CN107190696A - Full-automatic snowplough - Google Patents
Full-automatic snowplough Download PDFInfo
- Publication number
- CN107190696A CN107190696A CN201710548414.1A CN201710548414A CN107190696A CN 107190696 A CN107190696 A CN 107190696A CN 201710548414 A CN201710548414 A CN 201710548414A CN 107190696 A CN107190696 A CN 107190696A
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- China
- Prior art keywords
- snowplough
- snow
- frame body
- automatic
- full
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
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- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 230000008520 organization Effects 0.000 claims abstract description 13
- 230000004888 barrier function Effects 0.000 claims abstract description 11
- 238000010408 sweeping Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000004520 electroporation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003370 grooming effect Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004297 night vision Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
- E01H5/08—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material dislodging essentially by driven elements
- E01H5/09—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material dislodging essentially by driven elements the elements being rotary or moving along a closed circular path, e.g. rotary cutter, digging wheels
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention relates to a kind of full-automatic snowplough.Including：Frame body；Drive mechanism, including the first drive component in the frame body, and second drive component corresponding with first drive component；Collection snow component, installed in the bottom of the frame body and for gathering accumulated snow；Snow slinging mechanism, it is corresponding and be rotatably installed in the frame body with the collection snow component；Controlling organization, including be arranged in the frame body for the locating module for determining position, and the avoidance module for avoiding barrier.Because the snowplough includes collection snow component, snow slinging mechanism and controlling organization, collection snow component collection accumulated snow is simultaneously automatically drained out through snow slinging mechanism, substantially increases the operating efficiency of snowplough, meanwhile, controlling organization includes locating module and avoidance module.Locating module can determine the particular location of snowplough, and avoidance module can be prevented effectively from snowplough and produce collision with barrier, improve the intelligent control level of snowplough.
Description
Technical field
The present invention relates to automatic machinery technical field, more particularly to a kind of full-automatic snowplough.
Background technology
Usually, traditional manual gasoline-type and power type sweep away snow equipment, move, enter dependent on the manually operated of user
And accumulated snow is cleaned, even if traditional snowplough has good operating efficiency, but user has to emit when in use severe cold at family
It is outer to use, time and the energy of user are occupied to a certain extent, while also bringing many potential safety problems.Intelligence
Snow grooming machines people then can independently make a policy according to different scenes, and fully automatically complete work of sweeping away snow, so as to greatly reduce
The work burden of kinsfolk, injured risk during reduction user's use.
The content of the invention
Based on this, it is necessary to provide a kind of safety and the full-automatic snowplough in labour-saving.
A kind of full-automatic snowplough, including：
Frame body；
Drive mechanism, including the first drive component in the frame body, and with first drive component
The second corresponding drive component；
Collection snow component, installed in the bottom of the frame body and for gathering accumulated snow；
Snow slinging mechanism, it is corresponding and be rotatably installed in the frame body with the collection snow component；
Controlling organization, including be arranged on for the locating module for determining position in the frame body, and for evading barrier
Hinder the avoidance module of thing.
In one of the embodiments, first drive component includes ten thousand be located on the frame body bottom end
To wheel, second drive component includes the driving wheel being located on the other end of the frame body bottom.
In one of the embodiments, the collection snow component includes centrifugal impeller.
In one of the embodiments, the snow slinging mechanism includes the motor being arranged in the frame body, with
The motor output shaft connection driving wheel, it is corresponding with the driving wheel and with driven pulley, with the driven pulley company
The snow throwing cylinder connect, and the conveyer belt being engaged with the driving wheel and the driven pulley.
In one of the embodiments, the locating module includes indoor positioning component and outdoor positioning component.
In one of the embodiments, the indoor positioning component includes laser locator or infrared locator.
In one of the embodiments, the outdoor positioning component includes GPS locator.
In one of the embodiments, the avoidance module includes ultrasonic range finder sensor.
In one of the embodiments, the controlling organization also includes odometer, the odometer include it is following in appoint
Meaning one：
It is arranged on accelerometer and gyro sensor in the frame body；
It is arranged on the rotary encoder in the drive mechanism.
The full-automatic snowplough that the present invention is provided, because the snowplough includes collection snow component, snow slinging mechanism and controlling organization,
Collection snow component collection accumulated snow is simultaneously automatically drained out through snow slinging mechanism, is saved manpower, is substantially increased the operating efficiency of snowplough, together
When, controlling organization includes locating module and avoidance module.Locating module can determine the particular location of snowplough, avoidance module energy
It is prevented effectively from snowplough and produces collision with barrier, improves the intelligent control level and security performance of snowplough.
Brief description of the drawings
The dimensional structure diagram for the full-automatic snowplough that Fig. 1 provides for an embodiment；
Fig. 2 is Fig. 1 planar structure schematic diagram；
The structured flowchart of controlling organization in the automatic snow cleaner that Fig. 3 provides for an embodiment.
Embodiment
For the ease of understanding the present invention, the present invention is described more fully below with reference to relevant drawings.In accompanying drawing
Give the better embodiment of the present invention.But, the present invention can be realized in many different forms, however it is not limited to herein
Described embodiment.On the contrary, the purpose for providing these embodiments is to make to understand more the disclosure
Plus it is thorough comprehensive.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or can also have element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " interior ", " outer ", "left", "right" and
For illustrative purposes only, it is unique embodiment to be not offered as similar statement.
Simultaneously refering to Fig. 1 and Fig. 2, a kind of full-automatic snowplough 10, including frame body 100, drive mechanism 200, collection snow
Component 300, snow slinging mechanism 400 and controlling organization 500.Drive mechanism 200 includes the first driving being arranged in frame body 100
The drive component 220 of component 210 and second, the first drive component 210 and the second drive component 220 are oppositely arranged.Collection snow component 300
For gathering accumulated snow.Snow slinging mechanism 400 is corresponding with collection snow component 300, and snow slinging mechanism 400 is rotatably installed in frame body 100
On.Controlling organization 500 includes locating module 510 and avoidance module 520, and locating module 510 is used to determine the specific of snowplough 10
Position, avoidance module 520 is used for disturbance of perception thing so that snowplough 10 shifts to an earlier date avoiding barrier.
In certain embodiments, first drive component 210 includes universal wheel 211, and the quantity of universal wheel 211 can be
Two, two universal wheels 211 are arranged on the left and right sides of the bottom rear end of frame body 100；The quantity of driving wheel 221 can be two
Individual, two driving wheels 221 are arranged on the left and right sides of the bottom front of frame body 100.Specifically, the radius of driving wheel 221 can
With the radius more than universal wheel 211.During snowplough 10 advances, driving wheel 221 provides driving force, meanwhile, driving wheel
221 carry most of weight of snowplough 10, and universal wheel 211 carries the fraction weight of snowplough 10, can so mitigate
The pressure of universal wheel 211, it is ensured that snowplough 10 is turned smooth, and radius of turn is small.
Collection snow component 300 includes centrifugal impeller, and centrifugal impeller is arranged on the bottom of frame body 100, and centrifugal impeller is direct
Contacted with accumulated snow, when centrifugal impeller rotates at a high speed, the accumulated snow that centrifugal impeller volume collects is under the left and right of centrifugal force through snow slinging mechanism
400 dish out.
Specifically, snow slinging mechanism 400 includes motor, driving wheel, driven pulley 420, snow throwing cylinder 410 and transmission belt.Drive
Dynamic motor is arranged in frame body 100, and motor can be servomotor or stepper motor.Driving wheel and motor
Output shaft is connected, and driven pulley 420 is corresponding with driving wheel, and snow throwing cylinder 410 is connected with driven pulley 420, and transmission belt is engaged in simultaneously
On driving wheel and driven pulley 420.When motor is rotated, motor drives driving wheel to rotate, and driving wheel passes through conveyer belt
Driving driven pulley 420 is rotated, so that snow throwing cylinder 410 follows driven pulley 420 to rotate.Therefore, when motor rotates certain
Angle when, snow throwing cylinder 410 can be driven to rotate rational angle, thus adjust snow throwing cylinder 410 throwing snow direction.
Locating module 510 includes indoor positioning component and outdoor positioning component, in certain embodiments, indoor positioning component
Including laser locator.Specifically, laser locator can include maker, transmitter, receiver, turntable and information processing
Device, during work, first, electroporation is light pulse by maker, and transmitter launches light pulse by turntable, is received
Device will reflect back into the light pulse come and be reduced into electric pulse, finally, and message handler carries out the electric pulse of reception at related data
Reason.Before measure next time, turntable will deflect certain angle, so as to ensure that 360 ° are arrived without dead angle measurement by side object
The distance of laser locator, as long as the angle that turntable is deflected every time is sufficiently small, you can according to around by each point on the object of side
Draw out a width map to the distance of laser locator, by contrast different time sections draw out map can calculate it is sharp
The position of light-seeking device in space, so as to be positioned to snowplough 10.
In other embodiments, indoor positioning component includes infrared locator, and infrared locator can use infrared
Light emitting diode, the infrared ray directive property that infrared locator is sent is strong, can be positioned on daytime and night, infrared ray is fixed
Position device can set multiple, for example, be arranged at intervals several along X-direction in frame body 100, in frame body 100 along Y-axis
Direction is arranged at intervals several, and the infrared locator of X-direction and Y direction can be received from X-direction or Y direction
Infrared signal, near two kinds of ultrared crosspoints, it may be determined that clear away the position of machine.
Outdoor positioning component includes GPS locator, for example, passing through mounted base station, base station on the courtyard or roof of user
The top visual field is spacious, and snowplough 10 sets up reliable communication relations by GPS locator and base station, so that effectively to snowplough 10
Positioning.
In certain embodiments, avoidance module 520 includes ultrasonic range finder sensor.The snowplough 10 has path planning
Function (i.e. barrier disposal ability), for the small-scale obstacle thing, snowplough 10 can be crossed over automatically, in, large obstacle,
Snowplough 10 can be evaded in time, and the accumulated snow around cleaning barrier to greatest extent.Snowplough 10 sends ultrasonic wave, ultrasonic wave
Meet and reflected with barrier, ultrasonic range finder sensor can measure barrier to sweeping according to the time difference for receiving ultrasonic wave
The distance of snow machine 10, so that snowplough 10 carries out the planning of avoiding obstacles in advance, it is to avoid produce collision with barrier, effectively
Improve the security performance of snowplough 10.Certainly, in other embodiments, avoidance module 520 can also include infrared distance measurement sensing
Device or laser range sensor etc..
Snowplough 10 also includes odometer 530, in certain embodiments, and odometer 530 can be rotary encoder, the rotation
Turn encoder on universal wheel 211 or driving wheel 221, the rotary encoder may readily obtain universal wheel 211 or drive
The information such as velocity of rotation, the forward travel distance of driving wheel 221.By the velocity of rotation and the advance that contrast universal wheel 211 or driving wheel 221
Distance, can learn the information such as the direct of travel of snowplough 10, speed and the angle turned over.In other embodiments, odometer
530 can be accelerometer and gyro sensor, and accelerometer and gyro sensor may be mounted at frame body 100
On, accelerometer and gyro sensor catch acceleration and angular speed of the snowplough 10 in each time-bands on you, to accelerating
Present speed can be tried to achieve after degree integration, displacement can be being obtained to rate integrating, and angular acceleration integration can be learnt partially
The angle turned.
Refering to Fig. 3, the snowplough 10 can independently complete work of sweeping away snow, and without human intervention, the controlling organization 500 may be used also
Including Weather information module 540, can decide in its sole discretion according to real-time weather conditions and whether deploy work of sweeping away snow.It can also wrap
Self-charging module 550 is included, Automatic-searching charging pile when electricity is low, charging continues to sweep away snow after finishing, and with night vision
Function, can round-the-clock twenty four hours execution task.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses the several embodiments of the present invention, and it describes more specific and detailed, but simultaneously
Can not therefore it be construed as limiting the scope of the patent.It should be pointed out that coming for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (9)
1. a kind of full-automatic snowplough, it is characterised in that including：
Frame body；
Drive mechanism, including the first drive component in the frame body, and it is relative with first drive component
The second drive component answered；
Collection snow component, installed in the bottom of the frame body and for gathering accumulated snow；
Snow slinging mechanism, it is corresponding and be rotatably installed in the frame body with the collection snow component；
Controlling organization, including be arranged on for the locating module for determining position in the frame body, and for avoiding barrier
Avoidance module.
2. full-automatic snowplough according to claim 1, it is characterised in that first drive component is included positioned at described
Universal wheel on frame body bottom end, second drive component includes being located on the other end of the frame body bottom
Driving wheel.
3. full-automatic snowplough according to claim 1, it is characterised in that the collection snow component includes centrifugal impeller.
4. full-automatic snowplough according to claim 1, it is characterised in that the snow slinging mechanism includes being arranged on the machine
Motor on frame body, the driving wheel being connected with the output shaft of the motor, it is corresponding with the driving wheel and with
Driven pulley, the snow throwing cylinder being connected with the driven pulley, and the conveyer belt being engaged with the driving wheel and the driven pulley.
5. full-automatic snowplough according to claim 1, it is characterised in that the locating module includes indoor positioning component
With outdoor positioning component.
6. full-automatic snowplough according to claim 5, it is characterised in that the indoor positioning component includes laser positioning
Device or infrared locator.
7. full-automatic snowplough according to claim 5, it is characterised in that the outdoor positioning component includes GPS location
Device.
8. full-automatic snowplough according to claim 1, it is characterised in that the avoidance module is sensed including supersonic sounding
Device.
9. full-automatic snowplough according to claim 1, it is characterised in that the controlling organization also includes odometer, institute
State odometer include it is following in any one：
It is arranged on accelerometer and gyro sensor in the frame body；
It is arranged on the rotary encoder in the drive mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710548414.1A CN107190696A (en) | 2017-07-06 | 2017-07-06 | Full-automatic snowplough |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710548414.1A CN107190696A (en) | 2017-07-06 | 2017-07-06 | Full-automatic snowplough |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107190696A true CN107190696A (en) | 2017-09-22 |
Family
ID=59882809
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710548414.1A Pending CN107190696A (en) | 2017-07-06 | 2017-07-06 | Full-automatic snowplough |
Country Status (1)
| Country | Link |
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| CN (1) | CN107190696A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109837860A (en) * | 2017-11-27 | 2019-06-04 | 苏州宝时得电动工具有限公司 | Automatic snow cleaner |
| CN110552311A (en) * | 2018-05-31 | 2019-12-10 | 苏州宝时得电动工具有限公司 | snow sweeper control method and device and snow sweeper |
| CN110554693A (en) * | 2018-05-31 | 2019-12-10 | 苏州宝时得电动工具有限公司 | Intelligent snow sweeper and obstacle avoidance method thereof |
| WO2020248293A1 (en) * | 2019-06-13 | 2020-12-17 | 深圳汉阳科技有限公司 | Positioning method for automatic snow sweeping device |
| CN113758574A (en) * | 2021-09-06 | 2021-12-07 | 浙江亚特电器有限公司 | Snow sweeper spouts snow mouthful live object detection device |
| WO2024065302A1 (en) * | 2022-09-28 | 2024-04-04 | 深圳汉阳科技有限公司 | Snow-collecting mechanism and snow-removing device |
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| CN109837860A (en) * | 2017-11-27 | 2019-06-04 | 苏州宝时得电动工具有限公司 | Automatic snow cleaner |
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| CN113758574A (en) * | 2021-09-06 | 2021-12-07 | 浙江亚特电器有限公司 | Snow sweeper spouts snow mouthful live object detection device |
| WO2024065302A1 (en) * | 2022-09-28 | 2024-04-04 | 深圳汉阳科技有限公司 | Snow-collecting mechanism and snow-removing device |
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Application publication date: 20170922 |