CN109853451A - Intelligent snow grooming machines people based on more perception interactives - Google Patents
Intelligent snow grooming machines people based on more perception interactives Download PDFInfo
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- CN109853451A CN109853451A CN201910264628.5A CN201910264628A CN109853451A CN 109853451 A CN109853451 A CN 109853451A CN 201910264628 A CN201910264628 A CN 201910264628A CN 109853451 A CN109853451 A CN 109853451A
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Abstract
The invention discloses a kind of intelligent snow grooming machines people based on more perception interactives mainly includes that snow pushing assembly, solar panels shell, camera, positioning device, communication device, floating snow remove assembly, 4+2 in-wheel driving assembly etc.；The snow pushing assembly can be completed to control the rotary-cutting type pushing snowboard height based on differential thought by control push-rod electric machine；It is mainly to pass through high pressure draught to blow away remaining floating snow that the floating snow, which removes assembly,；The 4+2 in-wheel driving assembly can make self-deformation advance；The camera is used for image information collecting；The positioning device is used for the acquisition of location information；The communication device is used for the transmission of various data；The solar panels shell is supplemented for instant electric energy.It is mainly used for solving that current snow grooming machines volume is big, at high cost, flexibility is poor based on the intelligent snow grooming machines people of more perception interactives, the problems such as no intelligence, effect of sweeping away snow is poor.
Description
Technical field
The present invention relates to orientation conveying technology fields, and in particular to a kind of intelligent snow grooming machines based on more perception interactives
People.
Background technique
It in China snow-removal operation field, manually sweeps away snow time-consuming and laborious, and has in labout process and slip, tumble injury, frostbite
Risk；Large size is swept away snow equipment, and it is big that there are energy consumptions, and the energy consumed is almost non-renewable energy resources, aggravates environmental pollution,
Equipment of sweeping away snow is expensive, and the disadvantages of be only suitable for broad place.Therefore occurring some snow grooming machines people on the market can have
The related labour personnel that avoid of effect are in cold rugged environment, avoid tumble injury in labout process, slide into, the generation of frostbite,
It is time saving and energy saving, and they mainly use the requirement that energy-saving and emission-reduction are also complied with using electric energy as the energy, but existing snow grooming machines people
Structure there are various deficiencies.Such as: the control device to sweep away snow generally uses hydraulic or pneumatic shuttle, and hydraulic device is in cold
Season cleverness poor activity, pneumatic shuttle cause cost to increase air-tightness requirement height, the most important, hydraulic and air pressure member
Part be precisely controlled being difficult, and cannot be accurately positioned, and dynamics is influenced by load state, therefore it is low to control precision；Crawler type is driven
Dynamic chassis shows well when snow grooming machines people sweeps away snow work, but snow grooming machines people can also be related to navigation feature, at this time crawler belt
Although stablizing, still speed is slow, and mobility flexibility is poor, causes navigation stage efficiency not high；Rubber-tyred drives chassis, general
All over four-wheel drive chassis is used, independent four-wheel is rarely employed, generallys use the identical driving method of two tire speeds of every side,
The maximum velocity ratio crawler type that can be provided is big, showed in the adherence properties of snowfield it is good, but in turning to the mill of tire
Damage it is heavier, compare crawler type, performance capabilities of the tire in steering be not good enough；Snow-removing device, part machine will be avenged using rotary-cut piece
It is transmitted to snow throwing equipment, snow is then thrown roadside again, this mode has some reality, it is needed very big first
Snow could be thrown to a distant place by power, secondly pavement behavior it is poor when, both can road pavement damage, also rotary-cut piece will also result in
Damage, therefore this sweeps away snow, there are certain drawbacks for mode；Part machine directly uses hydraulic or pressure control pushing snowboard, passes through
The angle for changing pushing snowboard, is pushed into side or front for snow, but the cleaning effect of this mode is on the poor road of road conditions
Local expression effect is not good enough, and main cause is hydraulic and pneumatic element keeps the performance of original state in the case where unstable by external force
It is poor；Snowplough is small in size, flexibly and easily also determines that it can not be equipped with high capacity cell, for this purpose, existing intelligence is swept away snow
Robot shows cruising ability deficiency problem；To sum up, existing structure of sweeping away snow needs in the practical application of intelligent snow grooming machines people
It is perfect, thus design it is a kind of it is high-efficient, small in size, cruising ability is strong, at low cost, control flexibly, control precision is high, flexibility
High snow grooming machines people becomes top priority；Therefore a kind of intelligent snow grooming machines people is devised out according to the above problem, for solving
The problems such as cost and risk for certainly sweeping away snow compared with the accumulated snow cleaning of narrow road section, manually, and make up existing structure of sweeping away snow there are volumes
Greatly, at high cost, structure is complicated, flexibility is insufficient, control precision it is low, the deficiency of effect of sweeping away snow difference.Based on more perception interactives
Intelligent snow grooming machines people, be mainly used for the cleaning of narrow road section, cell street, garden and campus accumulated snow.
Summary of the invention
To solve the above problems, the present invention proposes a kind of intelligent snow grooming machines people based on more perception interactives.
The present invention is achieved through the following technical solutions:
A kind of intelligent snow grooming machines people based on more perception interactives, including host computer and robot body, robot body packet
Include rotary-cut piece, the rotary-cutting type pushing snowboard based on differential thought, snow pushing assembly, pushing snowboard retainer, push-rod electric machine, outside solar panels
Shell, steering engine, binocular camera, positioning device, communication device, high pressure tank, non-skid tyre, ultrasonic sensor, pressure stabilizing and
Regulator, gas-guide tube, floating snow remove assembly, separating shovel, driving motor, pin shaft connection, blowning installation, direct current generator, pressure
Bearing, 4+2 in-wheel driving assembly, torsion steering engine；The 4+2 in-wheel driving assembly is by movable chassis, six groups of independent controls
Driving motor and non-skid tyre composition, are connected by tapered roller bearing and pin shaft between movable tray, six groups of independent controls
Driving motor is connect by bolt with chassis, and movable chassis is divided into front and back two parts, passes through tapered roller bearing and mandrel axis
System's connection can make two parts that a certain range of relative rotation occur；The snow pushing assembly is pushed away by the rotary-cutting type based on differential thought
Snow slab, pushing snowboard retainer and push-rod electric machine composition, are connect by pin shaft with fuselage, and control push-rod electric machine completion pair can be passed through
The adjustment of rotary-cutting type pushing snowboard height based on differential thought.
The floating snow is removed assembly and is made of blowning installation, gas-guide tube, pressure stabilizing and regulator, high pressure tank, and snow is floated
Removing assembly is mainly the high pressure gas passed through in high pressure tank will by gas operated device and pneumatic original part formation high pressure draught
The floating snow of residue after snow pulling device is passed by is blown away, and several inflatable mouths of blowning installation, which turn to, can control, can be to prescribed direction
Remove floating snow；When the pressure value of high pressure tank is lower than setting value, internal unit automatic boosting to setting can be passed through
Pressure value.
The snow pushing assembly and fuselage and floating snow remove assembly and the relative motion of fuselage is all made of push-rod electric machine control
Its posture, for compensating for the low defect of hydraulic and pneumatic original part control precision.
The solar panels shell is located at the top of fuselage, and the blue-tooth device is located above solar panels shell, described
Positioning device is located above solar panels shell, and the ultrasonic sensor is located at solar panels shell two sides and front side, described
Steering engine and binocular camera are located above solar panels shell.
The intelligent snow grooming machines people based on more perception interactives merges multiple sensors information, and combination algorithm controls machine
Human body carries out task of sweeping away snow along correct route and posture.
Compared with prior art, the beneficial effects of the present invention are:
Rotary-cutting type pushing snowboard based on differential thought is realized by rotary-cut piece moves on to side for snow, and the bottom of pushing snowboard is several
Independent separating shovel, when encountering rough road surface, separating shovel can stretch up and down, and can remove snow is more thorough, several
A independent separating shovel to sweep away snow assembly impact resistance it is stronger.
4+2 in-wheel driving assembly is operated alone using six independent driving motors, it can provides sufficiently high work
Speed, and bigger grip performance and enough thrust are provided, and the abrasion caused by tire when can reduce steering.
The push-rod electric machine can provide sufficiently large thrust and guarantee the rotary-cutting type based on differential thought based on differential thought
The mechanical requirements of rotary-cutting type pushing snowboard, the self-locking function of push-rod electric machine can guarantee to control precision.
The floating snow is removed assembly and is made of high pressure tank, gas-guide tube, pressure stabilizing and regulator, blowning installation；The gas
Stream can blow away floating snow remaining after the removing of rotary-cutting type pushing snowboard, realize the direction of air-flow by adjusting inflatable mouth rotational angle
Control；The floating snow removing assembly exports stable air-flow and the operation stability of robot can be improved.
The solar panels shell in machine man-hour, when light is higher than a certain intensity of illumination can with automatic charging,
Energy utilization rate is improved as much as possible, improves cruising ability.
The intelligent snow grooming machines people based on more perception interactives can voluntarily be inferred to the route to advance, can be detached from
The intervention of staff, and it is efficiently completed the task of sweeping away snow.
The intelligent snow grooming machines people based on more perception interactives is divided into two parts, and a part is that host computer is placed on room
It is interior, it is responsible for complex control operation, another part is that robot body is responsible for simple control processor active task, can reduce robot
The power consumption of ontology increases its cruising ability in turn.
Detailed description of the invention
Fig. 1 is structural front view of the invention.
Fig. 2 is structure top view of the invention.
Fig. 3 is snow pushing structure working principle figure of the invention.
Fig. 4 is the part plane view of the rotary-cutting type pushing snowboard of the invention based on differential thought.
Fig. 5 is the structure connection part plane view on the movable chassis of 4+2 in-wheel driving assembly of the invention.
Rotary-cutting type pushing snowboard based on differential thought of 1- rotary-cut piece, 2-, 3- pushing snowboard retainer, 4- push-rod electric machine, 5- are too
Positive energy plate shell, 6- steering engine, 7- binocular camera, 8- positioning device, 9- communication device, 10- high-pressure gas equipment, 11- are anti-skidding
Tire, 12- ultrasonic sensor, 13- pressure stabilizing and regulator, 14- gas-guide tube, 15-4+2 in-wheel driving assembly, 16- swing rudder
The floating snow of machine, 17- blowning installation, 18- remove assembly, 19- separating shovel, 20- direct current generator, 21- snow pushing assembly, the chassis 22- front,
23 driving motors, the chassis 24- rear portion, 25- circlip, 26- pin shaft, 27- spring, 28- separating shovel ontology, 29- bolt, 30-
Tapered roller bearing, 31- gasket, 32- nut.
Specific embodiment
Present invention is further described in detail with its specific embodiment with reference to the accompanying drawing:
As shown in Figure 1 and Figure 2, a kind of intelligent snow grooming machines people based on more perception interactives, including two parts, a part are upper
Machine, another part are robot body, and robot body includes 4+2 in-wheel driving assembly (15), snow pushing assembly (21), floats
Snow remove assembly (18), push-rod electric machine (4), solar panels shell (5), steering engine (6), binocular camera (7), positioning device (8),
Communication device (9), high pressure tank (10), ultrasonic sensor (12), pressure stabilizing and regulator (13), divide gas-guide tube (14)
From shovel (19), blowning installation (17), 4+2 in-wheel driving assembly (15), 4+2 in-wheel driving assembly (15) by movable chassis (22)
(23), driving motor (23), non-skid tyre (11) composition；Snow pushing assembly by based on differential thought rotary-cutting type pushing snowboard (2), push away
Snow slab retainer (3), direct current generator (20), separating shovel (19), rotary-cut piece (1), push-rod electric machine (4), pin shaft (26), spring
(27), separating shovel main body (28), circlip (25) composition；Steering engine (6) one end connect one end and the sun with binocular camera (7)
Energy plate shell (5) connects, and ultrasonic sensor (12) is located on front side of solar panels shell (5) and two sides；Movable chassis is divided into
Chassis front (22), chassis rear portion (24) two parts, the mandrel axis that centre is formed with tapered roller bearing (30) and bolt (29)
System's connection；Solar panels shell (5) is placed in chassis front (22) above, steering engine (6), binocular camera (7), positioning device (8),
Communication device (9) is sequentially placed on the upside of solar panels shell (5)；Before snow blowing apparatus (17) is placed in chassis front (22) below
Side；It is fixed by bolts in the middle part of chassis rear portion (24) below there are two driving motor in 4+2 in-wheel driving assembly (15),
Chassis front (22) is fixed by bolts in below there are four driving motor；Before snow pushing assembly (21) is located at robot entirety
Side, is connect by pin shaft with 4+2 in-wheel driving assembly (15).4+2 in-wheel driving assembly (15) is by movable chassis (22)
(24), driving motor (23), non-skid tyre (11) composition, movable chassis is divided into front and back two parts, passes through a pair between the two
Tapered roller bearing (20) and mandrel coupling of shaft system (21), can relatively rotate, to realize the movable mesh of drive assembly
's；Chassis front (22) is installed by four non-skid tyres (11), (24) two, chassis rear portion non-skid tyre (11), chassis front and back two
Point be in same level, front and back any portion operate normally in the state of, another part can within the scope of certain angle with
Rotation is generated centered on bolt (29), the two-part non-skid tyre in front and back (11) can generate certain speed under certain driving
It is poor to spend, and the driving wheel made reduces the abrasion to non-skid tyre (11) when turning round；Driving motor (23) is connected through a screw thread and lives
The connection of dynamic formula chassis, non-skid tyre (11) are connected by key and the output axis connection of driving motor (23)；Assembly sweep away snow by being based on
The rotary-cutting type pushing snowboard (2) of differential thought, pushing snowboard retainer (3), direct current generator (20), separating shovel (19), rotary-cut piece (1),
Push-rod electric machine (4) composition, wherein rotary-cutting type pushing snowboard (2) and pushing snowboard retainer (3) are welding, and rotary-cut piece (1) passes through bearing
It is linked with pushing snowboard, direct current generator (20) is connect with rotary-cut piece (1) by shaft coupling, direct current generator (20) and pushing snowboard retainer
For screw connection.
The snow pushing assembly (21) is by rotary-cutting type pushing snowboard (2), pushing snowboard retainer (3) and push rod based on differential thought
Motor (4) composition, the snow pushing assembly (21) are connect by pin shaft with fuselage, the rotary-cutting type pushing snowboard (2) based on differential thought
It is connect by pushing snowboard retainer (3) and push-rod electric machine (4) with fuselage, the stroke by controlling push-rod electric machine (4) controls, in turn
The height of the rotary-cutting type pushing snowboard (2) based on differential thought is controlled, push-rod electric machine (4) sets an initial stroke and to be based on
The rotary-cutting type pushing snowboard (2) of differential thought has a precompression to make spring (27) quilt on several independent separating shovels (19)
Compression, rotary-cut piece (1) carry out first step snow removing, and then remaining snow carries out second step snow removing by separating shovel (17), work as separating shovel
(19) when the accumulated snow removed is accumulated to a certain extent, rotary-cut piece (1) can remove accumulated snow, and two steps remove the snow so that effect becomes apparent from.
The separating shovel (19) is connect by Fig. 4 structure with the rotary-cutting type pushing snowboard (2) based on differential thought, the knot
Structure is made of pin shaft (26), spring (27), separating shovel ontology (28), circlip (25), and spring (27) is placed on pin shaft, pin shaft
One end pass through the rotary-cutting type pushing snowboard (2) based on differential thought axis hole and elastic washer (25) cooperated, the other end with point
It is fixed together from shovel (19), therefore separating shovel (19) can do linear reciprocating motion, and separating shovel (19) root by axis hole
According to the state retractable of spring, spring is in state half-compressed when work；When ground calixconcavity, on corresponding separating shovel (19)
Spring-relaxation, shovel tip decline, separating shovel (19) can shovel out the accumulated snow at low-lying place；When ground is high convex, corresponding separating shovel (19)
On spring be further compressed, shovel tip rise；Since each separating shovel (17) can stretch in a certain range, so each
The movement of separating shovel (19) will not influence the integral position of the rotary-cutting type pushing snowboard (2) based on differential thought, face bumps not
Flat road surface is still able to maintain the gentle movement of rotary-cutting type pushing snowboard, shows outstanding elimination effect.Direct current generator (20) and rotation
It is sliced (1) to be connected, rotary-cut piece (1) rotates when work, so that snow shifts to the left side of direction of advance, next be can reduce in pushing snowboard
Accumulated snow to the resistance of robot.
Movable chassis is divided into chassis front (22), chassis rear portion (22) two parts, passes through pressure bearing between the two
(30) and the mandrel coupling of shaft system of bolt (29) composition achievees the purpose that can to relatively rotate, and then realizes drive assembly activity
Purpose；The control section of robot is mainly housed above chassis front (22), high-pressure gas is housed above chassis rear portion (24)
Tank (10) installs four non-skid tyres (11), two non-skid tyres is installed below chassis rear portion (24) below chassis front (22)
(11), front and back two is in same level, and in the state that front and back any portion operates normally, another part can be at certain angle
It is rotated centered on bolt in degree range, so that the two-part non-skid tyre in front and back (11) can generate one under certain driving
Fixed speed difference reduces the abrasion of tire；Driving motor (23) is connect by bolt with movable chassis, and non-skid tyre (11) is logical
It crosses key connection and the output shaft of driving motor (23) is directly connected to, chassis front (22) two is smaller to tire wheelbase, not easy to wear
Tire, rear pair of tyres are fixed on chassis rear portion (24), and chassis front (22) pass through tapered roller bearing (30) and bolt
(29) with chassis rear portion (24), so turn to when three the plane of symmetry of non-skid tyre (11) is not occurred it is coplanar；Using 6 independent controls
The driving motor (23) of system rather than the tire group of same power can give (23) velocity error ranges of every driving motor, in this way
It not only turns to and further stablizes, flexibly, also the loss of tire is further substantially reduced.
The driving motor (23) is by master control borad independent control, and control of which signal a part is from host computer
The range information and positioning device (8) of the image information, ultrasonic sensor (12) capture that capture to binocular camera (7) capture
Coordinate information the order of optimal path that goes out of three's information algorithmization, host computer sweeps with the intelligence based on more perception interactives
Interactive information between snow robot is transmitted by communication device (9)；Another part derives from the machine that gyroscope captures
The instruction for the forward pose adjustment that people's posture information combination algorithm is made.
The positioning device (8) acquires the driving trace data on road network, and carries out ground to driving trace in host computer
Figure project, is stored in track database for operation result, provides foundation for path optimization.
The floating snow remove assembly (18) by high pressure tank (10), gas-guide tube (14), pressure stabilizing and regulator (13), blow
Device of air (17) composition；After equipment starting, several inflatable mouths blow out the high-speed flow of certain pressure, which can will be based on micro-
The rotary-cutting type pushing snowboard (2) of point thought after removing remaining floating snow blow away, after blowning installation (17) is located at snow pushing assembly (21)
Side and the front for being installed on chassis lower part, export direction towards can adjust according to demand, gas-guide tube (14) pass through car body and pressure stabilizing and
Regulator (13) connection realizes that the control to airflow direction is realized to the clear of snow by adjusting inflatable mouth windup-degree
Except the control in direction；Blowning installation (17) is mainly made of several gas outlets, pedestal, intake interface, and gas outlet and pedestal are logical
Hose is crossed to connect with voltage stabilization and regulation device (13), reach sealing under the premise of rotation gas outlet adjustment wind direction angle, gas outlet it
Between by four-bar mechanism connect, can by swing steering engine (16) carry out linkage control, with reach control blowing snow angle；Due to blowing
Port is blown to side front, so may also reach up the effect successively cleaned, compared to roller brush, disc brush, which removes assembly
(18) vibration of fuselage can be reduced by exporting stable air-flow by pressure stabilizing and regulator (13), to improve the steady of robot
It is qualitative, make its state that remains a constant speed at work, and then improve operation control precision, improves the efficiency that clears the snow；Work as high pressure tank
(10) it when pressure sensor experiences the pressure low setting value of high pressure tank (10), can be risen automatically by internal unit
Pressure, guarantees the normal operation of robot.
The solar panels shell (5) is mainly process by solar panel according to certain shapes, the solar panels
Shell (5) can be charged the battery when being higher than a certain intensity of illumination, be solved to a certain extent in machine man-hour, light
The problem of continuation of the journey of robot, improve the cruising ability of robot.
The communication device (9) is that the information carried out between robot body and host computer based on 4G technology is transmitted, multiple
Miscellaneous control algolithm gives host computer and carries out operation, can reduce the power consumption of robot body, and increase its cruising ability.
The snow pushing assembly (21) realizes the control of the rotary-cutting type pushing snowboard (2) based on differential thought by push-rod electric machine (4)
System, can increase the stability and accuracy of control, be suitble to use in cold environments.The fuselage maximum movement speed 5m/
S, thrust maximum 2500N, sweep away snow assembly movement velocity 0.048m/s, the long 1.2m of fuselage, the wide 0.6m of fuselage, total growth of sweeping away snow
0.65m。
The specific embodiment of invention is described above.It is to be appreciated that the invention is not limited to above-mentioned spies
Determine embodiment, those skilled in the art can make various deformations or amendments within the scope of the claims, this has no effect on
Substantive content of the invention.
Claims (7)
1. a kind of intelligent snow grooming machines people based on more perception interactives, including 4+2 in-wheel driving assembly (15), snow pushing assembly
(21), float snow remove assembly (18), push-rod electric machine, solar panels shell (5), steering engine (6), camera (7), positioning device (8),
Communication device (9), high pressure tank (10), ultrasonic sensor (12), pressure stabilizing and regulator (13), divide gas-guide tube (14)
From shovel (19), blowning installation (17)；The 4+2 in-wheel driving assembly (15) is by movable chassis (22) (24), driving motor
(23), non-skid tyre (11) forms；Snow pushing assembly (21) is kept by rotary-cutting type pushing snowboard (2), pushing snowboard based on differential thought
Frame (3), direct current generator (20), separating shovel (19), rotary-cut piece (1), push-rod electric machine (4) composition；Described steering engine (6) one end and binocular
Camera (7) connection one end is connect with solar panels shell (5), before ultrasonic sensor (12) is located at solar panels shell (5)
Side and two sides；Movable chassis is divided into chassis front (22), chassis rear portion (24) two parts, and centre is with tapered roller bearing (30)
And the mandrel coupling of shaft system of bolt (29) composition；The solar panels shell (5) is placed in chassis front (22) above, steering engine (6),
Camera (7), positioning device (8), communication device (9) are sequentially placed on the upside of solar panels shell (5)；The snow blowing apparatus and steady
Pressure and regulator (13) are connected through hose, are placed in the front of chassis front (22) below；The 4+2 in-wheel driving assembly (15)
In there are two driving motor (23) be fixed by bolts in chassis rear portion (24) in the following, passing through bolt there are four driving motor (23)
It is fixed on chassis front (22) below；Snow pushing assembly (21) is located at the front of robot entirety, passes through pin shaft and the wheeled drive of 4+2
Dynamic assembly (15) connection.
2. a kind of intelligent snow grooming machines people based on more perception interactives according to claim 1, it is characterised in that: sweep away snow total
At by the rotary-cutting type pushing snowboard (2) based on differential thought, pushing snowboard retainer (3), direct current generator (20), separating shovel (19), rotation
It is sliced (1), push-rod electric machine (4) composition, wherein rotary-cutting type pushing snowboard (2) and pushing snowboard retainer (3) are welding, rotary-cut piece (1)
Be that bearing connect with pushing snowboard retainer, direct current generator (20) and rotary-cut piece (1) connect for shaft coupling, direct current generator (20) with push away
Snow slab retainer (3) is connected through screw；The separating shovel (19) is pushed away by axle sleeve structure and the rotary-cutting type based on differential thought
Snow slab (2) connection, the axle sleeve structure are made of pin shaft (26) and spring (27), and spring (27) is placed on pin shaft (26), pin shaft
(26) one end is connect with the rotary-cutting type pushing snowboard (2) based on differential thought through sliding pair, and the other end and separating shovel ontology (28) are solid
It is fixed, therefore separating shovel (19) can do linear reciprocating motion by axle sleeve structure, and separating shovel (19) can be according to suffered by itself
Pressure size compression, elongation spring (27), to make snow pushing assembly (21) that can preferably cope with Different Ground, and then reach suitable
Answer the purpose of different operating environment；As shown in Figure 4.
3. a kind of intelligent snow grooming machines people based on more perception interactives according to claim 1, it is characterised in that: 4+2 wheel
Formula drive assembly (15) is made of movable chassis, driving motor (23), non-skid tyre (11), before movable chassis is divided into chassis
Portion (22), chassis rear portion (24) two parts pass through a pair of of tapered roller bearing (30) and the heart of bolt (29) composition between the two
Axis coupling of shaft system can achieve the purpose of relative rotation；Chassis front (22) is installed by four non-skid tyres (11), chassis rear portion
(24) two non-skid tyres (11) are installed, front and back two parts level height is identical, the state that any portion operates normally in front and back
Under, another part can generate rotation within the scope of certain angle centered on shaft, and the two-part non-skid tyre in front and back (11) can
To generate certain speed difference under certain driving, the driving wheel made reduces the abrasion to non-skid tyre (11) when turning round；
Driving motor (23) is connect by bolt with movable chassis, and non-skid tyre (11) is linked defeated with driving motor (22) by key
Axis connection out.
4. a kind of intelligent snow grooming machines people based on more perception interactives according to claim 1, it is characterised in that: described floating
Snow removes assembly (18) by high pressure tank (10), gas-guide tube (14), pressure stabilizing and regulator (13), blowning installation (17) group
At；After equipment starting, several inflatable mouths blow out the high-speed flow of certain pressure, which can be by the rotary-cut based on differential thought
Remaining floating snow is blown away after formula pushing snowboard (2) removing, and blowning installation (17) is located at the rear of snow pulling device, export direction Chao Kegen
It is adjusted according to demand, gas-guide tube (14) passes through car body and connect with pressure stabilizing and regulator (13), by adjusting inflatable mouth windup-degree
To realize the control to airflow direction and then realize the control in the removing direction to snow；Blowning installation (15) is mainly gone out by several
Port, pedestal, intake interface composition, gas outlet is connect by rotary joint with pedestal, is rotated out of with reaching to put before sealing
The purpose that port adjusts the angle passes through swing steering engine (16) by four-bar mechanism connection between gas outlet and carries out linkage control
System, to achieve the purpose that control blowing snow angle；Since inflatable mouth is blown to diagonally forward, so may also reach up the effect successively cleaned
Fruit, the disadvantage that the vibration compared to roller brush, disc brush causes fuselage unstable greatly, the floating snow remove assembly (16) and pass through pressure stabilizing and tune
Pressure device (13), which exports stable air-flow, can greatly improve the stability of robot, make its state that remains a constant speed at work,
And then operation control precision is improved, improve the efficiency that clears the snow；When the pressure sensor of high pressure tank (10) experiences high-pressure gas
When the pressure of tank (10) is lower than certain value, the normal operation of robot can be guaranteed by internal unit automatic boosting.
5. a kind of intelligent snow grooming machines people based on more perception interactives according to claim 1, it is characterised in that: it is described too
Positive energy plate shell (5) is mainly process by solar panel according to certain shapes, and the solar panels shell (5) is in robot
When work, can solve to a certain extent low ask of continuing a journey of robot when light is higher than a certain intensity of illumination with automatic charging
Topic, improves the cruising ability of robot.
6. a kind of intelligent snow grooming machines people based on more perception interactives according to claim 1, it is characterised in that: the base
Multiple sensors information is merged in the intelligent snow grooming machines people of more perception interactives, combination algorithm controls robot body along correct
Route and posture carry out task of sweeping away snow.
7. a kind of intelligent snow grooming machines people based on more perception interactives according to claim 1, it is characterised in that: the machine
Body maximum movement speed 5m/s, thrust maximum 2500N, snow pushing assembly (21) movement velocity 0.048m/s, the long 1.2m of fuselage, fuselage
Wide 0.6m, snow pushing assembly (21) long 0.65m.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910264628.5A CN109853451A (en) | 2019-04-03 | 2019-04-03 | Intelligent snow grooming machines people based on more perception interactives |
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| CN201910264628.5A CN109853451A (en) | 2019-04-03 | 2019-04-03 | Intelligent snow grooming machines people based on more perception interactives |
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| CN109853451A true CN109853451A (en) | 2019-06-07 |
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| CN201910264628.5A Pending CN109853451A (en) | 2019-04-03 | 2019-04-03 | Intelligent snow grooming machines people based on more perception interactives |
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| CN (1) | CN109853451A (en) |
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| CN110144846A (en) * | 2019-06-27 | 2019-08-20 | 新疆大学 | It is a kind of based on the multi-faceted multi-functional plough device people being switched fast |
| US20230116186A1 (en) * | 2021-10-12 | 2023-04-13 | National Institute of Meteorological Sciences | Mobile device for measuring amount of snowfall and method of controlling the same |
| US11982786B2 (en) * | 2021-10-12 | 2024-05-14 | National Institute of Meteorological Sciences | Mobile device for measuring amount of snowfall and method of controlling the same |
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| US11982786B2 (en) * | 2021-10-12 | 2024-05-14 | National Institute of Meteorological Sciences | Mobile device for measuring amount of snowfall and method of controlling the same |
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