatic snow sweepers and automatic snow throwers are collectively referred to herein as snow throwers.

Fig. 1(a) shows a schematic view of a simplified structure 1000 of an automatic walking snow removing apparatus according to a first embodiment of the present invention, which includes a snow throwing cylinder; fig. 1(a) shows a schematic view of a simplified structure 1000' of an automatic walking snow removing apparatus according to a second embodiment of the present invention, which does not include a snow throwing cylinder.

As shown in fig. 1(a), the self-propelled snow removing apparatus 1000 includes a main body 1100 and a snow throwing mechanism 1200. Of course, the self-propelled snow removing apparatus 1000 further includes a working motor and the like for driving the snow throwing mechanism 1200 to operate, and will not be described here to avoid confusion of points.

The snow throwing mechanism 1200 includes a snow removing head 1210, a snow throwing barrel 1230, a snow throwing barrel steering motor and mechanism 1220. Specific examples of the snow removing head 1210 include a snow shovel, a stirring cage, a rubber roller brush, and the like. The following description will be given by way of example, but not by way of limitation, of a stirring cage.

The snow removing head 1210 functions as a snow scraping assembly and rotates about a central axis, and the working motor drives the agitator cage to rotate so as to collect snow and foreign matter on the ground into the snow throwing mechanism, and the collected snow is then thrown outward by the snow throwing cylinder under the action of the snow throwing cylinder steering motor and mechanism 1230.

Fig. 1(b) shows a schematic view of the self-propelled snow removing apparatus 1000' without a snow throwing barrel, in contrast to fig. 1(a), without the snow throwing barrel 1220 and the snow throwing barrel steering motor and mechanism 1230, where the symbol S indicates a straight throwing snow spout.

To avoid obscuring the points, emphasis is placed herein on the structures, modes of operation, and functions associated with the present invention, for details of structure and principles of operation, reference should be made to the description in chinese patent application CN 201710065902.7.

Fig. 2 shows a functional module composition schematic diagram of an automated walking snow removal apparatus 2000 according to an embodiment of the present invention. The automatic walking snow removing apparatus 2000 includes a control module 2100, a walking module 2200, a working module 2300, an energy module 2400, a detection module 2500, and the like.

Specifically, the walking module 2200 drives the snow removing apparatus to move.

The working module 2300 comprises a working motor and a snow throwing mechanism driven by the working motor, the snow throwing mechanism collects snow and impurities on the ground under the driving of the working motor and throws out the snow throwing mechanism, and the maximum height of the throwing matter from the ground in the air is called as the snow throwing height.

The control module 2100 controls the operation of the operation module 2300. In one embodiment, the control module 2100 controls the speed of the motor of the work module 2300 to control the throw speed of the projectile and, in turn, the snow throwing height of the projectile. In another embodiment, control module 2100 controls the walking speed of walking module 2200, thereby controlling the throw speed of the projectile.

The most difference of the automatic walking snow removing equipment relative to the hand-push type snow removing equipment is that the automatic walking snow removing equipment is not monitored in the snow removing and throwing processes. In an unsupervised state, if the snow throwing height is too high, the greater the damage to people or objects can be caused. For a person, when the height is fixed, the height of relatively strong organs such as legs is relatively low, while the height of important organs such as face is relatively high, and if the height of snow throwing is too high, the important organs such as face are easily damaged. For an object, the higher the throwing height, the more objects below the throwing height, and the greater the probability of hitting the object. And under the state of human monitoring, an operator can automatically adjust the working state of the snow throwing mechanism according to the presence or absence of people or objects in the surrounding environment, when no people or objects appear in the snow throwing area, the snow throwing operation is executed, whether the thrown snow can hurt the people or the objects is not needed to be worried, and once the people or the objects appear in the snow throwing area, the snow throwing operation is immediately suspended, so that the damage to the people or the objects caused by the overhigh snow throwing height is avoided. Therefore, it is highly desirable for an unsupervised self-propelled snow removal apparatus to be designed with a view to limiting the snow throw height below a predetermined snow throw height threshold.

After long research on typical snow working environments by developers, the scenario of practical application of the combined automatic snow removing apparatus is in front and rear houses of the house, and it is preferable that the predetermined snow throwing height threshold value is set to a value between 0.8 and 1.1 m in consideration of the height of persons or objects present in the front and rear houses of the house. It is also considered that a child playing on snow is 3 years old or so when a house is full of snow in front of and behind a house. To avoid throwing the object onto the face and above the face of a child or adult aged 3 or older, it is preferable that the predetermined snow throwing height threshold is set to 0.8 m.

In order to provide a thorough understanding of the present invention to those skilled in the art, the following is a description of the technical principles and theoretical analysis for controlling the snow throwing height of an automatic walking snow removing apparatus according to an embodiment of the present invention.

An intelligent unmanned snow throwing type snow sweeper is characterized in that a working head stirring cage is powered by a motor, accumulated snow is drawn in through rotation of the stirring cage, accumulated snow is thrown out through stirring cage blades or a fan, a snow throwing device throws collected accumulated snow to one side or a designated place of a road, during snow throwing, hard objects such as stones and the like on the road surface can be thrown out along with the snow and have certain energy (lift), and if the energy of the stones or other hard objects in throwing objects is too large, the stones or other hard objects can be damaged, so that the energy of the throwing objects is controlled within a certain range. In order to ensure the safety of people and things, the height of the snow throwing is preferably controlled no matter what the energy of the throwing matter is. However, a simplified control is also possible, for example in a simplified example, the snow throwing height may be automatically adjusted when excessive throwing power is detected so that the snow throwing height is below a safe height.

As shown in fig. 3, snow and its inclusions are thrown through the snow throwing barrel 1230 from a throwing point a, which is the point at which the snow leaves the snow throwing barrel, here indicated by the center point of the end of the snow throwing barrel, where the throwing speed is indicated by V, the throwing lift angle is indicated by β, the snow removal depth is stated as d, and the initial height of snow throwing is H₀The height of the throwing point from the ground is H, the snow throwing height is the maximum height of the throwing object from the ground in the air as described above, and the horizontal projection distance from the landing point of the throwing object to the throwing point is the snow throwing distance and is represented by L. The influence factors of the snow throwing height H comprise a throwing speed v, a throwing angle beta and an initial height H₀. Therefore, the casting speed V, the casting lift angle beta and the initial height H need to be adjusted₀Is designed and controlled to ensure that the snow throwing height H is below a predetermined snow throwing height threshold, wherein the predetermined snow throwing height threshold is from 0.8 to 1.1 meters. The following toolsThe description is given of how to design and control the above-mentioned influencing factors.

Initial height H₀The determining factors include the declared snow sweeping depth, the height at which the snow needs to accumulate during ascent, and the height of the mechanism that directs the snow out of the automated snow removal apparatus. In the embodiment shown in FIG. 3, the asserted snow sweep depth corresponds to d₀The height of the snow accumulation during the ascending process corresponds to d₁The height of the mechanism for guiding the snow out of the automatic walking snow removing equipment corresponds to the height d of the snow throwing cylinder₂。

Considering that the overall power of the automatic walking snow removing device is about 1000W, typically 500W to 800W, 1000W to 1600W, considering that the watt-hour number of the energy storage unit is about 300wh, typically 160wh,200wh,240wh and the like, and considering the configuration of the motor and the like, the alleged thickness d of the snow sweeping in the embodiment₀From 0 to 0.2 m. Height d to be accumulated during snow ascent₁It is necessary to ensure that the thrown snow does not scatter. Height d of snow throwing cylinder₂Corresponding to the height of the arc ensuring the minimum energy loss of the thrown snow, which in turn affects the size of the throwing angle beta, different throwing angles beta corresponding to different heights d₂And the throwing angle beta affects the snow throwing height H. Combining various relevant factors, in a preferred example, the initial height H₀Set in the range of 200mm to 800 mm.

Since the automatic travel snow removing apparatus of the present invention is mainly for home use, considering that the general width of the lane of the american family is within 6m, one preferable example of the parameter setting is: the snow throwing distance was 6 meters. The requirement based on the snow throwing distance is 6 meters, the predetermined snow throwing height threshold is between 0.8 meters and 1.1 meters, and the initial height H₀And (3) building various possible test modules between 200mm and 800mm, and repeatedly testing to obtain a series of values of the snow throwing speed v and the throwing raise angle beta. And finally determining the snow throwing speed v to be 15m/s to 20m/s and the throwing lift angle beta to be-10 degrees to 25 degrees based on the product positioning of the household automatic walking snow removing equipment. It should be noted that when the throwing angle is negative, the maximum height, i.e., the snow throwing height, is determined by the initial height. In one example, an automatic snow removal deviceThe throwing-out angle is set to be negative, and the maximum height is adjusted by adjusting the initial height.

Further, the snow throwing speed v is determined by the stirring cage radius r and the stirring cage rotating speed n. For the sake of simplifying the processing, the throwing speed v can be regarded as a relationship in which the following equation is satisfied with the stirring cage radius r and the stirring cage rotation speed n, regardless of the loss (regardless of the decrease in the stirring cage rotation speed due to the load): v 2 pi rn. Based on the snow throwing speed v of 15-20 m/s, the said formula and the influence of the rotating speed n of the stirring cage on vibration and the influence of the radius of the stirring cage on the size and snow removing capacity of the machine, n is set to 1500-2500 rpm and r is set to 0.08-0.12 m. It will be understood by those skilled in the art that the agitator cage speed n is actually obtained by controlling the speed of the agitator cage drive motor. In one scenario, a mechanical transmission is provided between the agitator cage and the drive motor, and the relationship between the agitator cage rotational speed and the drive motor rotational speed is then dependent on the transmission ratio of the mechanical transmission. In another scenario, no mechanical transmission is arranged between the stirring cage and the driving motor, the stirring cage is directly driven by the driving motor, and the rotating speed of the stirring cage is the same as that of the driving motor.

In one example, a snow height of 1 meter or less is guaranteed, and some exemplary parameter configurations are shown in table 1.

Table 1

Preferably, the automatic snow removing equipment provided by the embodiment of the invention has the initial height of 200mm to 800mm, the throwing speed is controlled to be 15m/s to 20m/s, the throwing angle is 0 degree to +25 degrees, and the snow throwing height is less than or equal to 1 meter.

In another example, the snow height is guaranteed to be less than or equal to 0.8 meters, and some exemplary parameter configurations are shown in table 2.

Table 2

Throwing out raise angle beta (degree)	25	20	15	10	5	0	-5	-10
									Throwing speed v (meter/second)	20	20	20	20	20	20	20	20
Initial height H₀(millimeter)	200	290	400	550	650	800	800	800

In another example, the snow height is guaranteed to be less than or equal to 0.8 meters, and some exemplary parameter configurations are shown in table 3.

Table 3

Preferably, the automatic snow removing equipment provided by the embodiment of the invention has the initial height of 200mm to 800mm, the throwing speed is controlled to be 18m/s to 19m/s, the throwing angle is 10 degrees to 15 degrees, and the snow throwing height is less than or equal to 0.8 meter. Correspondingly, n is 1800 rpm to 2000 rpm, and r is 0.088 m.

In an alternative scenario, an initial height H is given₀And a stirring cage radius r, at least one of the stirring cage rotation speed or the throwing angle is controlled by the control module 2100, and the snow throwing height H is controlled not to exceed a predetermined snow throwing height.

An example method 400 for automatically controlling the height of a snow cast is described below with reference to fig. 4.

In step S410, the rotational speed of the detection stirring cage of the snow remover is automatically detected;

in step S420, the control module determines whether the speed is greater than a first predetermined speed threshold. When the judgment result is yes, the process proceeds to step S430, otherwise, to step S440.

In step S430, the control module controls to throw the raise angle to a first raise angle.

In step S440, the control module determines whether the speed is greater than a second predetermined speed threshold, wherein the second predetermined speed threshold is less than the first predetermined speed threshold. If so, the process proceeds to step S450, and the control module controls to make the throw-out raise angle the second raise angle, otherwise, the process may proceed to perform similar processing.

Regarding the setting of the rotation speed threshold, the setting may be made in consideration of the energy saving performance.

From the analysis of the throwing height, the larger the rotating speed of the stirring cage is, the larger the throwing speed of the throwing matter is, and the higher the throwing height is, so that the throwing angle can be reduced in order to control the throwing height.

Fig. 4 shows the detection of the rotation speed of the stirring cage for the purpose of controlling the throwing height, for controlling the throwing angle. Conversely, the throwing angle can be detected to control the rotating speed of the stirring cage for the purpose of controlling the throwing height.

Specifically, the automatic snow removing equipment further comprises a throwing-out lift angle detection part for detecting the throwing-out lift angle. The method for detecting the throwing angle by the throwing angle detection part can be used for directly detecting the throwing angle and can also be used for converting to obtain the throwing angle by detecting other indirect parameters.

As shown in fig. 5, in step S510, the throw-out raise angle is detected.

In step S520, it is determined whether the throw-out raise angle is greater than a first predetermined raise angle threshold. If so, the process proceeds to step S530, otherwise, the process proceeds to step S540.

In step S530, the control module controls the rotation speed of the stirring cage to be a first rotation speed.

In step S540, it is determined whether the throw-out raise angle is greater than a second predetermined raise angle threshold. If so, the process advances to step S550, where the control module controls the rotation speed of the stirring cage to be a second rotation speed, where the second predetermined lift angle threshold is smaller than the first predetermined lift angle threshold, and the second rotation speed is greater than the first rotation speed; if the determination result of step S540 is no, the foregoing operation may be continued.

Fig. 5 shows a method for controlling the rotating speed of the stirring cage for controlling the throwing height based on the detected throwing raise angle by detecting the throwing raise angle under the condition that the throwing raise angle is adjustable.

In another alternative example, the initial height H is fixed₀The stirring cage radius r and the throwing-out lifting angle control the height by controlling the rotating speed. In a very specific scenario, an initial height H is given₀The throwing angle is 15 degrees, the radius r of the stirring cage is 0.088 meter, and in order to meet the requirement that the snow throwing height is controlled to be lower than 1 meter, the rotating speed of the stirring cage can be controlled to be not more than 2200 revolutions per minute, so that the throwing speed is not more than 20m/s, and the requirement that the snow throwing height is not more than 1 meter is met. In order to meet the requirement that the snow throwing height is controlled to be lower than 0.8 m, the rotating speed of the stirring cage can be controlled to be not more than 1750 r/min, the throwing speed is not more than 16m/s, and the requirement that the snow throwing height is not more than 0.8 m is met. Specifically, the values in table 4 below may be used.

Table 4

Throwing raise angle, stirring cage radius and the initial height of the snow that raises are fixed, to automatic snow removing equipment, can reduce design and manufacturing cost, and be more economical and practical.

The snow throwing height control method does not take into account the environmental resistance condition, and in real life, obvious environmental resistance such as wind power may exist, in this case, because of the existence of the resistance, the snow throwing height reached at the moment is the snow throwing height lower than the ideal condition for the churning speed and the throwing lift angle determined without considering the resistance condition, so that the environmental resistance condition can be evaluated, and the resistance condition is not considered, and at least one of the speed and the throwing lift angle determined for the snow throwing height is adjusted to be larger.

In one exemplary automatic snow removal apparatus, the snow throwing mechanism further comprises a snow throwing wheel and a snow throwing cylinder, the snow throwing wheel imparting secondary power to the throwout from the stirring cage and throwing it out of the snow throwing cylinder. At this time, the speed of the throwout from the snow throwing cylinder is mainly determined by both the rotational speed of the stirring cage and the rotational speed of the snow throwing wheel.

Thus, in one example, the snow throwing height is controlled by controlling at least one of the rotational speed of the stirring cage, the rotational speed of the snow throwing wheel, and the throwing angle.

In another example, the snow throwing height can be completely limited below the predetermined snow throwing height threshold by a given initial height H0 and throwing angle. At this time, there is no need for the control module to control the snow throwing speed or the rotational speed of the drive motor of the snow removing head. In the case of a predetermined snow throwing height threshold of 0.8 meters, the given initial height H0 and throwing angle may be the values as in table 5 below. At this time, the snow throwing height does not exceed 0.8 m no matter how fast the snow throwing speed is.

Table 5

According to the automatic snow removing apparatus of the above-described embodiment of the present invention, the snow throwing height is controlled so that the snow throwing height is below a predetermined threshold, thereby reducing or even eliminating the risk of a potential throwing object being thrown onto a face of a person, such as a child, and improving the safety of the snow throwing process.

In another specific embodiment, the traveling speed V1 of the traveling module 2200 may also have an effect on the snow throwing height H, and the traveling speed V1 of the traveling module 2200 is controlled such that the snow throwing height H is not greater than the predetermined snow throwing height threshold. The situation includes that the traveling speed V1 of the traveling module 2200 is adjusted in conjunction with the thickness of the snow. For example, when the thickness of the snow is thick, if the walking module 2200 walks fast, the snow removing head 1210 of the snow throwing mechanism 1200 collects a larger amount of snow, and the snow throwing cylinder 1220 throws less snow than the collected amount of snow, so that the snow is blocked in the snow throwing mechanism 1200, and therefore, when the thickness of the snow is thick, the walking speed V1 of the walking module 2200 is correspondingly reduced, so as to improve the snow handling capacity of the snow throwing mechanism 1200. When the thickness of the snow is small, the traveling speed V1 of the traveling module 2200 is correspondingly increased, so that the distance of the thrown snow can be increased to improve the snow throwing capability of the snow throwing mechanism 1200, and in consideration of the relationship between the above factors and the snow throwing height H, in a specific embodiment, when the thickness of the snow is less than 4cm, the traveling speed V1 of the traveling module 2200 is controlled to be 20-30 m/min. When the thickness is more than 4cm, the walking speed V1 of the walking module 2200 is controlled to be 10-25 m/min.

According to further embodiments of the present invention, an automatic snow removing apparatus is provided that controls both the snow throwing height and the throwing energy of the throwing substance to avoid injury to children or adults. There are various ways of controlling the throw energy of the projectile, such as controlling the operating parameters of the snow throwing mechanism or arranging any one or combination of various arrangements to control the throw energy of the projectile.

In one example, the throwing energy of the throwing article is controlled to be lower than the safe energy by controlling the operating parameters of the snow throwing mechanism. The meaning of safe energy is described in chinese patent application CN 201710065902.7. Specifically, the throwing speed of the throwing object can be made to be 18.5m/s +/-1 m/s through the operating parameters of the snow throwing mechanism. According to the v-2 pi rn, the radius of the stirring cage is correspondingly given to be 0.088m +/-0.01 m, and the rotating speed of the stirring cage is controlled to be 1800 rpm to 2000 rpm.

An exemplary solution for controlling both snow throwing height and throwing energy according to an embodiment of the present invention is described below with reference to fig. 6-9, wherein, for example, the baffle structure illustrated in fig. 6 and the flexure structure shown in fig. 9 preferentially control height while also controlling energy; the energy is preferably controlled in a grid such as that shown in fig. 7 and a pocket such as that shown in fig. 10. In one example, in an automatic snow removal apparatus, a flapper structure and/or a buckle structure is provided, and a grill and/or a pocket is provided as needed to control snow throwing height and snow throwing energy.

According to one embodiment of the invention, the automatic snow removing equipment further comprises a baffle plate structure arranged at the end part of the snow throwing mechanism, the angle of the baffle plate can be adjusted, and the throwing lifting angle can be adjusted by adjusting the angle of the baffle plate. An exemplary explanation is provided below with reference to fig. 6.

Fig. 6 illustrates an automated snow removal apparatus according to an embodiment of the present invention, wherein a safety deflector (also referred to herein as a baffle structure, used interchangeably) 1250 is provided at the end of the snow throwing mechanism (shown as the end of the snow throwing barrel 1230), the angle of the safety deflector 1250 being adjustable by, for example, a safety deflector steering motor and mechanism 1240.

The baffle angle can be controlled in relation to the operating agitator cage 1210 speed to control the height and energy of the projectiles. For example, when the rotation speed of the working stirring cage 1210 is too high, which results in a high throwing height and large energy of the thrower, the angle of the safety deflector 1250 can be adjusted to be small, so that the throwing height can be reduced, and the energy of the thrower can be reduced.

The snow throwing mechanism has the advantages that the angle-adjustable baffle structure arranged at the end part of the snow throwing mechanism is utilized, the throwing height of snow can be adjusted, the snow can be blocked, the throwing matter can be lost, and the safety performance is improved.

According to another embodiment of the present invention, the automatic snow removing apparatus further comprises a grill provided inside or at an end of the snow throwing mechanism for catching back the inclusions to reduce the inclusions in the throwing product, and the caught-back inclusions can be collected, for example, in the form of a net bag. An exemplary grid structure is described below with reference to fig. 7.

Fig. 7 shows an automatic snow removing apparatus according to another embodiment of the present invention, in which a grating 1260 is provided at an end of a snow throwing mechanism (in the drawing, an end of a snow throwing cylinder 1230). Fig. 8(a) to (e) show several exemplary structural diagrams of the grid.

According to another embodiment of the present invention, the automatic snow removing apparatus further includes: the bag is provided with a ventilating structure in the snow throwing cylinder, and the ventilating structure is made of ventilating materials or is provided with holes, so that thrown objects leak into the bag from the ventilating structure. An exemplary explanation is provided below with reference to fig. 9.

Fig. 9 shows an automatic snow removing apparatus according to another embodiment of the present invention, in which a pocket 1280 is provided for collecting hard objects, thereby further reducing the risk of injury to a person by hard objects in the throw.

The pocket 1280 is preferably air permeable or perforated so that hard objects such as stones can escape from the pocket.

In the example shown in fig. 9, the end of the snow throwing cylinder 1230 is provided with a safety guide plate 1250, the snow throwing mechanism is provided with a grating 1260, hard objects are blocked by the safety guide plate 1250 on the snow throwing cylinder 1230 or by the grating, so that the throwing energy of the hard objects is reduced, and the air permeable pocket 1280 can also play a role of collecting the hard objects, and the collected hard objects directly fall into the pocket to avoid the damage to people or objects caused by the hard objects thrown outwards.

As can be seen from the structure shown in fig. 9, the safety guide plate 1250, the grating 1260 and the pocket 1280 are combined, so that the energy loss of the throwout object can be reduced, the low throwing height meeting the safety requirement is ensured, the throwing of the inclusion with larger size is prevented, the hard objects can be collected, and the complete safety guarantee is provided.

The baffle structure, the grating, the bending structure and the pocket shown in fig. 6 to 9 can be variously combined and modified by those skilled in the art as required to adapt to actual conditions and meet safety requirements.

There is also provided, in accordance with another embodiment of the present invention, a safe snow throwing method for controlling an automatic traveling snow removing apparatus so that snow or foreign matter does not cause injury to persons or things, which will be described below with reference to fig. 10.

Fig. 10 shows a general flow diagram of a safe snow throwing method 3000 of controlling an automated snow removing apparatus so that snow or foreign objects do not cause harm to people or things, according to an embodiment of the present invention.

As shown in fig. 10, in step S3100, the snow-removing device is driven to move by the traveling module.

In step S3200, the snow throwing mechanism is driven by the working motor to collect snow and foreign matters on the ground and throw the snow throwing mechanism, and the maximum height of the throwing matter from the ground in the air is called the snow throwing height.

In step S3300, the control module controls the operation module such that the snow throwing height is less than a predetermined snow throwing height threshold.

In one example, the predetermined snow throwing height threshold is 0.8 meters to 1.1 meters.

In one example, the predetermined snow throwing height threshold is 0.8 meters.

In one example, the snow throwing mechanism comprises a snow removing head rotating about a central axis, the work motor driving the snow removing head to rotate so as to collect snow and inclusions from the ground to the snow throwing mechanism, wherein the control module is configured to control the snow throwing height to be lower than a predetermined snow throwing height threshold when it is detected that the throwing speed reaches the predetermined speed threshold.

In one example, the predetermined speed threshold value ranges from 18 to 19 meters/second.

In one example, the snow removing head radius is 0.088 meters and the snow removing head speed is 1800 to 2000 revolutions per minute.

In one example, the speed of the throwing mechanism when throwing the throwing matter is called throwing speed, the initial throwing angle relative to the horizontal direction is a throwing angle, and the height of the throwing point is an initial height, wherein the snow throwing height is controlled by controlling at least one of the throwing speed, the throwing angle and the initial height, wherein the larger the throwing speed is, the higher the snow throwing height is; under the condition that the throwing raise angle is positive, the larger the throwing raise angle is, the higher the snow throwing height is; the higher the initial height, the higher the snow throwing height.

In one example, the initial height is 200mm to 800 mm.

In one example, the safety snow throwing method controls the throwing speed to be 15m/s to 20 m/s.

In one example, the safety snow throwing method controls the throwing lift angle to be-10 degrees to 25 degrees.

In one example, the safety snow throwing method controls the throwing speed to be 15m/s to 20m/s and the throwing angle to be-10 degrees to 25 degrees.

In one example, the safety snow throwing method controls the throwing speed to be 15m/s to 20m/s, the throwing angle to be 0 degree to +25 degrees, and the initial height to be 200mm to 800 mm.

In one example, the snow-removing head radius is 0.08m to 0.12m, and the snow-removing head rotational speed is controlled to be 1500 rpm to 2500 rpm.

In one example, the safety snow throwing method controls the throwing speed to be 18m/s to 19m/s and the throwing angle to be 15 degrees.

In one example, the snow removing head radius is 0.088m, and the control speed is 1800 rpm to 2000 rpm.

In one example, the safety snow throwing method controls the snow throwing angle to be negative, and the initial height is less than or equal to 1 meter.

In one example, the safe snow throwing method further comprises simultaneously controlling the snow throwing distance to meet a predetermined requirement.

In one example, the snow throwing mechanism comprises a stirring cage rotating around a central axis, and the working motor drives the stirring cage to rotate so as to collect the accumulated snow and the impurities on the ground to the snow throwing mechanism, wherein the snow throwing height is controlled by controlling the rotating speed of the stirring cage and/or the throwing raise angle of the thrower given the initial height and the radius of the stirring cage.

In one example, the safety snow throwing method further comprises: the rotating speed of the stirring cage is detected by the stirring cage rotating speed detection component, and the control module controls the driving motor of the stirring cage according to the actual rotating speed of the stirring cage, so that the rotating speed of the stirring cage does not exceed a preset rotating speed threshold value. The method for detecting the rotating speed of the stirring cage by using the stirring cage rotating speed detection component can directly detect the rotating speed of the stirring cage by using the detection component, and can also directly detect the rotating speed of a driving motor of the stirring cage by using the detection component, and the rotating speed of the stirring cage is calculated by a transmission ratio determined by the transmission relationship between the stirring cage and the motor.

In one example, the safety snow throwing method further comprises: utilize stirring cage rotational speed detection part to detect the rotational speed of stirring the cage, when the rotational speed of stirring the cage is greater than first predetermined rotational speed threshold value, control module controls and makes the throw-out lifting angle of throw thing be first lifting angle.

In one example, the safety snow throwing method further comprises: when the rotating speed of the stirring cage is greater than a second preset rotating speed threshold value, the control module controls the throwing lifting angle of the throwing object to be a second lifting angle, wherein the second preset rotating speed threshold value is smaller than the first preset rotating speed threshold value, and the second lifting angle is larger than the first lifting angle.

In one example, the safety snow throwing method further comprises: detecting the throwing raise angle by a throwing raise angle detection part; when the throwing-out lifting angle is larger than a first preset lifting angle threshold value, the control module controls the stirring cage to rotate at a first speed.

In one example, the safety snow throwing method further comprises: when the throwing-out lifting angle is larger than a second preset lifting angle threshold value, the control module controls the rotating speed of the stirring cage to be a second rotating speed, wherein the second preset lifting angle threshold value is smaller than the first preset lifting angle threshold value, and the second rotating speed is larger than the first rotating speed.

In one example, the snow throwing mechanism further comprises: a snow throwing wheel and a snow throwing cylinder, the snow throwing wheel gives secondary power to the throwing matter from the stirring cage and throws the throwing matter out of the snow throwing cylinder, and the safety snow throwing method further comprises: the snow throwing height is controlled by controlling at least one of the rotating speed of the stirring cage, the rotating speed of the snow throwing wheel and the throwing lifting angle.

In one example, the safety snow throwing method further comprises: the throwing angle is adjusted by adjusting the angle of the baffle plate, so that the snow throwing height is adjusted, the baffle plate structure is arranged at the end part of the snow throwing mechanism, and the angle of the baffle plate is adjustable.

In one example, the safety snow throwing method further comprises: and adjusting the speed of the walking module by the control module according to the thickness of the snow so that the snow throwing height is not greater than a preset snow throwing height threshold value.

In one example, the safety snow throwing method further comprises: when the thickness of the snow is less than 4cm, the walking speed of the walking module is controlled to be 20-30 m/min.

In one example, the safety snow throwing method further comprises: when the thickness of the snow is more than 4cm, the walking speed of the walking module is controlled to be 10-25 m/min.

In one example, the safety snow throwing method further comprises: some or all of the inclusions are retained back through a grate located in or at the end of the snow throwing mechanism to reduce the inclusions in the throwing material.

In one example, the grid spacing is less than 50 mm.

In one example, the safe snow throwing method may further include: the snow throwing cylinder is internally provided with a pocket with a ventilating structure, and the ventilating structure is made of ventilating materials or is provided with holes, so that thrown objects leak into the pocket from the ventilating structure.

In one example, the safe snow removal method further comprises controlling the throw height and/or throw energy by a combination of the following throw height and/or throw energy control structures: the baffle plate structure is arranged at the end part of the snow throwing mechanism, the angle of the baffle plate can be adjusted, and the throwing angle can be adjusted by adjusting the angle of the baffle plate; the grating is arranged in the snow throwing mechanism or at the end part of the snow throwing mechanism and is used for blocking impurities back so as to reduce the impurities in the throwing substances; a pocket with ventilation function or porous structure.

In the foregoing examples, the relevant values such as initial height, target snow throwing height, throwing speed are based on, for example, statistical lower child heights, common snow depths, and energy of currently developed automatic snow removing devices.

Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An automatic travel snow removing apparatus in which thrown snow or foreign matter does not cause injury to people or things, comprising:

the walking module is used for driving the snow removing equipment to move;

the control module is configured to control the working module or the walking module to enable the snow throwing height not to be larger than a preset snow throwing height threshold value, and the preset snow throwing height threshold value is 0.8 m; the speed of the throwing mechanism when throwing the throwing substances is called throwing speed, the initial throwing angle relative to the horizontal direction is a throwing angle, the height of a throwing point is an initial height, and the snow throwing height is controlled by controlling at least one of the throwing speed, the throwing angle and the initial height.

2. The self-propelled snow removing apparatus according to claim 1, wherein the snow throwing mechanism includes a snow removing head that rotates about a central axis, said working motor drives the snow removing head to rotate so as to collect snow and foreign matter on the ground to the snow throwing mechanism,

wherein the control module is configured to control the snow throwing height to be below a predetermined snow throwing height threshold when it is detected that the throwing speed reaches a predetermined speed threshold.

3. The automated walking snow removing apparatus of claim 2 wherein the predetermined speed threshold has a value in the range of 18 to 19 meters per second.

4. The self-propelled snow removing apparatus of claim 3 wherein the snow removing head has a radius of 0.088 meters and a rotational speed of the snow removing head of 1800 to 2000 revolutions per minute.

5. The self-propelled snow removing apparatus of claim 1 wherein the snow-removing head has a radius of 0.08 to 0.12 meters and the rotational speed of the snow-removing head is 1500 to 2500 revolutions per minute.

6. The automatic snow removal apparatus of claim 1, wherein the initial height is from 200mm to 800 mm.

7. The automatic snow removing apparatus according to claim 1, wherein the throwing speed is controlled to be 15m/s to 20 m/s.

8. The automatic snow removing apparatus according to claim 1, wherein the throwing angle is controlled to be-10 degrees to 25 degrees.

9. The automatic snow removing apparatus according to claim 1, wherein the throwing speed is controlled to be 15m/s to 20m/s and the throwing angle is controlled to be-10 degrees to 25 degrees.

10. The automatic snow removing apparatus according to claim 1, wherein the throwing speed is controlled to be 15m/s to 20m/s, the throwing angle is-10 degrees to +25 degrees, and the initial height is 200mm to 800 mm.

11. The automatic snow removing apparatus according to claim 10, wherein the snow removing head radius is 0.08m to 0.12m, and

12. The automatic snow removing apparatus according to claim 10, characterized in that the throwing speed is controlled to 18m/s to 19m/s and the throwing angle is 15 degrees.

13. The automatic snow removing apparatus according to claim 12, wherein the snow removing head radius is 0.088m, and

the rotation speed is controlled to be 1800 rpm to 2000 rpm.

14. The automatic snow removal apparatus of claim 1, wherein the snow throwing lift is controlled to be negative.

15. The automatic snow removal apparatus of claim 1, further comprising simultaneously controlling the snow throwing distance to meet a predetermined requirement.

16. The automatic snow removing apparatus according to claim 1, wherein the snow throwing mechanism comprises a snow removing head that rotates about a central axis, and said working motor drives the snow removing head to rotate so as to collect snow and foreign substances on the ground to the snow throwing mechanism, wherein the snow throwing height is controlled by controlling a rotation speed and/or a throwing angle of the snow removing head given an initial height and a radius of the snow removing head.

17. The automatic snow removing apparatus according to claim 16, wherein further given the throwing angle, the snow throwing height is controlled by controlling the rotational speed of the snow removing head.

18. The automatic snow removing apparatus according to claim 16, characterized by further comprising: a snow removing head rotation speed detecting member for detecting the rotation speed of the snow removing head, an

19. Automatic snow removal apparatus according to claim 18,

20. The automatic snow removing apparatus according to claim 16, characterized by further comprising: a cast-out raise angle detecting part for detecting the cast-out raise angle, an

21. The automatic snow removing apparatus according to claim 20,

22. The automatic snow removing apparatus according to claim 1, further comprising:

based on the environmental resistance situation, at least one of the rotational speed and the snow throwing angle determined for the snow throwing height without taking into account the resistance situation is adjusted to be larger.

23. The automatic snow removing apparatus according to claim 16, characterized by further comprising:

snow throwing mechanism still includes: the snow throwing device comprises a snow throwing wheel and a snow throwing cylinder, wherein the snow throwing wheel gives secondary power to a throwing object from a snow removing head and throws the throwing object out of the snow throwing cylinder.

24. The automatic snow removing apparatus according to claim 23, wherein the snow throwing height is controlled by controlling at least one of a rotation speed of the snow removing head, a rotation speed of the snow throwing wheel, and a throwing elevation.

25. The automatic snow removing apparatus according to any one of claims 1 to 24, characterized by further comprising:

the baffle plate structure is arranged at the end part of the snow throwing mechanism, the angle of the baffle plate can be adjusted, and the throwing angle can be adjusted by adjusting the angle of the baffle plate.

26. The automated walking snow removing apparatus of claim 1 wherein said control module adjusts the speed of the walking module based on the thickness of the snow such that said snow throwing height is not greater than a predetermined snow throwing height threshold.

27. The automated walking snow removing apparatus of claim 26, wherein the control module controls the walking speed of the walking module to 20 to 30m/min when the thickness of snow is less than 4 cm.

28. The automated walking snow removing apparatus of claim 26, wherein the control module controls the walking speed of the walking module to 10-25m/min when the thickness of snow is more than 4 cm.

29. The automatic snow removing apparatus according to any one of claims 1 to 24, characterized by further comprising:

and the grating is arranged in the snow throwing mechanism or at the end part of the snow throwing mechanism and is used for blocking back the inclusion so as to reduce the inclusion in the throwing matter.

30. An automatic snow removal apparatus as claimed in claim 29, wherein said grates are spaced less than 50mm apart.

31. The automatic snow removal apparatus of claim 1, wherein the snow throwing mechanism further comprises a snow throwing cylinder that is rotatable in a horizontal direction.

32. The automatic snow removing apparatus according to any one of claims 1 to 24, characterized by further comprising:

the snow throwing cylinder is additionally provided with a pocket with a ventilating structure, and the ventilating structure is made of ventilating materials or is provided with holes, so that thrown objects leak into the pocket from the ventilating structure.

33. The automatic snow removing apparatus of any one of claims 1 to 24, further comprising a combination of the following throw height and/or throw energy control structures:

the grating is arranged in the snow throwing mechanism or at the end part of the snow throwing mechanism and is used for blocking back the inclusion so as to reduce the inclusion in the throwing matter;

and

a pocket with ventilation function or porous structure.

34. A safe snow throwing method for controlling automatic walking snow removing equipment to enable snow or foreign substances not to damage people or objects, wherein the automatic walking snow removing equipment comprises a walking module, a working module and a control module, and the safe snow throwing method is characterized by comprising the following steps of:

the walking module drives the snow removing equipment to move;

the control module controls the working module or the walking module to enable the snow throwing height to be not larger than a preset snow throwing height threshold value, the preset snow throwing height threshold value is 0.8 m, the speed of the snow throwing mechanism when throwing the throwing object is called as throwing speed, an initial throwing angle relative to the horizontal direction is a throwing angle, the height of a throwing point is an initial height, and the snow throwing height is controlled by controlling at least one of the throwing speed, the throwing angle and the initial height.

35. The safe snow throwing method of claim 34, wherein the snow throwing mechanism includes a snow removing head rotatable about a central axis, said working motor drives the snow removing head to rotate so as to collect snow and foreign matter from the ground surface into the snow throwing mechanism,

36. A method of safely throwing snow according to claim 35, wherein the predetermined speed threshold value is in the range of 18 to 19 metres per second.

37. A method of safely throwing snow according to claim 36, wherein the snow-removing head has a radius of 0.088m and a rotational speed of 1800 to 2000 revolutions per minute.

38. A method of safely throwing snow according to claim 34, wherein the snow-removing head has a radius of 0.08 to 0.12 meters and the speed of rotation of the snow-removing head is 1500 to 2500 revolutions per minute.

39. A safe snow throwing method according to claim 34 wherein the initial height is from 200mm to 800 mm.

40. A safe snow throwing method according to claim 34, wherein the throwing speed is controlled to be 15m/s to 20 m/s.

41. A safe snow throwing method according to claim 34, wherein the throwing angle is controlled to be-10 to 25 degrees.

42. A safe snow throwing method according to claim 34, wherein the throwing speed is controlled to be 15m/s to 20m/s and the throwing angle is controlled to be-10 degrees to 25 degrees.

43. A safe snow throwing method according to claim 34, wherein the throwing speed is controlled to be 15m/s to 20m/s, the throwing angle is 0 degree to +25 degrees, and the initial height is 200mm to 800 mm.

44. A method of safely throwing snow according to claim 43, wherein the snow-removing head has a radius of 0.08m to 0.12m, and

45. A safe snow throwing method according to claim 43, wherein the throwing speed is controlled to 18m/s to 19m/s and the throwing angle is controlled to 15 degrees.

46. A method of safely throwing snow according to claim 45, wherein the snow-removing head has a radius of 0.088m, and

the rotation speed is controlled to be 1800 rpm to 2000 rpm.

47. A safe snow throwing method according to claim 34, wherein the snow throwing head is controlled to be negative.

48. A safe snow throwing method according to claim 34, further comprising simultaneously controlling the snow throwing distance to meet a predetermined requirement.

49. The safe snow throwing method of claim 34, wherein the snow throwing mechanism includes a snow removing head rotatable about a central axis, said working motor drives the snow removing head to rotate so as to collect snow and foreign matter from the ground surface into the snow throwing mechanism,

50. A method of safely throwing snow according to claim 49, further comprising:

51. A safe snow throwing method according to claim 50, further comprising:

52. A method of safely throwing snow according to claim 49, further comprising:

detecting the throwing raise angle by a throwing raise angle detection part;

53. A method of safely throwing snow according to claim 52, further comprising:

54. A method of safely throwing snow according to claim 49, further comprising: the throwing lift angle is further given, and the snow throwing height is controlled by controlling the rotating speed of the snow removing head.

55. A safety snow throwing method according to any one of claims 49 to 53, wherein the snow throwing mechanism further comprises: a snow throwing wheel and a snow throwing cylinder, the snow throwing wheel imparting secondary power to the throwing matter from the snow removing head and throwing it out of the snow throwing cylinder, and

56. A safety snow throwing method according to any one of claims 34 to 53, wherein:

57. A method of safely throwing snow according to claim 34, wherein the speed of the walking module is adjusted by the control module in accordance with the thickness of the snow so that said snow throwing height is not greater than a predetermined snow throwing height threshold.

58. A safe snow throwing method according to claim 57, wherein the walking speed of the walking module is controlled to be 20 to 30m/min when the thickness of the snow is less than 4 cm.

59. A safe snow throwing method according to claim 57, wherein when the thickness of the snow is more than 4cm, the walking speed of the walking module is controlled to 10 to 25 m/min.

60. A safety snow throwing method according to any one of claims 34 to 53, wherein:

61. A method of safely throwing snow according to claim 60, wherein said grilles are spaced less than 50mm apart.

62. A safe snow throwing method according to claim 34, wherein the snow throwing mechanism further comprises a snow throwing cylinder which is rotatable in a horizontal direction.

63. A method of safely throwing snow according to any one of claims 34 to 53, further comprising:

64. A safety snow throwing method according to any one of claims 34 to 53 further comprising controlling the throw height and/or throw energy by a combination of the following throw height and/or throw energy control structures:

a pocket with ventilation function or porous structure.

65. A safe snow throwing method according to claim 34, further comprising, based on the environmental resistance condition, adjusting at least one of the rotation speed and the snow throwing angle determined for the snow throwing height without taking into account the resistance condition.

66. An automatic travel snow removing apparatus in which thrown snow or foreign matter does not cause injury to people or things, comprising:

the walking module is used for driving the snow removing equipment to move;

a control module configured to control the working module so that the snow throwing height is not greater than a predetermined snow throwing height threshold, the snow throwing height is not greater than the predetermined snow throwing height threshold, the predetermined snow throwing height threshold is 0.8 m, the speed of the snow throwing mechanism when throwing the throwing object is called a throwing speed, the initial throwing angle relative to the horizontal direction is a throwing angle, and the height of the throwing point is an initial height, wherein the initial height is not greater than the predetermined snow throwing height threshold, and the snow throwing height is controlled by controlling at least one of the throwing speed, the throwing angle and the initial height.