CN111379237B - Intelligent snow sweeper and method thereof - Google Patents
Intelligent snow sweeper and method thereof Download PDFInfo
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- CN111379237B CN111379237B CN201811615227.1A CN201811615227A CN111379237B CN 111379237 B CN111379237 B CN 111379237B CN 201811615227 A CN201811615227 A CN 201811615227A CN 111379237 B CN111379237 B CN 111379237B
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H5/00—Removing snow or ice from roads or like surfaces; Grading or roughening snow or ice
- E01H5/04—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H5/00—Removing snow or ice from roads or like surfaces; Grading or roughening snow or ice
- E01H5/04—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material
- 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
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- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Cleaning Of Streets, Tracks, Or Beaches (AREA)
- Medicines Containing Plant Substances (AREA)
Abstract
The present disclosure relates to an intelligent snow sweeper and a method thereof, the intelligent snow sweeper includes: the detection module is configured to detect a walking angle between a walking direction and a horizontal direction of the intelligent snow sweeper; a processing module configured to adjust a snow throwing parameter for throwing snow according to the walking angle. The intelligent snow sweeper provided by the embodiment of the invention can determine the snow throwing parameters according to the walking angle, so that the snow throwing parameters can meet the actual requirements when facing a slope, and efficient snow sweeping is realized.
Description
Technical Field
The invention relates to the field of mobile control, in particular to an intelligent snow sweeper and a method thereof.
Background
More and more intelligent devices appear in people's lives, and especially some intelligent automatic intelligent snow blowers can replace people to carry out various works.
Taking a snow sweeper as an example, the traditional snow sweeping mode is mainly carried out by manually controlling a semi-automatic snow sweeper, and the snow sweeping mode has the advantages of low efficiency, great harm to human bodies and high cost. And the intelligent snow sweeper can autonomously operate to clean a certain area of a road in front of a house, so that the cost is reduced, and the snow sweeping efficiency is greatly improved.
However, when the existing intelligent snow sweeper meets a slope, the slope can be identified and the intelligent snow sweeper walks on the slope, but when the intelligent snow sweeper goes up the slope, repeated snow sweeping or snow throwing to two sides of a road cannot be caused due to the fact that snow throwing is too close, and accumulated snow on the slope cannot be effectively swept.
Disclosure of Invention
In view of this, the present disclosure provides an intelligent snow sweeper and a method thereof, which can effectively sweep snow on a slope.
According to an aspect of the present disclosure, there is provided an intelligent snow sweeper comprising: the detection module is configured to detect a walking angle between a walking direction and a horizontal direction of the intelligent snow sweeper; a processing module configured to adjust a snow throwing parameter for throwing snow according to the walking angle.
In one possible implementation, the snow throwing parameter includes at least one of a snow throwing barrel elevation angle, a snow throwing barrel horizontal azimuth angle, a work head rotation speed and a walking speed.
In one possible implementation, the processing module includes: a judging unit configured to judge whether the walking angle satisfies a preset condition; and the execution unit is configured to adjust the elevation angle of the snow throwing cylinder according to a first scheme under the condition that the walking angle meets a preset condition.
In one possible implementation, the execution unit is further configured to: and under the condition that the walking angle does not meet the preset condition, adjusting the elevation angle of the snow throwing cylinder according to a second scheme.
In a possible implementation, the preset condition is that the total angle of the walking angle and the angle of elevation of the snow throwing cylinder is greater than 45 degrees.
In one possible implementation, the first approach is to reduce the angle of the elevation of the snow thrower until the total angle is adjusted to 45 degrees.
In one possible implementation, the second approach is to increase the angle of elevation of the snow thrower until the total angle is adjusted to 45 degrees.
In one possible implementation, the execution unit is further configured to adjust the horizontal azimuth angle of the snow throwing cylinder so that the horizontal azimuth angle of the snow throwing cylinder is different from the walking direction.
In one possible implementation, the execution unit is further configured to reduce the working head rotation speed or the traveling speed.
In one possible implementation, the execution unit is further configured to: after the elevation angle of the snow throwing cylinder is adjusted, the rotation speed of the spiral snow collector is determined according to the adjusted angle of the snow throwing cylinder; the conveying speed of the screw-type snow collector is adjusted to a determined rotational speed.
According to an aspect of the present disclosure, there is provided a method for an intelligent snow sweeper, the method comprising: detecting a walking angle between a walking direction and a horizontal direction of the intelligent snow sweeper; and adjusting snow throwing parameters for throwing snow according to the walking angle.
In one possible implementation, the snow throwing parameter includes at least one of a snow throwing barrel elevation angle, a snow throwing barrel horizontal azimuth angle, a work head rotation speed and a walking speed.
In one possible implementation, adjusting the snow throwing parameters for throwing snow according to the walking angle comprises: judging whether the walking angle meets a preset condition or not; and under the condition that the walking angle meets the preset condition, adjusting the elevation angle of the snow throwing cylinder according to a first scheme.
In one possible implementation, the method further includes: and under the condition that the walking angle does not meet the preset condition, adjusting the elevation angle of the snow throwing cylinder according to a second scheme.
In a possible implementation, the preset condition is that the total angle of the walking angle and the angle of elevation of the snow throwing cylinder is greater than 45 degrees.
In one possible implementation, the first approach is to reduce the angle of the elevation of the snow thrower until the total angle is adjusted to 45 degrees.
In one possible implementation, the second approach is to increase the angle of elevation of the snow thrower until the total angle is adjusted to 45 degrees.
In one possible implementation, adjusting the snow throwing parameters for throwing snow according to the walking angle comprises: and adjusting the horizontal azimuth angle of the snow throwing cylinder to ensure that the horizontal azimuth angle of the snow throwing cylinder is different from the walking direction.
In one possible implementation, adjusting the snow throwing parameters for throwing snow according to the walking angle comprises: the rotating speed or the traveling speed of the working head is reduced.
In one possible implementation, adjusting the elevation angle of the snow throwing cylinder according to the first scheme or the second scheme comprises: after the elevation angle of the snow throwing cylinder is adjusted, the rotation speed of the spiral snow collector is determined according to the adjusted angle of the snow throwing cylinder; the conveying speed of the screw-type snow collector is adjusted to a determined rotational speed.
According to the embodiment of the invention, the snow throwing parameters can be determined according to the walking angle, so that the snow throwing parameters can meet the actual requirements when facing a slope, and efficient snow sweeping is realized.
Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.
FIG. 1 illustrates a block diagram of an intelligent snow sweeper, according to an embodiment of the present invention;
FIG. 2 illustrates a snow sweeping scene view of an intelligent snow sweeper, according to an embodiment of the present invention;
fig. 3 shows a flow diagram of a method for an intelligent snowplow, according to an embodiment of the invention.
Detailed Description
Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present disclosure.
FIG. 1 shows a block diagram of an intelligent snow sweeper, according to an embodiment of the present invention. As shown in fig. 1, the intelligent snowplow 100 includes a detection module 110 and a processing module 120.
Specifically, the detection module 110 detects a walking angle between a walking direction of the intelligent snowplow and a horizontal direction, the walking direction detected by the detection module 110 is 0 if the intelligent snowplow 100 walks on a flat ground, and the walking angle detected by the detection module 110 is a slope of the slope if the intelligent snowplow 100 walks on the slope. According to an exemplary embodiment of the present application, the detection module 110 includes, but is not limited to, an angle sensor.
Subsequently, the processing module 120 may determine whether the walking angle is within a predetermined range; and if the walking angle is within the preset range, controlling the intelligent snow sweeper 100 to adjust the walking mode of the intelligent snow sweeper 100 according to a preset mode. Specifically, the intelligent snow blower 100 adjusts the travel mode of the intelligent snow blower 100 so as to reduce the travel angle of the intelligent snow blower 100. The method for adjusting the walking mode of the intelligent snow sweeper 100 in such a way that the walking angle of the intelligent snow sweeper 100 is reduced includes: one of the two driving wheels of the intelligent snowplow 100 is controlled to move forward, and the other driving wheel moves backward, so that the intelligent snowplow 100 rotates by a predetermined angle and moves in the direction after rotating by the predetermined angle, wherein the predetermined range is 10 degrees to 15 degrees.
In addition, the processing module 120 is further configured to control the intelligent snowplow 120 to perform an alarm/shutdown operation if the walking angle is greater than a predetermined range. Specifically, the warning/stopping operation may be set by a person skilled in the art as needed, for example, the processing module 120 may control the intelligent snowplow 100 to stop operating when the walking angle is greater than 15 degrees, or control the intelligent snowplow 100 to perform a warning operation, which includes alerting the user from various aspects such as visual, audible, and tactile, for example, when the walking angle is greater than a predetermined range, the processing module 120 may control the intelligent snowplow to issue a warning. Further, the processing module 120 may perform shutdown and alarm operations simultaneously if the travel angle is greater than a predetermined range.
Optionally, the processing module 120 obtains the walking angle detected by the detection module after controlling the intelligent snow sweeper to adjust the walking mode of the intelligent snow sweeper according to the predetermined mode each time, and controls the intelligent snow sweeper to perform a shutdown/alarm operation if the walking angles obtained for a predetermined number of consecutive times are all within a predetermined range.
For example, when the intelligent snow sweeper 100 detects that the walking angle is greater than 10 degrees and less than 15 degrees, two driving wheels of the intelligent snow sweeper 100 move forward one wheel and backward one wheel, and walk about 40 centimeters during the adjustment period, after the adjustment, the detection module 110 detects that the walking angle is still in the period from 10 degrees to 15 degrees, the adjustment is continued as above, the adjustment period of the time is about 10 centimeters, and if the detection module 110 detects that the walking angle is less than 10 degrees, the intelligent snow sweeper can walk at a preset speed along a straight line. If the walking angle is 10 degrees to 15 degrees after the three times of adjustment, the processing module 120 can stop the machine and execute the alarm operation at the same time. In another embodiment, when the walking angle is detected to be greater than 10 degrees and less than 15 degrees, the two driving wheels of the intelligent snowplow 100 are turned forward one by one and turned backward one by one, the walking angle is adjusted, if the angle is still greater than 10 degrees within a predetermined time, for example, 10 seconds, the driving wheels are continuously adjusted, and the intelligent snowplow stops and/or alarms when the angle is still greater than 10 degrees after continuously adjusting for a predetermined number of times, for example, 3 times.
Optionally, the processing module 120 is further configured to control the intelligent snow sweeper 100 to continue walking according to the original walking mode without adjustment if the walking angle is smaller than the predetermined range. For example, when the walking angle is 5 degrees, that is, the slope of the slope on which the intelligent snowplow walks is 5 degrees, the intelligent snowplow 100 may continue to walk straight.
As described above, the intelligent snow sweeper according to the exemplary embodiment of the present invention determines the walking angle when the detection module detects the walking angle, and changes the walking mode according to the walking angle, so that the intelligent snow sweeper can adapt to various road conditions and better meet actual requirements.
Based on this, the technical solution for snow sweeping during uphill will be described in detail below.
The processing module 120 may also be configured to adjust snow throwing parameters for throwing snow according to the walking angle. It should be noted that the processing module 120 may adjust the snow throwing parameters while changing the walking mode, wherein the snow throwing parameters include at least one of the snow throwing cylinder elevation angle, the snow throwing cylinder horizontal azimuth angle, the work head rotation speed, and the walking speed.
Specifically, the processing module 120 may adjust one or more of the snow throwing parameters described above, respectively. In the process of adjusting the elevation angle of the snow throwing cylinder, the processing module 120 may include a judging unit (not shown) and an executing unit (not shown), wherein the judging unit is configured to judge whether the walking angle satisfies a preset condition. And under the condition that the walking angle meets the preset condition, the execution unit adjusts the elevation angle of the snow throwing cylinder according to a first scheme. And under the condition that the walking angle does not meet the preset condition, the execution unit adjusts the elevation angle of the snow throwing cylinder according to a second scheme. Wherein the preset condition is that the total angle of the walking angle and the elevation angle of the snow throwing cylinder is greater than 45 degrees.
According to an embodiment of the application, a first solution is to reduce the angle of the snowthrowing cylinder elevation until the total angle is adjusted to 45 degrees. The second solution is to increase the angle of elevation of the snow thrower until the total angle is adjusted to 45 degrees. The snow throwing distance can be increased through the first scheme or the second scheme, and the snow is prevented from being thrown too close when climbing a slope. The execution unit can also determine the rotation speed of the spiral snow collector according to the adjusted angle of the snow throwing cylinder after adjusting the elevation angle of the snow throwing cylinder; the conveying speed of the screw-type snow collector is adjusted to a determined rotational speed.
For the horizontal azimuth of the snow throwing cylinder, the processing module 120 may adjust the horizontal azimuth of the snow throwing cylinder so that the horizontal azimuth of the snow throwing cylinder is different from the walking direction. By this, snow can be thrown on both sides of the road when climbing a slope.
In addition, the execution unit can also reduce the rotating speed or the traveling speed of the working head. This allows for control of snow sweeping height and distance during snow sweeping.
In summary, the intelligent snow sweeper according to the exemplary embodiment of the present application can adjust snow throwing parameters according to a slope angle when facing a slope, so that efficient snow sweeping can be realized, furthermore, the snow throwing distance is increased by adjusting the elevation angle of the snow throwing cylinder, and repeated snow sweeping is prevented. Furthermore, the accumulated snow is thrown to the two sides of the road by adjusting the horizontal azimuth angle of the snow throwing cylinder. Furthermore, the snow throwing height and distance are controlled by reducing the rotating speed or the traveling speed of the working head.
The intelligent snow sweeper will be described in detail with reference to fig. 2 and 3.
As shown in fig. 2, when the intelligent snow sweeper walks on a slope, snow on the slope is cleared. The intelligent snow sweeper, which includes a spiral snow collector 210 and a snow throwing cylinder 220, is noted to show only the components associated with the present exemplary embodiment in detail, and it should be clear to one skilled in the art that the intelligent snow sweeper also includes details other than those of fig. 2.
The spiral snow collector 210 can collect snow and is thrown to the roadside or onto a snow truck from a snow throwing cylinder by the rotation of a fan. The types of the spiral snow collectors include, but are not limited to, a single-screw rotor type, a double-screw rotor type, and a double-vertical single-screw rotor type, and in a specific embodiment, the spiral snow collector 210 is an auger.
Optionally, in case the intelligent snow sweeper 100 is an intelligent snow sweeper, the processing module is further configured to: after the elevation angle of a snow throwing cylinder of the intelligent snow sweeper is determined, the rotation speed of the spiral snow collector is determined according to the elevation angle of the snow throwing cylinder; the conveying speed of the screw-type snow collector is adjusted to a determined rotational speed.
According to an exemplary embodiment of the present application, in order to enable snow to fall to the road side after being thrown from the snow thrower, the snow throwing distance may be determined with the elevation angle of the snow throwing cylinder being predetermined, for example, 5 meters, as shown in the following equation 1,
wherein x ismaxIs the distance of snow throwing, uoIs the speed of the snow throwing cylinder as the snow leaves the snow throwing cylinder, β is the elevation angle of the snow throwing cylinder, g is the gravity coefficient, and c is the drag coefficient. It can be seen from this that, given a determined snow throwing distance and snow throwing cylinder elevation angle, the snow throwing cylinder velocity u can be determined according to equation 1o。
In the case of determining the speed of the snow thrower, the speed of rotation of the screw-type snow collector can be determined according to equations 2 and 3:
the velocity, as shown in equation 2 below,
in the formula 2, VoyFor indicating the speed at which snow leaves the screw-type snow collector, which is in fact the speed of rotation of the screw-type snow collector, uoThe spiral snow collector is used for expressing the speed of snow at the outlet of the snow throwing cylinder, S is a screw pitch, n is the rotating speed of the spiral snow collector, alpha is a spiral angle, Ho is the vertical distance from the outlet of the snow throwing cylinder to the central shaft of the snow collector, and psi is an energy loss coefficient generated by friction and impact with the cylinder wall when the snow passes through the snow throwing cylinder.
In summary, the intelligent snow sweeper according to the exemplary embodiment can adjust the elevation angle of the snow throwing cylinder according to the walking angle, and in combination with the snow sweeping capability of the intelligent snow sweeper, such as the snow throwing height and the snow throwing distance, in order to avoid that people or animals under a slope are injured due to the fact that the snow throwing height is too high when the slope suddenly drops, the snow throwing height is controlled, for example, the snow throwing height is controlled to be 1 meter, so that the rotating speed of the auger is controlled, and the intelligent snow sweeper can adopt a proper scheme to clear snow according to the terrain, and meets the requirements of people.
In order to more clearly understand the inventive concept of the exemplary embodiment of the present application, a flowchart of a walking method for an intelligent snowplow of the exemplary embodiment of the present application will be described below with reference to fig. 3.
Referring to fig. 3, in step S310, a travel angle between a travel direction of the intelligent snowplow and a horizontal direction is detected.
In step S320, a snow throwing parameter for throwing snow is adjusted according to the traveling angle.
Optionally, the snow throwing parameters comprise at least one of a snow throwing cylinder elevation angle, a snow throwing cylinder horizontal azimuth angle, a work head rotation speed and a walking speed.
Optionally, adjusting the snow throwing parameters for throwing snow according to the walking angle comprises: judging whether the walking angle meets a preset condition or not; and under the condition that the walking angle meets the preset condition, adjusting the elevation angle of the snow throwing cylinder according to a first scheme.
Optionally, the method further comprises: and under the condition that the walking angle does not meet the preset condition, adjusting the elevation angle of the snow throwing cylinder according to a second scheme.
Optionally, the preset condition is that the total angle of the walking angle and the angle of the elevation of the snow throwing cylinder is greater than 45 degrees.
Optionally, a first solution is to reduce the angle of elevation of the snow thrower until the total angle is adjusted to 45 degrees.
Alternatively, a second solution is to increase the angle of elevation of the snow thrower until the total angle is adjusted to 45 degrees.
Optionally, adjusting the snow throwing parameters for throwing snow according to the walking angle comprises: and adjusting the horizontal azimuth angle of the snow throwing cylinder to ensure that the horizontal azimuth angle of the snow throwing cylinder is different from the walking direction.
Optionally, adjusting the snow throwing parameters for throwing snow according to the walking angle comprises: the rotating speed or the traveling speed of the working head is reduced.
Optionally, adjusting the elevation of the snow thrower according to the first or second aspect comprises: after the elevation angle of the snow throwing cylinder is adjusted, the rotation speed of the spiral snow collector is determined according to the adjusted angle of the snow throwing cylinder; the conveying speed of the screw-type snow collector is adjusted to a determined rotational speed.
In summary, the method for the intelligent snow sweeper according to the exemplary embodiment of the present application can adjust the snow throwing parameters according to the slope angle when facing a slope, thereby enabling efficient snow sweeping, and further, increase the snow throwing distance and prevent repeated snow sweeping by adjusting the elevation angle of the snow throwing cylinder. Furthermore, the accumulated snow is thrown to the two sides of the road by adjusting the horizontal azimuth angle of the snow throwing cylinder. Furthermore, the snow throwing height and distance are controlled by reducing the rotating speed or the traveling speed of the working head.
Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein were chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the techniques in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (14)
1. An intelligent snow sweeper, comprising:
the detection module is configured to detect a walking angle between a walking direction and a horizontal direction of the intelligent snow sweeper;
a processing module configured to adjust a snow throwing parameter for throwing snow according to the walking angle;
the processing module is further configured to control the intelligent snow sweeper to adjust the walking mode in a mode of reducing the walking angle under the condition that the walking angle is determined to be in a preset range;
the snow throwing parameters comprise at least one of the elevation angle of the snow throwing cylinder, the horizontal azimuth angle of the snow throwing cylinder, the rotating speed of the working head and the traveling speed;
the processing module comprises:
a judging unit configured to judge whether the walking angle satisfies a preset condition;
the execution unit is configured to adjust the elevation angle of the snow throwing cylinder according to a first scheme under the condition that the walking angle meets a preset condition;
the preset condition is that the total angle of the walking angle and the elevation angle of the snow throwing cylinder is greater than 45 degrees.
2. The intelligent snow plow of claim 1 wherein the execution unit is further configured to:
and under the condition that the walking angle does not meet the preset condition, adjusting the elevation angle of the snow throwing cylinder according to a second scheme.
3. The intelligent snow sweeper of claim 1, wherein the first scheme is to decrease the angle of elevation of the snow throwing cylinder until the total angle is adjusted to 45 degrees.
4. The intelligent snow sweeper of claim 2, wherein the second scheme is to increase the angle of elevation of the snow throwing cylinder until the total angle is adjusted to 45 degrees.
5. The intelligent snow sweeper of claim 1, wherein the execution unit is further configured to adjust the snow throwing cylinder horizontal azimuth such that the snow throwing cylinder horizontal azimuth is different from the walking direction.
6. The intelligent snow sweeper of claim 1, wherein the actuator unit is further configured to reduce the work head speed or travel speed.
7. The intelligent snow plow of claim 1 wherein the execution unit is further configured to: after the elevation angle of the snow throwing cylinder is adjusted, the rotation speed of the spiral snow collector is determined according to the adjusted angle of the snow throwing cylinder; the conveying speed of the screw-type snow collector is adjusted to a determined rotational speed.
8. A method for an intelligent snowplow, comprising:
detecting a walking angle between a walking direction and a horizontal direction of the intelligent snow sweeper;
adjusting snow throwing parameters for throwing snow according to the walking angle;
the method further comprises the following steps: under the condition that the walking angle is determined to be within the preset range, controlling the intelligent snow sweeper to adjust the walking mode according to the mode of reducing the walking angle;
the snow throwing parameters comprise at least one of the elevation angle of the snow throwing cylinder, the horizontal azimuth angle of the snow throwing cylinder, the rotating speed of the working head and the traveling speed;
adjusting snow throwing parameters for throwing snow according to the walking angle comprises:
judging whether the walking angle meets a preset condition or not;
under the condition that the walking angle meets the preset condition, adjusting the elevation angle of the snow throwing cylinder according to a first scheme;
the preset condition is that the total angle of the walking angle and the elevation angle of the snow throwing cylinder is greater than 45 degrees.
9. The method of claim 8, further comprising:
and under the condition that the walking angle does not meet the preset condition, adjusting the elevation angle of the snow throwing cylinder according to a second scheme.
10. The method of claim 8, wherein the first option is to decrease the angle of elevation of the snow thrower until the total angle is adjusted to 45 degrees.
11. The method of claim 9, wherein the second option is to increase the angle of elevation of the snow thrower until the total angle is adjusted to 45 degrees.
12. The method of claim 8, wherein adjusting snow throwing parameters for throwing snow based on the walking angle comprises: and adjusting the horizontal azimuth angle of the snow throwing cylinder to ensure that the horizontal azimuth angle of the snow throwing cylinder is different from the walking direction.
13. The method of claim 8, wherein adjusting snow throwing parameters for throwing snow based on the walking angle comprises: the rotating speed or the traveling speed of the working head is reduced.
14. A method according to claim 8 or claim 9, wherein adjusting the elevation of the snow throwing cylinder according to the first or second scheme comprises: after the elevation angle of the snow throwing cylinder is adjusted, the rotation speed of the spiral snow collector is determined according to the adjusted angle of the snow throwing cylinder; the conveying speed of the screw-type snow collector is adjusted to a determined rotational speed.
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| CN201811615227.1A CN111379237B (en) | 2018-12-27 | 2018-12-27 | Intelligent snow sweeper and method thereof |
| PCT/CN2019/117776 WO2020134664A1 (en) | 2018-12-27 | 2019-11-13 | Intelligent snow sweeper and method therefor |
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| Publication number | Publication date |
|---|---|
| CN111379237A (en) | 2020-07-07 |
| WO2020134664A1 (en) | 2020-07-02 |
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