WO2019223747A1 - Automatic snow sweeper and working method thereof - Google Patents

Automatic snow sweeper and working method thereof Download PDF

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Publication number
WO2019223747A1
WO2019223747A1 PCT/CN2019/088070 CN2019088070W WO2019223747A1 WO 2019223747 A1 WO2019223747 A1 WO 2019223747A1 CN 2019088070 W CN2019088070 W CN 2019088070W WO 2019223747 A1 WO2019223747 A1 WO 2019223747A1
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WO
WIPO (PCT)
Prior art keywords
snow
snowplow
working mode
automatic
working
Prior art date
Application number
PCT/CN2019/088070
Other languages
French (fr)
Chinese (zh)
Inventor
查霞红
赵凤丽
程坤
Original Assignee
苏州宝时得电动工具有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201810502225.5A external-priority patent/CN110528448B/en
Application filed by 苏州宝时得电动工具有限公司 filed Critical 苏州宝时得电动工具有限公司
Priority to CN201980005087.2A priority Critical patent/CN111212948B/en
Publication of WO2019223747A1 publication Critical patent/WO2019223747A1/en

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    • 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
    • E01H5/00—Removing snow or ice from roads or like surfaces; Grading or roughening snow or ice
    • E01H5/04—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material

Definitions

  • the invention relates to the field of snow removing equipment, and in particular to an automatic snowplow and a working method thereof.
  • the existing snowplows are relatively large in volume and weight, which is inconvenient for storage and handling. Moreover, when the snowplow is in operation, it is necessary to manually control the snowplow and the snowplow cannot control the work alone, resulting in The intelligence level of the snowplow is poor.
  • an object of the present invention is to propose an automatic snowplow and a working method thereof.
  • the automatic snowplow has a small size, is convenient to carry and store, and improves the convenience of users.
  • An embodiment of the present invention proposes an automatic snowplow, which includes: a host; a snow removing device, the snow removing device is installed on the host, and the snow removing device includes an end for removing snow; The range of the vertical height of the end is 100mm-250mm; the control device is used to control the movement of the host and the snow removal device to perform snow removal; the acquisition device is connected to the control device and is used to obtain snow condition information. The control device determines whether the snow condition information meets the pre-processing conditions, and if so, controls the host to move and controls the snow removal device to perform snow removal work.
  • the pre-processing condition is related to a parameter representing the processing capacity of the automatic snowplow.
  • the acquiring device includes a snow condition detection device, and the snow condition information is detected by the snow condition detection device.
  • the snow condition detection device includes one or more of a snow thickness detection device, a snow weight detection device, a snow area detection device, a snow density detection device, and a snow time detection device.
  • the pre-processing conditions include a snow thickness threshold range
  • the snow thickness detection device detects snow thickness information
  • the control module determines When the snow thickness information meets the snow thickness threshold range, the control host moves and controls the snow removal device to perform snow removal work.
  • the snow thickness threshold ranges between 25 mm and 100 mm.
  • the acquiring device includes an information receiving device, and receives snow condition information transmitted by a remote device through the information receiving device.
  • the remote device includes a sensor device and / or a task execution device disposed in a work area, and the information receiving device receives external snow condition information obtained based on the sensor device and / or the task execution device.
  • the remote device includes a remote server or a smart terminal
  • the information receiving device is communicatively connected to the remote server or the smart terminal to obtain snow condition information from the remote server or the smart terminal.
  • the snow condition information includes weather information
  • the control module determines that the weather information meets the pre-processing conditions, the control host moves and controls the snow removal device to perform snow removal work.
  • the automatic snowplow further includes a manual startup mode.
  • the automatic snowplow receives startup information directly set by a user or receives startup information transmitted from a smart terminal.
  • the control module controls the host to move according to the startup information and controls the snow removing device to perform snow removal work.
  • the startup information includes immediate startup information or appointment startup information.
  • the obtaining device is disposed on the host and / or the snow removing device.
  • the vertical height of the end portion ranges from 190 mm to 250 mm.
  • the width of the end portion in a direction perpendicular to the forward direction ranges from 300 mm to 500 mm.
  • a width of the host in a direction perpendicular to the advancing direction is less than or equal to a width of the end portion in a direction perpendicular to the advancing direction.
  • the snow removing device includes a casing and a snow collection component disposed in the casing.
  • the diameter of the snow collection component ranges from 140 mm to 160 mm, and the operating speed range of the snow collection component is 1500r / min-2500r / min.
  • the automatic snowplow further includes a snow throwing device, the snow throwing device is disposed above the snow removing device, and an angle between the snow throwing device and a horizontal plane ranges from 19 ° -25 °.
  • the snow collection component includes a spiral snow collection component.
  • such as a cage or snow sweeper In a specific embodiment, such as a cage or snow sweeper.
  • the snow removing device includes a snow pushing device.
  • the snow pushing device includes a snow pushing shovel.
  • the host and / or the snow removing device is provided with a carrying handle.
  • the weight of the automatic snowplow ranges from 12 kg to 20 kg.
  • the whole power of the automatic snowplow is not higher than 1000w.
  • the energy of the energy device of the automatic snowplow is not less than 40wh.
  • a single working time of the automatic snowplow is not less than 10 minutes.
  • the snow removal efficiency of the automatic snowplow is 2 m 2 to 8 m 2 / min.
  • the automatic snowplow includes a quick snow removal mode and a normal snow removal mode
  • the control module enables the fast snow removal mode and the normal snow removal mode respectively according to the urgency of the working area.
  • the automatic snowplow further includes:
  • Working mode detection module used to detect the current time and current working mode of the snowplow
  • a work mode judging module judging whether the current working mode matches the current time according to the corresponding relationship between the preset working mode and the working time;
  • Working mode switching module used to switch the working mode of the snowplow according to the current time and the corresponding relationship between the preset working mode and working time if there is no match.
  • the working modes include a normal working mode and a mute working mode
  • the correspondence between the preset working mode and the working time includes using the normal working mode at the time corresponding to the daytime and the The corresponding time at night adopts silent working mode.
  • switching the working mode of the snowplow according to the current time and the corresponding relationship between the preset working mode and the working time includes:
  • the working mode switching module switches a working mode of the automatic snowplow to a normal working mode according to the corresponding relationship;
  • the working mode switching module switches the working mode of the automatic snowplow to a silent working mode according to the corresponding relationship.
  • An embodiment of the present invention also provides a working method of an automatic snowplow.
  • the automatic snowplow includes: a snow removing device installed on the host for removing snow, and the snow removing device includes a device for removing snow The end of the snow, the vertical height of the end is in the range of 100mm-250mm; the control device is used to control the movement of the host and the snow removal device to perform snow removal; the acquisition device is used to obtain snow condition information, the method include:
  • control host moves and controls the snow removing device to perform snow removal work.
  • control module detects the current time and current working mode of the automatic snowplow; and determines whether the current working mode is based on the correspondence between the preset working mode and the working time. Matches the current time; if not, switches the working mode of the automatic snowplow according to the current time and the corresponding relationship between the preset working mode and the working time.
  • the beneficial effect of the present invention is that the automatic snowplow can automatically control the movement of the snowplow and perform snow removal work through the cooperation of the host, the snow removing device, the driving device, the control device and the acquisition device, and can improve the intelligence of the snowplow. Level, which can increase user satisfaction. At the same time, the size of the automatic snowplow is small and seventeen, which is convenient for storage and transportation, and improves the convenience of users.
  • An embodiment of the present invention also provides a method for switching the working mode of a snowplow, which includes: detecting a current time and a current working mode of the snowplow; and judging a position according to a correspondence between a preset working mode and the working time Whether the current working mode matches the current time; if not, switching the working mode of the snowplow according to the current time and the corresponding relationship between the preset working mode and the working time.
  • the detecting the current time at which the snowplow is working includes: obtaining the light intensity in the working environment of the snowplow; and determining the current time at which the snowplow is working according to the light intensity.
  • the current time includes a time corresponding to daytime and a time corresponding to nighttime.
  • the detecting the current time of the snowplow operation includes: detecting the current time of the snowplow operation by receiving a satellite signal.
  • the current time includes a time corresponding to daytime and a time corresponding to nighttime.
  • the working mode includes a normal working mode and a silent working mode
  • the correspondence between the preset working time and the working mode includes the normal working mode during the day and the night time.
  • the corresponding time adopts the mute working mode; if there is no match, switching the working mode of the snowplow according to the current time and the corresponding relationship between the preset working mode and the working time, including: when When the current time is a daytime corresponding time and the current working mode is a silent working mode, switch the snowplow to a normal working mode according to the corresponding relationship; or when the current time is a corresponding time at night and When the current working mode is a normal working mode, the snowplow is switched to a silent working mode according to the corresponding relationship.
  • the method further includes: obtaining the position of the snowplow; and according to the position of the snowplow And the current time to obtain the corresponding environmental noise limit.
  • the working mode generates a corresponding noise value; before switching the working mode of the snowplow, the method further includes: obtaining according to a correspondence between the working mode and the corresponding noise value A noise value of the current working mode; comparing the noise value of the current working mode with the environmental noise limit.
  • the switching the working mode of the snowplow includes: when the noise value of the current working mode is greater than the environmental noise limit, switching the working mode of the snowplow so that the switched working mode is generated. The noise value of is less than the environmental noise limit.
  • an embodiment of the present invention also provides a device for switching the working mode of a snowplow.
  • the device includes: a time detection module for detecting the current time and the current working mode of the snowplow; a determination module for: Determine whether the current working mode matches the current time according to the corresponding relationship between the preset working mode and the working time; a working mode switching module is configured to, if the matching does not match, according to the current time and the preset The correspondence between the working mode and the working time switches the working mode of the snowplow.
  • an embodiment of the present invention further provides a computer device including a memory, a processor, and a computer program stored on the memory and executable on the processor.
  • the processor executes the computer program, the processor implements any of the foregoing embodiments. Method steps.
  • an embodiment of the present invention also provides a snowplow including a driving device, a snow removing device, a snow throwing device, and a controller; the driving device is used to drive the snowplow to travel; the snow removing device, It is used to collect snow on the road; the snow throwing device is used to throw the collected snow; the controller is electrically connected to the driving device, the snow removing device, and the snow throwing device, respectively;
  • the controller includes a memory and a processor.
  • the memory stores a computer program. When the processor executes the computer program, the method steps in any of the foregoing embodiments are implemented.
  • an embodiment of the present invention further provides a snowplow including a driving device, a snow removing device, a snow throwing device, and a control device;
  • the driving device is used to drive the snowplow to travel;
  • the snow removing device It is used to collect snow on the road;
  • the snow throwing device is used to throw the collected snow;
  • the control device is electrically connected to the driving device, the snow removing device, and the snow throwing device;
  • the control device is used to detect the current time and current working mode of the snowplow; determine whether the current working mode matches the current time according to the corresponding relationship between the preset working mode and the working time; if it does not match, then Switching the working mode of the snowplow according to the current time and the corresponding relationship between the preset working mode and the working time.
  • the method and device for switching the working mode of the snowplow, and the snowplow determine the current work by detecting the current time and current working mode of the snowplow and according to the correspondence between the preset working mode and the working time Whether the mode matches the current time, and if it does not match, switch the working mode of the snowplow according to the current time and the corresponding relationship between the preset working mode and the working time. By switching the working mode of the snowplow, the all-weather work of the snowplow is realized.
  • FIG. 1 is a front view of an automatic snowplow according to an embodiment of the present invention.
  • FIG. 2 is a side view of an automatic snowplow according to an embodiment of the present invention.
  • FIG. 3 is a top view of an automatic snowplow according to an embodiment of the present invention.
  • FIG. 4 is a composition diagram of an automatic snowplow according to an embodiment of the present invention.
  • FIG. 5 is a side view of an automatic snowplow according to another embodiment of the present invention.
  • FIG. 6 is a side view of an automatic snowplow according to another embodiment of the present invention.
  • FIG. 7 is a schematic flowchart of a method for switching a working mode of an automatic snowplow according to an embodiment.
  • FIG. 8 is a schematic flowchart of step S110 in the embodiment corresponding to FIG. 7.
  • FIG. 9 is a schematic flowchart of step S130 in the embodiment corresponding to FIG. 7.
  • FIG. 10 is a schematic flowchart of step S110 in the embodiment corresponding to FIG. 7.
  • FIG. 11 is a schematic flowchart before step S130 in the embodiment corresponding to FIG. 7.
  • FIG. 12 is a schematic flowchart of a method for switching an automatic snowplow operation mode in another embodiment.
  • FIG. 13 is a structural block diagram of a switching device for a working mode of an automatic snowplow according to an embodiment.
  • the automatic snowplow 10 includes: a host 2, a snow removing device 1, a driving device, a control device, and an obtaining device.
  • the snow removing device 1 can be installed on the main unit 2 for removing snow. Understandably, the snow removing device 1 includes an end 101 for removing snow, and the vertical height c of the end 101 ranges from 100 mm to 250 mm.
  • the height direction of the end portion 101 refers to the up and down direction in FIG. 1, for example, c can be set to 205 mm.
  • the end portion 101 directly acts on the snow, Collect or clean up.
  • the snowplow 10 can handle a certain amount of snow, and at the same time, the height of the snow removing device 1 can be reduced, and the volume of the snow removing device 1 can be further reduced, so that The automatic snowplow 10 has a small volume and a small weight, which facilitates storage and handling of the automatic snowplow 10.
  • the height c of the end portion 101 ranges from 190mm to 250mm. The automatic snowplow for removing snow from the end height within this range can meet the requirements of small size and meet the requirements. A certain amount of snow cleaning work.
  • the driving device can drive the host 2 to move.
  • the host 2 moves to drive the snow removing device 1 to move.
  • the control device is electrically connected to the driving device, the snow removing device 1, and the obtaining device.
  • the control device can be used to control the work of the driving device and the snow removing device 1.
  • the obtaining device is used for obtaining snow condition information, and the control device determines whether the snow condition information obtained by the obtaining device meets the pre-processing conditions. If so, the driving device and the snow removing device are controlled to work.
  • the driving device can drive the host 2 to move and control the snow removal.
  • the device 1 performs snow removal work. It can be understood that the pre-processing condition is related to the parameter indicating the processing capability of the automatic snowplow.
  • the control module controls the starting operation of the snowplow, so as to ensure that each time the snowplow handles a certain amount of snow, avoiding a large amount of external snow, the snowplow cannot effectively handle and affects the work.
  • the acquiring device includes a snow condition detection device, and the snow condition information is detected by the snow condition detection device.
  • the snow condition detection device may include a snow thickness detection device, a snow weight detection device, a snow area detection device, and a snow density. One or more of a detection device and a snow time detection device.
  • the one or more snow condition detection devices may be provided on the snow removing device 1 or the host computer 2 or may be provided on an automatic snowplow.
  • the charging station for charging can, of course, also be arranged at the above multiple positions to ensure the accuracy of detection.
  • the snow condition information includes snow thickness information, snow weight information, snow area information, snow density information, snow time information, and the like.
  • the preprocessing conditions include a snow thickness threshold range
  • the snow thickness detection device monitors and feedbacks the snow thickness information in real time, and transmits the snow thickness information to the control module to control The module judges whether the snow thickness information meets the snow thickness threshold range.
  • the control device controls the driving device to drive the host 2 to move and controls the snow removal device 1 to perform snow removal work.
  • the snow thickness threshold ranges from 25mm to 100mm. Setting this way can make the thickness of the snow processed by the snowplow 10 constant, and avoid the problem that the snowplow 10 cannot be effectively processed by the snow being too thick.
  • the snowplow 10 can be started autonomously to complete the snow removal work, and does not need to manually control the snowplow 10 to remove snow.
  • the snow-sweeping ability of the snow machine and the external snow conditions automatically control the snow-sweeping work to prevent the snow-sweeper from going out to work with a large amount of external snow, the snow-sweeping effect is not good, or the snow-sweeping device of the snow-sweeper is blocked due to a large amount of snow.
  • the motor stalls, causing damage to the snowplow. Therefore, through the cooperation of the host 2, the snow removal device 1, and the acquisition device, the operation of the snowplow 10 can be automatically controlled, and the intelligence of the snowplow 10 can be improved. , Which can increase user satisfaction.
  • the acquiring device further includes an information receiving device, and the snow condition information transmitted by the remote device is received by the information receiving device.
  • the remote device includes a sensor device installed in a work area or a task execution device that parks or performs a task in the work area.
  • the information receiving device receives whether it meets the preprocessing conditions based on the external snow information obtained by the sensor device or the task execution device.
  • the sensor device is disposed at one or more places in the work area, and is used to detect the status information of the work area.
  • the snow condition information in the work area can be directly detected.
  • the sensor device includes the snow thickness in the above embodiment. Detection device, snow weight detection device, snow area detection device, snow density detection device, etc.
  • the sensor equipment After the sensor equipment detects the snow condition information in the work area, it directly transmits the above information to the information receiving device of the snowplow, and the control device determines the snow condition. Whether the information meets the pre-processing conditions and, if so, controls the operation of the snowplow. Understandably, the task execution equipment parked or working in the work area may also include a device capable of directly or indirectly acquiring snow condition information. The task execution equipment obtains the snow condition information and transmits the snow condition information to the snowplow information. The receiving device can understand that the snow condition information acquired by the task execution device may be detected by itself or acquired from other devices.
  • the snow condition information may be transmitted to the central processing unit, and the central processor may transmit the snow condition information to the snowplow for acquisition.
  • Device so as to control the snowplow to carry out snow-sweeping work or the situation in the integrated working area of the central processing unit, and send a control instruction to the information receiving device, so that the control module controls the work of the snowplow according to the control instruction.
  • the central manager is, for example, an existing garden manager or a home intelligent manager. The central manager can uniformly manage multiple task execution devices in the work area and control the work of the snowplow 10.
  • the remote device includes a remote server or a smart terminal
  • the information receiving device of the automatic snowplow 10 is communicatively connected with the remote server or smart terminal to obtain snow condition information from the remote server or smart terminal.
  • the snow condition information includes the snow thickness information, snow weight information, and snow density information introduced in the above embodiments.
  • the snow condition information also includes weather information.
  • the control device determines the external weather conditions based on the weather information, and then determines whether it is suitable for the snowplow 10 to work. If the weather information meets the preset weather conditions, the snowplow 10 is controlled to start work.
  • the weather information is, for example, weather information obtained from a weather forecast network on a remote server or weather information obtained from a smart terminal.
  • the weather forecast shows light snow at 7-17 pm
  • the snow thickness is 25mm.
  • the information receiving device can control the snowplow 10 to start snow cleaning after 17:00.
  • the pre-processing conditions mentioned in the above embodiments can be preset conditions that meet the processing capabilities of the snowplow, can be the conditions that come with the snowplow when it leaves the factory, or can be used by the user to remove snow.
  • the automatic snowplow 10 also includes a manual startup mode.
  • the manual startup mode the snowplow 10 receives the startup information directly set by the user or receives the startup information transmitted from the smart terminal, and the startup The information includes immediate startup information or scheduled startup information. For example, when the user sets the immediate startup, the automatic snowplow starts the work immediately, or when the user sets a scheduled startup, for example, the user schedules a certain amount of time to start the work. The message controls the automatic snowplow to start and / or stop working.
  • the reservation time information includes time information directly set by the user on the snowplow 10 in advance, and the time information may be a length of time, for example, when the user judges that the external snow conditions meet the processing capability of the snowplow, the user Set 2 hours of work on the snowplow 10, it can also be the start time and end time of the work. For example, the user sets the work at 3-5 pm. When the time condition set by the user is met, the snowplow 10 is controlled. jobs. It can be understood that the time information may also be set by the user on the smart terminal, and the snowplow 10 obtains information from the smart terminal.
  • the end of the snow removing device 1 includes a width a in a vertical forward direction, and the width a ranges from 300 mm to 450 mm.
  • a can be set to 390 mm.
  • the width of the end 101 of the snow removing device 1 reduces the volume of the snow removing device 1 and further reduces the weight of the snowplow 10, so that the snowplow 10 can be conveniently stored.
  • the height of the host 2 is similar to the height of the snow removing device 1, and the range of the width b of the host in a direction perpendicular to the forward direction is less than or equal to a, that is, the width of the host 2
  • the width is less than or equal to the width of the end portion 101 of the snow removing device 1.
  • the mobile device of the snowplow 10 includes front wheels 22 and rear wheels. 23, the front wheel 22 and the rear wheel 23 are both arranged on the body 21, and when the snowplow 10 is working, the working purpose of moving the snowplow 10 can be achieved by setting the front wheel 22 and the rear wheel 23, among which the snowplow
  • the center of gravity of 10 is located in the area of the body 21 between the front wheels 22 and the rear wheels 23, and this arrangement can ensure the adhesion required for the snowplow 10 to work, so that the snowplow 10 can work normally.
  • the front wheels 22 and the rear wheels 23 are covered by a crawler device 24, and the contact of the crawler 24 with the ground can improve the anti-skid ability and climbing ability of the snowplow 10, Improve the stability of the snowplow.
  • the snow removing device 1 may include a casing 11 and a snow collection assembly, and all or part of the snow collection assembly may be disposed in the casing 11.
  • the snow collection assembly can rotate relative to the casing 11 and the casing 11 forms a snow inlet.
  • the snow collecting component includes a spiral snow collecting component, for example, the stirring cage 12, and the diameter d of the stirring cage 12 ranges from 140 mm to 160 mm.
  • the diameter of the stirring cage 12 can be set to 150 mm, The range is 1500r / min-2500r / min.
  • the working speed of the agitation cage 12 can be set to 2000r / min. This setting can ensure that the volume of the snow removing device 1 becomes smaller, and the snowplow 10 can be miniaturized. It can also enable the agitator cage 12 to better clear snow, which can improve the snow-sweeping effect of the snowplow 10 and thus improve the working quality of the snowplow 10.
  • the snow removing device 1 further includes a snow throwing device 13.
  • the snow throwing device 13 may be disposed above the snow removing device 1, and specifically above the housing 11.
  • the snow throwing device 13 is in communication with the snow removing device 1.
  • the snow blower 10 When the snow blower 10 is working, the snow on the ground is stirred into the casing 11 by the agitation cage 12, and the snow can be thrown from the snow throwing device 13.
  • the snow throwing device 13 and The range of the angle ⁇ between the horizontal planes is 19-25 °.
  • the angle between the snow throwing device 13 and the horizontal plane can be set to 22 °.
  • the diameter of the agitation cage 12, the rotation speed of the agitation cage 12, and the snow angle ⁇ can be between 3-6m, and the snow throwing height can be between 0.8-1m, which can reduce the impact of the snow throwing device 13 and prevent The snow thrown from the snow throwing device 13 hurts people.
  • the snow removing device includes a snow sweeping brush 14, the snow sweeping brush 14 is used for removing snow, and the vertical height c of the snow sweeping brush 14 ranges from 110 mm to 250 mm. 14 automatically rotates under the driving of a driving device.
  • the snow sweeping brush 14 is configured as a roller brush.
  • the rotation axis of the roller brush is substantially parallel to the ground.
  • the material of the roller brush can be flexible materials such as plastic, nylon, and woolen fabric.
  • the snowplow brush 14 rolls clockwise, and the passing road surface is cleaned by the rolling snowplow brush 14, wherein the snowplow brush 14 is partially located in the housing, and the housing is used to prevent the snowbrush 14 from cleaning The snow blows around, blocking it in the direction of the snowplow. In this way, while the snowplow 10 is walking, it will sweep the snow forward, and finally the snow passing through the road will be cleaned in front of the snowplow 10 .
  • the snow-sweeping brush-type snowplow in this embodiment can be more adapted to handle thinner snow, and can also effectively process small ice cubes condensed on the ground due to cold weather.
  • the snow removing device 1 includes a snow pushing device, such as a snow pushing shovel 15.
  • a snow pushing shovel 15 When the snow blower 10 is walking, the snow pushing shovel 15 is in contact with the ground, and the snow The snowplow 10 is pushed forward and the snowplow 15 is used to clear snow.
  • the vertical height c of the end of the snowplow 15 is 110mm-250mm, preferably 250mm.
  • the snowplow snowplow can handle For a larger amount of snow, the snow pushing shovel 15 proposed in this embodiment can effectively handle wet snow formed by melting snow.
  • the snow pusher 15 pushes snow, the snow in front of the snowplow 10 will become thicker and thicker.
  • the snowplow 10 can be set to push the snow every time the snow is pushed a certain distance. A set position to reduce the resistance of the snow pushing shovel 15 and the problem that the snow will accumulate and thicken and cannot be cleaned.
  • the main unit 2 or the snow removing device 1 may be provided with a carrying handle 3.
  • the user may use the carrying handles on the main unit 2 and the snow removing device 1. 3 to move the snowplow 10, so that the installation can make the snowplow 10 more convenient to carry, so that the work purpose of the snowplow 10 can be easily carried.
  • the weight e of the snowplow 10 is in a range of 12Kg-20Kg.
  • the weight of the snowplow 10 is set to 13.5Kg. This setting can make the weight of the snowplow 10 more reasonable. Further reducing the weight of the snowplow 10 can make it easier for the user to carry the snowplow 10.
  • the overall power of the snowplow 10 is not higher than 1000w, wherein the walking power of the snowplow mobile module is about 40w-100w, and the snow removal power of the snow removing device 1 is about 200w-600w.
  • the snow removing power of the snow removing device 1 may also be controlled with a constant power.
  • the snow blower 10 may be controlled with a constant power of any value between 400w and 500w. Under constant power, different snow removals can be controlled. Efficiency to handle different snow conditions, and further improve the stability of the snowplow 10. After the energy device of the snowplow 10 in this embodiment is fully charged, that is, after the battery pack is fully charged, the energy of the battery pack is not lower than 40wh.
  • the energy of the battery pack is controlled to be about 160wh, It can also ensure that the duration of a single work is not less than 10min.
  • the snow removal efficiency of the snow removal device 1 is about 2m 2 -8m 2 / min. It can be understood that different snow conditions correspond to different snow removal efficiency. When the snow is thicker, the snow removal efficiency decreases. When thinner, snow removal efficiency increases. That is to say, after the snowplow 10 in this embodiment is fully charged, it can effectively process a working area with an area of about 30m 2 -120m 2 each time.
  • the automatic snowplow 10 in this embodiment also includes a quick snow removal mode and a normal snow removal mode.
  • Different snow removal modes are activated according to the urgency of the work area. For example, when the user urgently needs to use a certain area, the quick snow removal mode cleaning can be enabled. The area.
  • One situation is that the user needs to use the lane every morning when driving out. At this time, before the user wakes up every morning to go out to work, the snowplow enables the quick snow removal mode to quickly clean up the lane of the user's home. In 10min, it can effectively handle a work area of about 50m 2 , which can meet the rapid cleaning of the work area such as the driveway of the user's home. For areas that do not need to be used immediately, such as gardens, you can enable the general snow removal mode for cleaning after the user goes out. It is understandable that the general cleaning mode will better clear snow.
  • the automatic snowplow 10 also includes a work mode detection module, a work mode judgment module, a work mode switching module, and a work mode detection module for detecting the current time and current working mode of the snowplow 10; work The mode judging module is used to judge whether the current working mode matches the current time according to the correspondence between the preset working mode and the working time; the working mode switching module is used to, if not matching, according to the current time and the preset working time The correspondence between the mode and the working time switches the working mode of the snowplow 10.
  • the working modes include a normal working mode and a silent working mode.
  • the correspondence between the preset working mode and the working time includes the normal working mode during the day and the silent working mode during the night.
  • the snowplow when the current time is the time corresponding to daytime and the current working mode is the silent working mode, the snowplow is switched to the normal working mode according to the corresponding relationship; or when the current time is the corresponding time at night and the current working mode is normal In the mode, according to the corresponding relationship, the snowplow is switched to the silent working mode.
  • the working method for the snowplow 10 mentioned in the above embodiment includes: obtaining snow condition information through an acquisition device; judging whether the snow condition information meets pre-processing conditions through a control module; if so, controlling the host to move and controlling the execution of the snow removing device Clear snow work.
  • the method for switching the working mode of the snowplow 10 is implemented by the above-mentioned working mode detection module, working mode judgment module, and working mode switching module.
  • an embodiment of the present invention further provides a method for switching the working mode of a snowplow, including the following steps:
  • the snow blower is provided with different working modes, and a correspondence relationship is preset between the working mode and the working time. Specifically, when the snowplow is working, the snowplow can detect the current time and the current working mode. According to a preset correspondence between the working mode and the working time, the snowplow can determine whether the current time detected by the snowplow matches the current working mode. When the detected current time does not match the current working mode, the snowplow may switch the working mode of the snowplow according to the detected current time and the preset corresponding relationship, so that the snowplow can match the current time Work mode to work.
  • the working mode of the snowplow is switched. By switching the working mode of the snowplow, the all-weather work of the snowplow is realized.
  • detecting the current time of the snowplow operation includes the following steps:
  • the current time includes a time corresponding to daytime and a time corresponding to nighttime.
  • the snowplow is provided with a light sensor, and the snowplow can use the light sensor to detect the light intensity in its working environment.
  • the snowplow is preset with a corresponding relationship between the light intensity and time. When the light intensity is in the first preset, In the interval, the current time is determined to be daytime, and when the light intensity is in the second preset interval, the current time is determined to be night. Therefore, the snowplow can determine the current time according to the detected light intensity.
  • the current time includes the time corresponding to daytime and the time corresponding to nighttime.
  • detecting the current time of the snowplow operation includes detecting the current time of the snowplow operation by receiving a satellite signal.
  • the current time includes a time corresponding to daytime and a time corresponding to nighttime.
  • the snowplow is provided with a positioning module, and the positioning system may include a GNSS differential module.
  • the GNSS differential signal is a correction signal added outside the normal global satellite navigation system. This correction signal can improve the positioning accuracy.
  • the Global Satellite Navigation System includes Global Positioning System (GPS), BeiDou Navigation Satellite System (BDS), and so on.
  • GPS Global Positioning System
  • BDS BeiDou Navigation Satellite System
  • the snowplow can receive satellite signals through the positioning module, and detect the current time that the snowplow is working according to the received satellite signals.
  • the user can manually set the day time period and the night time period, and manually set the working modes corresponding to the day time period and the night time period, respectively.
  • the snowplow automatically switches its working mode according to the current time and the matching relationship between the working time of the snowplow and the working mode.
  • the working modes include a normal working mode and a silent working mode
  • the correspondence between the preset working time and the working mode includes the normal working mode during the daytime and the silent working mode during the night.
  • the working mode of the snowplow is switched according to the current time and the corresponding relationship between the preset working mode and the working time, including the following two cases:
  • the snowplow is switched to the normal working mode according to the corresponding relationship.
  • the snowplow is switched to the silent working mode according to the corresponding relationship.
  • the normal working mode refers to a working mode that generates a lot of noise.
  • the normal working mode may be a daytime working mode, and may be suitable for a working mode in a daytime environment.
  • the snowplow can intelligently adjust its power according to the actual working conditions such as the detected snow thickness.
  • the normal working mode can be turned on in full power mode when the thickness is large, and the half-power mode can be turned on when thickness is small.
  • the normal working mode may be a snow throwing working mode.
  • the snowplow can work at a faster walking speed and the working head is at a relatively high speed, and the snowplow can also work in the snow throwing mode.
  • the silent working mode refers to the working mode with less noise. In the silent working mode, the snowplow can work at a slower walking speed and the working head is in low gear.
  • the snowplow can also be in the snowplow mode or Inference mode works.
  • the snowplow may determine whether the detected current time matches the current working mode.
  • the current time is the time corresponding to daylight, but the current working mode is the low-speed working mode or the snow removal working mode
  • the snowplow is switched to the normal working mode or the snow throwing working mode according to the correspondence between the daytime and the normal working mode.
  • the current time is night time, but the current working mode is high speed working mode or snow throwing working mode, switch the snowplow to low speed working mode or snow removing work according to the corresponding relationship between night time and low power working mode. mode.
  • the snowplow can be used between the normal working mode and the silent working mode during the day and night. Switching to achieve all-weather work of snowplows, especially snowplows can perform snowplowing work at night, and people travel in the morning.
  • the method further includes the following steps:
  • the environmental noise limit refers to the provisions on the allowable range of noise in order to protect the health of the population and the living environment.
  • the environmental noise limit refers to the provisions on the allowable range of noise in order to protect the health of the population and the living environment.
  • the applicable areas of various standards are as follows:
  • Category 0 standards are applicable to areas that require quietness, such as health care areas, luxury villa areas, and luxury hotel areas. This type of area, located in the suburbs and rural areas, is implemented at 5 decibels stricter than the category 0 standard.
  • Category 1 standards are applicable to areas where residential, cultural, and educational institutions are the main areas. Rural living environment can refer to the implementation of such standards.
  • Category 4 standards are applicable to the areas on both sides of the roads of arterial roads in cities and the areas on both sides of inland waterways that pass through urban areas.
  • the limits of the background noise (referring to the noise level when passing trains) on both sides of the main and secondary railway lines crossing the urban area also implement this type of standard.
  • the snowplow can obtain the current position in two ways, one is to manually set the current position, and the other is that the snowplow can detect the current position of the snowplow through the positioning module, thereby The snowplow can obtain the corresponding environmental noise limit according to the acquired position and the current time.
  • the maximum value is set for the noise value generated by the operation of the snowplow by obtaining the environmental noise limit corresponding to the position of the snowplow and the current time. This enables the snowplow to select the working mode more accurately.
  • a correspondence relationship is set between the working mode and the noise value generated by the working mode.
  • S510 Obtain a noise value of a current working mode according to a correspondence between the working mode and a corresponding noise value.
  • the snow blower is set with different working modes.
  • the snow blower generates different noise values in different working modes, and there is a preset correspondence relationship between the working mode and the noise value generated in the working mode.
  • After the snowplow detects the current working mode, it can obtain the noise value generated by the current working mode according to the correspondence between the working mode and the noise value generated by the working mode.
  • the snowplow obtains the noise value generated by the current working mode according to the correspondence between the working mode and the noise value generated by the working mode. Therefore, the snowplow can compare the noise value generated by the current working mode with the environmental noise limit corresponding to the current time and location.
  • switching the working mode of the snowplow includes the following steps:
  • the snowplow can compare the noise value generated by the current working mode with the environmental noise limit corresponding to the current time and location. When the noise value generated by the current working mode is greater than the environmental noise limit, the snowplow needs to switch the working mode The noise value generated by the switched working mode should be less than the environmental noise limit. That is, in order to meet the requirements of the environmental noise limit, the snowplow operates in a working mode that generates a smaller noise value, so that the noise value generated by the switched working mode is smaller than the environmental noise limit.
  • an embodiment of the present application provides a method for switching a snowplow operation mode, including the following steps:
  • the snowplow may further be provided with a detection module, and the thickness of the snow may be detected by the detection module.
  • the snowplow is provided with a light sensor and a positioning module.
  • Snowplows can use light sensors to detect the intensity of light in their working environment.
  • the snowplow can determine the current time based on the detected light intensity.
  • the current time includes the time corresponding to daytime and the time corresponding to nighttime.
  • the snowplow can detect the position of the snowplow through the positioning module, so that the snowplow can obtain the corresponding environmental noise limit according to the detected position and the current time.
  • snow blowers produce different noise values in different operating modes.
  • the snowplow can detect the current working mode, and obtain the noise value generated by the current working mode according to the correspondence between the working mode and the noise value generated by the working mode.
  • the snowplow can compare the noise value generated by the current working mode with the acquired environmental noise limit. When the noise value generated by the current working mode is greater than the environmental noise limit, the snowplow needs to switch the working mode.
  • the corresponding environmental noise limit is 50 dB.
  • the current working mode of the snowplow is snow throwing mode. If the noise value generated by the current snow throwing mode is 55 decibels, the snowplow will switch to a new working mode.
  • the noise value after the switched working mode should be less than 50 dB, such as snow push mode.
  • the current time is daylight and the location is a school
  • the corresponding environmental noise limit is 55 decibels.
  • the current working mode is the auger snow pushing mode. If the noise value produced by the auger snow pushing mode is 55 decibels or less, the snowplow does not need to switch.
  • steps in the flowcharts of FIG. 8, FIG. 10, FIG. 11, and FIG. 12 are sequentially displayed as indicated by the arrows, these steps are not necessarily performed sequentially in the order indicated by the arrows. Unless explicitly stated in this document, the execution of these steps is not strictly limited, and these steps can be performed in other orders. Moreover, at least some of the steps in FIG. 8, FIG. 10, FIG. 11 and FIG. 12 may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily performed at the same time, but may be performed at different times. The execution order of these sub-steps or stages is not necessarily performed sequentially, but may be performed in turn or alternately with at least a part of the other steps or sub-steps or stages of other steps.
  • the snowplow is provided with different working modes, and a corresponding relationship is preset between the working mode and the noise value generated in the working mode.
  • a maximum value is set for the noise value that the snowplow can produce when it works.
  • the working mode is precisely selected for the snowplow, and the snowplow can work in all weathers in different environments and in different time periods. Without disturbing people's daily life, it also makes the snowplow clear snow on the road with the maximum efficiency within the limits of environmental noise, which is convenient for people to travel.
  • a device 700 for switching the working mode of a snowplow includes a detection module 710, a determination module 720, and a working mode switching module 730.
  • the detecting module 710 is configured to detect a current time and a current working mode of the snowplow.
  • the judging module 720 is configured to judge whether the current working mode matches the current time according to the correspondence between the preset working mode and the working time.
  • the working mode switching module 730 is configured to switch the working mode of the snowplow according to the current time and the corresponding relationship between the preset working mode and the working time if there is no match.
  • Each module in the above snowplow operating mode switching device may be implemented in whole or in part by software, hardware, and a combination thereof.
  • the above-mentioned modules may be embedded in the hardware in or independent of the processor in the computer device, or may be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.
  • a computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor.
  • the processor implements any of the foregoing embodiments when the computer program is executed. Method steps in.
  • an embodiment of the present application provides a snowplow, including a driving device, a snow removing device, a snow throwing device, and a controller.
  • Driving device for driving the snowplow.
  • Snow removal device for collecting snow on the road.
  • Snow throwing device for throwing collected snow For example, Snow throwing device for throwing collected snow.
  • the controller is electrically connected to the driving device, the snow removing device and the snow throwing device, respectively.
  • the controller includes a memory and a processor.
  • the memory stores a computer program.
  • the processor executes the computer program, the method steps in any of the foregoing embodiments are implemented.
  • a snowplow is provided in an embodiment of the present application, which includes a driving device, a snow removing device, a snow throwing device, and a control device.
  • Driving device for driving the snowplow.
  • Snow removal device for collecting snow on the road.
  • Snow throwing device for throwing collected snow For example, Snow throwing device for throwing collected snow.
  • the control device is electrically connected with the driving device, the snow removing device and the snow throwing device, respectively.
  • the control device is used to detect the current time and current working mode of the snowplow; determine whether the current working mode matches the current time according to the corresponding relationship between the preset working mode and the working time; And the corresponding relationship between the preset working mode and working time, switching the working mode of the snowplow.
  • Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory.
  • Volatile memory can include random access memory (RAM) or external cache memory.
  • RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

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Abstract

An automatic snow sweeper (10) and a working method thereof. The automatic snow sweeper (10) comprises: a host machine (2), a snow clearing device (1), a driving device, a control device, and an obtaining device; the snow clearing device (1) is mounted to the host machine (2), the snow clearing device (1) comprises an end portion (101) for clearing snow, and the vertical height of the end portion (101) ranges from 100 mm to 250 mm; the control device is used for controlling the host machine (2) to move and controlling the snow clearing device (1) to carry out snow clearing work; the obtaining device is connected to the control device for obtaining snow state information, the control device determines whether the snow state information meets a preprocessing condition, and if yes, the control device controls the driving device to drive the host machine (2) to move and controls the snow clearing device (1) to carry out the snow clearing work. The automatic snow sweeper is small in size and convenient for storage and handling, thereby improving the use convenience of a user; moreover, the automatic snow sweeper automatically sweeps snow so that the intelligence level of the automatic snow sweeper can be improved and thus the user satisfaction can be improved.

Description

自动扫雪机及其工作方法Automatic snowplow and its working method
交叉参考相关引用Cross-reference
本申请要求2018年5月23日提交的申请号为201810502225.5和2018年10月18日提交的申请号为201811215946.4的中国专利申请的优先权，上述申请参考并入本文。This application claims priority from Chinese patent applications filed on May 23, 2018 with application numbers 201810502225.5 and filed on October 18, 2018 with application numbers 201811215946.4, which are incorporated herein by reference.
技术领域Technical field
本发明涉及除雪设备领域，尤其是涉及一种自动扫雪机及其工作方法。The invention relates to the field of snow removing equipment, and in particular to an automatic snowplow and a working method thereof.
背景技术Background technique
相关技术中，现有的扫雪机体积和重量都比较大，不方便存储和搬运，并且，扫雪机在工作时，需要人为控制扫雪机扫雪，扫雪机不能单独控制工作，导致扫雪机的智能化水平较差。In the related art, the existing snowplows are relatively large in volume and weight, which is inconvenient for storage and handling. Moreover, when the snowplow is in operation, it is necessary to manually control the snowplow and the snowplow cannot control the work alone, resulting in The intelligence level of the snowplow is poor.
发明内容Summary of the Invention
本发明旨在至少解决现有技术中存在的技术问题之一。为此，本发明的一个目的在于提出一种自动扫雪机及其工作方法，该自动扫雪机的体积小巧，方便搬运和存储，提高了用户使用的便利性。The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, an object of the present invention is to propose an automatic snowplow and a working method thereof. The automatic snowplow has a small size, is convenient to carry and store, and improves the convenience of users.
本发明实施例提出了一种自动扫雪机，该自动扫雪机包括：主机；除雪装置，所述除雪装置安装于所述主机上，所述除雪装置包括用于清除积雪的端部，所述端部的垂直高度的范围为100mm-250mm；控制装置，用于控制主机移动并控制除雪装置执行清除积雪工作；获取装置，与所述控制装置连接，用于获取雪况信息，所述控制装置判断所述雪况信息是否符合预处理条件，若符合，则控制主机移动并控制所述除雪装置执行清除积雪工作。An embodiment of the present invention proposes an automatic snowplow, which includes: a host; a snow removing device, the snow removing device is installed on the host, and the snow removing device includes an end for removing snow; The range of the vertical height of the end is 100mm-250mm; the control device is used to control the movement of the host and the snow removal device to perform snow removal; the acquisition device is connected to the control device and is used to obtain snow condition information. The control device determines whether the snow condition information meets the pre-processing conditions, and if so, controls the host to move and controls the snow removal device to perform snow removal work.
在一个具体的实施例中，所处预处理条件与表示自动扫雪机处理能力的参数相关。In a specific embodiment, the pre-processing condition is related to a parameter representing the processing capacity of the automatic snowplow.
在一个具体的实施例中，所述获取装置包括雪况检测装置，通过雪况检测装置检测雪况信息。In a specific embodiment, the acquiring device includes a snow condition detection device, and the snow condition information is detected by the snow condition detection device.
在一个具体的实施例中，所述雪况检测装置包括雪厚检测装置、雪的重 量检测装置、雪面积检测装置，雪密度检测装置，下雪时长检测装置的一种或多种。In a specific embodiment, the snow condition detection device includes one or more of a snow thickness detection device, a snow weight detection device, a snow area detection device, a snow density detection device, and a snow time detection device.
在一个具体的实施例中，通过所述雪厚检测装置检测雪况信息时，所述预处理条件包括雪厚阈值范围，所述雪厚检测装置检测到雪厚信息，所述控制模块判断所述雪厚信息符合所述雪厚阈值范围时，控制主机移动并控制所述除雪装置执行清除积雪工作。In a specific embodiment, when the snow condition information is detected by the snow thickness detection device, the pre-processing conditions include a snow thickness threshold range, the snow thickness detection device detects snow thickness information, and the control module determines When the snow thickness information meets the snow thickness threshold range, the control host moves and controls the snow removal device to perform snow removal work.
在一个具体的实施例中，所述雪厚阈值范围在25mm-100mm之间。In a specific embodiment, the snow thickness threshold ranges between 25 mm and 100 mm.
在一个具体的实施例中，所述获取装置包括信息接收装置，通过信息接收装置接收远程设备传输的雪况信息。In a specific embodiment, the acquiring device includes an information receiving device, and receives snow condition information transmitted by a remote device through the information receiving device.
在一个具体的实施例中，所述远程设备包括设置在工作区域的传感器设备和/或任务执行设备，所述信息接收装置接收基于所述传感器设备和/或任务执行设备获取的外界雪况信息。In a specific embodiment, the remote device includes a sensor device and / or a task execution device disposed in a work area, and the information receiving device receives external snow condition information obtained based on the sensor device and / or the task execution device. .
在一个具体的实施例中，所述远程设备包括远程服务器或智能终端，所述信息接收装置与远程服务器或智能终端通信连接，以从远程服务器或智能终端上获取雪况信息。In a specific embodiment, the remote device includes a remote server or a smart terminal, and the information receiving device is communicatively connected to the remote server or the smart terminal to obtain snow condition information from the remote server or the smart terminal.
在一个具体的实施例中，所述雪况信息包括天气信息，所述控制模块判断天气信息满足预处理条件时，控制主机移动并控制所述除雪装置执行清除积雪工作。In a specific embodiment, the snow condition information includes weather information, and when the control module determines that the weather information meets the pre-processing conditions, the control host moves and controls the snow removal device to perform snow removal work.
在一个具体的实施例中，所述自动扫雪机还包括人工启动模式，所述人工启动模式下，所述自动扫雪机接收用户直接设置的启动信息或者接收从智能终端上传输的启动信息，所述控制模块根据所述启动信息控制主机移动并控制所述除雪装置执行清除积雪工作。In a specific embodiment, the automatic snowplow further includes a manual startup mode. In the manual startup mode, the automatic snowplow receives startup information directly set by a user or receives startup information transmitted from a smart terminal. , The control module controls the host to move according to the startup information and controls the snow removing device to perform snow removal work.
在一个具体的实施例中，所述启动信息包括立即启动信息或预约启动信息。In a specific embodiment, the startup information includes immediate startup information or appointment startup information.
在一个具体的实施例中，所述获取装置设置于所述主机和/或所述除雪装置上。In a specific embodiment, the obtaining device is disposed on the host and / or the snow removing device.
在一个具体的实施例中，所述端部的垂直高度范围为190mm-250mm。In a specific embodiment, the vertical height of the end portion ranges from 190 mm to 250 mm.
在一个具体的实施例中，所述端部在垂直于前进方向的宽度范围为300mm-500mm。In a specific embodiment, the width of the end portion in a direction perpendicular to the forward direction ranges from 300 mm to 500 mm.
在一个具体的实施例中，所述主机在垂直于前进方向的宽度为小于等于 所述端部的在垂直于前进方向的宽度。In a specific embodiment, a width of the host in a direction perpendicular to the advancing direction is less than or equal to a width of the end portion in a direction perpendicular to the advancing direction.
在一个具体的实施例中，所述除雪装置包括壳体和设置于所述壳体内的集雪组件，所述集雪组件的直径范围为140mm-160mm，所述集雪组件的工作转速范围为1500r/min-2500r/min。In a specific embodiment, the snow removing device includes a casing and a snow collection component disposed in the casing. The diameter of the snow collection component ranges from 140 mm to 160 mm, and the operating speed range of the snow collection component is 1500r / min-2500r / min.
在一个具体的实施例中，所述自动扫雪机还包括抛雪装置，所述抛雪装置设置于所述除雪装置的上方，所述抛雪装置与水平面间的夹角的范围为19°-25°。In a specific embodiment, the automatic snowplow further includes a snow throwing device, the snow throwing device is disposed above the snow removing device, and an angle between the snow throwing device and a horizontal plane ranges from 19 ° -25 °.
在一个具体的实施例中，所述集雪组件包括螺旋状集雪组件。In a specific embodiment, the snow collection component includes a spiral snow collection component.
在一个具体的实施例中，例如搅笼或扫雪刷。In a specific embodiment, such as a cage or snow sweeper.
在一个具体的实施例中，所述除雪装置包括推雪装置。In a specific embodiment, the snow removing device includes a snow pushing device.
在一个具体的实施例中，所述推雪装置包括推雪铲。In a specific embodiment, the snow pushing device includes a snow pushing shovel.
在一个具体的实施例中，所述主机和/或所述除雪装置设置有搬运把手。In a specific embodiment, the host and / or the snow removing device is provided with a carrying handle.
在一个具体的实施例中，所述自动扫雪机的重量的范围为12Kg-20Kg。In a specific embodiment, the weight of the automatic snowplow ranges from 12 kg to 20 kg.
在一个具体的实施例中，所述自动扫雪机的整机功率不高于1000w。In a specific embodiment, the whole power of the automatic snowplow is not higher than 1000w.
在一个具体的实施例中，所述自动扫雪机的的能量装置的能量不低于40wh。In a specific embodiment, the energy of the energy device of the automatic snowplow is not less than 40wh.
在一个具体的实施例中，所述自动扫雪机的单次工作时长不低于10min。In a specific embodiment, a single working time of the automatic snowplow is not less than 10 minutes.
在一个具体的实施例中，所述自动扫雪机的的除雪效率为2m 2-8m 2/min。 In a specific embodiment, the snow removal efficiency of the automatic snowplow is 2 m 2 to 8 m 2 / min.
在一个具体的实施例中，所述自动扫雪机包括快速除雪模式和普通除雪模式，所述控制模块根据工作区域使用的紧急程度况分别启用快速除雪模式和普通除雪模式。In a specific embodiment, the automatic snowplow includes a quick snow removal mode and a normal snow removal mode, and the control module enables the fast snow removal mode and the normal snow removal mode respectively according to the urgency of the working area.
在一个具体的实施例中，所述自动扫雪机还包括：In a specific embodiment, the automatic snowplow further includes:
工作模式检测模块：用于检测扫雪机工作的当前时间以及当前工作模式；Working mode detection module: used to detect the current time and current working mode of the snowplow;
工作模式判断模块：根据预设的工作模式与工作时间之间的对应关系，判断所述当前工作模式是否与当前时间匹配；A work mode judging module: judging whether the current working mode matches the current time according to the corresponding relationship between the preset working mode and the working time;
工作模式切换模块：用于若不匹配，根据所述当前时间及所述预设的工作模式与工作时间之间的对应关系，切换所述扫雪机的工作模式。Working mode switching module: used to switch the working mode of the snowplow according to the current time and the corresponding relationship between the preset working mode and working time if there is no match.
在一个具体的实施例中，所述工作模式包括普通工作模式和静音工作模式，所述预设的工作模式与工作时间之间的对应关系包括所述白天对应的时 间采用普通工作模式以及所述夜间对应的时间采用静音工作模式。In a specific embodiment, the working modes include a normal working mode and a mute working mode, and the correspondence between the preset working mode and the working time includes using the normal working mode at the time corresponding to the daytime and the The corresponding time at night adopts silent working mode.
在一个具体的实施例中，所述若不匹配，则根据所述当前时间及所述预设的工作模式与工作时间之间的对应关系，切换所述扫雪机的工作模式，包括：In a specific embodiment, if there is no match, switching the working mode of the snowplow according to the current time and the corresponding relationship between the preset working mode and the working time includes:
所述当前时间为白天对应的时间且所述当前工作模式为静音工作模式时，所述工作模式切换模块根据所述对应关系，切换所述自动扫雪机的工作模式至普通工作模式；或When the current time is a daytime corresponding time and the current working mode is a silent working mode, the working mode switching module switches a working mode of the automatic snowplow to a normal working mode according to the corresponding relationship; or
当所述当前时间为夜间对应的时间且所述当前工作模式为普通工作模式时，所述工作模式切换模块根据所述对应关系，切换所述自动扫雪机的工作模式至静音工作模式。When the current time is a corresponding time at night and the current working mode is a normal working mode, the working mode switching module switches the working mode of the automatic snowplow to a silent working mode according to the corresponding relationship.
本发明实施例还提出了一种自动扫雪机的工作方法，所述自动扫雪机包括：安装于所述主机上的用于清除积雪的除雪装置，所述除雪装置包括用于清除积雪的端部，所述端部的垂直高度的范围为100mm-250mm；控制装置，用于控制主机移动并控制除雪装置执行清除积雪工作；获取装置，用于获取雪况信息，所述方法包括：An embodiment of the present invention also provides a working method of an automatic snowplow. The automatic snowplow includes: a snow removing device installed on the host for removing snow, and the snow removing device includes a device for removing snow The end of the snow, the vertical height of the end is in the range of 100mm-250mm; the control device is used to control the movement of the host and the snow removal device to perform snow removal; the acquisition device is used to obtain snow condition information, the method include:
获取雪况信息；Get snow information;
判断所述雪况信息是否符合预处理条件；Judging whether the snow condition information meets the pre-processing conditions;
若符合，则控制主机移动并控制所述除雪装置执行清除积雪工作。If so, the control host moves and controls the snow removing device to perform snow removal work.
在一个具体的实施例中，所述控制模块检测所述自动扫雪机工作的当前时间以及当前工作模式；根据预设的工作模式与工作时间之间的对应关系，判断所述当前工作模式是否与当前时间匹配；若不匹配，根据所述当前时间及所述预设的工作模式与工作时间之间的对应关系，切换所述自动扫雪机的工作模式。In a specific embodiment, the control module detects the current time and current working mode of the automatic snowplow; and determines whether the current working mode is based on the correspondence between the preset working mode and the working time. Matches the current time; if not, switches the working mode of the automatic snowplow according to the current time and the corresponding relationship between the preset working mode and the working time.
本发明的有益效果为：该自动扫雪机通过主机、除雪装置、驱动装置、控制装置和获取装置的配合，能够自动控制扫雪机移动和执行清除积雪工作，可以提升扫雪机的智能化水平，从而可以提升用户满意度。同时该自动扫雪机的尺寸小巧，方便存储和搬运，提高了用户使用的便利性。The beneficial effect of the present invention is that the automatic snowplow can automatically control the movement of the snowplow and perform snow removal work through the cooperation of the host, the snow removing device, the driving device, the control device and the acquisition device, and can improve the intelligence of the snowplow. Level, which can increase user satisfaction. At the same time, the size of the automatic snowplow is small and exquisite, which is convenient for storage and transportation, and improves the convenience of users.
本发明实施例还提出了一种扫雪机工作模式的切换方法，包括：检测扫雪机工作的当前时间以及当前工作模式；根据预设的工作模式与工作时间之间的对应关系，判断所述当前工作模式是否与当前时间匹配；若不匹配，则 根据所述当前时间及所述预设的工作模式与工作时间之间的对应关系，切换所述扫雪机的工作模式。An embodiment of the present invention also provides a method for switching the working mode of a snowplow, which includes: detecting a current time and a current working mode of the snowplow; and judging a position according to a correspondence between a preset working mode and the working time Whether the current working mode matches the current time; if not, switching the working mode of the snowplow according to the current time and the corresponding relationship between the preset working mode and the working time.
在其中一个实施例中，所述检测所述扫雪机工作的当前时间，包括：获取所述扫雪机工作环境中的光照强度；根据所述光照强度确定所述扫雪机工作的当前时间，所述当前时间包括白天对应的时间和夜间对应的时间。In one embodiment, the detecting the current time at which the snowplow is working includes: obtaining the light intensity in the working environment of the snowplow; and determining the current time at which the snowplow is working according to the light intensity. The current time includes a time corresponding to daytime and a time corresponding to nighttime.
在其中一个实施例中，所述检测所述扫雪机工作的当前时间，包括：通过接收卫星信号检测所述扫雪机工作的当前时间。所述当前时间包括白天对应的时间和夜间对应的时间。In one embodiment, the detecting the current time of the snowplow operation includes: detecting the current time of the snowplow operation by receiving a satellite signal. The current time includes a time corresponding to daytime and a time corresponding to nighttime.
在其中一个实施例中，所述工作模式包括普通工作模式和静音工作模式，所述预设的工作时间与工作模式之间的对应关系包括所述白天对应的时间采用普通工作模式以及所述夜间对应的时间采用静音工作模式；所述若不匹配，则根据所述当前时间及所述预设的工作模式与工作时间之间的对应关系，切换所述扫雪机的工作模式，包括：当所述当前时间为白天对应的时间且所述当前工作模式为静音工作模式时，根据所述对应关系，切换所述扫雪机至普通工作模式；或当所述当前时间为夜间对应的时间且所述当前工作模式为普通工作模式时，根据所述对应关系，切换所述扫雪机至静音工作模式。In one embodiment, the working mode includes a normal working mode and a silent working mode, and the correspondence between the preset working time and the working mode includes the normal working mode during the day and the night time. The corresponding time adopts the mute working mode; if there is no match, switching the working mode of the snowplow according to the current time and the corresponding relationship between the preset working mode and the working time, including: when When the current time is a daytime corresponding time and the current working mode is a silent working mode, switch the snowplow to a normal working mode according to the corresponding relationship; or when the current time is a corresponding time at night and When the current working mode is a normal working mode, the snowplow is switched to a silent working mode according to the corresponding relationship.
在其中一个实施例中，所述检测扫雪机工作的当前时间以及当前工作模式之后，所述方法还包括：获取所述扫雪机所处的位置；根据所述扫雪机所处的位置及所述当前时间，获取对应的环境噪声限值。In one embodiment, after detecting the current time and current working mode of the snowplow, the method further includes: obtaining the position of the snowplow; and according to the position of the snowplow And the current time to obtain the corresponding environmental noise limit.
在其中一个实施例中，所述工作模式产生对应的噪声值；所述切换所述扫雪机的工作模式之前，还包括：根据所述工作模式与对应的噪声值之间的对应关系，获取所述当前工作模式的噪声值；将所述当前工作模式的噪声值与所述环境噪声限值进行比较。所述切换所述扫雪机的工作模式，包括：当所述当前工作模式的噪声值大于所述环境噪声限值时，切换所述扫雪机的工作模式，以使切换后的工作模式产生的噪声值小于所述环境噪声限值。In one embodiment, the working mode generates a corresponding noise value; before switching the working mode of the snowplow, the method further includes: obtaining according to a correspondence between the working mode and the corresponding noise value A noise value of the current working mode; comparing the noise value of the current working mode with the environmental noise limit. The switching the working mode of the snowplow includes: when the noise value of the current working mode is greater than the environmental noise limit, switching the working mode of the snowplow so that the switched working mode is generated. The noise value of is less than the environmental noise limit.
相应地，本发明实施例还提出了一种扫雪机工作模式的切换装置，所述装置包括：时间检测模块，用于检测扫雪机工作的当前时间以及当前工作模式；判断模块，用于根据预设的工作模式与工作时间之间的对应关系，判断所述当前工作模式是否与当前时间匹配；工作模式切换模块，用于若不匹配，则根据所述当前时间及所述预设的工作模式与工作时间之间的对应关系，切 换所述扫雪机的工作模式。Correspondingly, an embodiment of the present invention also provides a device for switching the working mode of a snowplow. The device includes: a time detection module for detecting the current time and the current working mode of the snowplow; a determination module for: Determine whether the current working mode matches the current time according to the corresponding relationship between the preset working mode and the working time; a working mode switching module is configured to, if the matching does not match, according to the current time and the preset The correspondence between the working mode and the working time switches the working mode of the snowplow.
相应地，本发明实施例还提出了一种计算机设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，处理器执行计算机程序时实现上述任一实施例中的方法步骤。Accordingly, an embodiment of the present invention further provides a computer device including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the processor implements any of the foregoing embodiments. Method steps.
相应地，本发明实施例还提出了一种扫雪机，包括驱动装置、除雪装置、抛雪装置和控制器；所述驱动装置，用于驱动所述扫雪机行进；所述除雪装置，用于收集路面上的积雪；所述抛雪装置，用于抛洒收集到的积雪；所述控制器，分别与所述驱动装置、所述除雪装置、所述抛雪装置电连接；所述控制器包括存储器和处理器，所述存储器存储有计算机程序，处理器执行计算机程序时实现上述任一实施例中的方法步骤。Correspondingly, an embodiment of the present invention also provides a snowplow including a driving device, a snow removing device, a snow throwing device, and a controller; the driving device is used to drive the snowplow to travel; the snow removing device, It is used to collect snow on the road; the snow throwing device is used to throw the collected snow; the controller is electrically connected to the driving device, the snow removing device, and the snow throwing device, respectively; The controller includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the method steps in any of the foregoing embodiments are implemented.
相应地，本发明实施例还提出了一种扫雪机，包括驱动装置、除雪装置、抛雪装置和控制装置；所述驱动装置，用于驱动所述扫雪机行进；所述除雪装置，用于收集路面上的积雪；所述抛雪装置，用于抛洒收集到的积雪；所述控制装置，分别与所述驱动装置、所述除雪装置、所述抛雪装置电连接；所述控制装置用于检测扫雪机工作的当前时间以及当前工作模式；根据预设的工作模式与工作时间之间的对应关系，判断所述当前工作模式是否与当前时间匹配；若不匹配，则根据所述当前时间及所述预设的工作模式与工作时间之间的对应关系，切换所述扫雪机的工作模式。Correspondingly, an embodiment of the present invention further provides a snowplow including a driving device, a snow removing device, a snow throwing device, and a control device; the driving device is used to drive the snowplow to travel; the snow removing device, It is used to collect snow on the road; the snow throwing device is used to throw the collected snow; the control device is electrically connected to the driving device, the snow removing device, and the snow throwing device; The control device is used to detect the current time and current working mode of the snowplow; determine whether the current working mode matches the current time according to the corresponding relationship between the preset working mode and the working time; if it does not match, then Switching the working mode of the snowplow according to the current time and the corresponding relationship between the preset working mode and the working time.
上述扫雪机工作模式的切换方法、装置及扫雪机，通过检测扫雪机工作的当前时间以及当前工作模式，根据预设的工作模式与工作时间之间的对应关系，判断所述当前工作模式是否与当前时间匹配，若不匹配，则根据所述当前时间及所述预设的工作模式与工作时间之间的对应关系，切换所述扫雪机的工作模式。通过该切换扫雪机的工作模式实现了扫雪机的全天候工作。The method and device for switching the working mode of the snowplow, and the snowplow, determine the current work by detecting the current time and current working mode of the snowplow and according to the correspondence between the preset working mode and the working time Whether the mode matches the current time, and if it does not match, switch the working mode of the snowplow according to the current time and the corresponding relationship between the preset working mode and the working time. By switching the working mode of the snowplow, the all-weather work of the snowplow is realized.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
以上所述的本发明解决的技术问题、技术方案以及有益效果可以通过下面的能够实现本发明的较佳的具体实施例的详细描述，同时结合附图描述而清楚地获得。The above-mentioned technical problems, technical solutions, and beneficial effects of the present invention can be clearly obtained through the following detailed description of the preferred specific embodiments capable of realizing the present invention, combined with the description of the accompanying drawings.
附图以及说明书中的相同的标号和符号用于代表相同的或者等同的元件。The same reference numbers and symbols in the drawings and the description are used to represent the same or equivalent elements.
图1是根据本发明一实施例中的自动扫雪机的主视图。FIG. 1 is a front view of an automatic snowplow according to an embodiment of the present invention.
图2是根据本发明一实施例中的自动扫雪机的侧视图。FIG. 2 is a side view of an automatic snowplow according to an embodiment of the present invention.
图3是根据本发明一实施例中的自动扫雪机的俯视图。FIG. 3 is a top view of an automatic snowplow according to an embodiment of the present invention.
图4是根据本发明一实施例中的自动扫雪机的组成图。FIG. 4 is a composition diagram of an automatic snowplow according to an embodiment of the present invention.
图5是根据本发明另一实施例的自动扫雪机的侧视图。FIG. 5 is a side view of an automatic snowplow according to another embodiment of the present invention.
图6是根据本发明又一实施例的自动扫雪机的侧视图。FIG. 6 is a side view of an automatic snowplow according to another embodiment of the present invention.
图7为一实施例中的自动扫雪机工作模式的切换方法的流程示意图。FIG. 7 is a schematic flowchart of a method for switching a working mode of an automatic snowplow according to an embodiment.
图8为图7对应的实施例中S110步骤的流程示意图。FIG. 8 is a schematic flowchart of step S110 in the embodiment corresponding to FIG. 7.
图9为图7对应的实施例中S130步骤的流程示意图。FIG. 9 is a schematic flowchart of step S130 in the embodiment corresponding to FIG. 7.
图10为图7对应的实施例中在S110步骤之后的流程示意图。FIG. 10 is a schematic flowchart of step S110 in the embodiment corresponding to FIG. 7.
图11为图7对应的实施例中在S130步骤之前的流程示意图。FIG. 11 is a schematic flowchart before step S130 in the embodiment corresponding to FIG. 7.
图12为又一实施例中的自动扫雪机工作模式的切换方法的流程示意图。FIG. 12 is a schematic flowchart of a method for switching an automatic snowplow operation mode in another embodiment.
图13为一实施例中的自动扫雪机工作模式的切换装置的结构框图。FIG. 13 is a structural block diagram of a switching device for a working mode of an automatic snowplow according to an embodiment.
具体实施方式Detailed ways
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本发明，而不能理解为对本发明的限制。Hereinafter, embodiments of the present invention will be described in detail. Examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals indicate the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the drawings are exemplary, and are only used to explain the present invention, and should not be construed as limiting the present invention.
如图1-图4所示，本发明实施例的自动扫雪机10包括：主机2、除雪装置1、驱动装置、控制装置和获取装置。除雪装置1可以安装于主机2上，用于清除积雪，可理解的，除雪装置1包括用于清除积雪的端部101，该端部101的垂直高度c的范围为100mm-250mm，其中，端部101的高度方向是指图1中的上下方向，例如：c可以设置为205mm，在该自移动扫雪机10移动的过程中，该端部101直接作用于积雪，将积雪收集或清理，通过对端部101的高度的定义，使得扫雪机10能够处理一定量的雪，同时还能够减小除雪装置1的高度，可以进一步减小除雪装置1的体积，从而可以使自动扫雪机10体积、重量小巧，方便自动扫雪机10的存储和搬运。在一个具体的实施例中，端部101的高度c的范围为190mm-250mm，用于清除积雪的 端部高度在该范围内的自动扫雪机在满足尺寸小巧的基础上，又能够满足一定量的积雪清扫工作。As shown in FIGS. 1 to 4, the automatic snowplow 10 according to the embodiment of the present invention includes: a host 2, a snow removing device 1, a driving device, a control device, and an obtaining device. The snow removing device 1 can be installed on the main unit 2 for removing snow. Understandably, the snow removing device 1 includes an end 101 for removing snow, and the vertical height c of the end 101 ranges from 100 mm to 250 mm. The height direction of the end portion 101 refers to the up and down direction in FIG. 1, for example, c can be set to 205 mm. During the movement of the self-moving snowplow 10, the end portion 101 directly acts on the snow, Collect or clean up. By defining the height of the end portion 101, the snowplow 10 can handle a certain amount of snow, and at the same time, the height of the snow removing device 1 can be reduced, and the volume of the snow removing device 1 can be further reduced, so that The automatic snowplow 10 has a small volume and a small weight, which facilitates storage and handling of the automatic snowplow 10. In a specific embodiment, the height c of the end portion 101 ranges from 190mm to 250mm. The automatic snowplow for removing snow from the end height within this range can meet the requirements of small size and meet the requirements. A certain amount of snow cleaning work.
驱动装置可以驱动主机2移动，主机2移动而带动除雪装置1移动,控制装置与驱动装置、除雪装置1、获取装置电连接，控制装置可以用于控制驱动装置和除雪装置1的工作。获取装置用于获取雪况信息，控制装置判断获取装置获取的雪况信息是否符合预处理条件，若符合，则控制驱动装置和除雪装置工作，具体地，驱动装置可以驱动主机2移动并控制除雪装置1执行清除积雪工作。可理解的是，该预处理条件与表示自动扫雪机的处理能力的参数相关，外界雪况条件满足该参数范围时，表示外界雪况符合扫雪机的处理能力，即外界雪况条件符合扫雪机的处理能力时，控制模块控制扫雪机出发工作，如此保证扫雪机每次处理的都是一定量的雪，避免发生外界雪量较大，扫雪机无法有效处理，影响工作效率的问题。在一个具体的实施例中，获取装置包括雪况检测装置，通过雪况检测装置检测雪况信息，雪况检测装置可以包括雪厚检测装置、雪的重量检测装置、雪面积检测装置、雪密度检测装置、下雪时长检测装置的一种或多种，该一种或多种雪况检测装置可以设置在除雪装置1上，也可以设置在主机2上，还可以设置在供自动扫雪机充电的充电站上，当然，也可以设置在上述多个位置上，以保证检测的准确性。对应地，雪况信息分别包括雪厚信息、雪的重量信息、雪面积信息，雪密度信息，下雪时长信息等。在一个具体的实施例中，通过雪厚检测装置检测雪况信息时，预处理条件包括雪厚阈值范围，雪厚检测装置实时监测和反馈雪厚信息，将雪厚信息传输给控制模块，控制模块判断雪厚信息是否符合雪厚阈值范围，若符合雪厚阈值范围，控制装置控制驱动装置以带动主机2移动并控制除雪装置1执行清除积雪工作。具体地，雪厚阈值范围在25mm-100mm之间，如此设置，可以使得扫雪机10处理的雪的厚度一定，避免雪太厚扫雪机10无法有效处理的问题。通过获取外界雪况信息，并判断雪况信息是否符合预处理条件的设置，能够使扫雪机10自主出发完成扫雪工作，不需要人为控制扫雪机10去扫雪，同时也能够结合扫雪机的扫雪能力和外界雪况自动控制扫雪工作，防止外界雪量较大扫雪机出去工作，扫雪效果不好，或者外界雪量较大堵住扫雪机的除雪装置，造成电机堵转，导致对扫雪机的损害等情况发生，由此，通过主机2、除雪装置1和获取装置的 配合，自动控制扫雪机10的工作，可以提升扫雪机10的智能化水平，从而可以提升用户满意度。The driving device can drive the host 2 to move. The host 2 moves to drive the snow removing device 1 to move. The control device is electrically connected to the driving device, the snow removing device 1, and the obtaining device. The control device can be used to control the work of the driving device and the snow removing device 1. The obtaining device is used for obtaining snow condition information, and the control device determines whether the snow condition information obtained by the obtaining device meets the pre-processing conditions. If so, the driving device and the snow removing device are controlled to work. Specifically, the driving device can drive the host 2 to move and control the snow removal. The device 1 performs snow removal work. It can be understood that the pre-processing condition is related to the parameter indicating the processing capability of the automatic snowplow. When the external snow condition meets this parameter range, it indicates that the external snow condition meets the processing capability of the snowplow, that is, the external snow condition meets When the processing capacity of the snowplow is controlled, the control module controls the starting operation of the snowplow, so as to ensure that each time the snowplow handles a certain amount of snow, avoiding a large amount of external snow, the snowplow cannot effectively handle and affects the work. The question of efficiency. In a specific embodiment, the acquiring device includes a snow condition detection device, and the snow condition information is detected by the snow condition detection device. The snow condition detection device may include a snow thickness detection device, a snow weight detection device, a snow area detection device, and a snow density. One or more of a detection device and a snow time detection device. The one or more snow condition detection devices may be provided on the snow removing device 1 or the host computer 2 or may be provided on an automatic snowplow. The charging station for charging can, of course, also be arranged at the above multiple positions to ensure the accuracy of detection. Correspondingly, the snow condition information includes snow thickness information, snow weight information, snow area information, snow density information, snow time information, and the like. In a specific embodiment, when the snow condition information is detected by the snow thickness detection device, the preprocessing conditions include a snow thickness threshold range, the snow thickness detection device monitors and feedbacks the snow thickness information in real time, and transmits the snow thickness information to the control module to control The module judges whether the snow thickness information meets the snow thickness threshold range. If the snow thickness information meets the snow thickness threshold range, the control device controls the driving device to drive the host 2 to move and controls the snow removal device 1 to perform snow removal work. Specifically, the snow thickness threshold ranges from 25mm to 100mm. Setting this way can make the thickness of the snow processed by the snowplow 10 constant, and avoid the problem that the snowplow 10 cannot be effectively processed by the snow being too thick. By acquiring the external snow condition information and judging whether the snow condition information meets the pre-processing conditions, the snowplow 10 can be started autonomously to complete the snow removal work, and does not need to manually control the snowplow 10 to remove snow. The snow-sweeping ability of the snow machine and the external snow conditions automatically control the snow-sweeping work to prevent the snow-sweeper from going out to work with a large amount of external snow, the snow-sweeping effect is not good, or the snow-sweeping device of the snow-sweeper is blocked due to a large amount of snow. The motor stalls, causing damage to the snowplow. Therefore, through the cooperation of the host 2, the snow removal device 1, and the acquisition device, the operation of the snowplow 10 can be automatically controlled, and the intelligence of the snowplow 10 can be improved. , Which can increase user satisfaction.
在另外的实施例中，获取装置还包括信息接收装置，通过信息接收装置接收远程设备传输的雪况信息。其中，远程设备包括设置在工作区域的传感器设备或者在工作区域内停放或执行任务的任务执行设备，信息接收装置接收基于传感器设备或任务执行设备获取的外界雪况信息来判断是否符合预处理条件，具体地，传感器设备设置在工作区域的一处或多处，用于检测工作区域的状态信息，比如可以直接检测工作区域内的雪况信息，例如该传感器设备包括上述实施例中的雪厚检测装置、雪的重量检测装置、雪面积检测装置，雪密度检测装置等，传感器设备检测到工作区域雪况信息后，直接将上述信息传输给扫雪机的信息接收装置，控制装置判断雪况信息是否符合预处理条件，若符合，则控制扫雪机的工作。可理解地，在工作区域内停放或工作的任务执行设备，也可以包括能够直接或间接的获取雪况信息的装置，任务执行设备获取雪况信息后将雪况信息传输至扫雪机的信息接收装置，可理解的，任务执行设备获取的雪况信息可以是自身检测的，也可以是从其他设备上获取的。在其他实施例中，传感器设备和/或工作区域内的任务执行设备检测到雪况信息后，可以将雪况信息传输至中央处理器，中央处理器将雪况信息传输给扫雪机的获取装置，从而控制扫雪机进行扫雪工作，或者中央处理器综合工作区域内的情况，将控制指令发送给信息接收装置，从而控制模块根据控制指令控制扫雪机的工作。该中央管理器例如为现有的花园管理器或者家用的智能管理器，该中央管理器能够统一管理工作区域内的多个任务执行设备，控制自动扫雪机10的工作。In another embodiment, the acquiring device further includes an information receiving device, and the snow condition information transmitted by the remote device is received by the information receiving device. The remote device includes a sensor device installed in a work area or a task execution device that parks or performs a task in the work area. The information receiving device receives whether it meets the preprocessing conditions based on the external snow information obtained by the sensor device or the task execution device. Specifically, the sensor device is disposed at one or more places in the work area, and is used to detect the status information of the work area. For example, the snow condition information in the work area can be directly detected. For example, the sensor device includes the snow thickness in the above embodiment. Detection device, snow weight detection device, snow area detection device, snow density detection device, etc. After the sensor equipment detects the snow condition information in the work area, it directly transmits the above information to the information receiving device of the snowplow, and the control device determines the snow condition. Whether the information meets the pre-processing conditions and, if so, controls the operation of the snowplow. Understandably, the task execution equipment parked or working in the work area may also include a device capable of directly or indirectly acquiring snow condition information. The task execution equipment obtains the snow condition information and transmits the snow condition information to the snowplow information. The receiving device can understand that the snow condition information acquired by the task execution device may be detected by itself or acquired from other devices. In other embodiments, after the snow condition information is detected by the sensor device and / or the task execution device in the work area, the snow condition information may be transmitted to the central processing unit, and the central processor may transmit the snow condition information to the snowplow for acquisition. Device, so as to control the snowplow to carry out snow-sweeping work or the situation in the integrated working area of the central processing unit, and send a control instruction to the information receiving device, so that the control module controls the work of the snowplow according to the control instruction. The central manager is, for example, an existing garden manager or a home intelligent manager. The central manager can uniformly manage multiple task execution devices in the work area and control the work of the snowplow 10.
在一具体的实施例中，远程设备包括远程服务器或智能终端，自动扫雪机10的信息接收装置与远程服务器或智能终端通信连接，以从远程服务器或智能终端上获取雪况信息。雪况信息包括上述实施例中介绍的雪厚信息、雪重量信息、雪密度信息等，雪况信息还包括天气信息，控制装置根据天气信息判断外界天气情况，进而判断是否适合扫雪机10工作，若天气信息符合预设天气条件，则控制扫雪机10出发工作。该天气信息例如从远程服务器的天气预报网上获取的天气信息或者从智能终端上获取的天气信息等。例如，天气预报显示7时-17时下小雪，雪厚度为25mm,则信息接收装置接收 到信息后，则可以控制扫雪机10在17时后出发扫雪。可理解的是，上述各个实施例中提到的预处理条件可以是预设的符合扫雪机处理能力的条件，可以是扫雪机出厂时自带的条件，也可以是用户自行在扫雪机上设置的条件或扫雪机从智能终端上获取的用户设置的条件。In a specific embodiment, the remote device includes a remote server or a smart terminal, and the information receiving device of the automatic snowplow 10 is communicatively connected with the remote server or smart terminal to obtain snow condition information from the remote server or smart terminal. The snow condition information includes the snow thickness information, snow weight information, and snow density information introduced in the above embodiments. The snow condition information also includes weather information. The control device determines the external weather conditions based on the weather information, and then determines whether it is suitable for the snowplow 10 to work. If the weather information meets the preset weather conditions, the snowplow 10 is controlled to start work. The weather information is, for example, weather information obtained from a weather forecast network on a remote server or weather information obtained from a smart terminal. For example, the weather forecast shows light snow at 7-17 pm, and the snow thickness is 25mm. After receiving the information, the information receiving device can control the snowplow 10 to start snow cleaning after 17:00. It can be understood that the pre-processing conditions mentioned in the above embodiments can be preset conditions that meet the processing capabilities of the snowplow, can be the conditions that come with the snowplow when it leaves the factory, or can be used by the user to remove snow. The conditions set on the aircraft or the conditions set by the user obtained by the snowplow from the smart terminal.
在一个具体的实施例中，该自动扫雪机10还包括人工启动模式，在人工启动模式下，扫雪机10接收用户直接设置的启动信息或者接收从智能终端上传输的启动信息，该启动信息包括立即启动信息或预约启动信息，例如当用户设置立即启动时，自动扫雪机立即启动工作，或者用户设置了预约启动时，例如用户预约若干时间启动工作，扫雪机10基于获取的时间信息控制自动扫雪机开始和/或停止工作。在其中一个实施例中，预约时间信息包括用户预先在扫雪机10上直接设置的时间信息，该时间信息可以是时长，比如在用户判断外界雪况符合扫雪机处理能力的条件下，用户在扫雪机10上设定工作2小时，也可以是工作的起始时间和结束时间，比如用户设定下午3-5点工作，当符合用户设定的时间条件时，控制扫雪机10工作。可理解的是，该时间信息也可以是用户在智能终端上设定，而扫雪机10从智能终端上获取的信息。人工模式下，省去了扫雪机10判断外界雪况是否符合扫雪能力的过程，该自动扫雪机10可根据用户的指令工作，提高了用户使用的便利性。在本发明的一些示例中，如图2所示，除雪装置1的端部包括垂直前进方向的宽度a，宽度a的范围为300mm-450mm，例如：a可以设置为390mm，如此设置能够减小除雪装置1端部101的宽度，从而减小除雪装置1的体积，进一步减轻扫雪机10的重量，进而可以使扫雪机10方便存储。In a specific embodiment, the automatic snowplow 10 also includes a manual startup mode. In the manual startup mode, the snowplow 10 receives the startup information directly set by the user or receives the startup information transmitted from the smart terminal, and the startup The information includes immediate startup information or scheduled startup information. For example, when the user sets the immediate startup, the automatic snowplow starts the work immediately, or when the user sets a scheduled startup, for example, the user schedules a certain amount of time to start the work. The message controls the automatic snowplow to start and / or stop working. In one embodiment, the reservation time information includes time information directly set by the user on the snowplow 10 in advance, and the time information may be a length of time, for example, when the user judges that the external snow conditions meet the processing capability of the snowplow, the user Set 2 hours of work on the snowplow 10, it can also be the start time and end time of the work. For example, the user sets the work at 3-5 pm. When the time condition set by the user is met, the snowplow 10 is controlled. jobs. It can be understood that the time information may also be set by the user on the smart terminal, and the snowplow 10 obtains information from the smart terminal. In the manual mode, the process that the snowplow 10 judges whether the external snow conditions meet the snow-sweeping ability is omitted, and the automatic snowplow 10 can work according to a user's instruction, which improves the convenience of the user. In some examples of the present invention, as shown in FIG. 2, the end of the snow removing device 1 includes a width a in a vertical forward direction, and the width a ranges from 300 mm to 450 mm. For example, a can be set to 390 mm. The width of the end 101 of the snow removing device 1 reduces the volume of the snow removing device 1 and further reduces the weight of the snowplow 10, so that the snowplow 10 can be conveniently stored.
在本发明的一些示例中，如图3所示，主机2的高度与除雪装置1的高度相近，主机在垂直于前进方向上的宽度b的范围小于等于a，也就是说，主机2的宽度小于等于除雪装置1的端部101的宽度的宽度，这样设置能够使主机2的设置宽度更加合理，可以减小主机2的体积。In some examples of the present invention, as shown in FIG. 3, the height of the host 2 is similar to the height of the snow removing device 1, and the range of the width b of the host in a direction perpendicular to the forward direction is less than or equal to a, that is, the width of the host 2 The width is less than or equal to the width of the end portion 101 of the snow removing device 1. Such a setting can make the setting width of the host 2 more reasonable and reduce the volume of the host 2.
在本发明的一些示例中，如图3所示，以除雪装置1前进方向的一侧为前方，主机2的一侧为后方进行介绍，扫雪机10的移动装置包括前轮22和后轮23，前轮22和后轮23均设置于机体21上，当扫雪机10工作时，通过设置前轮22和后轮23，可以实现扫雪机10移动的工作目的，其中，扫雪机10的重心位于机体21的在前轮22和后轮23之间的区域，这样设置可 以保证扫雪机10工作所需的附着力，从而可以保证扫雪机10正常工作。在具体的实施例中，如图3所示，前轮22和后轮23被履带装置24包覆，通过履带24与地面接触，能够提高扫雪机10的抗打滑能力、爬坡能力等，提高扫雪机的稳定性。In some examples of the present invention, as shown in FIG. 3, one side of the snow removing device 1 in the forward direction is described as the front side, and the other side of the host machine 2 is introduced as the rear side. The mobile device of the snowplow 10 includes front wheels 22 and rear wheels. 23, the front wheel 22 and the rear wheel 23 are both arranged on the body 21, and when the snowplow 10 is working, the working purpose of moving the snowplow 10 can be achieved by setting the front wheel 22 and the rear wheel 23, among which the snowplow The center of gravity of 10 is located in the area of the body 21 between the front wheels 22 and the rear wheels 23, and this arrangement can ensure the adhesion required for the snowplow 10 to work, so that the snowplow 10 can work normally. In a specific embodiment, as shown in FIG. 3, the front wheels 22 and the rear wheels 23 are covered by a crawler device 24, and the contact of the crawler 24 with the ground can improve the anti-skid ability and climbing ability of the snowplow 10, Improve the stability of the snowplow.
在本发明的一些示例中，如图1-图3所示，除雪装置1可以包括：壳体11和集雪组件，集雪组件全部或部分可以设置于壳体11内，当扫雪机10工作时，集雪组件相对壳体11可以转动，壳体11形成进雪口，集雪组件转动过程中，将路面的积雪收集到进雪口中，其中该进雪口的高度为c的范围为110mm-250mm。其中，集雪组件包括螺旋状集雪组件，例如搅笼12，搅笼12的直径d的范围为140mm-160mm，例如，搅笼12的直径可以设置为150mm，搅笼12的工作转速v的范围为1500r/min-2500r/min，例如，搅笼12的工作转速可以设置为2000r/min，如此设置能够保证除雪装置1的体积变小，可以实现扫雪机10小型化的工作目的，并且，也能够使搅笼12更好地清除积雪，可以提升扫雪机10的扫雪效果，从而可以提升扫雪机10的工作质量。In some examples of the present invention, as shown in FIG. 1 to FIG. 3, the snow removing device 1 may include a casing 11 and a snow collection assembly, and all or part of the snow collection assembly may be disposed in the casing 11. During operation, the snow collection assembly can rotate relative to the casing 11 and the casing 11 forms a snow inlet. During the rotation of the snow collection assembly, the snow on the road surface is collected into the snow inlet, where the height of the snow inlet is in the range of c It is 110mm-250mm. Wherein, the snow collecting component includes a spiral snow collecting component, for example, the stirring cage 12, and the diameter d of the stirring cage 12 ranges from 140 mm to 160 mm. For example, the diameter of the stirring cage 12 can be set to 150 mm, The range is 1500r / min-2500r / min. For example, the working speed of the agitation cage 12 can be set to 2000r / min. This setting can ensure that the volume of the snow removing device 1 becomes smaller, and the snowplow 10 can be miniaturized. It can also enable the agitator cage 12 to better clear snow, which can improve the snow-sweeping effect of the snowplow 10 and thus improve the working quality of the snowplow 10.
在本发明的一些示例中，如图1-图3所示，除雪装置1还包括：抛雪装置13，抛雪装置13可以设置于除雪装置1的上方，具体地设置壳体11的上方，抛雪装置13与除雪装置1连通，当扫雪机10工作时，地面上的雪被搅笼12搅入壳体内11后，雪可以从抛雪装置13抛出，其中，抛雪装置13与水平面间的夹角θ的范围为19-25°，例如：抛雪装置13与水平面间的夹角可以设置为22°，通过搅笼12的直径、搅笼12的转速和扬雪角θ的共同作用，能够实现抛雪装置13的抛雪距离在3-6m之间,也能够使抛雪高度在0.8-1m之间，可以减小抛雪装置13抛出雪的冲击力，从而可以防止抛雪装置13抛出的雪伤到人。In some examples of the present invention, as shown in FIG. 1 to FIG. 3, the snow removing device 1 further includes a snow throwing device 13. The snow throwing device 13 may be disposed above the snow removing device 1, and specifically above the housing 11. The snow throwing device 13 is in communication with the snow removing device 1. When the snow blower 10 is working, the snow on the ground is stirred into the casing 11 by the agitation cage 12, and the snow can be thrown from the snow throwing device 13. Among them, the snow throwing device 13 and The range of the angle θ between the horizontal planes is 19-25 °. For example, the angle between the snow throwing device 13 and the horizontal plane can be set to 22 °. The diameter of the agitation cage 12, the rotation speed of the agitation cage 12, and the snow angle θ Together, the snow throwing distance of the snow throwing device 13 can be between 3-6m, and the snow throwing height can be between 0.8-1m, which can reduce the impact of the snow throwing device 13 and prevent The snow thrown from the snow throwing device 13 hurts people.
在本发明的一些示例中，如图5所示，除雪装置包括扫雪刷14，扫雪刷14用于清除积雪，扫雪刷14的垂直高度c的范围为110mm-250mm，扫雪刷14在驱动装置的驱动下自动旋转，扫雪刷14构造为滚刷形式，滚刷的旋转轴大致平行于地面，滚刷的材质可以是塑料、尼龙、毛织物等柔性材料。在扫雪机10移动的过程中，扫雪刷14顺时针滚动，通过滚动的扫雪刷14清扫经过的路面，其中扫雪刷14部分位于壳体内，壳体用于防止扫雪刷14 清扫的积雪向周围飞溅，将其遮挡到扫雪机的前进方向，这样，扫雪机10一边行走，一边将向前清扫积雪，最终将经过路面的积雪清扫到扫雪机10的前方。本实施例中的扫雪刷式扫雪机能够更能够适应处理较薄的雪，还能够有效处理因天气寒冷凝结在地面上的小冰块。In some examples of the present invention, as shown in FIG. 5, the snow removing device includes a snow sweeping brush 14, the snow sweeping brush 14 is used for removing snow, and the vertical height c of the snow sweeping brush 14 ranges from 110 mm to 250 mm. 14 automatically rotates under the driving of a driving device. The snow sweeping brush 14 is configured as a roller brush. The rotation axis of the roller brush is substantially parallel to the ground. The material of the roller brush can be flexible materials such as plastic, nylon, and woolen fabric. During the movement of the snowplow 10, the snowplow brush 14 rolls clockwise, and the passing road surface is cleaned by the rolling snowplow brush 14, wherein the snowplow brush 14 is partially located in the housing, and the housing is used to prevent the snowbrush 14 from cleaning The snow blows around, blocking it in the direction of the snowplow. In this way, while the snowplow 10 is walking, it will sweep the snow forward, and finally the snow passing through the road will be cleaned in front of the snowplow 10 . The snow-sweeping brush-type snowplow in this embodiment can be more adapted to handle thinner snow, and can also effectively process small ice cubes condensed on the ground due to cold weather.
在本发明一些示例中，如图6所示，除雪装置1包括推雪装置，例如为推雪铲15，扫雪机10在行走的过程中，推雪铲15与地面接触，能够将雪向扫雪机10的前方推，推雪铲15用于清除积雪，推雪铲15的端部的垂直高度c的范围为110mm-250mm,优选为250mm，该推雪铲式扫雪机能够处理更多量的雪，本实施例中提出的推雪铲15能够有效处理因雪融化而形成的湿雪。同时，推雪铲15推雪的时候，扫雪机10前方的雪会越积越厚，为了防止这种情况的发生，可以设定扫雪机10每推雪一段距离，就将雪推到一个设定的位置，以降低推雪铲15的阻力及雪会越积越厚无法清理干净的问题。In some examples of the present invention, as shown in FIG. 6, the snow removing device 1 includes a snow pushing device, such as a snow pushing shovel 15. When the snow blower 10 is walking, the snow pushing shovel 15 is in contact with the ground, and the snow The snowplow 10 is pushed forward and the snowplow 15 is used to clear snow. The vertical height c of the end of the snowplow 15 is 110mm-250mm, preferably 250mm. The snowplow snowplow can handle For a larger amount of snow, the snow pushing shovel 15 proposed in this embodiment can effectively handle wet snow formed by melting snow. At the same time, when the snow pusher 15 pushes snow, the snow in front of the snowplow 10 will become thicker and thicker. In order to prevent this from happening, the snowplow 10 can be set to push the snow every time the snow is pushed a certain distance. A set position to reduce the resistance of the snow pushing shovel 15 and the problem that the snow will accumulate and thicken and cannot be cleaned.
在本发明的一些示例中，如图1所示，主机2或除雪装置1可以设置有搬运把手3，当需要搬动扫雪机10时，用户可以通过主机2和除雪装置1上的搬运把手3来搬动扫雪机10，这样设置可以使扫雪机10更加方便搬运，从而可以实现扫雪机10方便搬运的工作目的。In some examples of the present invention, as shown in FIG. 1, the main unit 2 or the snow removing device 1 may be provided with a carrying handle 3. When the snowplow 10 needs to be moved, the user may use the carrying handles on the main unit 2 and the snow removing device 1. 3 to move the snowplow 10, so that the installation can make the snowplow 10 more convenient to carry, so that the work purpose of the snowplow 10 can be easily carried.
在本发明的一些示例中，扫雪机10的重量e的范围为12Kg-20Kg，例如：将扫雪机10的重量设置为13.5Kg，如此设置能够使扫雪机10的重量更加合理，可以进一步减轻扫雪机10的重量，从而可以使用户搬运扫雪机10更加容易。In some examples of the present invention, the weight e of the snowplow 10 is in a range of 12Kg-20Kg. For example, the weight of the snowplow 10 is set to 13.5Kg. This setting can make the weight of the snowplow 10 more reasonable. Further reducing the weight of the snowplow 10 can make it easier for the user to carry the snowplow 10.
在本发明的一些示例中，扫雪机10的整机功率不高于1000w，其中，扫雪机移动模块的行走功率约为40w-100w,除雪装置1的除雪功率约为200w-600w。在其他实施例中，也可以以恒功率控制除雪装置1的除雪功率，例如，以400w-500w之间任意数值的恒功率来控制扫雪机10，在恒功率下，能够控制以不同的除雪效率来处理不同的雪况，进一步来提高扫雪机10的稳定性。本实施例中的扫雪机10的能量装置在充满电后，即电池包在充满电后，电池包的能量不低于40wh，在一个具体的实施例中，控制电池包能量约为160wh,还能够保证单次工作时长不低于10min。在一个具体的实施例中，除雪装置1的除雪效率约2m 2-8m 2/min，可理解的是，不同的雪况对应不同的除雪效率，当雪较厚时，除雪效率降低，当雪较薄时，除雪效率升高。 也就是说，本实施例中的扫雪机10在充满电后，每次能有效处理面积为30m 2-120m 2左右的工作区域。 In some examples of the present invention, the overall power of the snowplow 10 is not higher than 1000w, wherein the walking power of the snowplow mobile module is about 40w-100w, and the snow removal power of the snow removing device 1 is about 200w-600w. In other embodiments, the snow removing power of the snow removing device 1 may also be controlled with a constant power. For example, the snow blower 10 may be controlled with a constant power of any value between 400w and 500w. Under constant power, different snow removals can be controlled. Efficiency to handle different snow conditions, and further improve the stability of the snowplow 10. After the energy device of the snowplow 10 in this embodiment is fully charged, that is, after the battery pack is fully charged, the energy of the battery pack is not lower than 40wh. In a specific embodiment, the energy of the battery pack is controlled to be about 160wh, It can also ensure that the duration of a single work is not less than 10min. In a specific embodiment, the snow removal efficiency of the snow removal device 1 is about 2m 2 -8m 2 / min. It can be understood that different snow conditions correspond to different snow removal efficiency. When the snow is thicker, the snow removal efficiency decreases. When thinner, snow removal efficiency increases. That is to say, after the snowplow 10 in this embodiment is fully charged, it can effectively process a working area with an area of about 30m 2 -120m 2 each time.
本实施例中的自动扫雪机10还包括快速除雪模式和普通除雪模式，根据工作区域使用的紧急程度启动不同的除雪模式，例如，当用户急需使用某一区域时，可以启用快速除雪模式清扫该区域。一种情况是用户每天早上出门驾车需要使用车道，此时在用户每天早上醒来到出门工作之前，扫雪机启用快速除雪模式将用户家的车道快速清理干净，快速除雪模式的清扫时间不低于10min,能够有效处理约为50m 2左右的工作区域，能够满足用户家的车道等工作区域的快速清理。而对于花园等不需要马上使用的区域，可以在用户出门后，启用普通除雪模式进行清扫，可理解的是，普通清扫模式将积雪清理的效果更好。 The automatic snowplow 10 in this embodiment also includes a quick snow removal mode and a normal snow removal mode. Different snow removal modes are activated according to the urgency of the work area. For example, when the user urgently needs to use a certain area, the quick snow removal mode cleaning can be enabled. The area. One situation is that the user needs to use the lane every morning when driving out. At this time, before the user wakes up every morning to go out to work, the snowplow enables the quick snow removal mode to quickly clean up the lane of the user's home. In 10min, it can effectively handle a work area of about 50m 2 , which can meet the rapid cleaning of the work area such as the driveway of the user's home. For areas that do not need to be used immediately, such as gardens, you can enable the general snow removal mode for cleaning after the user goes out. It is understandable that the general cleaning mode will better clear snow.
在一个实施例中，该自动扫雪机10还包括工作模式检测模块，工作模式判断模块，工作模式切换模块，工作模式检测模块用于检测扫雪机10工作的当前时间以及当前工作模式；工作模式判断模块用于根据预设的工作模式与工作时间之间的对应关系，判断当前工作模式是否与当前时间匹配；工作模式切换模块用于，若不匹配，则根据当前时间及预设的工作模式与工作时间之间的对应关系，切换扫雪机10的工作模式。其中，工作模式包括普通工作模式和静音工作模式，预设的工作模式与工作时间之间的对应关系包括白天对应的时间采用普通工作模式以及夜间对应的时间采用静音工作模式。具体地，当当前时间为白天对应的时间且当前工作模式为静音工作模式时，根据对应关系，切换扫雪机至普通工作模式；或当当前时间为夜间对应的时间且当前工作模式为普通工作模式时，根据对应关系，切换扫雪机至静音工作模式。In one embodiment, the automatic snowplow 10 also includes a work mode detection module, a work mode judgment module, a work mode switching module, and a work mode detection module for detecting the current time and current working mode of the snowplow 10; work The mode judging module is used to judge whether the current working mode matches the current time according to the correspondence between the preset working mode and the working time; the working mode switching module is used to, if not matching, according to the current time and the preset working time The correspondence between the mode and the working time switches the working mode of the snowplow 10. The working modes include a normal working mode and a silent working mode. The correspondence between the preset working mode and the working time includes the normal working mode during the day and the silent working mode during the night. Specifically, when the current time is the time corresponding to daytime and the current working mode is the silent working mode, the snowplow is switched to the normal working mode according to the corresponding relationship; or when the current time is the corresponding time at night and the current working mode is normal In the mode, according to the corresponding relationship, the snowplow is switched to the silent working mode.
针对上述实施例中提到的扫雪机10的工作方法包括：通过获取装置获取雪况信息；通过控制模块判断雪况信息是否符合预处理条件；若符合，则控制主机移动并控制除雪装置执行清除积雪工作。The working method for the snowplow 10 mentioned in the above embodiment includes: obtaining snow condition information through an acquisition device; judging whether the snow condition information meets pre-processing conditions through a control module; if so, controlling the host to move and controlling the execution of the snow removing device Clear snow work.
同时，该扫雪机10的工作模式切换方法通过上述工作模式检测模块，工作模式判断模块，工作模式切换模块来实现。At the same time, the method for switching the working mode of the snowplow 10 is implemented by the above-mentioned working mode detection module, working mode judgment module, and working mode switching module.
在一个实施例中，请参见图7，本发明实施例还提供一种扫雪机工作模式的切换方法，包括以下步骤：In one embodiment, referring to FIG. 7, an embodiment of the present invention further provides a method for switching the working mode of a snowplow, including the following steps:
S110、检测扫雪机工作的当前时间以及当前工作模式。S110. Detect the current time and current working mode of the snowplow.
S120、根据预设的工作模式与工作时间之间的对应关系，判断当前工作模式是否与当前时间匹配。S120. Determine whether the current working mode matches the current time according to the corresponding relationship between the preset working mode and the working time.
S130、若不匹配，则根据当前时间及预设的工作模式与工作时间之间的对应关系，切换扫雪机的工作模式。S130. If not, switch the working mode of the snowplow according to the current time and the corresponding relationship between the preset working mode and the working time.
其中，扫雪机设置有不同的工作模式，且工作模式与工作时间之间预设有对应关系。具体地，当扫雪机在工作时，扫雪机可以检测当前时间和当前的工作模式。根据工作模式与工作时间之间预设的对应关系，扫雪机可以对其检测到的当前时间与当前工作模式是否匹配进行判断。当检测到的当前时间与当前工作模式不匹配时，扫雪机可以根据检测到的当前时间及预设的对应关系，切换扫雪机的工作模式，以使扫雪机以与当前时间匹配的工作模式进行工作。The snow blower is provided with different working modes, and a correspondence relationship is preset between the working mode and the working time. Specifically, when the snowplow is working, the snowplow can detect the current time and the current working mode. According to a preset correspondence between the working mode and the working time, the snowplow can determine whether the current time detected by the snowplow matches the current working mode. When the detected current time does not match the current working mode, the snowplow may switch the working mode of the snowplow according to the detected current time and the preset corresponding relationship, so that the snowplow can match the current time Work mode to work.
在本实施例中，通过检测扫雪机工作的当前时间以及当前工作模式，根据预设的工作模式与工作时间之间的对应关系，判断所述当前工作模式是否与当前时间匹配，若不匹配，则根据对应关系，切换所述扫雪机的工作模式。通过该切换扫雪机的工作模式实现了扫雪机的全天候工作。In this embodiment, by detecting the current time and current working mode of the snowplow, and judging whether the current working mode matches the current time according to the correspondence between the preset working mode and the working time, if it does not match, , According to the corresponding relationship, the working mode of the snowplow is switched. By switching the working mode of the snowplow, the all-weather work of the snowplow is realized.
在一个实施例中，请参见图8，检测扫雪机工作的当前时间，包括以下步骤：In one embodiment, referring to FIG. 8, detecting the current time of the snowplow operation includes the following steps:
S210、获取扫雪机工作环境中的光照强度。S210. Obtain the light intensity in the working environment of the snowplow.
S220、根据光照强度确定扫雪机工作的当前时间。S220. Determine the current time of the snowplow operation according to the light intensity.
其中，当前时间包括白天对应的时间和夜间对应的时间。具体地，扫雪机设置光感传感器，扫雪机可以利用光感传感器检测其工作环境中的光照强度，扫雪机预设有光照强度与时间的对应关系，当光照强度处于第一预设区间时，则判断当前时间为白天，当光照强度处于第二预设区间时，则判断当前时间为夜间。从而扫雪机可以根据检测到的光照强度确定当前时间。当前时间包括白天对应的时间和夜间对应的时间。The current time includes a time corresponding to daytime and a time corresponding to nighttime. Specifically, the snowplow is provided with a light sensor, and the snowplow can use the light sensor to detect the light intensity in its working environment. The snowplow is preset with a corresponding relationship between the light intensity and time. When the light intensity is in the first preset, In the interval, the current time is determined to be daytime, and when the light intensity is in the second preset interval, the current time is determined to be night. Therefore, the snowplow can determine the current time according to the detected light intensity. The current time includes the time corresponding to daytime and the time corresponding to nighttime.
在本实施例中，通过获取扫雪机工作环境中的光照强度，根据光照强度确定扫雪机工作的当前时间为白天或者夜间。可以判断夜间与当前工作模式是否匹配，若不匹配，可以切换扫雪机的工作模式，从而实现了扫雪机可以在夜间进行扫雪工作，方面人们在早上的出行。在一个实施例中，检测扫雪 机工作的当前时间，包括：通过接收卫星信号检测扫雪机工作的当前时间。In this embodiment, by obtaining the light intensity in the working environment of the snowplow, it is determined according to the light intensity that the current time for the snowplow to work is day or night. It can be judged whether the nighttime matches the current working mode. If it does not match, the working mode of the snowplow can be switched, thereby realizing that the snowplow can perform snow removing work at night, and people travel in the morning. In one embodiment, detecting the current time of the snowplow operation includes detecting the current time of the snowplow operation by receiving a satellite signal.
其中，当前时间包括白天对应的时间和夜间对应的时间。扫雪机设置有定位模块，定位***可以包括GNSS差分模块。GNSS差分信号是在正常全球卫星导航***外附加的修正信号，此修正信号可以提高定位精度。其中，全球卫星导航***(Global Navigation Satellite System，简称GNSS)包括全球定位***(Global Positioning System，简称GPS)、北斗卫星导航***(BeiDou Navigation Satellite System，简称BDS)等。扫雪机可以通过定位模块接收卫星信号，根据接收到的卫星信号检测扫雪机工作的当前时间。The current time includes a time corresponding to daytime and a time corresponding to nighttime. The snowplow is provided with a positioning module, and the positioning system may include a GNSS differential module. The GNSS differential signal is a correction signal added outside the normal global satellite navigation system. This correction signal can improve the positioning accuracy. Among them, the Global Satellite Navigation System (GNSS) includes Global Positioning System (GPS), BeiDou Navigation Satellite System (BDS), and so on. The snowplow can receive satellite signals through the positioning module, and detect the current time that the snowplow is working according to the received satellite signals.
另外，也可以手动设定扫雪机工作时间与工作模式的匹配关系。比如，用户可以手动设定白天时间段和夜间时间段，并手动设定白天时间段和夜间时间段分别对应的工作模式。扫雪机根据当前时间及扫雪机工作时间与工作模式的匹配关系自动切换其工作模式。In addition, you can also manually set the matching relationship between the working time of the snowplow and the working mode. For example, the user can manually set the day time period and the night time period, and manually set the working modes corresponding to the day time period and the night time period, respectively. The snowplow automatically switches its working mode according to the current time and the matching relationship between the working time of the snowplow and the working mode.
在一个实施例中，工作模式包括普通工作模式和静音工作模式，预设的工作时间与工作模式之间的对应关系包括白天对应的时间采用普通工作模式以及夜间对应的时间采用静音工作模式。具体地，请参见图9，若不匹配，根据当前时间及预设的工作模式与工作时间之间的对应关系，切换扫雪机的工作模式，包括以下两种情况：In one embodiment, the working modes include a normal working mode and a silent working mode, and the correspondence between the preset working time and the working mode includes the normal working mode during the daytime and the silent working mode during the night. Specifically, referring to FIG. 9, if there is no match, the working mode of the snowplow is switched according to the current time and the corresponding relationship between the preset working mode and the working time, including the following two cases:
当当前时间为白天对应的时间且当前工作模式为静音工作模式时，根据对应关系，切换扫雪机至普通工作模式。When the current time is the daytime corresponding time and the current working mode is the silent working mode, the snowplow is switched to the normal working mode according to the corresponding relationship.
当当前时间为夜间对应的时间且当前工作模式为普通工作模式时，根据对应关系，切换扫雪机至静音工作模式。When the current time is the corresponding time at night and the current working mode is the normal working mode, the snowplow is switched to the silent working mode according to the corresponding relationship.
其中，普通工作模式指的是产生的噪音较大的工作模式，普通工作模式可以是白天工作模式，可以适合在白天环境的工作模式。在普通工作模式下，扫雪机可以根据其检测到集雪厚度等实际工况智能调节其功率，比如厚度较大时普通工作模式可以开启全功率模式，厚度较小时也可以开启半功率模式。普通工作模式可以是抛雪工作模式。在普通工作模式下，扫雪机可以以较快的行走速度、工作头处于相对的高速挡工作，扫雪机也可以以抛雪模式工作。静音工作模式指的是是产生的噪音较小的工作模式，在静音工作模式下，扫雪机可以以较慢的行走速度、工作头处于低速挡工作，扫雪机也可以 是扫雪模式或者推学模式工作。Among them, the normal working mode refers to a working mode that generates a lot of noise. The normal working mode may be a daytime working mode, and may be suitable for a working mode in a daytime environment. In the normal working mode, the snowplow can intelligently adjust its power according to the actual working conditions such as the detected snow thickness. For example, the normal working mode can be turned on in full power mode when the thickness is large, and the half-power mode can be turned on when thickness is small. The normal working mode may be a snow throwing working mode. In the normal working mode, the snowplow can work at a faster walking speed and the working head is at a relatively high speed, and the snowplow can also work in the snow throwing mode. The silent working mode refers to the working mode with less noise. In the silent working mode, the snowplow can work at a slower walking speed and the working head is in low gear. The snowplow can also be in the snowplow mode or Inference mode works.
具体地，扫雪机可以对其检测到的当前时间与当前工作模式是否匹配进行判断。当当前时间为白天对应的时间，但当前工作模式为低转速工作模式或者扫雪工作模式时，根据白天与采用普通工作模式的对应关系，切换扫雪机至普通工作模式或抛雪工作模式。当当前时间为夜间对应的时间，但当前工作模式为高转速工作模式或者抛雪工作模式时，根据夜间与采用低功率工作模式的对应关系，切换扫雪机至低转速工作模式或者扫雪工作模式。Specifically, the snowplow may determine whether the detected current time matches the current working mode. When the current time is the time corresponding to daylight, but the current working mode is the low-speed working mode or the snow removal working mode, the snowplow is switched to the normal working mode or the snow throwing working mode according to the correspondence between the daytime and the normal working mode. When the current time is night time, but the current working mode is high speed working mode or snow throwing working mode, switch the snowplow to low speed working mode or snow removing work according to the corresponding relationship between night time and low power working mode. mode.
在本实施例中，通过设置白天对应的时间采用普通工作模式以及夜间对应的时间采用静音工作模式的对应关系，实现了扫雪机在白天和夜间可以在普通工作模式与静音工作模式之间的切换，实现了扫雪机的全天候工作，特别是扫雪机可以在夜间进行扫雪工作，方面人们在早上的出行。In this embodiment, by setting the correspondence between the normal working mode during the day and the silent working mode at night, the snowplow can be used between the normal working mode and the silent working mode during the day and night. Switching to achieve all-weather work of snowplows, especially snowplows can perform snowplowing work at night, and people travel in the morning.
在一个实施例中，请参见图10，检测扫雪机工作的当前时间以及当前工作模式之后，该方法还包括以下步骤：In one embodiment, referring to FIG. 10, after detecting the current time and current working mode of the snowplow, the method further includes the following steps:
S410、获取扫雪机所处的位置。S410. Obtain the position of the snowplow.
S420、根据扫雪机所处的位置及当前时间，获取对应的环境噪声限值。S420. Obtain a corresponding environmental noise limit according to the position of the snowplow and the current time.
其中，环境噪声限值指的是为保护人群健康和生存环境，对噪声容许范围所作的规定。比如，城市设置有5类环境噪声限值，各类标准的适用区域如下：Among them, the environmental noise limit refers to the provisions on the allowable range of noise in order to protect the health of the population and the living environment. For example, there are five types of environmental noise limits in cities. The applicable areas of various standards are as follows:
(1)0类标准适用于疗养区、高级别墅区、高级宾馆区等特别需要安静的区域。位于城郊和乡村的这一类区域分别按严于0类标准5分贝执行。(1) Category 0 standards are applicable to areas that require quietness, such as health care areas, luxury villa areas, and luxury hotel areas. This type of area, located in the suburbs and rural areas, is implemented at 5 decibels stricter than the category 0 standard.
(2)1类标准适用于以居住、文教机关为主的区域。乡村居住环境可参照执行该类标准。(2) Category 1 standards are applicable to areas where residential, cultural, and educational institutions are the main areas. Rural living environment can refer to the implementation of such standards.
(3)2类标准适用于居住、商业、工业混杂区。(3) Category 2 standards apply to mixed residential, commercial, and industrial areas.
(4)3类标准适用于工业区。(4) Category 3 standards apply to industrial zones.
(5)4类标准适用于城市中的道路交通干线道路两侧区域，穿越城区的内河航道两侧区域。穿越城区的铁路主、次干线两侧区域的背景噪声(指不通过列车时的噪声水平)限值也执行该类标准。(5) Category 4 standards are applicable to the areas on both sides of the roads of arterial roads in cities and the areas on both sides of inland waterways that pass through urban areas. The limits of the background noise (referring to the noise level when passing trains) on both sides of the main and secondary railway lines crossing the urban area also implement this type of standard.
城市5类环境噪声标准值如下表所示：The standard values of Category 5 environmental noise in cities are shown in the following table:
类别category 昼间Daytime 夜间at night
0类Class 0 50分贝50 dB 40分贝40 dB
1类Class 1 55分贝55 dB 45分贝45 dB
2类Class 2 60分贝60 dB 50分贝50 dB
3类Class 3 65分贝65 dB 55分贝55 dB
4类Category 4 70分贝70 dB 55分贝55 dB
具体地，扫雪机可以通过两种方式获取当前位置，一种方式是可以人工设定当前位置，另一种方式是扫雪机可以通过定位模块检测到扫雪机所处的当前位置，从而扫雪机可以根据获取的所处位置及当前时间，获取对应的环境噪声限值。Specifically, the snowplow can obtain the current position in two ways, one is to manually set the current position, and the other is that the snowplow can detect the current position of the snowplow through the positioning module, thereby The snowplow can obtain the corresponding environmental noise limit according to the acquired position and the current time.
在本实施例中，通过获取扫雪机所处位置及当前时间对应的环境噪声限值，为扫雪机工作产生的噪声值设定了最大值。使得扫雪机可以更精准地选择工作模式。In this embodiment, the maximum value is set for the noise value generated by the operation of the snowplow by obtaining the environmental noise limit corresponding to the position of the snowplow and the current time. This enables the snowplow to select the working mode more accurately.
在一个实施例中，请参见图11，工作模式与工作模式产生的噪声值之间设有对应关系。切换扫雪机的工作模式之前，还包括以下步骤：In one embodiment, referring to FIG. 11, a correspondence relationship is set between the working mode and the noise value generated by the working mode. Before switching the working mode of the snowplow, the following steps are also included:
S510、根据工作模式与对应的噪声值之间的对应关系，获取当前工作模式的噪声值。S510: Obtain a noise value of a current working mode according to a correspondence between the working mode and a corresponding noise value.
扫雪机设置有不同的工作模式，扫雪机处于不同的工作模式下产生不同的噪声值，工作模式与工作模式下产生的噪声值之间预设有对应关系。扫雪机检测到当前工作模式后，可以根据工作模式与工作模式产生的噪声值之间的对应关系，获取当前工作模式产生的噪声值。The snow blower is set with different working modes. The snow blower generates different noise values in different working modes, and there is a preset correspondence relationship between the working mode and the noise value generated in the working mode. After the snowplow detects the current working mode, it can obtain the noise value generated by the current working mode according to the correspondence between the working mode and the noise value generated by the working mode.
S520、将当前工作模式的噪声值与环境噪声限值进行比较。S520. Compare the noise value of the current working mode with the environmental noise limit.
扫雪机根据工作模式与工作模式产生的噪声值之间的对应关系，获取获取到当前工作模式产生的噪声值。从而扫雪机可以将当前工作模式产生的噪声值与当前时间及所处位置对应的环境噪声限值进行比较。The snowplow obtains the noise value generated by the current working mode according to the correspondence between the working mode and the noise value generated by the working mode. Therefore, the snowplow can compare the noise value generated by the current working mode with the environmental noise limit corresponding to the current time and location.
在本实施例中，切换扫雪机的工作模式包括以下步骤：In this embodiment, switching the working mode of the snowplow includes the following steps:
S530、当当前工作模式的噪声值大于环境噪声限值时，切换扫雪机的工作模式，以使切换后的工作模式产生的噪声值小于环境噪声限值。S530. When the noise value of the current working mode is greater than the environmental noise limit, switch the working mode of the snowplow so that the noise value generated by the switched working mode is less than the environmental noise limit.
扫雪机可以将当前工作模式产生的噪声值与当前时间及所处位置对应的环境噪声限值进行比较，当当前工作模式产生的噪声值大于环境噪声限值时，扫雪机需要切换工作模式，切换后的工作模式产生的噪声值应该小于环 境噪声限值。即为了满足环境噪声限值的要求，扫雪机以产生较小噪声值的工作模式进行工作，以使切换后的工作模式产生的噪声值小于环境噪声限值。The snowplow can compare the noise value generated by the current working mode with the environmental noise limit corresponding to the current time and location. When the noise value generated by the current working mode is greater than the environmental noise limit, the snowplow needs to switch the working mode The noise value generated by the switched working mode should be less than the environmental noise limit. That is, in order to meet the requirements of the environmental noise limit, the snowplow operates in a working mode that generates a smaller noise value, so that the noise value generated by the switched working mode is smaller than the environmental noise limit.
在一个实施例中，请参见图12，本申请实施例提供一种扫雪机工作模式的切换方法，包括以下步骤：In one embodiment, referring to FIG. 12, an embodiment of the present application provides a method for switching a snowplow operation mode, including the following steps:
S610、获取扫雪机工作环境中的光照强度。S610. Obtain the light intensity in the working environment of the snowplow.
S620、根据光照强度确定扫雪机工作的当前时间。S620. Determine the current time of the snowplow operation according to the light intensity.
S630、检测扫雪机所处的位置。S630. Detect the position of the snowplow.
S640、根据扫雪机所处的位置及当前时间，获取对应的环境噪声限值。S640. Obtain a corresponding environmental noise limit according to the position of the snowplow and the current time.
S650、检测扫雪机的当前工作模式。S650. Detect the current working mode of the snowplow.
S660、根据工作模式与工作模式产生的噪声值之间的对应关系，获取当前工作模式产生的噪声值。S660. Obtain a noise value generated by the current working mode according to the correspondence between the working mode and the noise value generated by the working mode.
S670、将当前工作模式产生的噪声值与环境噪声限值进行比较。S670. Compare the noise value generated by the current working mode with the environmental noise limit.
S680、当当前工作模式产生的噪声值大于环境噪声限值时，切换扫雪机的工作模式，以使切换后的工作模式产生的噪声值小于环境噪声限值。S680. When the noise value generated by the current working mode is greater than the environmental noise limit, switch the working mode of the snowplow so that the noise value generated by the switched working mode is less than the environmental noise limit.
在本实施例中，扫雪机还可以设置有检测模块，通过检测模块可以检测雪的厚度，当检测到的厚度小于30mm时，扫雪机开始工作。扫雪机设置光感传感器和定位模块。扫雪机可以利用光感传感器检测其工作环境中的光照强度。扫雪机可以根据检测到的光照强度确定当前时间。当前时间包括白天对应的时间和夜间对应的时间。扫雪机可以通过定位模块检测到扫雪机所处的位置，从而扫雪机可以根据检测到的所处位置及当前时间，获取对应的环境噪声限值。In this embodiment, the snowplow may further be provided with a detection module, and the thickness of the snow may be detected by the detection module. When the detected thickness is less than 30mm, the snowplow starts to work. The snowplow is provided with a light sensor and a positioning module. Snowplows can use light sensors to detect the intensity of light in their working environment. The snowplow can determine the current time based on the detected light intensity. The current time includes the time corresponding to daytime and the time corresponding to nighttime. The snowplow can detect the position of the snowplow through the positioning module, so that the snowplow can obtain the corresponding environmental noise limit according to the detected position and the current time.
扫雪机设置有不同的工作模式，比如抛雪模式、推雪模式、扫雪模式、绞龙推雪模式、铲雪板推雪模式等。扫雪机在不同的工作模式下产生不同的噪声值。工作模式与工作模式下产生的噪声值之间预设有对应关系。当扫雪机在工作时，扫雪机可以检测当前的工作模式，从而根据工作模式与工作模式产生的噪声值之间的对应关系，获取当前工作模式产生的噪声值。There are different working modes for the snowplow, such as snow throw mode, snow push mode, snow sweep mode, auger snow push mode, snowboard snow push mode and so on. Snow blowers produce different noise values in different operating modes. There is a preset correspondence between the working mode and the noise value generated in the working mode. When the snowplow is working, the snowplow can detect the current working mode, and obtain the noise value generated by the current working mode according to the correspondence between the working mode and the noise value generated by the working mode.
扫雪机可以将当前工作模式产生的噪声值与获取到的环境噪声限值进行比较，当当前工作模式产生的噪声值大于环境噪声限值时，扫雪机需要切换工作模式。The snowplow can compare the noise value generated by the current working mode with the acquired environmental noise limit. When the noise value generated by the current working mode is greater than the environmental noise limit, the snowplow needs to switch the working mode.
比如，当前时间是夜间，所处位置是居民小区，则对应的环境噪声限制是50分贝。扫雪机的当前工作模式是抛雪模式，如果当前抛雪模式产生的噪声值产生的噪声值为55分贝，则扫雪机切换新的工作模式，切换后的工作模式产生的噪声值应该小于50分贝，比如推雪模式。For example, if the current time is night and the location is a residential area, the corresponding environmental noise limit is 50 dB. The current working mode of the snowplow is snow throwing mode. If the noise value generated by the current snow throwing mode is 55 decibels, the snowplow will switch to a new working mode. The noise value after the switched working mode should be less than 50 dB, such as snow push mode.
比如，当前时间是白天，所处位置是某学校，则对应的环境噪声限制是55分贝。当前工作模式是绞龙推雪模式，如果绞龙推雪模式产生的噪声值产生的噪声值为55分贝或者小于55分贝，则扫雪机不需切换的工作模式。For example, if the current time is daylight and the location is a school, the corresponding environmental noise limit is 55 decibels. The current working mode is the auger snow pushing mode. If the noise value produced by the auger snow pushing mode is 55 decibels or less, the snowplow does not need to switch.
应该理解的是，虽然图8、图10、图11和图12的流程图中的各个步骤按照箭头的指示依次显示，但是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，这些步骤可以以其它的顺序执行。而且图8、图10、图11和图12中的至少一部分步骤可以包括多个子步骤或者多个阶段，这些子步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，这些子步骤或者阶段的执行顺序也不必然是依次进行，而是可以与其它步骤或者其它步骤的子步骤或者阶段的至少一部分轮流或者交替地执行。It should be understood that although the steps in the flowcharts of FIG. 8, FIG. 10, FIG. 11, and FIG. 12 are sequentially displayed as indicated by the arrows, these steps are not necessarily performed sequentially in the order indicated by the arrows. Unless explicitly stated in this document, the execution of these steps is not strictly limited, and these steps can be performed in other orders. Moreover, at least some of the steps in FIG. 8, FIG. 10, FIG. 11 and FIG. 12 may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily performed at the same time, but may be performed at different times. The execution order of these sub-steps or stages is not necessarily performed sequentially, but may be performed in turn or alternately with at least a part of the other steps or sub-steps or stages of other steps.
在本实施例中，扫雪机设置有不同的工作模式，工作模式与工作模式下产生的噪声值之间预设有对应关系。通过检测雪的厚度、检测当前时间为白天或者夜间，并获取所处位置及当前时间对应的环境噪声限值，为扫雪机工作时可以产生的噪声值设定了最大值。根据预设的工作模式与工作模式下产生的噪声值之间的对应关系，为扫雪机精准地选择工作模式，实现了扫雪机在不同的环境中不同的时间段内的全天候工作，既不打扰人们的生活作息，也使得扫雪机在环境噪声限制内以最大的效率清除道路积雪，很大程度上方便人们出行。In this embodiment, the snowplow is provided with different working modes, and a corresponding relationship is preset between the working mode and the noise value generated in the working mode. By detecting the thickness of the snow, detecting that the current time is day or night, and obtaining the environmental noise limit corresponding to the location and the current time, a maximum value is set for the noise value that the snowplow can produce when it works. According to the corresponding relationship between the preset working mode and the noise value generated in the working mode, the working mode is precisely selected for the snowplow, and the snowplow can work in all weathers in different environments and in different time periods. Without disturbing people's daily life, it also makes the snowplow clear snow on the road with the maximum efficiency within the limits of environmental noise, which is convenient for people to travel.
在一个实施例中，请参见图13，本申请实施例中提供一种扫雪机工作模式的切换装置700，该装置包括检测模块710、判断模块720及工作模式切换模块730。In one embodiment, please refer to FIG. 13. In the embodiment of the present application, a device 700 for switching the working mode of a snowplow is provided. The device includes a detection module 710, a determination module 720, and a working mode switching module 730.
检测模块710，用于检测扫雪机工作的当前时间以及当前工作模式。The detecting module 710 is configured to detect a current time and a current working mode of the snowplow.
判断模块720，用于根据预设的工作模式与工作时间之间的对应关系，判断当前工作模式是否与当前时间匹配。The judging module 720 is configured to judge whether the current working mode matches the current time according to the correspondence between the preset working mode and the working time.
工作模式切换模块730，用于若不匹配，则根据当前时间及预设的工作 模式与工作时间之间的对应关系，切换扫雪机的工作模式。The working mode switching module 730 is configured to switch the working mode of the snowplow according to the current time and the corresponding relationship between the preset working mode and the working time if there is no match.
关于扫雪机工作模式的切换装置的具体限定可以参见上文中对于扫雪机工作模式的切换方法的限定，在此不再赘述。上述扫雪机工作模式的切换装置中的各个模块可全部或部分通过软件、硬件及其组合来实现。上述各模块可以硬件形式内嵌于或独立于计算机设备中的处理器中，也可以以软件形式存储于计算机设备中的存储器中，以便于处理器调用执行以上各个模块对应的操作。Regarding the specific limitation of the snowplow operating mode switching device, reference may be made to the foregoing limitation on the snowplow operating mode switching method, and details are not described herein again. Each module in the above snowplow operating mode switching device may be implemented in whole or in part by software, hardware, and a combination thereof. The above-mentioned modules may be embedded in the hardware in or independent of the processor in the computer device, or may be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.
在一个实施例中，本申请实施例中提供一种计算机设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，处理器执行计算机程序时实现上述任一实施例中的方法步骤。In one embodiment, a computer device is provided in an embodiment of the present application, including a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor implements any of the foregoing embodiments when the computer program is executed. Method steps in.
在一个实施例中，本申请实施例中提供一种扫雪机，包括驱动装置、除雪装置、抛雪装置和控制器。In one embodiment, an embodiment of the present application provides a snowplow, including a driving device, a snow removing device, a snow throwing device, and a controller.
驱动装置，用于驱动扫雪机行进。Driving device for driving the snowplow.
除雪装置，用于收集路面上的积雪。Snow removal device for collecting snow on the road.
抛雪装置，用于抛洒收集到的积雪。Snow throwing device for throwing collected snow.
控制器，分别与驱动装置、除雪装置、抛雪装置电连接。控制器包括存储器和处理器，存储器存储有计算机程序，处理器执行计算机程序时实现上述任一实施例中的方法步骤。The controller is electrically connected to the driving device, the snow removing device and the snow throwing device, respectively. The controller includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the method steps in any of the foregoing embodiments are implemented.
在一个实施例中，本申请实施例中提供一种扫雪机，包括驱动装置、除雪装置、抛雪装置和控制装置。In one embodiment, a snowplow is provided in an embodiment of the present application, which includes a driving device, a snow removing device, a snow throwing device, and a control device.
驱动装置，用于驱动扫雪机行进。Driving device for driving the snowplow.
除雪装置，用于收集路面上的积雪。Snow removal device for collecting snow on the road.
抛雪装置，用于抛洒收集到的积雪。Snow throwing device for throwing collected snow.
控制装置，分别与驱动装置、除雪装置、抛雪装置电连接。The control device is electrically connected with the driving device, the snow removing device and the snow throwing device, respectively.
控制装置用于检测扫雪机工作的当前时间以及当前工作模式；根据预设的工作模式与工作时间之间的对应关系，判断当前工作模式是否与当前时间匹配；若不匹配，则根据当前时间及预设的工作模式与工作时间之间的对应关系，切换扫雪机的工作模式。The control device is used to detect the current time and current working mode of the snowplow; determine whether the current working mode matches the current time according to the corresponding relationship between the preset working mode and the working time; And the corresponding relationship between the preset working mode and working time, switching the working mode of the snowplow.
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可 存储于一非易失性计算机可读取存储介质中，该计算机程序在执行时，可包括如上述各方法的实施例的流程。其中，本申请所提供的各实施例中所使用的对存储器、存储、数据库或其它介质的任何引用，均可包括非易失性和/或易失性存储器。非易失性存储器可包括只读存储器(ROM)、可编程ROM(PROM)、电可编程ROM(EPROM)、电可擦除可编程ROM(EEPROM)或闪存。易失性存储器可包括随机存取存储器(RAM)或者外部高速缓冲存储器。作为说明而非局限，RAM以多种形式可得，诸如静态RAM(SRAM)、动态RAM(DRAM)、同步DRAM(SDRAM)、双数据率SDRAM(DDRSDRAM)、增强型SDRAM(ESDRAM)、同步链路(Synchlink)DRAM(SLDRAM)、存储器总线(Rambus)直接RAM(RDRAM)、直接存储器总线动态RAM(DRDRAM)、以及存储器总线动态RAM(RDRAM)等。Those of ordinary skill in the art can understand that the implementation of all or part of the processes in the methods of the above embodiments can be completed by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage. In the medium, the computer program, when executed, may include the processes of the embodiments of the methods described above. Wherein, any reference to the storage, storage, database, or other media used in the embodiments provided in this application may include non-volatile and / or volatile storage. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。The technical features of the above embodiments can be arbitrarily combined. In order to make the description concise, all possible combinations of the technical features in the above embodiments have not been described. However, as long as there is no contradiction in the combination of these technical features, all It is considered to be the range described in this specification.
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。The above-mentioned embodiments only express several implementation manners of the present application, and the description thereof is more specific and detailed, but cannot be understood as a limitation on the scope of the invention patent. It should be noted that, for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of this application patent shall be subject to the appended claims.

Claims (34)

  1. 一种自动扫雪机，其特征在于，包括：An automatic snowplow includes:
    主机；Host
    除雪装置，所述除雪装置安装于所述主机上，所述除雪装置包括用于清除积雪的端部，所述端部的垂直高度的范围为100mm-250mm；The snow removing device is installed on the host, the snow removing device includes an end for removing snow, and a vertical height of the end ranges from 100 mm to 250 mm;
    控制装置，用于控制主机移动并控制除雪装置执行清除积雪工作；A control device for controlling the movement of the host and controlling the snow removing device to perform snow removal work;
    获取装置，与所述控制装置连接，用于获取雪况信息，所述控制装置判断所述雪况信息是否符合预处理条件，若符合，则控制主机移动并控制所述除雪装置执行清除积雪工作。An acquiring device is connected to the control device for acquiring snow condition information. The control device determines whether the snow condition information meets the pre-processing conditions. If so, the control host moves and controls the snow removing device to perform snow removal. jobs.
  2. 根据权利要求1所述的自动扫雪机，其特征在于，所处预处理条件与表示自动扫雪机处理能力的参数相关。The automatic snowplow according to claim 1, wherein the pre-processing conditions are related to a parameter representing the processing capacity of the automatic snowplow.
  3. 根据权利要求1所述的自动扫雪机，其特征在于，所述获取装置包括雪况检测装置，通过雪况检测装置检测雪况信息。The automatic snowplow according to claim 1, wherein the acquisition device comprises a snow condition detection device, and the snow condition information is detected by the snow condition detection device.
  4. 根据权利要求3所述的自动扫雪机，其特征在于，所述雪况检测装置包括雪厚检测装置、雪的重量检测装置、雪面积检测装置，雪密度检测装置，下雪时长检测装置的一种或多种。The automatic snowplow according to claim 3, wherein the snow condition detection device comprises a snow thickness detection device, a snow weight detection device, a snow area detection device, a snow density detection device, and a snow time detection device. One or more.
  5. 根据权利要求4所述的自动扫雪机，其特征在于，所述预处理条件包括雪厚阈值范围，通过所述雪厚检测装置检测到雪厚信息，所述控制模块判断所述雪厚信息符合所述雪厚阈值范围时，控制主机移动并控制所述除雪装置执行清除积雪工作。The automatic snowplow according to claim 4, wherein the pre-processing conditions include a snow thickness threshold range, snow thickness information is detected by the snow thickness detection device, and the control module determines the snow thickness information When the snow thickness threshold range is met, the control host moves and controls the snow removing device to perform snow removal work.
  6. 根据权利要求5所述的自动扫雪机，其特征在于，所述雪厚阈值范围在25mm-100mm之间。The automatic snowplow according to claim 5, wherein the snow thickness threshold ranges from 25mm to 100mm.
  7. 根据权利要求1所述的自动扫雪机，其特征在于，所述获取装置包括信息接收装置，通过信息接收装置接收远程设备传输的雪况信息。The automatic snowplow according to claim 1, wherein the obtaining device comprises an information receiving device, and the snow condition information transmitted by a remote device is received by the information receiving device.
  8. 根据权利要求7所述的自动扫雪机，其特征在于，所述远程设备包括设置在工作区域的传感器设备和/或任务执行设备，所述信息接收装置接收基于所述传感器设备和/或自移动设备获取的外界雪况信息。The automatic snowplow according to claim 7, wherein the remote device comprises a sensor device and / or a task execution device provided in a work area, and the information receiving device receives the information based on the sensor device and / or the Information about external snow conditions obtained by mobile devices.
  9. 根据权利要求7所述的自动扫雪机，其特征在于，所述远程设备包括远程服务器或智能终端，所述信息接收装置与远程服务器或智能终端通 信连接，以从远程服务器或智能终端上获取雪况信息。The automatic snowplow according to claim 7, wherein the remote device comprises a remote server or a smart terminal, and the information receiving device is communicatively connected with the remote server or the smart terminal to obtain from the remote server or the smart terminal Snow information.
  10. 根据权利要求9所述的自动扫雪机，其特征在于，所述雪况信息包括天气信息，所述控制模块判断天气信息符合预处理条件时，控制主机移动并控制所述除雪装置执行清除积雪工作。The automatic snowplow according to claim 9, wherein the snow condition information includes weather information, and when the control module determines that the weather information meets the preprocessing conditions, the control unit controls the host to move and controls the snow removal device to perform a clearing operation. Snow work.
  11. 根据权利要求1所述的自动扫雪机，其特征在于，所述自动扫雪机还包括人工启动模式，所述人工启动模式下，自动扫雪机接收用户直接设置的启动信息或者接收从智能终端上传输的启动信息，所述控制模块根据所述启动信息控制主机移动并控制所述除雪装置执行清除积雪工作。The automatic snowplow according to claim 1, wherein the automatic snowplow further comprises a manual startup mode, and in the manual startup mode, the automatic snowplow receives startup information directly set by a user or receives information from an intelligent device. According to the startup information transmitted on the terminal, the control module controls the host to move according to the startup information and controls the snow removing device to perform snow removal work.
  12. 根据权利要求11所述的自动扫雪机，其特征在于，所述启动信息包括立即启动信息或预约启动信息。The automatic snowplow according to claim 11, wherein the startup information comprises immediate startup information or reservation startup information.
  13. 根据权利要求1所述的自动扫雪机，其特征在于，所述获取装置设置于所述主机和/或所述除雪装置上。The automatic snowplow according to claim 1, wherein the obtaining device is disposed on the host and / or the snow removing device.
  14. 根据权利要求1所述的自动扫雪机，其特征在于，所述端部的垂直高度范围为190mm-250mm。The automatic snowplow according to claim 1, wherein a vertical height of the end portion ranges from 190 mm to 250 mm.
  15. 根据权利要求1所述的自动扫雪机，其特征在于，所述端部在垂直于前进方向的宽度范围为300mm-500mm。The automatic snowplow according to claim 1, wherein the width of the end portion in a direction perpendicular to the forward direction ranges from 300 mm to 500 mm.
  16. 根据权利要求15所述的自动扫雪机，其特征在于，所述主机在垂直于前进方向的宽度为小于等于所述端部的在垂直于前进方向的宽度。The automatic snowplow according to claim 15, wherein a width of the main unit in a direction perpendicular to the advancing direction is equal to or less than a width of the end portion in a direction perpendicular to the advancing direction.
  17. 根据权利要求1所述的自动扫雪机，其特征在于，所述除雪装置包括壳体和设置于所述壳体内的集雪组件，所述集雪组件的直径范围为140mm-160mm，所述集雪组件的工作转速范围为1500r/min-2500r/min。The automatic snowplow according to claim 1, wherein the snow removing device comprises a casing and a snow collecting component disposed in the casing, and the diameter of the snow collecting component ranges from 140 mm to 160 mm, and The working speed range of the snow collection component is 1500r / min-2500r / min.
  18. 根据权利要求1所述的自动扫雪机，其特征在于，所述自动扫雪机还包括抛雪装置，所述抛雪装置设置于所述除雪装置的上方，所述抛雪装置与水平面间的夹角范围为19°-25°。The automatic snowplow according to claim 1, wherein the automatic snowplow further comprises a snow throwing device, the snow throwing device is disposed above the snow removing device, and between the snow throwing device and a horizontal plane The included angle range is 19 ° -25 °.
  19. 根据权利要求17所述的自动扫雪机，其特征在于，所述集雪组件包括螺旋状集雪组件。The automatic snowplow according to claim 17, wherein the snow collecting component comprises a spiral snow collecting component.
  20. 根据权利要求19所述的自动扫雪机，其特征在于，所述螺旋状集雪组件包括搅笼或扫雪刷。The automatic snowplow according to claim 19, wherein the spiral snow collection component comprises a stirring cage or a snowplow.
  21. 根据权利要求1所述的自动扫雪机，其特征在于，所述除雪装置 包括推雪装置。The automatic snowplow according to claim 1, wherein the snow removing device comprises a snow pushing device.
  22. 根据权利要求21所述的自动扫雪机，其特征在于，所述推雪装置包括推雪铲。The automatic snowplow according to claim 21, wherein the snow pushing device comprises a snow pushing shovel.
  23. 根据权利要求1所述的自动扫雪机，其特征在于，所述主机和/或所述除雪装置设置有搬运把手。The automatic snowplow according to claim 1, wherein the main unit and / or the snow removing device is provided with a carrying handle.
  24. 根据权利要求1所述的自动扫雪机，其特征在于，所述自动扫雪机的重量范围为12Kg-20Kg。The automatic snowplow according to claim 1, wherein the weight of the automatic snowplow is 12Kg-20Kg.
  25. 根据权利要求1所述的自动扫雪机，其特征在于，所述自动扫雪机的整机功率不高于1000w。The automatic snowplow according to claim 1, wherein the whole power of the automatic snowplow is not higher than 1000w.
  26. 根据权利要求25所述的自动扫雪机，其特征在于，所述自动扫雪机的的能量装置的能量不低于40wh。The automatic snowplow according to claim 25, wherein the energy of the energy device of the automatic snowplow is not less than 40wh.
  27. 根据权利要求25所述的自动扫雪机，其特征在于，所述自动扫雪机的单次工作时长不低于10min。The automatic snowplow according to claim 25, wherein a single working time of the automatic snowplow is not less than 10 minutes.
  28. 根据权利要求1所述的自动扫雪机，其特征在于，所述自动扫雪机的的除雪效率为2m 2-8m 2/min。 The automatic snowplow according to claim 1, wherein said automatic snow plows efficiency of 2m 2 -8m 2 / min.
  29. 根据权利要求1所述的自动扫雪机，其特征在于，所述自动扫雪机包括快速除雪模式和普通除雪模式，所述控制模块根据工作区域使用的紧急程度况分别启用快速除雪模式和普通除雪模式。The automatic snowplow according to claim 1, wherein the automatic snowplow includes a quick snow removal mode and a normal snow removal mode, and the control module enables the fast snow removal mode and the normal snow removal mode according to the urgency of the working area. Snow removal mode.
  30. 根据权利要求1所述的自动扫雪机，其特征在于，所述自动扫雪机还包括：The automatic snowplow according to claim 1, wherein the automatic snowplow further comprises:
    工作模式检测模块：用于检测扫雪机工作的当前时间以及当前工作模式；Working mode detection module: used to detect the current time and current working mode of the snowplow;
    工作模式判断模块：根据预设的工作模式与工作时间之间的对应关系，判断所述当前工作模式是否与当前时间匹配；A work mode judging module: judging whether the current working mode matches the current time according to the corresponding relationship between the preset working mode and the working time;
    工作模式切换模块：用于若不匹配，根据所述当前时间及所述预设的工作模式与工作时间之间的对应关系，切换所述扫雪机的工作模式。Working mode switching module: used to switch the working mode of the snowplow according to the current time and the corresponding relationship between the preset working mode and working time if there is no match.
  31. 根据权利要求30所述的自动扫雪机，其特征在于，所述工作模式包括普通工作模式和静音工作模式，所述预设的工作模式与工作时间之间的对应关系包括白天对应的时间采用普通工作模式以及夜间对应的时间采 用静音工作模式。The automatic snowplow according to claim 30, wherein the working modes include a normal working mode and a silent working mode, and the correspondence between the preset working mode and working time includes the time of daytime The normal working mode and the corresponding time at night adopt the silent working mode.
  32. 根据权利要求31所述的自动扫雪机，其特征在于，所述工作模式检测模块检测到所述当前时间为白天对应的时间且所述当前工作模式为静音工作模式时，所述工作模式判断模块判断为不匹配，所述工作模式切换模块根据所述对应关系，切换所述自动扫雪机的工作模式至普通工作模式；或The automatic snowplow according to claim 31, wherein when the working mode detection module detects that the current time is a time corresponding to daytime and the current working mode is a silent working mode, the working mode is judged The module judges that there is no match, and the working mode switching module switches the working mode of the automatic snowplow to the normal working mode according to the corresponding relationship; or
    所述工作模式检测模块检测到当所述当前时间为夜间对应的时间且所述当前工作模式为普通工作模式时，所述工作模式判断模块判断为不匹配，所述工作模式切换模块根据所述对应关系，切换所述自动扫雪机的工作模式至静音工作模式。When the working mode detection module detects that when the current time is a corresponding time at night and the current working mode is a normal working mode, the working mode determination module determines that there is a mismatch, and the working mode switching module is based on the Corresponding relationship, the working mode of the automatic snowplow is switched to the silent working mode.
  33. 一种自动扫雪机的工作方法，其特征在于，所述自动扫雪机包括：A working method of an automatic snowplow is characterized in that the automatic snowplow includes:
    安装于主机上的用于清除积雪的除雪装置，所述除雪装置包括用于清除积雪的端部，所述端部的垂直高度范围为100mm-250mm；控制装置，用于控制主机移动并控制除雪装置执行清除积雪工作；获取装置，用于获取雪况信息，所述方法包括：A snow removing device installed on the host for removing snow, the snow removing device includes an end for removing snow, and the vertical height range of the end is 100mm-250mm; a control device for controlling the movement of the host and Controlling a snow removal device to perform snow removal work; an acquisition device for acquiring snow condition information, the method including:
    获取雪况信息；Get snow information;
    判断所述雪况信息是否符合预处理条件；Judging whether the snow condition information meets the pre-processing conditions;
    若符合，则控制主机移动并控制所述除雪装置执行清除积雪工作。If so, the control host moves and controls the snow removing device to perform snow removal work.
  34. 根据权利要求33所述的自动扫雪机的工作方法，其特征在于，所述控制模块检测所述自动扫雪机工作的当前时间以及当前工作模式；根据预设的工作模式与工作时间之间的对应关系，判断所述当前工作模式是否与当前时间匹配；若不匹配，根据所述当前时间及所述预设的工作模式与工作时间之间的对应关系，切换所述自动扫雪机的工作模式。The working method of an automatic snowplow according to claim 33, wherein the control module detects a current time and a current working mode of the automatic snowplow; according to a preset working mode and between working hours To determine whether the current working mode matches the current time; if not, switch the automatic snowplow according to the current time and the corresponding relationship between the preset working mode and the working time. Operating mode.
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