CN110312834A

CN110312834A - Automatic snow equipment and its safe snow throwing method

Info

Publication number: CN110312834A
Application number: CN201880003805.8A
Authority: CN
Inventors: 赵凤丽; 查霞红; 程坤
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2017-09-04
Filing date: 2018-09-04
Publication date: 2019-10-08
Anticipated expiration: 2038-09-04
Also published as: CN110312834B

Abstract

A kind of snow dished out or field trash will not be to the automatically walk snow removing equipments that people or object damage, comprising: walking module (2200), driving snow removing equipment are mobile (2000)；Operational module (2300), including work motor and the snow slinging mechanism driven by work motor, the accumulated snow and field trash and snow slinging mechanism of dishing out on snow slinging mechanism collection ground under the driving of work motor, the maximum height away from ground is referred to as snow throwing height to ejecta in the sky；And control module (2100), it is configured to control operational module or walking module makes snow throwing height no more than predetermined snow throwing height threshold.

Description

Automatic snow equipment and its safe snow throwing method

Technical field

The present invention relates to field of intelligent control, more particularly to a kind of automatically walk snow removing equipment.

Background technique

A large amount of accumulated snow are accumulated after winter snows on road surface, bring many troubles to people's trip.Removing road ice and snow mainly has the several methods such as artificial snow removing, snow melt snow removing and snow removal with machine.Hand sweeping manually removes the snow large labor intensity, time-consuming and laborious, and sweeping efficiency is not also high.And using thermal energy or dispense chemical agent and promote the method for snow melting energy consumption is high, at high cost, pollution and corrosion are easily caused to environment and road surface, are suitable only for some special occasions.And snow removal with machine equipment used at present but it is bulky because using, structure is complicated, and higher cost, effect is poor for snow removing, road pavement has the reasons such as certain destruction, influence using.

Small-sized machine formula snow-clearing car is mainly made of prime mover, transmission device, collection snow device, snow throwing device and operating system at present.Prime mover can use motor or engine, mostly use gasoline engine or diesel engine greatly at present；Collection snow device is used to collect accumulated snow, mainly uses snow blade or helical form stirring cage or rubber round brush etc.；Snow throwing device is to throw the accumulated snow of collection in the side or collection device on road.Main mode has snow throwing impeller and two kinds of air blower；Operating device mainly controls the operating of equipment, and the advance and driving direction of machine are realized by hand push.In this way under Manual-pushing, deicing snow breaker constantly advances, and can be achieved with continuously removing accumulated ice and accumulated snow.

In order to reduce the labor intensity of operator, there is the snow blower of some self-travelings, that is the walking of snow blower is driven by prime mover, and realized by various mechanical driving devices makes snow blower constantly advance while efficiently clearing the snow, to largely save manpower.

Lack intelligent snowplough in the prior art, intelligent snowplough should the degree of automation it is higher, cost of use is low, the laborsaving snow removing equipment time saving, snow removing effect is good of user, accumulated snow can be rooted out rapidly after snow, so that people be facilitated to go on a journey.

In entitled " the automatically walk snow removing equipment " of same Applicant (Suzhou Baoshide Electric Tool Co., Ltd), the Chinese earlier application (hereinafter indicated as Chinese patent application CN201710065902.7) application No. is 201710065902.7, the high intelligent snowplough of intelligence degree is proposed, and also proposed and can control momentum when field trash leaves snow slinging mechanism in order to avoid the field trash dished out will not be to the automatically walk snow removing equipment that people or object damage.The earlier application is incorporated by by the application by quoting, and is recorded just as full content the same herein.

There is no control snow throwing height in the prior art to prevent hurting sb.'s feelings or the security control scheme of object.

Summary of the invention

In view of the foregoing, the present invention is proposed.

According to an aspect of the invention, there is provided a kind of snow dished out or field trash will not be to the automatically walk snow removing equipments that people or object damage, comprising: walking module, driving snow removing equipment are mobile；Operational module, including work motor and the snow slinging mechanism driven by work motor, the accumulated snow and field trash and snow slinging mechanism of dishing out on snow slinging mechanism collection ground under the driving of work motor, the maximum height away from ground is referred to as snow throwing height to ejecta in the sky；Control module, is configured to control operational module or walking module makes the snow throwing height no more than predetermined snow throwing height threshold.

Predetermined snow throwing height threshold is 0.8 to 1.1 meters in one of the embodiments,.

Predetermined snow throwing height threshold is 0.8 meter in one of the embodiments,.

In one of the embodiments, snow slinging mechanism includes the snow removing head around center axis thereof, the work motor driving snow removing head rotation is to be collected into snow slinging mechanism for the accumulated snow on ground and field trash, wherein the control module is configured to, when detecting that speed of dishing out reaches predetermined speed threshold value, control snow throwing height is lower than predetermined snow throwing height threshold.

Wherein the value range of predetermined speed threshold value is 18 to 19 meter per seconds in one of the embodiments,.

Snow removing head radius is 0.088 meter in one of the embodiments, and snow removing head revolving speed is 1800 to 2000 revs/min.

In one of the embodiments, the speed when snow slinging mechanism dishes out ejecta is referred to as speed of dishing out, it is relative to horizontal direction initially to dish out that raise angle be to dish out and raise angle, the height of throw point is elemental height, wherein by control speed of dishing out, dish out raise angle, in elemental height at least one of control snow throwing height.

Wherein snow removing head radius is 0.08 meter to 0.12 meter in one of the embodiments, and the revolving speed for the head that removes the snow is 1500 to 2500 revs/min, and the value range of predetermined snow throwing height threshold is 0.8 to 1.1 meters.

Wherein elemental height is 200mm to 800mm in one of the embodiments,.

Control dishes out speed as 15m/s to 20m/s in one of the embodiments,.

It is -10 degree to 25 degree that control, which dishes out and raises angle, in one of the embodiments,.

Control dishes out speed as 15m/s to 20m/s in one of the embodiments, and dishing out and raising angle is -10 degree to 25 degree.

Control dishes out speed as 15m/s to 20m/s in one of the embodiments, and dishing out and raising angle is -10 degree to+25 degree, and elemental height is 200mm to 800mm.

Wherein snow removing head radius is 0.08m to 0.12m in one of the embodiments, and control snow removing head revolving speed is 1500 revs/min to 2500 revs/min.

Control dishes out speed as 18m/s to 19m/s in one of the embodiments, and dishing out and raising angle is 15 degree.

Wherein snow removing head radius is 0.088m in one of the embodiments, and control revolving speed is 1800 revs/min to 2000 revs/min.

Control snow throwing raises angle and is negative in one of the embodiments, and elemental height is less than or equal to 1 meter.

It in one of the embodiments, further include controlling snow throwing distance simultaneously to meet pre-provisioning request.

In one of the embodiments, snow slinging mechanism includes the snow removing head around center axis thereof, the work motor driving snow removing head rotation is to be collected into snow slinging mechanism for the accumulated snow on ground and field trash, the radius for wherein giving elemental height and the head that removes the snow by the revolving speed of control snow removing head and/or dishes out and raises angle and control snow throwing height.

It wherein further gives to dish out in one of the embodiments, and raises angle, snow throwing height is controlled by the revolving speed of control snow removing head.

In one of the embodiments, automatic snow equipment further include: snow removing head Rotating speed measring component, for detecting the revolving speed of snow removing head, and when the revolving speed for the head that removes the snow is greater than the first desired speed threshold value, what control module was controlled such that ejecta dishes out that raise angle be first to raise angle.

In one of the embodiments, when the revolving speed for the head that removes the snow is greater than the second desired speed threshold value, what control module was controlled such that ejecta dishes out that raise angle be second to raise angle, wherein the second desired speed threshold value, less than the first desired speed threshold value, described second, which raises angle, raises angle greater than first.

Automatic snow equipment in one of the embodiments, further include: dish out and raise angle detection part, dish out for detecting and raise angle, and when dish out raise that angle is predetermined greater than first to raise angle threshold value when, control module is controlled such that the revolving speed of snow removing head is the first revolving speed.

In one of the embodiments, when dish out raise that angle is predetermined greater than second to raise angle threshold value when, control module is controlled such that the revolving speed of snow removing head is the second revolving speed, wherein the second predetermined angle threshold value of raising makes a reservation for raise angle threshold value less than first, second revolving speed is greater than the first revolving speed.

Automatic snow equipment in one of the embodiments, further include: be based on environmental resitance situation, will not consider that resistance situation is tuned up at least one of the determining revolving speed of snow throwing height and Yang Xue angle.

Automatic snow equipment in one of the embodiments, further include: snow slinging mechanism further include: snow throwing tube and snow throwing cylinder, snow throwing tube gives the ejecta secondary power from snow removing head, and it is dished out from snow throwing cylinder.

In one of the embodiments, wherein by the control snow removing revolving speed of head, snow throwing tube revolving speed, dish out and raise at least one of angle and control snow throwing height.

Automatic snow equipment in one of the embodiments, further include: be set to the baffle arrangement of snow slinging mechanism end, wherein baffle angle is adjustable, can adjust to dish out by controllable register angle and raise angle.

The control module makes the snow throwing height no more than predetermined snow throwing height threshold according to the speed that the thickness of snow adjusts walking module in one of the embodiments,.

When the thickness avenged in one of the embodiments, is less than 4cm, the speed of travel that control module controls walking module is 20-30m/min.

When the thickness avenged in one of the embodiments, is greater than 4cm, the speed of travel that control module controls walking module is 10-25m/min.

Automatic snow equipment in one of the embodiments, further include: the grid of snow slinging mechanism inside or end is set to, for returning field trash shelves, to reduce the field trash in ejecta.

The grid interval is less than 50mm in one of the embodiments,.

Snow slinging mechanism further includes snow throwing cylinder in one of the embodiments, and the snow throwing cylinder can rotate in the horizontal direction.

Automatic snow equipment in one of the embodiments, further include: the pocket added with ventilating structure in snow throwing cylinder, ventilating structure is made or is set as with holes by gas permeable material, so that ejecta leaks into pocket from ventilating structure.

Automatic snow equipment further includes the combination of following throwing elevation and/or ejecta energy management structures in one of the embodiments:

It is set to the baffle arrangement of snow slinging mechanism end, baffle angle is adjustable, can adjust to dish out by controllable register angle and raise angle；

It is set to the grid of snow slinging mechanism inside or end, for returning field trash shelves, to reduce the field trash in ejecta；

And the pocket with airing function or cavernous structure.

The present invention also provides a kind of snow that control automatically walk snow removing equipment makes or the safe snow throwing methods that field trash will not damage people or object, the automatically walk snow removing equipment includes walking module, operational module and control module, and the safe snow throwing method includes:

It is mobile by walking module driving snow removing equipment；

Accumulated snow and field trash by work motor driving snow slinging mechanism collection ground and snow slinging mechanism of dishing out, the maximum height away from ground is referred to as snow throwing height to ejecta in the sky；And

Operational module is controlled by control module or walking module makes the snow throwing height no more than predetermined snow throwing height threshold.

Snow slinging mechanism includes the snow removing head around center axis thereof in one of the embodiments, and the work motor driving snow removing head rotates to which the accumulated snow on ground and field trash are collected into snow slinging mechanism,

Wherein the control module is configured to, and when detecting that speed of dishing out reaches predetermined speed threshold value, control snow throwing height is not more than predetermined snow throwing height threshold.

The speed when snow slinging mechanism dishes out ejecta in one of the embodiments, is referred to as speed of dishing out, and relative to horizontal direction initially to dish out that raise angle be to dish out and raise angle, the height of throw point is elemental height, wherein

By control speed of dishing out, dish out raise angle, in elemental height at least one of control snow throwing height.

Wherein elemental height is 200mm to 800mm in one of the embodiments,.

Control dishes out speed as 15m/s to 20m/s in one of the embodiments,.

Control dishes out speed as 15m/s to 20m/s in one of the embodiments, and dishing out and raising angle is 0 degree to+25 degree, and elemental height is 200mm to 800mm.

Wherein snow removing head radius is 0.08m to 0.12m in one of the embodiments, and

Control snow removing head revolving speed is 1500 revs/min to 2500 revs/min.

Wherein snow removing head radius is 0.088m in one of the embodiments, and

Controlling revolving speed is 1800 revs/min to 2000 revs/min.

Control snow throwing raises angle and is negative in one of the embodiments, and elemental height is not more than 1 meter.

Safe snow throwing method further includes controlling snow throwing distance simultaneously to meet pre-provisioning request in one of the embodiments,.

The radius for wherein giving elemental height and the head that removes the snow by the revolving speed of control snow removing head and/or dishes out and raises angle and control snow throwing height.

Safe snow throwing method in one of the embodiments, further include:

The revolving speed of snow removing head is detected using snow removing head Rotating speed measring component,

When the revolving speed for the head that removes the snow is greater than the first desired speed threshold value, what control module was controlled such that ejecta dishes out that raise angle be first to raise angle.

Safe snow throwing method in one of the embodiments, further include:

When the revolving speed for the head that removes the snow is greater than the second desired speed threshold value, what control module was controlled such that ejecta dishes out that raise angle be second to raise angle,

Wherein for the second desired speed threshold value less than the first desired speed threshold value, described second, which raises angle, raises angle greater than first.

Safe snow throwing method in one of the embodiments, further include:

It is raised the detection of angle detection part by dishing out and is dished out and raise angle；

When dish out raise that angle is predetermined greater than first to raise angle threshold value when, control module is controlled such that the revolving speed of snow removing head is the first revolving speed.

Safe snow throwing method in one of the embodiments, further include:

When dish out raise that angle is predetermined greater than second to raise angle threshold value when, control module is controlled such that the revolving speed of snow removing head is the second revolving speed,

Wherein the second predetermined angle threshold value of raising makes a reservation for raise angle threshold value less than first, and second revolving speed is greater than the first revolving speed.

Safe snow throwing method in one of the embodiments, further include: further give to dish out and raise angle, snow throwing height is controlled by the revolving speed of control snow removing head.

Snow slinging mechanism in one of the embodiments, further include: snow throwing tube and snow throwing cylinder, snow throwing tube gives the ejecta secondary power from snow removing head, and it is dished out from snow throwing cylinder, and

By the control snow removing revolving speed of head, snow throwing tube revolving speed, dish out and raise at least one of angle and control snow throwing height.

In one of the embodiments, wherein:

It adjusts to dish out by controllable register angle and raises angle, to adjust snow throwing height, the baffle arrangement is set to snow slinging mechanism end, and baffle angle is adjustable.

Make the snow throwing height no more than predetermined snow throwing height threshold according to the speed that the thickness of snow adjusts walking module by control module in one of the embodiments,.

When the thickness avenged in one of the embodiments, is less than 4cm, the speed of travel for controlling walking module is 20-30m/min.

When the thickness avenged in one of the embodiments, is greater than 4cm, the speed of travel for controlling walking module is 10-25m/min.

In one of the embodiments, wherein:

Via the grid for being set to snow slinging mechanism inside or end, part or all of field trash shelves are returned, to reduce the field trash in ejecta.

The grid interval is less than 50mm in one of the embodiments,.

Safe snow throwing method in one of the embodiments, further include:

Pocket added with ventilating structure is set in snow throwing cylinder, and ventilating structure is made or is set as with holes by gas permeable material, so that ejecta leaks into pocket from ventilating structure.

Safe snow throwing method further includes that throwing elevation and/or ejecta energy are controlled by the combination of following throwing elevation and/or ejecta energy management structures in one of the embodiments:

Pocket with airing function or cavernous structure.

Safe snow throwing method further includes being based on environmental resitance situation in one of the embodiments, will not consider that resistance situation is tuned up at least one of the determining revolving speed of snow throwing height and Yang Xue angle.

The present invention also provides a kind of snow dished out or field trash will not be to the automatically walk snow removing equipment that people or object damage, comprising:

Walking module, driving snow removing equipment are mobile；

Operational module, including work motor and the snow slinging mechanism driven by work motor, the accumulated snow and field trash and snow slinging mechanism of dishing out on snow slinging mechanism collection ground under the driving of work motor, the maximum height away from ground is referred to as snow throwing height to ejecta in the sky；

The snow throwing height is not more than predetermined snow throwing height threshold.

In one of the embodiments, the speed when snow slinging mechanism dishes out ejecta is referred to as speed of dishing out, relative to horizontal direction initially to dish out that raise angle be to dish out and raise angle, the height of throw point is elemental height, and wherein elemental height is not more than predetermined snow throwing height threshold.

The automatic snow equipment further includes control module in one of the embodiments, and the control module is configured to control operational module and makes the snow throwing height no more than predetermined snow throwing height threshold.

Using automatic snow equipment according to an embodiment of the present invention and safe snow-removing method, the snow throwing height of ejecta is controlled, to avoid getting to the face of children or adult, improves safety coefficient.

Further, other than the snow throwing height of control ejecta, any of various structures or combination are arranged to control the energy of dishing out of ejecta, even if will not damage to children or adult when so that getting to children or adult.

The present invention provides a kind of robot power supply unit and robot aiming at the problem that the outer high pressure machines people of conventional chamber is only just able to satisfy work requirements to indoor carry out high-voltage charging.

A kind of robot power supply unit, including control circuit and power module；The power module is connect with the control circuit；The control circuit is used for when the robot is in running order, control the output end output first voltage of the power module, and the control circuit is also used to control the output end output second voltage of the power module when the robot is in charged state；The first voltage is higher than corresponding second voltage after charging complete.

The power module includes two or more power supplys in one of the embodiments,.

The second voltage is the output voltage of the power supply in one of the embodiments,.

The second voltage is between 42V between 60V in one of the embodiments,.

The first voltage is the sum of the output voltage after the completion of all power source charges in one of the embodiments,.

All power supply series connection are controlled when the control circuit is in running order for the robot in one of the embodiments, and the control circuit is for controlling all power sources in parallel when the robot is in charged state.

The control circuit includes control unit and switch unit in one of the embodiments,；Described control unit is used to control each power supply serial or parallel connection by the switch unit.

The quantity of the power supply is two in one of the embodiments, and is denoted as the first power supply and second source respectively；

The switch unit includes the first single-pole double-throw switch (SPDT), the second single-pole double-throw switch (SPDT)；The movable contact of first single-pole double-throw switch (SPDT) is connect with the anode of first power supply, and the first stationary contact of first single-pole double-throw switch (SPDT) is connect with the second stationary contact of positive, described second single-pole double-throw switch (SPDT) of the second source respectively；The movable contact of second single-pole double-throw switch (SPDT) and the cathode of first power supply are grounded jointly, and the first stationary contact of the second hilted broadsword single-pole double-throw switch (SPDT) is grounded jointly with the cathode of the second source；

Described control unit is used for when the robot is in running order, and the movable contact for controlling first single-pole double-throw switch (SPDT) is connect with the second stationary contact, and the movable contact for controlling second single-pole double-throw switch (SPDT) is connect with the second stationary contact；Described control unit is also used to when the robot is in charged state, and the movable contact for controlling first single-pole double-throw switch (SPDT) is connect with the first stationary contact, and the movable contact for controlling second single-pole double-throw switch (SPDT) is connect with the first stationary contact.

It in one of the embodiments, further include switching circuit；The switching circuit is connected between the load in the power module and the robot, and connect with the control circuit；When the robot is in running order, the switching circuit is in the conductive state under the control of the control circuit；When the robot is in charged state, the switching circuit is in an off state under the control of the control circuit.

A kind of robot, including load and the robot power supply unit；The load is connect with the robot power supply unit.

Above-mentioned robot power supply unit and robot have the beneficial effect that in the robot power supply unit and robot, control circuit is used for when robot is in running order, the output end for controlling power module exports first voltage, and control circuit is also used to when robot is in charged state, the output end for controlling power module exports second voltage, therefore when robot is needed compared with high working voltage, under control circuit and the collective effect of power module, even if outdoor charger can only carry out low pressure charging, the voltage (i.e. first voltage) of the output end output of power module also can satisfy significant power demand, so as to overcome high pressure machines people outside conventional chamber to be only just able to satisfy the defect of work requirements to indoor carry out high-voltage charging, improve the intelligence of robot.

Detailed description of the invention

From the detailed description with reference to the accompanying drawing to the embodiment of the present invention, these and/or other aspects of the invention and advantage will become clearer and be easier to understand, in which:

Fig. 1 (a) shows the schematic diagram of the simplification structure 1000 of automatically walk snow removing equipment according to a first embodiment of the present invention, and Fig. 1 (b) shows the schematic diagram of the simplification structure 1000 ' of automatically walk snow removing equipment according to a second embodiment of the present invention.

Fig. 2 shows the schematic diagrames of the system framework 2000 of automatically walk snow removing equipment.

Fig. 3 shows the theoretical basis schematic diagram of automatically walk snow removing equipment control snow throwing height according to the present invention.

Fig. 4 shows the purpose for control throwing elevation, detects stirring cage revolving speed, raises the flow chart of the method at angle to control to dish out.

Fig. 5 shows the purpose for control throwing elevation, and detection dishes out and raises angle, come control stirring cage revolving speed method flow chart.

Fig. 6 shows the structural schematic diagram of the automatic snow equipment according to an embodiment of the present invention for being provided with baffle arrangement.

Fig. 7 shows the structural schematic diagram of the automatic snow equipment according to an embodiment of the present invention for being provided with grid.

Fig. 8 (a) to (e) shows the exemplary structure schematic diagram of grid.

Fig. 9 shows the structural schematic diagram of the automatic snow equipment according to an embodiment of the present invention configured with pocket structure.

Figure 10 shows the flow chart that automatically walk snow removing equipment according to an embodiment of the present invention automatically controls the exemplary method of snow throwing height.

Figure 11 is the block diagram for the robot power supply unit that an embodiment provides；

Figure 12 is the block diagram of one of embodiment of the robot power supply unit of Figure 11 illustrated embodiment；

Figure 13 is the charging circuit schematic diagram of one of embodiment of the robot power supply unit of Figure 11 illustrated embodiment；

Figure 14 is the power supply circuit schematic diagram of one of embodiment of the robot power supply unit of Figure 11 illustrated embodiment.

Specific embodiment

In order to make those skilled in the art more fully understand the present invention, invention is further described in detail with reference to the accompanying drawings and detailed description.

The automatically walk snow removing equipment of the specific embodiment of the invention can be automatic snow cleaner, automatic throwing/snow spreader, automatically/snow scraper and the combination between them etc. are pushed away, their automatically walks are on the ground or surface of working region, it sweeps away snow, snow throwing, or the work of ice and snow is removed in snow pushing etc., it is also assumed that being the snow breaker with automatic work ability, here automatic work ability refers to snow breaker when carrying out Snow removing, it is operated in person without user, it is remotely controlled always without user or monitors always, user need to only complete relevant setting, it can be carried out other work, snow breaker executes relevant program automatically.

Here automatic snow blower, automatic snow cleaner and automatic snow grader are referred to as snow breaker.

Fig. 1 (a) shows the schematic diagram of the simplification structure 1000 of automatically walk snow removing equipment according to a first embodiment of the present invention comprising snow throwing cylinder；Fig. 1 (a) shows the schematic diagram of the simplification structure 1000 ' of automatically walk snow removing equipment according to a second embodiment of the present invention, does not include snow throwing cylinder.

As shown in Fig. 1 (a), automatically walk snow removing equipment 1000 includes host 1100 and snow slinging mechanism 1200.Certain automatically walk snow removing equipment 1000 further includes the work motor etc. for driving snow slinging mechanism 1200 to work, and is here main points of avoiding confusion, is not described to it.

Snow slinging mechanism 1200 includes snow removing head 1210, snow throwing cylinder 1230, snow throwing cylinder steering motor and mechanism 1220.The specific example of snow removing head 1210 for example has snow blade or stirring cage or rubber round brush etc..It is hereinafter illustrated by taking stirring cage as an example, but this is as an example rather than as limitation.

Snow removing head 1210, which is used as, scrapes snow component, around center axis thereof, the driving stirring cage rotation of work motor to which the accumulated snow on ground and field trash are collected into snow slinging mechanism, then dish out outward under the action of snow throwing cylinder steering motor and mechanism 1230 through snow throwing cylinder by collected snow.

Fig. 1 (b) shows the schematic diagram of the automatically walk snow removing equipment 1000 ' without snow throwing cylinder, and compared with Fig. 1 (a), without snow throwing cylinder 1220 and snow throwing cylinder steering motor and mechanism 1230, wherein symbol S indicates straight throwing snow throwing mouth.

For main points of avoiding confusion, stresses please refer to the description in Chinese patent application CN201710065902.7 about detailed construction and working principle with relevant structure, operation mode and function of the invention here.

Fig. 2 shows the functional module composition schematic diagrams of automatically walk snow removing equipment 2000 according to an embodiment of the present invention.Automatically walk snow removing equipment 2000 includes control module 2100, walking module 2200, operational module 2300, energy module 2400, detection module 2500 etc..

Specifically, walking module 2200 drives snow removing equipment mobile.

Operational module 2300 includes work motor and the snow slinging mechanism driven by work motor, the accumulated snow and field trash and snow slinging mechanism of dishing out on snow slinging mechanism collection ground under the driving of work motor, the maximum height away from ground is referred to as snow throwing height to ejecta in the sky.

The work of the control operational module 2300 of control module 2100.In one embodiment, control module 2100 controls the revolving speed of the motor of operational module 2300, to control the speed of dishing out of ejecta, and then controls the snow throwing height of ejecta.In another embodiment, control module 2100 controls the speed of travel of walking module 2200, to control the speed of dishing out of ejecta.

Maximum difference of the automatically walk snow removing equipment with respect to hand propelled snow removing equipment be, the former no worker monitor during snow removing, snow throwing.In the state of no worker monitor, if snow throwing excessive height, it can be injured caused by people or object bigger.For people, in the case where height is fixed, the height of the relatively strong organ such as leg is relatively low, and the height of the vitals such as face is relatively high, if snow throwing excessive height, is easy to damage the vitals such as face.For object, snow throwing height is higher, and more in snow throwing height object below, the probability for pounding object is bigger.And in the state of someone's monitoring, operator can be according to the working condition of the adjust automatically snow slinging mechanism that haunts of the people or object of ambient enviroment, when snow throwing region nobody or object occur, execute snow throwing operation, whether people or object can be damaged without having to worry about the snow dished out, and when finding that people or object occurs in snow throwing region, pause immediately snow throwing operation, to avoid because of snow throwing excessive height, and lead to the injury to people or object.Therefore, the automatically walk snow removing equipment of no worker monitor is highly desirable just to consider snow throwing height limitation below predetermined snow throwing height threshold at the beginning of design.

It studies for a long period of time by research staff to typical snowfield working environment, scene in conjunction with automatic snow equipment practical application is the front and back institute of house, and the height of people or object in view of occurring in the front and back institute of house, preferably, predetermined snow throwing height threshold is set as the numerical value between 0.8 to 1.1 meters.It is also contemplated that the minimum age of the child to play on snowfield was at 3 years old or so in the case where the front and back institute of house is full of accumulated snow.To avoid ejecta from throwing the face of 3 years old and 3 years old or more children or adult and with upper bit, it is preferred that predetermined snow throwing height threshold is set as 0.8 meter.

To understand thoroughly the present invention convenient for those skilled in the art, illustrate the technical principle and theory analysis of automatically walk snow removing equipment control snow throwing height according to an embodiment of the present invention below.

Intelligent unattended operates snow throwing formula snowplough, work head stirring cage provides power by motor, accumulated snow is involved in by the rotation of stirring cage, accumulated snow is dished out by stirring cage blade or fan again, the accumulated snow of collection is thrown the one side or designated place on road by snow throwing device, during snow throwing, the hard object such as the stone on road surface can dish out with snow, and there is certain energy (lift), if the energy of stone or other hard objects in ejecta is excessive, people, pet or other articles may be damaged, therefore should be by the energy hole of ejecta within limits.For the safety of guarantor and object, preferably no matter ejecta energy be it is how many, be intended to control snow throwing height.It is however also possible to simplified control is carried out, such as in a simplification example, and it can also be when detecting that ejecta energy is excessively high, adjust automatically snow throwing height, so that snow throwing height is below safe altitude.

As described in Figure 3, snow and its field trash are dished out through snow throwing cylinder 1230 from throw point A, and throw point A is to avenge the point for leaving snow throwing cylinder here, here it is indicated with the central point of snow throwing cylinder end, if speed of dishing out is indicated with V, dishes out and raise angle and indicated with β, declare that snow removing depth is d, avenging the elemental height dished out is H ₀, i.e. height of the throw point away from ground, snow throwing height are H here, and snow throwing height as previously described is ejecta in the sky away from the maximum height on ground, and the floor projection distance of ejecta pick-up point to throw point is snow throwing distance, is indicated with L.The influence factor of snow throwing height H include dish out speed v, dish out and raise angle beta and elemental height H ₀.Therefore, it is necessary to by the speed V that dishes out, dish out and raise angle beta and elemental height H ₀It is designed and controls, to guarantee snow throwing height H in predetermined snow throwing height threshold hereinafter, wherein predetermined snow throwing height threshold is 0.8 to 1.1 meters.How above-mentioned each influence factor is designed and is controlled hereinafter, illustrating.

Elemental height H ₀Determinant include declaring depth of sweeping away snow, avenge the height that aggregation is needed in uphill process, and will snow export automatically walk snow removing equipment mechanism height.In the embodiment shown in fig. 3, depth of declaring to sweep away snow corresponds to d ₀, the height that need to assemble of snow uphill process corresponds to d ₁, the height of the mechanism of snow export automatically walk snow removing equipment is corresponded to the height d of snow throwing cylinder ₂。

In view of the complete machine power about 1000W or so of automatically walk snow removing equipment, typically as 500 arrive 800w, 1000 arrive 1600w, the watt-hour number about 300wh or so of energy storage units is additionally contemplates that, typically such as 160wh, 200wh, 240wh etc., and the configuration etc. in view of motor, in the present embodiment, the thickness d of sweeping away snow declared ₀It is 0 to 0.2 meter.The height d of aggregation is needed in snow uphill process ₁, need to guarantee that the snow dished out does not dissipate.The height d of snow throwing cylinder ₂Height possessed by arc corresponding to the snow Minimal energy loss for guaranteeing to dish out, and the height of arc affects to dish out and raises the size of angle beta, different dishing out raises angle beta and corresponds to different height d ₂, while dishing out and raising angle beta again and influence snow throwing height H.Comprehensive various correlative factors, in a preferable example, elemental height H ₀It is arranged in 200mm to 800mm range.

Since automatically walk snow removing equipment of the invention is mainly household, consider that the universal width in American family lane is a preferable example of parameter setting within 6m are as follows: snow throwing distance is 6 meters.Requirement based on snow throwing distance is 6 meters, and predetermined snow throwing height threshold is and elemental height H between 0.8 meter to 1.1 meters ₀Between 200mm to 800mm, various possible tentative modules are built, and carry out test repeatedly, obtains a series of snow throwing speed v and dish out to raise the numerical value of angle beta.It is then based on the product orientation of household automatically walk snow removing equipment, it is final to determine that snow throwing speed v=15 meter per second to 20 meter per seconds, dishes out and raises angle beta=- 10 ° to 25 °.It should be noted that dishing out when raising angle and being negative, maximum height, i.e. snow throwing height is determined by elemental height.In one example, automatic snow equipment dish out raise angle setting be negative, by adjusting elemental height, to adjust maximum height.

Further, snow throwing speed v is determined by stirring cage radius r and stirring cage revolving speed n.To simplify the process, do not consider to lose (not considering the decline for leading to stirring cage revolving speed because of load), the relationship that the speed v that dishes out meets following formula with stirring cage radius r and stirring cage revolving speed n: v=2 π rn can be considered as.Based on snow throwing speed v=15 meter per second to 20 meter per seconds, influence in conjunction with above-mentioned formula and stirring cage revolving speed n to vibration, influence of the stirring cage radius to package size and snow removing ability sets n=1500 revs/min to 2500 revs/min, r=0.08 meters to 0.12 meter.It will be appreciated by persons skilled in the art that stirring cage revolving speed n is really to be obtained by the revolving speed for controlling the drive motor of stirring cage.Under a kind of scene, machine driving is provided between stirring cage and drive motor, then the relationship between stirring cage revolving speed and drive motor revolving speed depends on mechanically operated transmission ratio.Under another scene, machine driving is not provided between stirring cage and drive motor, stirring cage is directly driven by drive motor, then stirring cage revolving speed is identical as the revolving speed of drive motor.

In a kind of example, guarantee raises snow height and is less than or equal to 1 meter, and some exemplary parameter configurations are as shown in table 1.

Table 1

It dishes out and raises angle beta (degree)	25	20	15	10	5	0	-5	-10
Speed of dishing out v (meter per second)	20	20	20	20	20	20	20	20
Elemental height H ₀(millimeter)	280	400	520	630	720	1000	1000	1000

Preferably, the elemental height of the automatic snow equipment of the embodiment of the present invention is 200 millimeters to 800 millimeters, and control dishes out speed as 15m/s to 20m/s, and dishing out and raising angle is 0 degree to+25 degree, and snow throwing height is less than or equal to 1 meter.

In another example, guarantee that Yang Xueyangxue height is less than or equal to 0.8 meter, some exemplary parameter configurations are as shown in Table 2.

Table 2

It dishes out and raises angle beta (degree)	25	20	15	10	5	0	-5	-10
Speed of dishing out v (meter per second)	20	20	20	20	20	20	20	20
Elemental height H ₀(millimeter)	200	290	400	550	650	800	800	800

In another example, guarantee that Yang Xueyangxue height is less than or equal to 0.8 meter, some exemplary parameter configurations are as shown in Table 3.

Table 3

Preferably, the elemental height of the automatic snow equipment of the embodiment of the present invention is 200 millimeters to 800 millimeters, and control dishes out speed as 18m/s to 19m/s, and dishing out and raising angle is 10 degree to 15 degree, and snow throwing height is less than or equal to 0.8 meter.Accordingly, n=1800 revs/min to 2000 revs/min, r=0.088 meters.

In a kind of optional scene, elemental height H is given ₀With stirring cage radius r, controls stirring cage revolving speed by control module 2100 or dish out and raise at least one of angle, control snow throwing height H is no more than predetermined snow throwing height.

Below with reference to the accompanying drawings 4 descriptions automatically control the exemplary method 400 of snow throwing height.

In step S410, the revolving speed of automatic detection snow removing machine testing stirring cage；

In step S420, control module judges whether revolving speed is greater than the first desired speed threshold value.When the judgment result is yes, process proceeds to step S430, otherwise proceeds to step S440.

In step S430, control module is controlled such that dish out and raises angle and raise angle to first.

In step S440, control module judges whether revolving speed is greater than the second desired speed threshold value, wherein the second desired speed threshold value is less than the first desired speed threshold value.When the judgment result is yes, process proceeds to step S450, and control module, which is controlled such that, dishes out that raise angle be second to raise angle, otherwise can move on, is processed similarly.

Setting in relation to rotary speed threshold value, it may be considered that energy-efficient performance is configured.

By front to the analysis of throwing elevation it is found that stirring cage revolving speed is bigger, the speed of dishing out of ejecta is bigger, and throwing elevation is higher, in order to control throwing elevation, can reduce to dish out and raises angle.

Fig. 4 shows to control the purpose of throwing elevation, detects stirring cage revolving speed, raises angle to control to dish out.In turn, can also be for the purpose of control throwing elevation, detection, which is dished out, raises angle, to control stirring cage revolving speed.

Specifically, automatic snow equipment further includes dishing out to raise angle detection part, raises angle for detecting to dish out.It dishes out and raises the angle detection part detection method for raising angle of dishing out and can dish out for directly detection and raise angle, can also carry out conversion and obtain to dish out to raise angle by detecting other indirect parameters.

As shown in figure 5, detection, which is dished out, raises angle in step S510.

In step S520, judgement, which dishes out to raise angle and whether be greater than first, predetermined raises angle threshold value.If result be it is yes, advance to step S530, otherwise advance to step S540.

In step S530, control module is controlled such that the revolving speed of stirring cage is the first revolving speed.

In step S540, judgement, which dishes out to raise angle and whether be greater than second, predetermined raises angle threshold value.If result be it is yes, advance to step S550, control module is controlled such that the revolving speed of stirring cage is the second revolving speed, wherein second it is predetermined raise that angle threshold value is predetermined less than first to raise angle threshold value, second revolving speed is greater than the first revolving speed；If the judging result of step S540 be it is no, aforementioned operation can be continued.

Fig. 5 shows to dish out and raise in the adjustable situation in angle, dishes out by detection and raises angle, angle is raised based on dishing out of detecting, come the method for controlling stirring cage revolving speed to carry out throwing elevation control.

In another optional example, fixed elemental height H ₀, stirring cage radius r and dish out and raise angle, by controlling revolving speed, to control height.Under a kind of very specific scene, elemental height H is given ₀It=0.6 meter, dishes out and raises angle=15 degree, r=0.088 meters of stirring cage radius, be lower than 1 meter to meet control snow throwing height, stirring cage revolving speed can control to be no more than 2200 revs/min, so that speed of dishing out reaches the requirement that control snow throwing height is no more than 1 meter no more than 20m/s.It is lower than 0.8 meter to meet control snow throwing height, stirring cage revolving speed can control to be no more than 1750 revs/min, so that speed of dishing out reaches the requirement that control snow throwing height is no more than 0.8 meter no more than 16m/s.The various numerical value being specifically as follows in lower table 4.

Table 4

It dishes out and raises angle, stirring cage radius and Yang Xue elemental height and fix, for automatic snow equipment, can reduce and design and manufacture cost, be more economical practical.

Aforementioned snow throwing height control method does not consider environmental resitance situation, in real life, there may be apparent environmental resitance, such as wind-force, in this case, because of the presence of resistance, do not consider stirring cage revolving speed determined by resistance situation and dish out to raise angle for aforementioned, the snow throwing height reached at this time is the snow throwing height lower than ideal situation, therefore can be with Evaluation Environment resistance situation, and will not consider revolving speed that resistance situation is determined for snow throwing height and dish out to raise at least one of angle and tune up.

In an exemplary automatic snow equipment, snow slinging mechanism further includes snow throwing tube and snow throwing cylinder, and snow throwing tube gives the ejecta secondary power from stirring cage, and it is dished out from snow throwing cylinder.At this moment, the speed for the ejecta dished out from snow throwing cylinder is mainly determined by both the revolving speed of stirring cage and the revolving speed of snow throwing tube.

As a result, in one example, by controlling the revolving speed of the revolving speed of stirring cage, snow throwing tube, dishing out and raise at least one of angle and control snow throwing height.

In another example, by given elemental height H0 and dish out raise angle can be completely by snow throwing height limitation below predetermined snow throwing height threshold.At this point, being controlled without revolving speed of the control module to the drive motor of snow throwing speed or the head that removes the snow.In the case where predetermined snow throwing height threshold is 0.8 meter, given elemental height H0 and dishing out, which raises angle, to be the numerical value in following table 5.At this point, no matter snow throwing speed be it is how many, snow throwing height does not exceed 0.8 meter.

Table 5

Automatic snow equipment according to the above embodiment of the present invention controls snow throwing height, so that snow throwing height is lower than predetermined threshold, so that reducing or even eliminate potential ejecta throws risk on the face of such as child, improves the safety of snow throwing process.

In another specific embodiment, the speed of travel V1 of walking module 2200 can also be impacted snow throwing height H, and the speed of travel V1 of control walking module 2200 makes snow throwing height H no more than predetermined snow throwing height threshold.Situation includes, in conjunction with the speed of travel V1 of the thickness adjustment walking module 2200 of snow.Such as, when the thickness of snow is thicker, if walking module 2200 is walked fast, the snowfall that will lead to the snow removing collection of head 1210 of snow slinging mechanism 1200 is more, and the snowfall that snow throwing cylinder 1220 is dished out causes snow getting lodged in snow slinging mechanism 1200 not as good as the snowfall collected, therefore, when the thickness of snow is thicker, the corresponding speed of travel V1 for reducing walking module 2200, to improve the processing capacity of 1200 pairs of snow slinging mechanism snow.And when the thinner thickness of snow, correspondingly increase the speed of travel V1 of walking module 2200, it can be improved the distance for the snow dished out, to improve the snow throwing ability of snow slinging mechanism 1200, it is also contemplated that the relationship of above-mentioned factor and snow throwing height H, in a specific embodiment, when the thickness of snow is less than 4cm, the speed of travel V1 of control walking module 2200 is 20-30m/min.When thickness be greater than 4cm when, control walking module 2200 speed of travel V1 be 10-25m/min.

Other embodiments according to the present invention provide a kind of automatic snow equipment, had both controlled snow throwing height, also control the energy of dishing out of ejecta, in order to avoid children or adult are damaged.Control ejecta dish out energy there are many ways to, control operating parameter or arrangement any of various structures or the combination of snow slinging mechanism such as to control the energy of dishing out of ejecta.

In one example, by controlling the operating parameter of snow slinging mechanism, to control the energy of dishing out of ejecta lower than safe energy.The meaning of safe energy is referring to the description in Chinese patent application CN201710065902.7.Specifically, the speed of dishing out that can make ejecta by the operating parameter of snow slinging mechanism is 18.5m/s ± 1m/s.According to v=2 π rn, correspondingly, given stirring cage radius is 0.088m ± 0.01m, the revolving speed for controlling stirring cage is 1800 revs/min to 2000 revs/min.

Below with reference to Fig. 6 to Fig. 9 describe it is according to an embodiment of the present invention both controlled snow throwing height or controlled ejecta dish out the exemplary embodiments of energy, such as, the baffle arrangement and bending structure priority acccess control height shown in Fig. 9 that wherein Fig. 6 is illustrated, while also can control energy；In grid for example shown in Fig. 7 and pocket priority acccess control energy shown in Fig. 10.In one example, in automatic snow equipment, baffle arrangement and/or bending structure are set, and control snow throwing height and snow throwing energy as needed grid and/or pocket is arranged.

According to an embodiment of the present invention, automatic snow equipment further includes the baffle arrangement for being set to snow slinging mechanism end, and baffle angle is adjustable, can adjust to dish out by controllable register angle and raise angle.It is illustrated below with reference to Fig. 6.

Fig. 6 shows automatic snow equipment according to an embodiment of the present invention, wherein in the end of snow slinging mechanism, (being the end of snow throwing cylinder 1230 in figure) is provided with safe deflector (also referred to herein baffle arrangement, the two is used interchangeably) 1250, the angle of safe deflector 1250 can be adjusted for example, by safe water conservancy diversion steering motor and mechanism 1240.

Baffle angle can be controlled in association with work 1210 revolving speed of stirring cage, to control ejecta height and energy.For example, when 1210 revolving speed of work stirring cage is excessively high when leading to that ejecta throwing elevation is higher, energy is larger, the angle of safe deflector 1250 can be turned down, throwing elevation can either be reduced in this way, while reducing the energy of ejecta.

Using the baffle arrangement of setting and the adjustable angle of snow slinging mechanism end, the throwing elevation of snow can either be adjusted, can also be avenged by blocking, and the loss that can result in ejecta, improve security performance.

According to a further embodiment of the invention, automatic snow equipment further includes the grid for being set to snow slinging mechanism inside or end, and for keeping off back field trash, to reduce the field trash in ejecta, the sundries kept off back can for example be collected by way of the string bag.Cell structure is illustrated below with reference to Fig. 7.

Fig. 7 shows automatic snow equipment according to another embodiment of the present invention, wherein the end (being the end of snow throwing cylinder 1230 in figure) in snow slinging mechanism is provided with grid 1260.Fig. 8 (a) to (e) shows several exemplary structure schematic diagrames of grid.

Another embodiment according to the present invention, automatic snow equipment further include: the pocket added with ventilating structure in snow throwing cylinder, ventilating structure is made or is set as with holes by gas permeable material, so that ejecta leaks into pocket from ventilating structure.It is illustrated below with reference to Fig. 9.

Fig. 9 shows automatic snow equipment according to another embodiment of the present invention, is provided with pocket 1280, for collecting hard object, to further decrease the danger that hard object is hurted sb.'s feelings in ejecta.

That pocket 1280 is preferably breathed freely or with holes, for example hard object as stone can be leaked out from pocket in this way.

In the example depicted in fig. 9, the end of snow throwing cylinder 1230 is provided with safe deflector 1250, grid 1260 is provided in snow slinging mechanism, stop hard object by the safe deflector 1250 on snow throwing cylinder 1230 or by barrier, to reduce the energy of dishing out of hard object, the pocket 1280 that can also be breathed freely plays the role of collecting hard object, and the hard object of collection is directly fallen in pocket, and hard object is avoided to dish out outward the injury caused to people or object.

It can be seen that structure combination shown in Fig. 9 has safe deflector 1250, grid 1260 and pocket 1280, it can reduce the energy loss of ejecta, guarantee the low throwing elevation for meeting safety requirements, prevent larger-size field trash from dishing out, and hard object can be collected, provide more complete safety guarantee.

Those skilled in the art can carry out various combinations and modification to Fig. 6 to baffle arrangement shown in Fig. 9, grid, bending structure, pocket as needed and meet safety requirements to adapt it to actual conditions.

Another embodiment according to the present invention additionally provides a kind of snow that control automatically walk snow removing equipment makes or the safe snow throwing method that field trash will not damage people or object, is described below with reference to Figure 10.

Figure 10 shows the overview flow chart for the safe snow throwing method 3000 that the snow that control automatically walk snow removing equipment according to an embodiment of the present invention makes or field trash will not damage people or object.

As shown in Figure 10, mobile by walking module driving snow removing equipment in step S3100.

In step S3200, the accumulated snow and field trash by work motor driving snow slinging mechanism collection ground and snow slinging mechanism of dishing out, the maximum height away from ground is referred to as snow throwing height to ejecta in the sky.

In step S3300, the snow throwing height is made to be less than predetermined snow throwing height threshold by control module control operational module.

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

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

In one example, snow slinging mechanism includes the snow removing head around center axis thereof, work motor driving snow removing head rotation is to be collected into snow slinging mechanism for the accumulated snow on ground and field trash, wherein control module is configured to, when detecting that speed of dishing out reaches predetermined speed threshold value, control snow throwing height is lower than predetermined snow throwing height threshold.

In one example, the value range of predetermined speed threshold value is 18 to 19 meter per seconds.

In one example, snow removing head radius is 0.088 meter, and snow removing head revolving speed is 1800 to 2000 revs/min.

In one example, the speed when snow slinging mechanism dishes out ejecta is referred to as speed of dishing out, it is relative to horizontal direction initially to dish out that raise angle be to dish out and raise angle, the height of throw point is elemental height, wherein by control speed of dishing out, dish out raise angle, in elemental height at least one of control snow throwing height, speed of wherein dishing out is bigger, and snow throwing height is higher；Dish out raise angle and be positive in the case where, dish out and raise that angle is bigger, and snow throwing height is higher；Elemental height is higher, and snow throwing height is higher.

In one example, elemental height is 200mm to 800mm.

In one example, safe snow throwing method control dishes out speed as 15m/s to 20m/s.

In one example, it is -10 degree to 25 degree that safe snow throwing method control, which dishes out and raises angle,.

In one example, safe snow throwing method control dishes out speed as 15m/s to 20m/s, and dishing out and raising angle is -10 degree to 25 degree.

In one example, safe snow throwing method control dishes out speed as 15m/s to 20m/s, and dishing out and raising angle is 0 degree to+25 degree, and elemental height is 200mm to 800mm.

In one example, snow removing head radius is 0.08m to 0.12m, and control snow removing head revolving speed is 1500 revs/min to 2500 revs/min.

In one example, safe snow throwing method control dishes out speed as 18m/s to 19m/s, and dishing out and raising angle is 15 degree.

In one example, snow removing head radius is 0.088m, and control revolving speed is 1800 revs/min to 2000 revs/min.

In one example, safe snow throwing method control snow throwing raises angle and is negative, and elemental height is less than or equal to 1 meter.

In one example, safe snow throwing method further includes controlling snow throwing distance simultaneously to meet pre-provisioning request.

In one example, snow slinging mechanism includes the stirring cage around center axis thereof, the work motor driving stirring cage rotation is to be collected into snow slinging mechanism for the accumulated snow on ground and field trash, the radius for wherein giving elemental height and stirring cage raises angle and controls snow throwing height by the revolving speed and/or dishing out for ejecta that control stirring cage.

In one example, safe snow throwing method further include: using the revolving speed of stirring cage Rotating speed measring component detection stirring cage, control module progress controls the drive motor of stirring cage according to the actual speed of stirring cage, so that the revolving speed of stirring cage is no more than preset rotation speed threshold value.The revolving speed of stirring cage can be directly detected for detection part using the method for stirring cage Rotating speed measring component detection stirring cage revolving speed, or detection part directly detect be stirring cage drive motor revolving speed, the transmission ratio determined by the drive connection of stirring cage and motor, extrapolates the revolving speed of stirring cage.

In one example, safe snow throwing method further include: using the revolving speed of stirring cage Rotating speed measring component detection stirring cage, when the revolving speed of stirring cage is greater than the first desired speed threshold value, what control module was controlled such that ejecta dishes out that raise angle be first to raise angle.

In one example, safe snow throwing method further include: when the revolving speed of stirring cage is greater than the second desired speed threshold value, what control module was controlled such that ejecta dishes out that raise angle be second to raise angle, wherein for the second desired speed threshold value less than the first desired speed threshold value, described second, which raises angle, raises angle greater than first.

In one example, safe snow throwing method further include: raised the detection of angle detection part by dishing out and dished out and raise angle；When dish out raise that angle is predetermined greater than first to raise angle threshold value when, control module is controlled such that the revolving speed of stirring cage is the first revolving speed.

In one example, safe snow throwing method further include: when dish out raise that angle is predetermined greater than second to raise angle threshold value when, control module is controlled such that the revolving speed of stirring cage is the second revolving speed, wherein the second predetermined angle threshold value of raising makes a reservation for raise angle threshold value less than first, second revolving speed is greater than the first revolving speed.

In one example, snow slinging mechanism further include: snow throwing tube and snow throwing cylinder, snow throwing tube gives the ejecta secondary power from stirring cage, and it is dished out from snow throwing cylinder and safe snow throwing method further include: by controlling the revolving speed of stirring cage, the revolving speed of snow throwing tube, dishing out and raise at least one of angle and control snow throwing height.

In one example, safe snow throwing method further include: adjust to dish out by controllable register angle and raise angle, to adjust snow throwing height, the baffle arrangement is set to snow slinging mechanism end, and baffle angle is adjustable.

In one example, safe snow throwing method further include: make the snow throwing height no more than predetermined snow throwing height threshold according to the speed that the thickness of snow adjusts walking module by control module.

In one example, safe snow throwing method further include: when the thickness of snow is less than 4cm, the speed of travel for controlling walking module is 20-30m/min.

In one example, safe snow throwing method further include: when the thickness of snow is greater than 4cm, the speed of travel for controlling walking module is 10-25m/min.

In one example, safe snow throwing method further include: via the grid for being set to snow slinging mechanism inside or end, part or all of field trash shelves are returned, to reduce the field trash in ejecta.

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

In one example, safe snow throwing method can also include: the pocket being arranged in snow throwing cylinder added with ventilating structure, and ventilating structure is made or is set as with holes by gas permeable material, so that ejecta leaks into pocket from ventilating structure.

In one example, safe snow-removing method further includes that throwing elevation and/or ejecta energy are controlled by the combination of following throwing elevation and/or ejecta energy management structures: being set to the baffle arrangement of snow slinging mechanism end, baffle angle is adjustable, can adjust to dish out by controllable register angle and raise angle；It is set to the grid of snow slinging mechanism inside or end, for returning field trash shelves, to reduce the field trash in ejecta；Pocket with airing function or cavernous structure.

It is the lower child height according to such as statistics, the energy of common snow depth and the automatic snow equipment currently researched and developed in relation to numerical example such as elemental height, target snow throwing height, speed of dishing out in aforementioned exemplary.

In a specific embodiment, a kind of robot power supply unit is additionally provided, for providing electric energy to the load in robot.Optionally, robot is, for example, mobile robot, and in outdoor activity.For example, the automatically walk snow removing equipment in above-described embodiment, the robot power supply unit can be charged using charging equipment.For outdoor charging equipment (such as charging pile), operating voltage needed for maximum output voltage is usually less than robot, i.e. if the voltage after charging complete is unable to satisfy the actually required operating voltage of robot after robot charged using charging equipment in the conventional mode.

Based on the above situation, an embodiment provides a kind of robot power supply unit.Figure 11 is please referred to, robot power supply unit includes control circuit 100 and power module 200.Power module 200 is connect with control circuit 100.Wherein, power module 200 can provide electric energy.

Control circuit 100 is used for when robot is in running order, and the output end of control power module 200 exports first voltage, and control circuit 100 is also used to when robot is in charged state, and the output end of control power module 200 exports second voltage.First voltage is higher than corresponding second voltage after charging complete.

Wherein, corresponding second voltage after charging complete, refer to power module 200 charge finish and robot there are no it is in running order when power module 200 output end output voltage.Therefore, in the present embodiment, the voltage that power module 200 is exported when robot works and charges is different, i.e. power module 200 exports higher voltage in machine man-hour, and robot exports lower voltage in charging, and the voltage (i.e. second voltage) that power module 200 exports (including just charging complete) in entire charging process is consistently less than corresponding voltage (i.e. first voltage) when work.In this way, robot may make to work at work using high voltage, and it can use low-voltage in robot charging and charge, i.e. the charging of realization low pressure, high-pressure work.Specifically, control circuit 100 can change the voltage of the output end of power module 200 output by changing the circuit connection principle inside power module 200.

In summary, when robot is needed compared with high working voltage, under control circuit 100 and the collective effect of power module 200, even if outdoor charger can only carry out low pressure charging, the voltage (i.e. first voltage) of the output end output of power module 200 also can satisfy significant power demand, so as to overcome high pressure machines people outside conventional chamber to be only just able to satisfy the defect of work requirements to indoor carry out high-voltage charging, the intelligence of robot is improved.

Power module 200 includes two or more power supplys in one of the embodiments,.Power supply is, for example, that battery, lithium battery or other types can charge and provide the device of electric energy.

Specifically, above-mentioned second voltage is the output voltage of power supply, for example, between 42V between 60V.

Specifically, above-mentioned first voltage is the sum of the output voltage after the completion of all power source charges.Therefore, in robot charging process, the voltage of the output end output of power module 200 is only the output voltage of single power supply, and during robot work, the voltage of the output end output of power module 200 is the sum of the output voltage after the completion of all power source charges, so as to meet significant power demand.

Further, control circuit 100 is used for when robot is in running order, controls all power supply series connection.Wherein, all power supply series connection, refer to that the cathode of each power supply is connect with the anode of an adjacent power, the anode of each power supply is connect with the cathode of another adjacent power.Therefore after control circuit 100 makes all power supplys be cascaded, the operating voltage that entire robot power supply unit can provide load is exactly the sum of the supply voltage of all power supplys.Therefore, for high pressure machines people, operating voltage if necessary is higher and when being greater than maximum voltage when charging complete (i.e. voltage) that single power supply can provide, the robot power supply unit can provide higher voltage after all power supplys are together in series, so as to meet high power work demand.Therefore, the power supply process that embodiment of the present invention provides is high voltage operation mode.

Control circuit 100 is also used to control all power sources in parallel when robot is in charged state.At this moment, each power supply can then be utilized respectively charging equipment and individually charge.Therefore, the charging process provided in the present embodiment is low pressure charging, and can be charged directly in outdoor.Specifically, during the charging process, charging equipment can simultaneously charge respectively to each power supply, can also successively be charged to each power supply (i.e. charging equipment to a power source charges after, it charges again to next power supply, and so on, finished until all charging to all power supplys).

Specifically, Figure 12 is please referred to, control circuit 100 includes control unit 110 and switch unit 120.Control unit 110 is used to control each power supply serial or parallel connection by switch unit 120.Therefore, the state of the main control switch unit 120 of control unit 110, to make serial or parallel connection between each power supply.Control unit 110 for example, Programmadle logic device or the hardware circuit being made of multiple devices.

Specifically, Figure 13, Figure 14 are please referred to, the quantity of power supply includes two, is denoted as the first power supply BAT1 and second source BAT2 respectively.Also, switch unit 120 includes the first single-pole double-throw switch (SPDT) SW2 and the second single-pole double-throw switch (SPDT) SW3.Wherein, the movable contact (1) of first single-pole double-throw switch (SPDT) SW2 is connect with the anode (B+) of the first power supply BAT1, and the first stationary contact (3) of the first single-pole double-throw switch (SPDT) SW2 is connect with the second stationary contact (2) of the anode of second source BAT2 (B+), the second single-pole double-throw switch (SPDT) SW3 respectively.The movable contact (1) of second single-pole double-throw switch (SPDT) SW3 and the cathode (B-) of the first power supply BAT1 are grounded jointly, and the first stationary contact (3) of the second hilted broadsword single-pole double-throw switch (SPDT) SW3 and the cathode (B-) of second source BAT2 are grounded jointly.

Please refer to Figure 13, control unit 110 is used for when robot is in charged state, the movable contact (1) for controlling the first single-pole double-throw switch (SPDT) SW2 is connect with the first stationary contact (3), and the movable contact (1) for controlling the second single-pole double-throw switch (SPDT) SW3 is connect with the first stationary contact (3).At this moment, connection circuit between first power supply BAT1 and second source BAT2 is as shown by a bold line, i.e. the first power supply BAT1 and second source BAT2 is in parallel connection, at this time, the voltage of the output end of entire power module 200 is the output voltage of the first power supply BAT1 or the output voltage of second source BAT2, i.e., above-mentioned second voltage.

Please refer to Figure 14, control unit 110 is also used to when robot is in running order, the movable contact (1) for controlling the first single-pole double-throw switch (SPDT) SW2 is connect with the second stationary contact (2), and the movable contact (1) for controlling the second single-pole double-throw switch (SPDT) SW3 is connect with the second stationary contact (2).At this time, connection circuit between first power supply BAT1 and second source BAT2 is as shown by a bold line, i.e. the first power supply BAT1 and second source BAT2 is in series connection, and therefore, the voltage of the output end of entire power module 200 is the sum of the first power supply BAT1 and output voltage of second source BAT2.

In addition, control unit 110 can use traditional control mode to control the connection of the first single-pole double-throw switch (SPDT) SW2 and the second single-pole double-throw switch (SPDT) SW3 movable contact and stationary contact.Also, in terms of judging that robot is in running order or charged state, control unit 110 can receive the status signal that external device (such as user hold mobile phone) is sent directly to obtain the state of robot；Or, control unit 110 can also voluntarily judge robot state in which, such as: after control unit 110 detects that robot and charging equipment establish connection, then think that robot enters charged state, control unit 110 can be communicated with charging equipment to be confirmed whether that charging finishes after charging, if it is confirmed that charging finishes, then it is assumed that robot initially enters working condition；Alternatively, user directly operates switch unit 120 according to robot state in which, it is at this moment then not necessarily to control unit 110.

Further, please continue to refer to Figure 13, Figure 14, above-mentioned robot power supply unit further includes switching circuit SW1.Switching circuit SW1 is connected between the load in power module 200 and robot, and connect with control circuit 100.Specifically, switching circuit SW1 is connect with the control unit 110 in above-mentioned control circuit 100.Switching circuit SW1, which has, is connected and disconnects two states.

When robot is in running order, switching circuit SW1 is in the conductive state under the control of control circuit 100, and at this moment power module 100 can be powered load.When robot is in charged state, switching circuit SW1 is in an off state under the control of control circuit 100, and at this moment power module 100 is in charging process.

Above-mentioned robot power supply unit can also include multiple vehicle-mounted charge unit (not shown)s in one of the embodiments,.Each power supply connects one to one each vehicle-mounted charge unit respectively.Vehicle-mounted charge unit, which is used to establish with charging equipment, to be electrically connected, to charge to each power supply.

Wherein, each power supply connects one to one each vehicle-mounted charge unit respectively, and in other words, quantity and the power supply of vehicle-mounted charge unit are identical, also, do not have connection relationship between each vehicle-mounted charge unit, to guarantee respectively to charge to the power supply respectively connected.Vehicle-mounted charge unit and charging equipment can be using the charging techniques of traditional mobile robot come to power source charges, such as: vehicle-mounted charge unit can use contact charging technique with charging equipment and charge, at this moment a Male head connector can be set in vehicle-mounted charge unit, a female connector can be set in charging equipment, as long as Male head connector and female connector to be aligned and connect, can charge.Wherein, contact charging technique can be overhead automatic charging mode (contact for being used to connect charging equipment is located above robot body), side-mounted automatic charging mode (contact for being used to connect charging equipment is located at robot side), underneath type automatic charging mode (contact for being used to connect charging equipment is located at robot body lower part) etc..It charges in addition, vehicle-mounted charge unit also can use non-contact inductive charge technology with charging equipment, wherein non-contact inductive charge technology is the charging modes for carrying out energy transmission by non-contacting coupled modes using electromagnetic induction principle.Such as: coupler is formed by isolated high frequency transformer between vehicle-mounted charge unit and charging equipment, by inductively, transmitting energy to non-contact type.

It is understood that the connection type between vehicle-mounted charge unit and power supply is not limited to above situation, as long as guaranteeing that charging equipment can respectively charge to each power supply.Such as: it can also only include a vehicle-mounted charge unit, and the vehicle-mounted charge unit directly passes through change-over switch with each power supply and connect, so, when robot is charged, vehicle-mounted charge unit can connect the connection circuit with a power supply, and charge to the power supply, the vehicle-mounted charge unit connects the connection circuit with next power supply again after charging complete, it charges, successively carries out again, until being finished to all power source charges.

Another embodiment provides a kind of robot, the robot power supply unit provided including load and a upper embodiment.Load is connect with robot power supply unit.

As soon as being repeated no more here it should be noted that the robot power supply unit in the robot that embodiment of the present invention provides is identical as the principle of robot power supply unit that upper embodiment provides.

Various embodiments of the present invention are described above, above description is exemplary, and non-exclusive, and it is also not necessarily limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, many modifications and changes are obvious for those skilled in the art.Therefore, protection scope of the present invention should be subject to the protection scope in claims.

Claims

A kind of snow dished out or field trash will not be to the automatically walk snow removing equipments that people or object damage, comprising:

Walking module, driving snow removing equipment are mobile；

Operational module, including work motor and the snow slinging mechanism driven by work motor, the accumulated snow and field trash and snow slinging mechanism of dishing out on snow slinging mechanism collection ground under the driving of work motor, the maximum height away from ground is referred to as snow throwing height to ejecta in the sky；

Control module, is configured to control operational module or walking module makes the snow throwing height no more than predetermined snow throwing height threshold.
Automatically walk snow removing equipment according to claim 1, predetermined snow throwing height threshold are 0.8 to 1.1 meters.
Automatically walk snow removing equipment according to claim 2, predetermined snow throwing height threshold are 0.8 meter.
Automatically walk snow removing equipment according to claim 1, snow slinging mechanism include the snow removing head around center axis thereof, and the work motor driving snow removing head rotates to which the accumulated snow on ground and field trash are collected into snow slinging mechanism,

Wherein the control module is configured to, and when detecting that speed of dishing out reaches predetermined speed threshold value, control snow throwing height is lower than predetermined snow throwing height threshold.
Automatically walk snow removing equipment according to claim 4, wherein the value range of predetermined speed threshold value is 18 to 19 meter per seconds.
Automatically walk snow removing equipment according to claim 5, snow removing head radius are 0.088 meter, and snow removing head revolving speed is 1800 to 2000 revs/min.
Automatically walk snow removing equipment according to claim 1, the speed when snow slinging mechanism dishes out ejecta are referred to as speed of dishing out, and relative to horizontal direction initially to dish out that raise angle be to dish out and raise angle, the height of throw point is elemental height, wherein

By control speed of dishing out, dish out raise angle, in elemental height at least one of control snow throwing height.
Automatically walk snow removing equipment according to claim 7, wherein snow removing head radius is 0.08 meter to 0.12 meter, the revolving speed for the head that removes the snow is 1500 to 2500 revs/min, and the value range of predetermined snow throwing height threshold is 0.8 to 1.1 meters.
Automatic snow equipment according to claim 7, wherein elemental height is 200mm to 800mm.
Automatic snow equipment according to claim 7, control dish out speed as 15m/s to 20m/s.
Automatic snow equipment according to claim 7, it is -10 degree to 25 degree that control, which dishes out and raises angle,.
Automatic snow equipment according to claim 7, control dish out speed as 15m/s to 20m/s, and dishing out and raising angle is -10 degree to 25 degree.
Automatic snow equipment according to claim 7, control dish out speed as 15m/s to 20m/s, and dishing out and raising angle is -10 degree to+25 degree, and elemental height is 200mm to 800mm.
Automatic snow equipment according to claim 13, wherein snow removing head radius is 0.08m to 0.12m, and

Control snow removing head revolving speed is 1500 revs/min to 2500 revs/min.
Automatic snow equipment according to claim 13, control dish out speed as 18m/s to 19m/s, and dishing out and raising angle is 15 degree.
Automatic snow equipment according to claim 15, wherein snow removing head radius is 0.088m, and

Controlling revolving speed is 1800 revs/min to 2000 revs/min.
Automatic snow equipment according to claim 7, control snow throwing raise angle and are negative, and elemental height is less than or equal to 1 meter.
Automatic snow equipment according to claim 1 further includes controlling snow throwing distance simultaneously to meet pre-provisioning request.
Automatic snow equipment according to claim 7, snow slinging mechanism includes the snow removing head around center axis thereof, the work motor driving snow removing head rotation is to be collected into snow slinging mechanism for the accumulated snow on ground and field trash, the radius for wherein giving elemental height and the head that removes the snow by the revolving speed of control snow removing head and/or dishes out and raises angle and control snow throwing height.
Automatic snow equipment according to claim 19 raises angle wherein further giving to dish out, and controls snow throwing height by the revolving speed of control snow removing head.
Automatic snow equipment according to claim 19, further includes: snow removing head Rotating speed measring component, for detect remove the snow head revolving speed, and

When the revolving speed for the head that removes the snow is greater than the first desired speed threshold value, what control module was controlled such that ejecta dishes out that raise angle be first to raise angle.
Automatic snow equipment according to claim 21,

When the revolving speed for the head that removes the snow is greater than the second desired speed threshold value, what control module was controlled such that ejecta dishes out that raise angle be second to raise angle,

Wherein for the second desired speed threshold value less than the first desired speed threshold value, described second, which raises angle, raises angle greater than first.
According to the automatic snow equipment of claim 19, further includes: it dishes out and raises angle detection part, raise angle for detecting to dish out, and

When dish out raise that angle is predetermined greater than first to raise angle threshold value when, control module is controlled such that the revolving speed of snow removing head is the first revolving speed.
Automatic snow equipment according to claim 23,

When dish out raise that angle is predetermined greater than second to raise angle threshold value when, control module is controlled such that the revolving speed of snow removing head is the second revolving speed,

Wherein the second predetermined angle threshold value of raising makes a reservation for raise angle threshold value less than first, and second revolving speed is greater than the first revolving speed.
Automatic snow equipment according to claim 7, further includes:

Based on environmental resitance situation, it will not consider that resistance situation is tuned up at least one of the determining revolving speed of snow throwing height and Yang Xue angle.
Automatic snow equipment according to claim 19, further includes:

Snow slinging mechanism further include: snow throwing tube and snow throwing cylinder, snow throwing tube gives the ejecta secondary power from snow removing head, and it is dished out from snow throwing cylinder.
Automatic snow equipment according to claim 26, wherein by the control snow removing revolving speed of head, snow throwing tube revolving speed, dish out and raise at least one of angle and control snow throwing height.
According to claim 1 to the automatic snow equipment of 27 any one, further includes:

It is set to the baffle arrangement of snow slinging mechanism end, wherein baffle angle is adjustable, can adjust to dish out by controllable register angle and raise angle.
Automatically walk snow removing equipment according to claim 1, the control module make the snow throwing height no more than predetermined snow throwing height threshold according to the speed that the thickness of snow adjusts walking module.
Automatically walk snow removing equipment according to claim 29, when the thickness of snow is less than 4cm, the speed of travel that control module controls walking module is 20-30m/min.
Automatically walk snow removing equipment according to claim 29, when the thickness of snow is greater than 4cm, the speed of travel that control module controls walking module is 10-25m/min.
According to claim 1 to the automatic snow equipment of 27 any one, further includes:

It is set to the grid of snow slinging mechanism inside or end, for returning field trash shelves, to reduce the field trash in ejecta.
According to the automatic snow equipment of claim 32, the grid interval is less than 50mm.
Automatic snow equipment according to claim 1, snow slinging mechanism further include snow throwing cylinder, and the snow throwing cylinder can rotate in the horizontal direction.
According to claim 1 to the automatic snow equipment of 27 any one, further includes:

The pocket added with ventilating structure in snow throwing cylinder, ventilating structure is made or is set as with holes by gas permeable material, so that ejecta leaks into pocket from ventilating structure.
Further include the combination of following throwing elevation and/or ejecta energy management structures according to claim 1 to the automatic snow equipment of 27 any one:

It is set to the baffle arrangement of snow slinging mechanism end, baffle angle is adjustable, can adjust to dish out by controllable register angle and raise angle；

It is set to the grid of snow slinging mechanism inside or end, for returning field trash shelves, to reduce the field trash in ejecta；

And

Pocket with airing function or cavernous structure.
A kind of snow that control automatically walk snow removing equipment makes or the safe snow throwing method that field trash will not damage people or object, the automatically walk snow removing equipment includes walking module, operational module and control module, and the safe snow throwing method includes:

It is mobile by walking module driving snow removing equipment；

Accumulated snow and field trash by work motor driving snow slinging mechanism collection ground and snow slinging mechanism of dishing out, the maximum height away from ground is referred to as snow throwing height to ejecta in the sky；And

Operational module is controlled by control module or walking module makes the snow throwing height no more than predetermined snow throwing height threshold.
According to the safe snow throwing method of claim 37, predetermined snow throwing height threshold is 0.8 to 1.1 meters.
According to the safe snow throwing method of claim 38, predetermined snow throwing height threshold is 0.8 meter.
According to the safe snow throwing method of claim 37, snow slinging mechanism includes the snow removing head around center axis thereof, and the work motor driving snow removing head rotates to which the accumulated snow on ground and field trash are collected into snow slinging mechanism,

Wherein the control module is configured to, and when detecting that speed of dishing out reaches predetermined speed threshold value, control snow throwing height is not more than predetermined snow throwing height threshold.
According to the safe snow throwing method of claim 40, wherein the value range of predetermined speed threshold value is 18 to 19 meter per seconds.
According to the safe snow throwing method of claim 41, the head radius that removes the snow is 0.088 meter, and snow removing head revolving speed is 1800 to 2000 revs/min.
According to the safe snow throwing method of claim 37, the speed when snow slinging mechanism dishes out ejecta is referred to as speed of dishing out, and relative to horizontal direction initially to dish out that raise angle be to dish out and raise angle, the height of throw point is elemental height, wherein

By control speed of dishing out, dish out raise angle, in elemental height at least one of control snow throwing height.
According to the safe snow throwing method of claim 43, wherein snow removing head radius is 0.08 meter to 0.12 meter, the revolving speed for the head that removes the snow is 1500 to 2500 revs/min, and the value range of predetermined snow throwing height threshold is 0.8 to 1.1 meters.
According to the safe snow throwing method of claim 43, wherein elemental height is 200mm to 800mm.
According to the safe snow throwing method of claim 43, control dishes out speed as 15m/s to 20m/s.
According to the safe snow throwing method of claim 43, it is -10 degree to 25 degree that control, which dishes out and raises angle,.
According to the safe snow throwing method of claim 43, control dishes out speed as 15m/s to 20m/s, and dishing out and raising angle is -10 degree to 25 degree.
According to the safe snow throwing method of claim 43, control dishes out speed as 15m/s to 20m/s, and dishing out and raising angle is 0 degree to+25 degree, and elemental height is 200mm to 800mm.
According to the safe snow throwing method of claim 49, wherein snow removing head radius is 0.08m to 0.12m, and

Control snow removing head revolving speed is 1500 revs/min to 2500 revs/min.
According to the safe snow throwing method of claim 49, control dishes out speed as 18m/s to 19m/s, and dishing out and raising angle is 15 degree.
According to the safe snow throwing method of claim 51, wherein snow removing head radius is 0.088m, and

Controlling revolving speed is 1800 revs/min to 2000 revs/min.
According to the safe snow throwing method of claim 43, control snow throwing raises angle and is negative, and elemental height is not more than 1 meter.
It further include controlling snow throwing distance simultaneously to meet pre-provisioning request according to the safe snow throwing method of claim 37.
According to the safe snow throwing method of claim 43, snow slinging mechanism includes the snow removing head around center axis thereof, and the work motor driving snow removing head rotates to which the accumulated snow on ground and field trash are collected into snow slinging mechanism,

The radius for wherein giving elemental height and the head that removes the snow by the revolving speed of control snow removing head and/or dishes out and raises angle and control snow throwing height.
According to the safe snow throwing method of claim 55, further includes:

The revolving speed of snow removing head is detected using snow removing head Rotating speed measring component,

When the revolving speed for the head that removes the snow is greater than the first desired speed threshold value, what control module was controlled such that ejecta dishes out that raise angle be first to raise angle.
According to the safe snow throwing method of claim 56, further includes:

When the revolving speed for the head that removes the snow is greater than the second desired speed threshold value, what control module was controlled such that ejecta dishes out that raise angle be second to raise angle,

Wherein for the second desired speed threshold value less than the first desired speed threshold value, described second, which raises angle, raises angle greater than first.
According to the safe snow throwing method of claim 55, further includes:

It is raised the detection of angle detection part by dishing out and is dished out and raise angle；

When dish out raise that angle is predetermined greater than first to raise angle threshold value when, control module is controlled such that the revolving speed of snow removing head is the first revolving speed.
According to the safe snow throwing method of claim 58, further includes:

When dish out raise that angle is predetermined greater than second to raise angle threshold value when, control module is controlled such that the revolving speed of snow removing head is the second revolving speed,

Wherein the second predetermined angle threshold value of raising makes a reservation for raise angle threshold value less than first, and second revolving speed is greater than the first revolving speed.
According to the safe snow throwing method of claim 55, further includes: further give to dish out and raise angle, control snow throwing height by the revolving speed of control snow removing head.
According to the safe snow throwing method of any one of claim 55 to 59, snow slinging mechanism further include: snow throwing tube and snow throwing cylinder, snow throwing tube gives the ejecta secondary power from snow removing head, and it is dished out from snow throwing cylinder, and

By the control snow removing revolving speed of head, snow throwing tube revolving speed, dish out and raise at least one of angle and control snow throwing height.
According to the safe snow throwing method of any one of claim 37 to 59, in which:

It adjusts to dish out by controllable register angle and raises angle, to adjust snow throwing height, the baffle arrangement is set to snow slinging mechanism end, and baffle angle is adjustable.
According to the safe snow throwing method of claim 37, make the snow throwing height no more than predetermined snow throwing height threshold according to the speed that the thickness of snow adjusts walking module by control module.
According to the safe snow throwing method of claim 63, when the thickness of snow is less than 4cm, the speed of travel for controlling walking module is 20-30m/min.
According to the safe snow throwing method of claim 63, when the thickness of snow is greater than 4cm, the speed of travel for controlling walking module is 10-25m/min.
According to the safe snow throwing method of any one of claim 37 to 59, in which:

Via the grid for being set to snow slinging mechanism inside or end, part or all of field trash shelves are returned, to reduce the field trash in ejecta.
According to the safe snow throwing method of claim 66, the grid interval is less than 50mm.
According to the safe snow throwing method of claim 37, snow slinging mechanism further includes snow throwing cylinder, and the snow throwing cylinder can rotate in the horizontal direction.
According to the safe snow throwing method of any one of claim 37 to 59, further includes:

Pocket added with ventilating structure is set in snow throwing cylinder, and ventilating structure is made or is set as with holes by gas permeable material, so that ejecta leaks into pocket from ventilating structure.
Further include that throwing elevation and/or ejecta energy are controlled by the combination of following throwing elevation and/or ejecta energy management structures according to the safe snow throwing method of any one of claim 37 to 59:

It is set to the baffle arrangement of snow slinging mechanism end, baffle angle is adjustable, can adjust to dish out by controllable register angle and raise angle；

It is set to the grid of snow slinging mechanism inside or end, for returning field trash shelves, to reduce the field trash in ejecta；

Pocket with airing function or cavernous structure.
According to the safe snow throwing method of claim 43, further include being based on environmental resitance situation, will not consider that resistance situation is tuned up at least one of the determining revolving speed of snow throwing height and Yang Xue angle.
A kind of snow dished out or field trash will not be to the automatically walk snow removing equipments that people or object damage, comprising:

Walking module, driving snow removing equipment are mobile；

Operational module, including work motor and the snow slinging mechanism driven by work motor, the accumulated snow and field trash and snow slinging mechanism of dishing out on snow slinging mechanism collection ground under the driving of work motor, the maximum height away from ground is referred to as snow throwing height to ejecta in the sky；

The snow throwing height is not more than predetermined snow throwing height threshold.
The automatically walk snow removing equipment according to claim 72, the speed when snow slinging mechanism dishes out ejecta is referred to as speed of dishing out, relative to horizontal direction initially to dish out that raise angle be to dish out and raise angle, the height of throw point is elemental height, and wherein elemental height is not more than predetermined snow throwing height threshold.
The automatically walk snow removing equipment according to claim 72, the automatic snow equipment further includes control module, and the control module is configured to control operational module and makes the snow throwing height no more than predetermined snow throwing height threshold.