CN111321695B - Control method for automatic steering of snow throwing cylinder of intelligent snow sweeper and intelligent snow sweeper - Google Patents
Control method for automatic steering of snow throwing cylinder of intelligent snow sweeper and intelligent snow sweeper Download PDFInfo
- Publication number
- CN111321695B CN111321695B CN201811525123.1A CN201811525123A CN111321695B CN 111321695 B CN111321695 B CN 111321695B CN 201811525123 A CN201811525123 A CN 201811525123A CN 111321695 B CN111321695 B CN 111321695B
- Authority
- CN
- China
- Prior art keywords
- snow
- throwing cylinder
- snow throwing
- intelligent
- sweeper
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H5/00—Removing snow or ice from roads or like surfaces; Grading or roughening snow or ice
- E01H5/04—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H5/00—Removing snow or ice from roads or like surfaces; Grading or roughening snow or ice
- E01H5/04—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material
- E01H5/08—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material dislodging essentially by driven elements
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Cleaning Of Streets, Tracks, Or Beaches (AREA)
Abstract
The invention relates to a control method for automatic steering of a snow throwing cylinder of an intelligent snow sweeper and the intelligent snow sweeper. The control method for automatic steering of the snow throwing cylinder of the intelligent snow sweeper is provided, and comprises the following steps: sensing the current angle of the snow throwing cylinder in real time; outputting a corresponding control signal according to the current angle and a preset target angle; and controlling the snow throwing cylinder to rotate according to the control signal so as to enable the snow throwing cylinder to be at a preset target angle. According to the control method for automatic steering of the snow throwing cylinder of the intelligent snow sweeper, the current angle of the snow throwing cylinder is sensed in real time, the corresponding control signal is output according to the current angle and the preset target angle, and the snow throwing cylinder is controlled to rotate according to the control signal so as to enable the snow throwing cylinder to be in the preset target angle, so that the direction of the snow throwing cylinder can be automatically and efficiently rotated, and the accuracy is high. The invention also provides an intelligent mower comprising the automatic steering device of the snow throwing cylinder.
Description
Technical Field
The invention relates to the field of electric tool control, in particular to a control method for automatic steering of a snow throwing cylinder of an intelligent snow sweeper and the intelligent snow sweeper.
Background
The snow and ice on the road can seriously threaten traffic and transportation in winter, great pressure is generated on road maintenance, the snow and ice on the road can be removed by using the snow melting agent which is easy to operate, but the snow melting agent can damage the environment and damage the road surface, road buildings and transportation tools. The harm of snow melting agent to the environment is long-term and difficult to eliminate in a short period of time. The snow on the road surface can be effectively and quickly removed, and the snow-removing agent does not harm the environment, the road surface and transportation tools, and is a major problem for road traffic and road maintenance. The advent of snowploughs has thus largely solved the above-mentioned problems.
The snow throwing as a core function of the snow sweeper can directly influence the whole snow sweeper, and the guiding of the snow throwing direction is particularly important in the snow sweeping process. Most of the existing small-sized snow sweeper operates on the guide of the snow throwing direction, the snow throwing direction is manually changed manually, manpower is consumed, efficiency is low, and accuracy is low.
Disclosure of Invention
In view of the above, it is necessary to provide an intelligent snow sweeper and a device capable of achieving high precision requirements, aiming at the problems of low efficiency and low precision of manual steering of a snow throwing cylinder of the existing snow sweeper.
According to one aspect of the invention, a control method for automatic steering of a snow throwing cylinder of an intelligent snow sweeper is provided, and the method comprises the following steps: sensing the current angle of the snow throwing cylinder in real time; outputting a corresponding control signal according to the current angle and a preset target angle; and controlling the snow throwing cylinder to rotate according to the control signal so as to enable the snow throwing cylinder to be at a preset target angle.
In one embodiment, sensing the current angle of the snow throwing cylinder in real time comprises: and sensing the current angle of the snow throwing cylinder in real time by using a non-contact angle sensor.
In one embodiment, the control method further includes: when the intelligent snow sweeper is started or reset, the snow throwing cylinder is controlled to rotate so as to be located at the initial position.
In one embodiment, when the intelligent snow sweeper is started or reset, the snow throwing cylinder is controlled to rotate so as to be in the initial position, and the method comprises the following steps: the snow throwing cylinder is controlled to rotate towards the preset direction until the snow throwing cylinder is detected to be at the initial position, and the preset direction is clockwise or anticlockwise.
In one embodiment, when the intelligent snow sweeper is started or reset, the snow throwing cylinder is controlled to rotate so as to be in an initial position, and the intelligent snow sweeper further comprises: when the initial position of the snow throwing cylinder is not detected, detecting whether the snow throwing cylinder is in the limit position; when the snow throwing cylinder is detected to be at the limit position, recording the frequency of the snow throwing cylinder at the limit position, and controlling the snow throwing cylinder to rotate in the direction opposite to the preset direction until the snow throwing cylinder is detected to be at the initial position, wherein the direction opposite to the preset direction is the anticlockwise direction or the clockwise direction; and when the number of times that the snow throwing cylinder is in the limit position exceeds a preset threshold value, controlling the snow throwing cylinder to stop rotating and controlling the intelligent snow sweeper to stop working.
In one embodiment, detecting whether the snow throwing cylinder is in an extreme position comprises: when the current angle of the snow throwing cylinder is kept unchanged within the preset time, determining that the snow throwing cylinder is at the limit position; or when a sudden increase in the current of the motor driving the rotation of the snow throwing cylinder is detected, determining that the snow throwing cylinder is in the extreme position.
In one embodiment, the control method further includes: when the intelligent snowplow turns or turns around, acquiring the rotating angle and direction of the intelligent snowplow when the intelligent snowplow turns or turns around; outputting a corresponding control signal according to the rotating angle and direction of the intelligent snow sweeper during turning or turning around and the current angle of the snow throwing cylinder; and controlling the snow throwing cylinder to rotate according to the control signal so that the snow throwing cylinder always throws snow in the same direction relative to the ground.
In one embodiment, the control method further includes: acquiring the current position of the intelligent snow sweeper; determining whether the snow throwing cylinder throws snow towards a preset forbidden area or not according to the current position of the intelligent snow sweeper and the current angle of the snow throwing cylinder; and when the snow throwing cylinder is determined to throw snow towards the preset forbidden area, generating a corresponding control signal, and controlling the snow throwing cylinder to rotate according to the control signal so as to enable the snow throwing cylinder to throw snow away from the preset forbidden area.
According to another aspect of the invention, an intelligent snow sweeper is provided, and comprises a snow throwing cylinder automatic steering device, wherein the snow throwing cylinder automatic steering device comprises: the angle sensor is used for sensing the current angle of a snow throwing cylinder of the intelligent snow sweeper; the controller is connected with the angle sensor to receive the current angle from the angle sensor and output a corresponding control signal according to the current angle and a preset target angle; and the snow throwing cylinder driving motor is connected with the controller to receive the control signal from the controller and rotate the snow throwing cylinder according to the control signal.
In one embodiment, the angle sensor is a non-contact angle sensor.
In one embodiment, the automatic steering device for the snow thrower further comprises: the snow throwing device comprises a motor fixing piece for fixing a driving motor of the snow throwing cylinder, a circuit board arranged on the motor fixing piece, a small gear fixed on the driving motor of the snow throwing cylinder and a large gear fixed on the snow throwing cylinder, wherein the large gear is meshed with the small gear, and a controller is arranged on the circuit board; the non-contact angle sensor includes a first magnet mounted on the pinion and a magnetic encoder opposite the first magnet, the magnetic encoder being mounted on the circuit board and in communication with the controller.
In one embodiment, the angle sensor comprises a ring potentiometer.
In one embodiment, the automatic steering device for the snow thrower further comprises: the initial position detection mechanism is used for detecting whether the snow throwing cylinder is at an initial position or not; and/or a mechanical limiting mechanism for clamping the snow throwing cylinder driving motor when the snow throwing cylinder reaches the limit position.
In one embodiment, the initial position detection mechanism comprises a second magnet and a magnetic switch, the second magnet is fixed on the large gear, and the magnetic switch is fixed on the circuit board and is in communication connection with the controller.
In one embodiment, the intelligent snow sweeper further comprises a positioning unit in communication connection with the controller, and the positioning unit is used for acquiring the rotating angle and direction of the intelligent snow sweeper during turning or turning and sending the angle and direction to the controller when the intelligent snow sweeper turns or turns. The controller is further configured to: and controlling a snow throwing cylinder motor to rotate the snow throwing cylinder according to the received rotating angle and direction of the intelligent snow sweeper during turning or turning around and the current angle of the snow throwing cylinder, so that the snow throwing cylinder throws snow in the same direction relative to the ground.
In one embodiment, the positioning unit is further used for acquiring the current position of the intelligent snowplow and sending the current position to the controller. The controller is further configured to: determining whether the snow throwing cylinder throws snow towards a preset forbidden area or not according to the current position of the intelligent snow sweeper and the current angle of the snow throwing cylinder; and when the snow throwing cylinder is determined to throw snow towards the preset forbidden area, controlling the snow throwing cylinder to drive the motor to rotate the snow throwing cylinder so as to enable the snow throwing cylinder to throw snow away from the preset forbidden area.
According to the control method for automatic steering of the snow throwing cylinder of the intelligent snow sweeper and the intelligent snow sweeper, the current angle of the snow throwing cylinder is sensed in real time, the corresponding control signal is output according to the current angle and the preset target angle, and the snow throwing cylinder is controlled to rotate according to the control signal so as to enable the snow throwing cylinder to be in the preset target angle, so that the direction of the snow throwing cylinder can be automatically and efficiently rotated, and the accuracy is high.
Drawings
Preferred, but non-limiting, embodiments of the present invention will be described by way of example with reference to the accompanying drawings, in which:
fig. 1 shows a flowchart of a control method for automatic steering of a snow throwing cylinder of an intelligent snow sweeper in an embodiment of the present application.
Fig. 2 shows a flowchart of a control method for automatic steering of a snow throwing cylinder of the intelligent snow sweeper in an embodiment of the application.
Fig. 3 shows a schematic view of the initial position and the left and right extreme positions of the snow throwing cylinder in an embodiment of the present application.
Fig. 4 is a flowchart of a control method for automatic steering of a snow throwing cylinder of the intelligent snow sweeper in an embodiment of the present application.
Fig. 5 shows a schematic view of the turning direction of the snow throwing cylinder when the intelligent snow sweeper turns around in one embodiment of the application.
Fig. 6 is a flowchart of a control method for automatic steering of a snow throwing cylinder of the intelligent snow sweeper in an embodiment of the present application.
Fig. 7 is a schematic view of an automatic steering device of the snow throwing barrel in one embodiment of the application.
Fig. 8 is a partial structural sectional view of an intelligent snow sweeper according to an embodiment of the present application.
Fig. 9 shows a working scene diagram of the intelligent snow sweeper in an embodiment of the present application.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as broadly as the present invention is capable of modification in various respects, all without departing from the spirit and scope of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The application provides a control method for automatic steering of a snow throwing cylinder of an intelligent snow sweeper, which comprises the following steps of:
and S100, sensing the current angle of the snow throwing cylinder in real time.
And S200, outputting a corresponding control signal according to the current angle and a preset target angle.
And step S300, controlling the snow throwing cylinder to rotate according to the control signal so as to enable the snow throwing cylinder to be at a preset target angle.
Specifically, in order to automatically steer the snow throwing cylinder of the snow sweeper, the current angle of the snow throwing cylinder needs to be sensed in real time, then a corresponding control signal is output according to the sensed current angle and a preset target angle, and the snow throwing cylinder is controlled to rotate according to the control signal, so that the snow throwing cylinder is positioned at the preset target angle. The target angle may be an angle preset by the user according to the actual situation.
According to the control method for automatic steering of the snow throwing cylinder of the intelligent snow sweeper and the intelligent snow sweeper, the current angle of the snow throwing cylinder is sensed in real time, the corresponding control signal is output according to the current angle and the preset target angle, and the snow throwing cylinder is controlled to rotate according to the control signal so as to enable the snow throwing cylinder to be in the preset target angle, so that the direction of the snow throwing cylinder can be automatically and efficiently rotated, and the accuracy is high.
In one embodiment, step S100, sensing in real time a current angle of the snow throwing cylinder includes: and sensing the current angle of the snow throwing cylinder in real time by using a non-contact angle sensor. Specifically, the non-contact angle sensor is adopted to sense the current angle of the snow throwing cylinder in real time, so that the abrasion of the internal parts of the snow sweeper can be reduced, the service life is prolonged, the detection precision is improved, and the accuracy of steering at each time is ensured. In one embodiment, the non-contact angle sensor may include a magnet and a corresponding magnetic encoder. In one embodiment, the non-contact angle sensor may comprise a ring potentiometer.
In one embodiment, the control method for automatic steering of the snow throwing cylinder of the intelligent snow sweeper further comprises the following steps:
and S500, when the intelligent snow sweeper is started or reset, controlling the snow throwing cylinder to rotate so as to enable the snow throwing cylinder to be at an initial position.
Specifically, when the snow sweeper is started or reset, the snow throwing cylinder can find the set initial position no matter what position the snow throwing cylinder is currently at. In the present embodiment, the initial position refers to a direction (e.g., y direction in fig. 3) in which a projection direction of the snow throwing cylinder with respect to the ground is parallel to the longitudinal axis of the intelligent snowplow, but the present application is not limited thereto. The snow throwing cylinder is in a preset initial position when the snow throwing cylinder is started or reset, and the snow throwing head can rotate subsequently based on the initial position, so that the subsequent steering of the snow throwing cylinder is more accurate.
In one embodiment, as shown in fig. 2, the step S500 of controlling the snow throwing cylinder to rotate to enable the snow throwing cylinder to be in the initial position when the intelligent snowplow is turned on or reset includes:
and step S510, controlling the snow throwing cylinder to rotate towards a preset direction until the snow throwing cylinder is detected to be at an initial position, wherein the preset direction is clockwise or anticlockwise.
Specifically, in order to enable the snow throwing cylinder to be at the initial position, the snow throwing cylinder is controlled to rotate towards a preset direction until the snow throwing cylinder is detected to be at the initial position, and the preset direction can be a clockwise direction or a counterclockwise direction.
Further, in one embodiment, as shown in fig. 2, step S500, when the intelligent snow sweeper is turned on or reset, the step of controlling the snow throwing cylinder to rotate so that the snow throwing cylinder is in the initial position further includes:
and step S520, when the snow throwing cylinder is not detected to be at the initial position, detecting whether the snow throwing cylinder is at the limit position.
And step S530, when the snow throwing cylinder is detected to be at the limit position, recording the number of times that the snow throwing cylinder is at the limit position, and controlling the snow throwing cylinder to rotate in the direction opposite to the preset direction until the snow throwing cylinder is detected to be at the initial position, wherein the direction opposite to the preset direction is the anticlockwise direction or the clockwise direction.
And step S540, when the number of times that the snow throwing cylinder is located at the limit position exceeds a preset threshold value, controlling the snow throwing cylinder to stop rotating and controlling the intelligent snow sweeper to stop working.
Specifically, when the snow throwing cylinder is rotated in a preset direction and the initial position of the snow throwing cylinder is not detected all the time, whether the snow throwing cylinder is in the limit position or not needs to be detected. The actual steering angle of the snow throwing cylinder may be up to 180 degrees and there are left and right extreme positions (as shown in figure 3) at which the snow throwing cylinder drive motor is jammed when the snow throwing cylinder reaches the left and right extreme positions. When the snow throwing cylinder is detected to be in the limit position, the number of times that the snow throwing cylinder is in the limit position is recorded, and the snow throwing cylinder is made to rotate in the direction opposite to the preset direction until the snow throwing cylinder is detected to be in the initial position. And when the number of times of locating at the extreme position exceeds the preset threshold, the number of times of searching the initial position exceeds the preset threshold. This indicates that the intelligent snowplow may be malfunctioning, and therefore it is necessary to control the snow thrower to stop rotating and to stop the snowplow.
Referring to fig. 3, the snow sweeper comprises a body 110 and a snow throwing cylinder 120, wherein the snow throwing cylinder 120 is in an initial position when the projection direction of the snow throwing cylinder 120 relative to the ground is parallel to the longitudinal axis direction of the body 110. During the search for the initial position, the snow throwing cylinder may be rotated in a preset direction until the initial position is found or is in an extreme position. And when the snow throwing cylinder is detected to be at the left and right limit positions, the snow throwing cylinder is rotated in the opposite direction until the snow throwing cylinder is detected to be at the initial position, otherwise, the steps are repeated until the initial position is found or the searching times exceed a preset threshold value. The preset direction may be the OA-OB direction (counterclockwise direction) in fig. 3, or the OA '-OB' direction (clockwise direction).
In one embodiment, the step S520 of detecting whether the snow thrower is in the extreme position comprises:
when the current angle of the snow throwing cylinder is kept unchanged within the preset time, determining that the snow throwing cylinder is at the limit position; or
When a sudden increase in the current of the motor driving the snow throwing cylinder in rotation is detected, it is determined that the snow throwing cylinder is in the extreme position.
Specifically, when the snow throwing cylinder is not detected to be in the initial position and the current angle of the snow throwing cylinder is sensed to be kept unchanged within the preset time, the snow throwing cylinder stops rotating, and the snow throwing cylinder can be determined to be in the limit position; alternatively, since the motor is jammed when the snow thrower reaches the limit position, the load of the electrode is suddenly increased, resulting in a sudden increase in current, it can be determined that the snow thrower is at the limit position when a sudden increase in current of the motor driving the snow thrower to rotate is detected.
In one embodiment, as shown in fig. 4, the control method for automatic steering of the snow throwing cylinder of the intelligent snow sweeper further comprises the following steps: when the intelligent snowplow turns or turns around,
and step S610, acquiring the rotating angle and direction of the intelligent snowplow when the intelligent snowplow turns or turns around.
And S620, outputting a corresponding control signal according to the rotating angle and direction of the intelligent snowplow when the intelligent snowplow turns or turns around and the current angle of the snow throwing cylinder.
And step S630, controlling the snow throwing cylinder to rotate according to the control signal, so that the snow throwing cylinder always throws snow in the same direction relative to the ground.
Specifically, the snow sweeper turns or turns around during operation, and in order to facilitate subsequent cleaning of snow piles, the snow throwing cylinder can throw snow in the same direction relative to the ground, so that when the snow sweeper turns or turns around, the rotating angle and direction of the intelligent snow sweeper during turning or turning around are acquired, corresponding control signals are output according to the rotating angle and direction of the intelligent snow sweeper during turning or turning around and the current angle of the snow throwing cylinder, and then the direction of the snow throwing cylinder is adjusted according to the control signals, so that the snow throwing cylinder throws snow in the same direction relative to the ground.
Illustratively, referring to fig. 5, when the snowplow is started, the angle between the snow throwing cylinder 120 and the longitudinal axis y of the snowplow body 110 is θ (as shown in a in fig. 5), and after the snowplow turns around, the snow throwing cylinder can be controlled to rotate clockwise by 2 θ (as shown in B in fig. 5) in order to make the snowplow throw snow in the same direction relative to the ground. After the snowplow turns around again, the snow throwing cylinder may be controlled to rotate counterclockwise by 2 θ (as shown in C in fig. 5) in order to cause the snowplow to throw snow in the same direction relative to the ground. In fig. 5, the snow throwing cylinder throws snow towards the left relative to the ground, which is beneficial to subsequent snow clearing.
In one embodiment, as shown in fig. 6, the control method for automatic steering of the snow throwing cylinder of the intelligent snow sweeper further comprises the following steps:
and step S710, acquiring the current position of the intelligent snow sweeper.
Step S720, determining whether the snow throwing cylinder throws snow towards a preset forbidden area or not according to the current position of the intelligent snow sweeper and the current angle of the snow throwing cylinder; and
and step S730, when the snow throwing cylinder is determined to throw snow towards the preset forbidden area, generating a corresponding control signal, and controlling the snow throwing cylinder to rotate according to the control signal so as to enable the snow throwing cylinder to throw snow away from the preset forbidden area.
Specifically, the preset forbidden zone can comprise a house and/or a trunk road, when the snow sweeper works, the current position of the intelligent snow sweeper can be obtained, and whether the snow throwing cylinder throws snow towards the preset forbidden zone or not is determined according to the current position of the intelligent snow sweeper and the current angle of the snow throwing cylinder. And when the snow throwing cylinder is determined to throw snow towards the preset forbidden area, generating a corresponding control signal, and controlling the snow throwing cylinder to rotate according to the control signal so as to enable the snow throwing cylinder to throw snow away from the preset forbidden area. The control method in the embodiment can prevent the snow throwing cylinder from throwing snow towards the preset forbidden area.
The application also provides an intelligence snowplow, as shown in fig. 7, intelligence snowplow includes snow throwing section of thick bamboo automatic steering device, and snow throwing section of thick bamboo automatic steering device 1000 includes:
and the angle sensor 100 is used for sensing the current angle of the snow throwing cylinder of the intelligent snow sweeper.
And a controller 200 connected to the angle sensor to receive the current angle from the angle sensor and output a corresponding control signal according to the current angle and a preset target angle.
And a snow throwing cylinder driving motor 300 connected with the controller to receive the control signal from the controller and rotate the snow throwing cylinder according to the control signal.
Above-mentioned intelligence snowplow is including throwing a snow section of thick bamboo automatic steering device, owing to through the current angle of angle sensor real-time sensing throwing a snow section of thick bamboo, utilizes the controller according to current angle and the corresponding control signal of predetermined target angle output to according to control signal control throwing a snow section of thick bamboo driving motor rotation throwing a snow section of thick bamboo so that throwing a snow section of thick bamboo is in predetermined target angle, therefore can rotate the direction of throwing a snow section of thick bamboo automatically high-efficiently, and the accuracy nature is high.
In one embodiment, angle sensor 100 is a non-contact angle sensor. Specifically, the non-contact angle sensor is adopted to sense the current angle of the snow throwing cylinder in real time, so that the abrasion of the internal parts of the snow sweeper can be reduced, the service life is prolonged, the detection precision is improved, and the accuracy of steering at each time is ensured.
In one embodiment, as shown in fig. 8, the snowthrowing cylinder automatic steering apparatus 1000 further comprises a motor mount 12 for mounting the snowthrowing cylinder drive motor 300, a circuit board 14 mounted on the motor mount, a pinion 16 mounted on the snowthrowing cylinder drive motor, and a bull gear 18 mounted on the snowthrowing cylinder 120. The bull gear 18 meshes with the pinion gear 16. A controller 200 (not shown in fig. 8) is provided on the circuit board 14. The non-contact angle sensor 100 includes a first magnet 22 and a magnetic encoder 24 opposite the first magnet. The first magnet 22 is mounted on the pinion 16. The magnetic encoder 24 is mounted on the circuit board 14 and is communicatively coupled to the controller 200. When the snow thrower drive motor 300 drives the pinion 16 to rotate, the first magnet 22 rotates together with the pinion 16, so that the magnetic field of the first magnet 22 on the magnetic encoder 24 changes, the magnetic encoder 24 can acquire the angle of the first magnet 22 according to the change of the magnetic field, and the current angle information of the snow thrower 120 can be acquired because the pinion 16 is meshed with the large gear 18 fixed on the snow thrower 120.
In one embodiment, the angle sensor comprises a ring potentiometer.
In one embodiment, the snowthrowing cylinder automatic steering apparatus 1000 further comprises:
the initial position detection mechanism is used for detecting whether the snow throwing cylinder is at an initial position or not; and/or
And the mechanical limiting mechanism is used for clamping the snow throwing cylinder driving motor when the snow throwing cylinder reaches the limit position.
In one embodiment, the initial position detection mechanism includes a second magnet and a magnetic switch. As shown in fig. 8, a second magnet 32 is fixed to the bull gear 18 and a magnetic switch 34 is fixed to the circuit board 14 and is in communication with the controller 200. When the second magnet 32 on the bull gear is rotated to just below the magnetic switch 34, the magnetic switch 34 sends a signal to the controller 200 indicating that the snow thrower 120 is in the initial position.
In one embodiment, the intelligent snowplow further comprises a positioning unit in communication connection with the controller 200, and the positioning unit is used for acquiring the angle and the direction of the turning or turning of the intelligent snowplow and sending the angle and the direction to the controller when the intelligent snowplow turns or turns. The controller is further configured to: and controlling a snow throwing cylinder driving motor to rotate the snow throwing cylinder according to the received turning or turning angle and direction of the intelligent snow sweeper and the current angle of the snow throwing cylinder, so that the snow throwing cylinder throws snow in the same direction relative to the ground.
In one embodiment, the positioning unit is further configured to acquire a current position of the intelligent snowplow and transmit the current position to the controller. The controller is further configured to: determining whether the snow throwing cylinder throws snow towards a preset forbidden area or not according to the current position of the intelligent snow sweeper and the current angle of the snow throwing cylinder; and when the snow throwing cylinder is determined to throw snow towards the preset forbidden area, controlling the snow throwing cylinder to drive the motor to rotate the snow throwing cylinder so as to enable the snow throwing cylinder to throw snow away from the preset forbidden area. In one embodiment, the predetermined exclusion zone includes a house and/or a arterial road.
Referring to fig. 9, a working scene diagram of the snow sweeper is shown. Before the snow sweeper works, different starting points can be selected to work according to the size of a target working area, such as A, B, C positions in fig. 9. If the working area is moderate in size, the starting point can be any starting point A, C, and the initial snow throwing direction can be set by the user. If the working area is large, the departure point can be set to be the departure point from the point B, and the work is carried out in sequence towards two sides respectively, so that the phenomenon that the snow quantity is accumulated excessively from one side to influence the work of the snow sweeper can be avoided. In figure 9 the work area has a location adjacent the trunk and the snow throwing head is steerable without throwing snow onto the trunk.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (14)
1. A control method for automatic steering of a snow throwing cylinder of an intelligent snow sweeper is characterized by comprising the following steps:
sensing a current angle of the snow throwing cylinder in real time;
outputting a corresponding control signal according to the current angle and a preset target angle;
controlling the snow throwing cylinder to rotate according to the control signal so as to enable the snow throwing cylinder to be at the preset target angle;
when the intelligent snow sweeper is started or reset, the snow throwing cylinder is controlled to rotate so as to enable the snow throwing cylinder to be in an initial position, and the control of the snow throwing cylinder to rotate so as to enable the snow throwing cylinder to be in the initial position comprises the following steps: controlling the snow throwing cylinder to rotate towards a preset direction until the snow throwing cylinder is detected to be at the initial position, wherein the preset direction is a clockwise direction or an anticlockwise direction;
when the snow throwing cylinder is not detected to be in the initial position, detecting whether the snow throwing cylinder is in an extreme position;
when the snow throwing cylinder is detected to be in the limit position, the number of times that the snow throwing cylinder is in the limit position is recorded, and when the number of times that the snow throwing cylinder is in the limit position exceeds a preset threshold value, the snow throwing cylinder is controlled to stop rotating and the intelligent snow sweeper is controlled to stop working.
2. The control method of claim 1, wherein said sensing in real time a current angle of said snow throwing cylinder comprises:
sensing a current angle of the snow throwing cylinder in real time using a non-contact angle sensor.
3. The control method according to claim 1, wherein the recording of the number of times the snow throwing cylinder is in the limit position when the snow throwing cylinder is detected to be in the limit position, and the controlling of the snow throwing cylinder to stop rotating and the controlling of the intelligent snow sweeper to stop operating when the number of times the snow throwing cylinder is in the limit position exceeds a preset threshold value comprises:
when the snow throwing cylinder is detected to be at the limit position, recording the frequency of the snow throwing cylinder at the limit position, and controlling the snow throwing cylinder to rotate in the direction opposite to the preset direction until the snow throwing cylinder is detected to be at the initial position, wherein the direction opposite to the preset direction is the anticlockwise direction or the clockwise direction;
and when the number of times that the snow throwing cylinder is in the limit position exceeds a preset threshold value, controlling the snow throwing cylinder to stop rotating and controlling the intelligent snow sweeper to stop working.
4. The control method of claim 3, wherein said detecting whether said snow thrower is in an extreme position comprises:
when the current angle of the snow throwing cylinder is kept unchanged within preset time, determining that the snow throwing cylinder is at the limit position; or
When a sudden increase in the current of the motor driving the snow throwing cylinder in rotation is detected, it is determined that the snow throwing cylinder is in the extreme position.
5. The control method according to any one of claims 1 to 4, characterized by further comprising: when the intelligent snowplow turns or turns around,
acquiring the rotating angle and direction of the intelligent snowplow when the intelligent snowplow turns or turns around;
outputting a corresponding control signal according to the rotating angle and direction of the intelligent snow sweeper during turning or turning around and the current angle of the snow throwing cylinder; and
and controlling the snow throwing cylinder to rotate according to the control signal so that the snow throwing cylinder throws snow in the same direction relative to the ground.
6. The control method according to any one of claims 1 to 4, characterized by further comprising:
acquiring the current position of the intelligent snow sweeper;
determining whether the snow throwing cylinder throws snow towards a preset forbidden area or not according to the current position of the intelligent snow sweeper and the current angle of the snow throwing cylinder; and
and when the snow throwing cylinder is determined to throw snow towards a preset forbidden zone, generating a corresponding control signal, and controlling the snow throwing cylinder to rotate according to the control signal so as to make the snow throwing cylinder far away from the preset forbidden zone to throw snow.
7. The utility model provides an intelligence snowplow, its characterized in that, intelligence snowplow includes snow throwing section of thick bamboo automatic steering device, snow throwing section of thick bamboo automatic steering device includes:
the angle sensor is used for sensing the current angle of a snow throwing cylinder of the intelligent snow sweeper;
the controller is connected with the angle sensor to receive the current angle from the angle sensor and output a corresponding control signal according to the current angle and a preset target angle;
the snow throwing cylinder driving motor is connected with the controller to receive the control signal from the controller and rotate the snow throwing cylinder according to the control signal;
the controller is configured to:
when the intelligent snow sweeper is started or reset, the snow throwing cylinder is controlled to rotate so as to enable the snow throwing cylinder to be in an initial position, and the control of the snow throwing cylinder to rotate so as to enable the snow throwing cylinder to be in the initial position comprises the following steps: controlling the snow throwing cylinder to rotate towards a preset direction until the snow throwing cylinder is detected to be at the initial position, wherein the preset direction is a clockwise direction or an anticlockwise direction;
when the snow throwing cylinder is not detected to be in the initial position, detecting whether the snow throwing cylinder is in an extreme position;
when the snow throwing cylinder is detected to be in the limit position, the number of times that the snow throwing cylinder is in the limit position is recorded, and when the number of times that the snow throwing cylinder is in the limit position exceeds a preset threshold value, the snow throwing cylinder is controlled to stop rotating and the intelligent snow sweeper is controlled to stop working.
8. The intelligent snow sweeper of claim 7, wherein the angle sensor is a non-contact angle sensor.
9. The intelligent snow sweeper of claim 8, wherein the snow throwing cylinder automatic steering device further comprises: the snow throwing device comprises a motor fixing piece for fixing a snow throwing cylinder driving motor, a circuit board arranged on the motor fixing piece, a small gear fixed on the snow throwing cylinder driving motor and a large gear fixed on the snow throwing cylinder, wherein the large gear is meshed with the small gear, and the controller is arranged on the circuit board;
the non-contact angle sensor includes a first magnet mounted on the pinion gear and a magnetic encoder opposite the first magnet, the magnetic encoder being mounted on the circuit board and in communicative connection with the controller.
10. The intelligent snow sweeper of claim 7, wherein the angle sensor comprises a ring potentiometer.
11. The intelligent snow sweeper of claim 9, wherein the snow throwing cylinder automatic steering device further comprises:
the initial position detection mechanism is used for detecting whether the snow throwing cylinder is at an initial position or not; and/or
And the mechanical limiting mechanism is used for clamping the snow throwing cylinder driving motor when the snow throwing cylinder reaches the limit position.
12. The intelligent snow sweeper of claim 11, wherein the initial position detection mechanism comprises a second magnet secured to the gear wheel and a magnetic switch secured to the circuit board and in communication with the controller.
13. The intelligent snow sweeper of claim 11, further comprising a positioning unit in communication with the controller, the positioning unit configured to acquire an angle and a direction of rotation of the intelligent snow sweeper when the intelligent snow sweeper turns or turns around and send the angle and the direction to the controller;
the controller is further configured to: and controlling the snow throwing cylinder driving motor to rotate the snow throwing cylinder according to the received rotating angle and direction of the intelligent snow sweeper when the intelligent snow sweeper turns or turns around and the current angle of the snow throwing cylinder, so that the snow throwing cylinder throws snow in the same direction relative to the ground all the time.
14. The intelligent snow sweeper of claim 13, wherein the positioning unit is further configured to obtain a current position of the intelligent snow sweeper and send the current position to the controller;
the controller is further configured to:
determining whether the snow throwing cylinder throws snow towards a preset forbidden area or not according to the current position of the intelligent snow sweeper and the current angle of the snow throwing cylinder; and
when the snow throwing cylinder is determined to throw snow towards the preset forbidden area, the snow throwing cylinder driving motor is controlled to rotate the snow throwing cylinder, so that the snow throwing cylinder is far away from the preset forbidden area to throw snow.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811525123.1A CN111321695B (en) | 2018-12-13 | 2018-12-13 | Control method for automatic steering of snow throwing cylinder of intelligent snow sweeper and intelligent snow sweeper |
| PCT/CN2019/116289 WO2020119344A1 (en) | 2018-12-13 | 2019-11-07 | Method for controlling automatic steering of snow throwing cylinder of intelligent snow sweeper, and intelligent snow sweeper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811525123.1A CN111321695B (en) | 2018-12-13 | 2018-12-13 | Control method for automatic steering of snow throwing cylinder of intelligent snow sweeper and intelligent snow sweeper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111321695A CN111321695A (en) | 2020-06-23 |
| CN111321695B true CN111321695B (en) | 2021-10-15 |
Family
ID=71077084
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811525123.1A Active CN111321695B (en) | 2018-12-13 | 2018-12-13 | Control method for automatic steering of snow throwing cylinder of intelligent snow sweeper and intelligent snow sweeper |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN111321695B (en) |
| WO (1) | WO2020119344A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114383014B (en) * | 2021-12-24 | 2024-05-24 | 威刚科技（苏州）有限公司 | Control method of multimedia device |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000023001A (en) * | 1998-07-03 | 2000-01-21 | Fujitsu General Ltd | Snow removing device for monitor camera |
| CN1515752A (en) * | 2003-08-26 | 2004-07-28 | 孙殿亮 | Multifunctional intelligent snow-removnig machine |
| CN2641120Y (en) * | 2003-04-23 | 2004-09-15 | 中国农业大学 | Automatically controlled type snow removnig vehicle |
| JP2006233646A (en) * | 2005-02-25 | 2006-09-07 | Honda Motor Co Ltd | Snowplow |
| CN1904217A (en) * | 2005-07-29 | 2007-01-31 | 本田技研工业株式会社 | Self-propelled snow remover |
| CN103174106A (en) * | 2013-04-11 | 2013-06-26 | 张铁民 | Intelligent combined rod ice and snow removing machine |
| CN205661458U (en) * | 2016-06-21 | 2016-10-26 | 哈尔滨市科佳通用机电有限公司 | A device that removes snow automatically for infrared axle temperature probe equipment of train |
| CN106245571A (en) * | 2016-08-31 | 2016-12-21 | 沈阳中兴电力通信有限公司 | Self-navigation snow removal machine people's system |
| CN107044103A (en) * | 2016-02-06 | 2017-08-15 | 苏州宝时得电动工具有限公司 | Automatically walk snow removing equipment |
| JP6265639B2 (en) * | 2013-07-12 | 2018-01-24 | 矢崎エナジーシステム株式会社 | Vehicle information collection device |
| CN108398944A (en) * | 2016-12-15 | 2018-08-14 | 苏州宝时得电动工具有限公司 | From the operational method of mobile device, from mobile device, memory and server |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4205529B2 (en) * | 2003-08-21 | 2009-01-07 | 本田技研工業株式会社 | snowblower |
| CN103306232B (en) * | 2013-06-06 | 2015-02-25 | 长安大学 | Snow sweeper cold air blowing automatic control device and method based on pressure feedback |
| CN105297667B (en) * | 2015-11-05 | 2017-04-12 | 中国铁建高新装备股份有限公司 | Brushing and throwing type snow removal trolley |
-
2018
- 2018-12-13 CN CN201811525123.1A patent/CN111321695B/en active Active
-
2019
- 2019-11-07 WO PCT/CN2019/116289 patent/WO2020119344A1/en active Application Filing
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000023001A (en) * | 1998-07-03 | 2000-01-21 | Fujitsu General Ltd | Snow removing device for monitor camera |
| CN2641120Y (en) * | 2003-04-23 | 2004-09-15 | 中国农业大学 | Automatically controlled type snow removnig vehicle |
| CN1515752A (en) * | 2003-08-26 | 2004-07-28 | 孙殿亮 | Multifunctional intelligent snow-removnig machine |
| JP2006233646A (en) * | 2005-02-25 | 2006-09-07 | Honda Motor Co Ltd | Snowplow |
| CN1904217A (en) * | 2005-07-29 | 2007-01-31 | 本田技研工业株式会社 | Self-propelled snow remover |
| CN103174106A (en) * | 2013-04-11 | 2013-06-26 | 张铁民 | Intelligent combined rod ice and snow removing machine |
| JP6265639B2 (en) * | 2013-07-12 | 2018-01-24 | 矢崎エナジーシステム株式会社 | Vehicle information collection device |
| CN107044103A (en) * | 2016-02-06 | 2017-08-15 | 苏州宝时得电动工具有限公司 | Automatically walk snow removing equipment |
| CN205661458U (en) * | 2016-06-21 | 2016-10-26 | 哈尔滨市科佳通用机电有限公司 | A device that removes snow automatically for infrared axle temperature probe equipment of train |
| CN106245571A (en) * | 2016-08-31 | 2016-12-21 | 沈阳中兴电力通信有限公司 | Self-navigation snow removal machine people's system |
| CN108398944A (en) * | 2016-12-15 | 2018-08-14 | 苏州宝时得电动工具有限公司 | From the operational method of mobile device, from mobile device, memory and server |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111321695A (en) | 2020-06-23 |
| WO2020119344A1 (en) | 2020-06-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11352757B2 (en) | Automatic moving snow removal device | |
| US10462961B2 (en) | Navigation for a robotic lawnmower | |
| EP3384318B1 (en) | Improved navigation for a vehicle by implementing two operating modes | |
| CN107528370B (en) | Automatic charging system and control method of intelligent security robot | |
| CN111321695B (en) | Control method for automatic steering of snow throwing cylinder of intelligent snow sweeper and intelligent snow sweeper | |
| CN109866235A (en) | A kind of crusing robot applying to underground coal mine | |
| EP3464731A1 (en) | Snow removal equipment | |
| CN104737698A (en) | Automatic lawn mower | |
| JP2015501118A5 (en) | ||
| CN101793511A (en) | Motor drive apparatus and control method for a surveying instrument | |
| JP2020502646A (en) | Mobile power supply for outdoor power supply | |
| CN109577242B (en) | Road brake bar sensor | |
| CN113419529A (en) | Method for automatically guiding fault machine by machine and self-walking equipment | |
| CN210322838U (en) | Multifunctional detection vehicle for airport pavement | |
| CN203650526U (en) | Embedded robot applicable to automatic tracking and tracing | |
| CN108556840B (en) | Full-automatic parking system and method | |
| CN210400308U (en) | L motorcycle type collector shoe measuring instrument | |
| CN211609621U (en) | Automatic intelligent mopping machine charges | |
| RU2730666C1 (en) | Autonomous mobile robot platform for snow cleaning | |
| CN215066683U (en) | Pavement physical property detection device | |
| CN217956525U (en) | Visual foreign matter removing device using laser ranging to assist calibration | |
| TWI790079B (en) | Operating method of automatic weeding apparatus and automatic weeding apparatus | |
| US20240209579A1 (en) | Autonomous snow removal machine | |
| WO2023274339A1 (en) | Self-propelled working system | |
| JP2017141613A (en) | Snow plow |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |