CN114808828A - Intelligent snow sweeping robot and intelligent snow sweeping method - Google Patents

Abstract

The invention provides an intelligent snow sweeping robot and an intelligent snow sweeping method, wherein the intelligent snow sweeping robot comprises a chassis walking module, a snow sweeping module and a snow sweeping module, wherein the chassis walking module is used for realizing the walking of the whole machine; the safety protection module is used for making a distinguishing response to the obstacles around the machine and detecting the living objects at the front end of the machine; the intelligent snow throwing inspection module is used for performing living body detection in a snow outlet range of the snow throwing port; the work execution module is used for cleaning the snow on the ground surface; the profiling obstacle crossing module is used for detecting the terrain of the ground surface in real time and adjusting the snow shoveling position; and the automatic charging module is used for realizing low-power recharging. The snow sweeper has the advantages of safety protection function, self-adaptive adjusting function, profiling function and obstacle crossing function, and automatic intelligent snow sweeping can be achieved without personnel intervention.

Description

Intelligent snow sweeping robot and intelligent snow sweeping method

Technical Field

The invention relates to the technical field of intelligent snow sweeping, in particular to an intelligent snow sweeping robot. The invention also relates to an intelligent snow sweeping method applied to the intelligent snow sweeping robot.

Background

With the continuous development of automation technology, the snow sweeping equipment has already completed the transition from the snow removing shovel to the hand-held snow sweeper and is currently in the transition stage from the hand-held snow sweeper to the snow sweeping robot.

CN201710548414 discloses a full-automatic snow sweeper, which comprises a frame body, a driving mechanism, a first driving assembly mounted on the frame body, and the first driving assembly is a corresponding second driving assembly; the snow collecting assembly is mounted at the bottom of the rack body and used for collecting accumulated snow; the snow throwing mechanism is a positioning module which is collected on the rack body and used for determining the position, and an obstacle avoidance snow assembly used for avoiding obstacles are correspondingly and rotatably arranged on the rack body; the control mechanism comprises a setting module.

However, in the fully automatic snow sweeper in the prior art, when the living body (human or other small animals) of the auger at the front snow feeding port is not stopped during the operation of the auger, potential safety hazards are brought. The snow sweeper is characterized in that the position of a snow throwing opening is manually adjusted in the running process, the recognition and processing capability for emergency (the position of the snow throwing opening is passed by a person) is lacked, and the obstacle crossing capability is insufficient. Therefore, the intelligent degree is low, the safety performance is not perfect, and the copying obstacle-crossing capability is insufficient.

Disclosure of Invention

The invention provides an intelligent snow sweeping robot, which solves the technical problems of low intelligent degree, incomplete safety performance and insufficient profile modeling obstacle crossing capability of snow sweeping equipment in the prior art. The invention also provides an intelligent snow sweeping method applied to the intelligent snow sweeping robot, and intelligent snow sweeping is realized.

The invention provides an intelligent snow-sweeping robot, comprising:

the chassis walking module is used for realizing the walking of the whole machine;

the safety protection module is used for making a distinguishing response to the obstacles around the machine and detecting the living objects at the front end of the machine;

the intelligent snow throwing inspection module is used for performing living body detection in a snow outlet range of the snow throwing port;

the work execution module is used for cleaning the snow on the ground surface;

the profiling obstacle crossing module is used for detecting the terrain of the ground surface in real time and adjusting the snow shoveling position;

and the automatic charging module is used for realizing low-electric-quantity recharging.

Preferably, the chassis walking module comprises a chassis for supporting, a driving wheel mechanism, a chain transmission tensioning mechanism, a driven wheel mechanism and a control module, wherein the driving wheel mechanism, the chain transmission tensioning mechanism and the driven wheel mechanism are mounted on the chassis and are in transmission connection;

the chassis comprises a side steel plate, the side steel plate is provided with a rear lower bottom plate, two layers of supporting bottom plates, a front lower bottom plate and a front side snow guide plate, the rear lower bottom plate and the front lower bottom plate are provided with outer covers, the side of the side steel plate is provided with a side anti-collision strip cover plate and a side cover plate, and the outer cover is provided with a key switch, an emergency stop button, an electric quantity digital display module and a switch;

the driving wheel mechanism comprises a motor arranged on the side steel plate, a speed reducer and a driving rubber covered wheel which are connected to the end part of the motor, a driving wheel limiting gasket, a driving wheel axial limiting bolt, a driving wheel bearing shaft, a driving chain wheel and a driving chain wheel fixing bolt;

the chain transmission tensioning mechanism comprises a tensioning connecting rod rotating shaft arranged on the side steel plate, a tensioning wheel connecting rod arranged on the tensioning connecting rod rotating shaft, a tensioning wheel torsion spring arranged on the tensioning connecting rod rotating shaft and the tensioning wheel connecting rod, a tensioning wheel sprocket bearing seat, a tensioning sprocket wheel bearing fixed inside the tensioning wheel sprocket wheel bearing seat through the tensioning sprocket wheel clamping spring, and a tensioning sprocket wheel fixedly arranged on the end face of the tensioning sprocket wheel bearing seat and connected to the tensioning wheel connecting rod;

the driven wheel mechanism comprises a driven wheel shaft arranged on the side steel plate, a first driven wheel bearing, a driven rubber-coated wheel, a second driven wheel bearing, a driven chain wheel arranged on the outer end face of the driven rubber-coated wheel and a second driven wheel bearing arranged on the driven wheel shaft are arranged on the driven wheel shaft.

Preferably, the safety protection module comprises a heat release instrument device, a safety protection device and an anti-collision device;

the pyroelectric instrument device comprises a pyroelectric instrument support arranged on the outer cover, a pyroelectric instrument module arranged inside the pyroelectric instrument support, a pyroelectric instrument sun shade arranged at the front end of the pyroelectric instrument support, a safety regulation snow guide groove arranged below the front lower bottom plate and an adjustable snow feeding plate arranged above the safety regulation snow guide groove;

the anti-collision device comprises a front anti-collision strip support installed on the side steel plate, a front anti-collision strip installed on the front anti-collision strip support, a front ultrasonic support, front ultrasonic waves installed in the front ultrasonic support, a side anti-collision strip support installed on the side steel plate, side anti-collision strips installed on the side anti-collision strip support and side ultrasonic waves installed on the outer cover.

Preferably, the intelligent snow throwing inspection module comprises a snow throwing port device, a driving device and a two-layer upright post inspection device;

the snow throwing port device comprises a snow throwing port body, a snow throwing port body pressing plate arranged on the snow throwing port body and a snow throwing port adjusting mechanism arranged at the upper end of the snow throwing port body;

the driving device comprises a driving motor arranged on the two-layer supporting bottom plate and a driving gear arranged on the driving motor through a driving gear pressing shaft and a driving gear limiting bolt;

the double-layer upright post patrol device comprises a Hall sensor arranged below the double-layer supporting bottom plate, a double-layer rotary supporting bearing arranged above the double-layer supporting bottom plate, a double-layer rotary gear arranged on the double-layer rotary supporting bearing, a double-layer rotary supporting plate used for fixing the double-layer rotary supporting bearing, a double-layer transition support arranged above the double-layer rotary supporting plate, a middle upright post fixed on an upper rotating shaft of the double-layer rotary gear, an outer upright post supporting flange arranged on the double-layer transition support, an outer upright post arranged on the outer upright post supporting flange, a fixed shifting tooth arranged at the upper end part of the outer upright post, a movable shifting tooth and a movable shifting tooth pressing plate used for arranging the movable shifting tooth above the fixed shifting tooth; the antenna comprises a movable dialing tooth, a camera outer cover, a camera body, a camera compensation lamp, a camera outer cover, a camera quartz glass, an antenna bottom plate, a two-layer control plate, an infrared camera support, an infrared camera body, an antenna fixing plate, an antenna body, an antenna outer cover supporting transparent flange, an antenna outer cover and an antenna bottom plate, wherein the camera outer cover is arranged above the movable dialing tooth, the camera outer cover upper cover is used for installing the camera support, the camera quartz glass is adhered to the camera outer cover, the antenna bottom plate is arranged at the upper end of a middle upright post, the two-layer control plate is arranged on the antenna bottom plate, the infrared camera support is arranged on the antenna bottom plate, the infrared camera body is clamped on the infrared camera support, the antenna fixing plate is arranged on the antenna fixing plate, the antenna body is arranged on the antenna fixing plate, the antenna outer cover supporting transparent flange is arranged above the antenna outer cover supporting transparent flange, and the antenna bottom plate is used for fixing the antenna outer cover.

Preferably, the work execution module includes auger driving motor connecting plate, auger driving motor fixed plate, install in auger driving motor connecting plate with auger driving motor on the auger driving motor fixed plate, install in epaxial driving pulley of auger driving motor, auger axle, install in the driven pulleys of auger axle, be used for to driving pulley with the elasticity polywedge bet of driven pulleys transmission power, belt drive protection casing, auger bearing frame, fix through the auger jump ring auger bearing in the auger bearing frame, the auger axle pass the auger body with the auger bearing, the auger bearing frame is installed on the steel sheet of side.

Preferably, the profiling obstacle crossing module comprises a snow scraping shovel tip, a snow scraping shovel tip connecting bolt, a snow scraping shovel connecting rod shaft, a snow scraping shovel connecting rod locking nut, a snow scraping shovel torsional spring retainer ring, a snow scraping shovel connecting rod torsional spring, a snow scraping shovel connecting rod shaft fixing bolt, a snow scraping shovel connecting rod and a snow scraping shovel connecting rod limiting plate; scrape snow shovel point and fix on scraping snow shovel body through scraping snow shovel point connecting bolt, it fixes through scraping snow shovel connecting rod axle fixing bolt to scrape snow shovel connecting rod axle on the steel sheet of side, scrape snow shovel connecting rod torsional spring scrape the snow shovel connecting rod and pass through scrape snow shovel connecting rod lock nut with it fixes to scrape snow shovel torsional spring retaining ring scrape on the snow shovel connecting rod axle, it installs to scrape snow shovel connecting rod limiting plate on the steel sheet of side, scrape snow shovel axle and pass and scrape snow shovel torsional spring, scrape snow shovel body, scrape the spacing setting of snow shovel upset, it will to scrape snow shovel lock nut scrape the snow shovel axle and fix scrape on the snow shovel connecting rod.

Preferably, the automatic charging module comprises a battery device and a charging mechanism;

the battery device comprises a battery pack outer cover, heat insulation cotton arranged on the inner side of the battery pack outer cover, a battery pack heating sheet adhered to the inner side of the heat insulation cotton, a battery plug box, a battery pack arranged on the battery plug box, a temperature sensor and a Glan head;

the charging mechanism comprises a charging block base arranged on the rear lower bottom plate, a copper support frame arranged on the charging block base, a charging block copper support frame arranged on the copper support frame, a copper guide block arranged on the charging block base, a guide pillar arranged on the copper guide block, a pressure spring, a fixing bolt and a rotating shaft for arranging the copper guide block on the charging block base, torsion springs arranged at two ends of the rotating shaft and a charging block upper cover on the charging block base.

The invention also provides an intelligent snow sweeping method, which is applied to the intelligent snow sweeping robot and comprises the following steps:

starting up and preheating: when the snow depth measuring device detects that snow falls and the snow depth reaches a preset value, the automatic charging module is powered off when preheating and heating to a first preset temperature, and is heated when the temperature is lower than a second preset temperature and is maintained within a preset temperature range;

navigation and walking: after preheating, the work execution module carries out snow sweeping work, the position of the vehicle body is obtained through the intelligent snow throwing inspection module, and the chassis walking module carries out navigation walking;

snow sweeping action execution: when the machine travels to a snow position, the work execution module starts to be attached to the ground to remove snow on the ground surface, and when an obstacle is encountered, the copying obstacle crossing module moves backwards and moves back after crossing the obstacle;

safety protection and intelligent obstacle avoidance: when the safety protection module detects that a living object exists in the detection range in the working process, an emergency stop mechanism is triggered, and a path is planned again so as to bypass the obstacle to work;

intelligent patrol: the intelligent snow throwing inspection module is used for monitoring the surrounding environment, and when a living body is detected in front of a snow throwing port, the intelligent snow throwing inspection module turns to the side without the living body to perform snow throwing operation;

automatic recharging: when the electric quantity of the machine is lower than the preset electric quantity, the automatic charging module starts low-electric-quantity early warning, the chassis walking module drives the machine to carry out pile returning charging, the automatic charging module charges the pile, and when the charging quantity reaches 100%, the charging pile is automatically powered off;

and (4) continuing to work: after the snow is fully charged, the machine can process the snow depth information returned by the snow depth measuring device before and after charging, if no snow falls in the preset time period, the machine returns to the initial recharging point to continue working, and if snow is newly added in the preset time period, the operation steps are repeated.

The intelligent snow sweeping robot provided by the invention comprises a chassis walking module, a safety protection module, an intelligent snow throwing inspection module, a work execution module, a profiling obstacle crossing module and an automatic charging module, realizes unmanned automatic walking, detects surrounding obstacles and detects living bodies at a front snow feeding port, the snow throwing port can be dynamically adjusted according to the feedback result of an infrared thermal imaging camera, can realize attaching work and obstacle crossing lifting according to the ground surface state, the automatic charging module sends a back charging instruction through feeding back electric quantity information to realize automatic back charging, the intelligent snow sweeping robot has high safety, high humanization degree, strong adaptability, stability and high efficiency, is novel intelligent snow sweeping equipment fusing multiple sensor technologies, has a safety protection function, improves the safety performance of the machine, and has an autonomous adaptive adjustment function, a profiling function and an obstacle crossing function at the snow throwing port, the machine has the advantages of improving the trafficability and the snow removing capability of the machine, automatically cleaning without human intervention and realizing intellectualization in the true sense.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an intelligent snow-sweeping robot according to an embodiment of the present invention;

fig. 2 is a schematic structural view of another angle of the intelligent snow-sweeping robot according to the embodiment of the present invention;

FIG. 3 is a side view of FIG. 1;

FIG. 4 is a partial cross-sectional view of the chassis module of FIG. 1;

FIG. 5 is a half-sectional view of FIG. 1;

fig. 6 is a schematic structural diagram of the work execution module and the copying obstacle crossing module in fig. 1.

The intelligent snow throwing and patrolling system comprises a chassis module 1, a safety protection module 2, an intelligent snow throwing and patrolling module 3, a work execution module 4, a profiling obstacle crossing module 5 and an automatic charging module 6;

11-chassis, 12-driving wheel mechanism, 13-chain transmission tensioning mechanism, 14-driven wheel mechanism, 15-control module, 21-thermolometer device, 22-safety protection device, 23-anti-collision device, 31-snow throwing device, 32-driving device, 33-two-layer upright post inspection device, 41-auger driving device, 42-auger device, 51-front end snow scraping plate device, 52-snow scraping shovel profiling device, 61-battery device and 62-charging mechanism;

111-side steel plate, 112-rear bottom plate, 113-two-layer supporting bottom plate, 114-front bottom plate, 115-front snow guide plate, 116-outer cover, 117-side bumper strip cover plate, 118-side cover plate, 119-key switch, 1110-emergency stop button, 1111-electric quantity digital display module, 1112-switch, 121-motor, 122-reducer, 123-driving wheel motor connecting bolt, 124-driving wheel wrapping rubber, 125-driving wheel limiting gasket, 126-driving wheel axial limiting bolt, 127-driving wheel bearing, 128-driving wheel bearing shaft, 129-driving sprocket, 1210-driving sprocket fixing bolt, 131-tensioning connecting rod rotating shaft, 132-tensioning sprocket torsion spring, 133-tensioning wheel connecting rod, 134-tensioning wheel connecting-rod limiting gasket, 135-tensioning wheel limiting bolt, 136-tensioning sprocket bearing seat, 137-tensioning sprocket bearing, 138-tensioning sprocket clamping spring, 139-tensioning sprocket gasket, 1310-tensioning sprocket nut, 1311-tensioning sprocket, 1312-tensioning sprocket fixing bolt, 141-driven wheel shaft, 142-driven wheel shaft fixing bolt, 143-first driven wheel bearing, 144-driven rubber coated wheel, 145-second driven wheel bearing, 146-driven sprocket, 147-driven sprocket connecting bolt, 148-second driven wheel shaft bearing shaft, 149-driven wheel pressure shaft gasket, 1410-driven wheel pressure shaft gasket fixing bolt, 211-thermolator bracket, 212-thermolator module, 213-thermolator sunshade, 214-thermolator connecting bolt, 221-amplexiform snow groove, 222-adjustable snow feeding plate, 231-front anti-collision strip bracket connecting bolt, 232-front anti-collision strip bracket, 233-front anti-collision strip, 234-front anti-collision strip connecting bolt, 235-front ultrasonic bracket, 236-front ultrasonic connecting bolt, 237-front ultrasonic, 238-side anti-collision strip bracket, 239-side anti-collision strip bracket connecting bolt, 2310-side anti-collision strip, 2311-side anti-collision strip connecting bolt, 2312-side ultrasonic, 311-snow throwing port body, 312-snow throwing port body pressing plate, 313-snow throwing port body pressing plate fixing bolt, 314-snow throwing port adjusting locking nut, 315-snow throwing port adjusting shaft, 316-snow throwing port adjusting mechanism, 321-driving motor, 322-driving motor connecting bolt, 323-driving gear, 324-driving gear pressing shaft, 325-driving gear limit bolt, 331-Hall sensor, 332-two layers of rotation support bearing, 333-two layers of rotation gear, 334-two layers of rotation support plate, 335-two layers of transition support, 336-middle upright post, 337-middle upright post lower lock nut, 338-outer upright post, 339-outer upright post support flange, 3310-outer upright post lower lock nut, 3311-outer upright post support flange connecting bolt, 3312-fixed dial tooth, 3313-outer upright post upper lock nut, 3314-movable dial tooth, 3315-movable dial tooth pressure plate, 3316-movable dial tooth pressure plate lock nut, 3317-guide sleeve, 3318-camera housing, 3319-camera housing connecting bolt, 3320-camera body, 3321-camera compensation lamp, 3322-camera support, 3323-camera connecting bolt, 3324-camera housing upper cover, 3325-camera support connecting bolt, 3326-camera quartz glass, 3327-antenna base plate, 3328-middle upright post upper locking bolt, 3329-two-layer control panel, 3330-two-layer control panel fixing bolt, 3331-infrared camera support, 3332-infrared camera support fixing bolt, 3333-infrared camera body, 3334-antenna fixing plate, 3335-antenna body, 3336-antenna fixing bolt, 3337-antenna housing supporting transparent flange, 3338-antenna housing, 3339-antenna housing fixing bolt, 411-auger driving motor, 412-auger driving motor connecting plate, 413-auger driving motor fixing bolt, 414-driving pulley, 415-driving pulley locking bolt, 416-auger driving motor transition plate, 417-elastic polywedge belt, 418-belt transmission protective cover, 421-driven belt wheel, 422-auger shaft, 423-auger shaft washer, 424-auger shaft locknut, 425-auger fixing shaft sleeve, 426-auger bearing, 427-auger snap spring, 428-auger bearing seat, 429-auger body, 511-front snow scraping plate, 512-front snow scraping plate connecting bolt, 521-snow scraping shovel tip, 522-snow scraping shovel tip connecting bolt, 523-snow scraping shovel connecting rod shaft, 524-snow scraping shovel connecting rod locknut, 525-snow scraping shovel torsional spring retainer ring, 526-snow scraping shovel connecting rod torsional spring, 527-snow scraping connecting rod fixing bolt, 528-snow scraping connecting rod, 529-snow scraping connecting rod limiting plate, 5210-snow scraping shovel connecting rod shaft, 5211-snow scraping connecting rod torsional spring, 5212-a snow scraper body, 5213-a snow scraper overturn limiting device, 5214-a snow scraper locking nut, 611-a battery pack outer cover, 612-heat insulation cotton, 613-a battery pack heating sheet, 614-a battery plugging box, 615-a battery pack, 616-a temperature sensor, 617-a glan head, 618-a battery plugging box connecting bolt, 621-a charging block base, 622-a charging block copper support frame, 623-a copper support connecting bolt, 624-a copper guide block, 625-a guide post, 626-a pressure spring, 627-a fixing bolt, 628-a rotating shaft, 629-a torsion spring, 6210-a charging block upper cover and 6211-a charging block upper cover fixing bolt.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

Referring to fig. 1, fig. 1 is a schematic structural diagram of an intelligent snow-sweeping robot according to an embodiment of the present invention.

The invention provides an intelligent snow sweeping robot, which comprises a chassis walking module 1, a snow sweeping module and a snow sweeping module, wherein the chassis walking module is used for realizing the walking of the whole machine and supporting other modules; the safety protection module 2 is used for making a distinguishing response to the obstacles around the machine and detecting the living objects at the front end of the machine; the intelligent snow throwing inspection module 3 is used for performing living body detection in a snow outlet range of the snow throwing port; the work execution module 4 is used for cleaning the surface snow; the profiling obstacle crossing module 5 is used for detecting the terrain of the ground surface in real time and adjusting the snow shoveling position; and the automatic charging module 6 is used for realizing low-power recharging.

The intelligent snow throwing inspection system has the advantages that the intelligent snow throwing inspection system is provided with a chassis walking module 1, a safety protection module 2, an intelligent snow throwing inspection module 3, a work execution module 4, a profiling obstacle crossing module 5 and an automatic charging module 6, unmanned automatic walking can be realized by the chassis walking module 1, surrounding obstacles can be detected, living bodies at a front snow feeding port can be detected, the intelligent snow throwing inspection module 3 can be dynamically adjusted according to infrared hot wire detection feedback results, and attaching work and obstacle crossing lifting can be realized according to the ground surface state; the automatic charging module 6 sends back a charging instruction through feeding back electric quantity information, automatic back charging is achieved, the safety of the whole system of the intelligent snow sweeping robot is high, the design is more humanized, the adaptability is high, and the operation is stable and efficient.

The invention integrates the multi-sensor technology, realizes the real-time dynamic feedback to the surrounding environment and improves the safety of the machine operation; aiming at the front end of the snow feeding port, an infrared hot wire technology is adopted for in-vivo detection and automatic regulation of the snow throwing port, the detection is sensitive and efficient, the humanization of the machine is improved, and the machine is safer to operate; in addition, the invention has the functions of profile modeling obstacle crossing, autonomous navigation and pile returning charging, can improve the surface snow cleaning capability and the autonomous obstacle crossing capability, has high automation degree and really realizes unmanned operation.

Referring to fig. 2 to 6, fig. 2 is a schematic structural view of another angle of the intelligent snow-sweeping robot according to the embodiment of the present invention; FIG. 3 is a side view of FIG. 1; FIG. 4 is a partial cross-sectional view of the chassis module of FIG. 1; FIG. 5 is a half-sectional view of FIG. 1; fig. 6 is a schematic structural diagram of the work execution module and the copying obstacle crossing module in fig. 1.

In the specific embodiment, the chassis walking module 1 includes a supporting chassis 11, a driving wheel mechanism 12 fixedly mounted on the chassis 11, a chain transmission tensioning mechanism 13, a driven wheel mechanism 14 and a control module 15.

The chassis 11 comprises a side steel plate 111, a rear lower base plate 112, a two-layer supporting base plate 113, a front lower base plate 114 and a front snow guiding plate 115 are fixedly arranged on the side steel plate 111, and an outer cover 116 is arranged on the rear lower base plate 112 and the front lower base plate 114. The side surface of the side steel plate 111 is provided with a side bumper cover plate 117 and a side cover plate 118, and the outer cover 116 is provided with a key switch 119, an emergency stop button 1110, an electric quantity digital display module 1111 and a switch 1112.

The driving wheel mechanism 12 includes a motor 121 mounted on the side steel plate 111 through a driving wheel motor connecting bolt 123, a speed reducer 122 and a driving wheel packing 124 connected to an end of the motor 121, a driving wheel limit spacer 125, a driving wheel axial limit bolt 126, a driving wheel bearing 127, a driving wheel bearing shaft 128, a driving sprocket 129, and a driving sprocket fixing bolt 1210. The driving force from the motor 121 is transmitted to the driving rubber coating wheel 124 and the driving sprocket 129 through the speed reducer 122.

Under the action of the driving force, the driving wheel mechanism 12 and the driven wheel mechanism 14 realize the whole machine walking function through chain transmission, the chain transmission tensioning mechanism 13 keeps the chain transmission in a tensioning state, and the outer cover 116 effectively protects the walking module and plays a role in safety protection. Key switch 119 and switch 1112 for start and stop operations; the whole machine can be stopped emergently by pressing the emergency stop button 1110; the electric quantity digital display module 1111 is used for displaying the remaining electric quantity in real time.

Specifically, the chain drive tensioner 13 includes a tensioner link pivot shaft 131, a tensioner torsion spring 132, a tensioner link 133, a tensioner link limit washer 134, a tensioner limit bolt 135, a tensioner sprocket bearing seat 136, a tensioner sprocket bearing 137, a tensioner sprocket clamp spring 138, a tensioner sprocket washer 139, a tensioner sprocket nut 1310, a tensioner sprocket 1311, and a tensioner sprocket fixing bolt 1312.

The tension link rotating shaft 131 is installed on the side steel plate 111, the tension wheel torsion spring 132 is installed on the tension link rotating shaft 131 and the tension wheel link 133, the tension wheel link 133 is installed on the tension wheel rotating shaft 131 and fixed through a tension wheel link limiting gasket 134 and a tension wheel limiting bolt 135, a tension sprocket bearing 137 is installed in the tension wheel sprocket bearing seat 136 and fixed through a tension sprocket clamp spring 138, a tension sprocket 1311 is connected to the end face of the tension sprocket bearing seat 136 through a tension sprocket fixing bolt 1312, and the assembled tension sprocket 1311 is connected to the tension wheel link 133 through a tension sprocket gasket 139 and a tension sprocket nut 1310. The drive wheel mechanism 12 and the driven wheel mechanism 14 are tensioned through the chain transmission tensioning mechanism 13, and accurate transmission is ensured.

In one particular embodiment, driven wheel mechanism 14 includes a driven wheel shaft 141, a driven wheel shaft securing bolt 142, a first driven wheel bearing 143, a driven rubberized wheel 144, a second driven wheel bearing 145, a driven sprocket 146, a driven sprocket attachment bolt 147, a second driven wheel bearing 148, a driven wheel bearing spacer 149, and a driven wheel bearing spacer securing bolt 1410.

Specifically, the driven wheel shaft 141 is fixed to the side steel plate 111 by a driven wheel shaft fixing bolt 142, a first driven wheel bearing 143, a driven rubber covered wheel 144 and a second driven wheel bearing 145 are mounted on the driven wheel shaft 141, the driven sprocket 146 is connected to the outer end face of the driven rubber covered wheel 144 by a driven sprocket connecting bolt 147, and the second driven wheel pressure bearing shaft 148 is fixed to the driven wheel shaft 141 by a driven wheel pressure bearing spacer 149 and a driven wheel pressure bearing spacer fixing bolt 1410.

The driving sprocket 129 is connected with the driven sprocket 146 through a chain, the middle part of the driving sprocket is tensioned through the tensioning sprocket 1311, the motor 121 provides driving force, the driving force is transmitted to the driving sprocket 129 after being decelerated through the speed reducer 122, and the driving sprocket 129 transmits the driving force to the driven sprocket 146 through the chain, so that the walking function of the whole machine is realized.

The position of a vehicle body is obtained through an antenna body 3335 in the intelligent snow throwing inspection module 3, the driving motor 121 rotates, the driving rubber-covered wheel 124 rotates, the driving chain wheel 129 on the driving rubber-covered wheel 124 works synchronously with the driving rubber-covered wheel 124, the driven chain wheel 146 rotates under the driving of the driving chain wheel 129, the driven rubber-covered wheel 144 rotates along with the driven chain wheel 146, the chain transmission tensioning mechanism 13 tensions a chain, and the machine walks. The straight running and turning of the machine are realized through differential control of the left and right driving rubber coating wheels 124. Thus, the navigation walking function is realized.

The safety protection module 2 mainly comprises a heat release instrument device 21, a safety protection device 22 and an anti-collision device 23. The pyroelectric device 21 includes a pyroelectric device support 211, a pyroelectric device module 212, a pyroelectric device sunshade 213, a safety snow guide groove 221, and an adjustable snow feeding plate 222.

The heat release instrument support 211 is installed on the outer cover 116, the heat release instrument module 212 is installed in the heat release instrument support 211, the heat release instrument sunshade 213 is installed at the front end of the heat release instrument support 211 through the heat release instrument connecting bolt 214, the heat release instrument module 212 is used for detecting the temperature of a heat source of a living body (a human body, a small animal and the like), the heat release instrument sunshade 213 is used for protecting the heat release instrument module 212, the safety regulation snow guide groove 221 is installed below the front lower bottom plate 114, and the adjustable snow feeding plate 222 is installed above the safety regulation snow guide groove 221.

The bumper 23 basically includes a front bumper strip bracket 232, a front ultrasonic bracket 235, a front ultrasonic wave 237, a side bumper strip bracket 238, a side bumper strip 2310, the outer cover 116 and a side ultrasonic wave 2312.

The pyroelectric instrument device 21 and the safety snow guide groove 221 are arranged at the front end of the machine, the pyroelectric instrument device 21 detects heat sources (human bodies, small animals and the like) in the working process of the machine, when the heat sources are 10 cm-20 cm away from the machine, an emergency stop mechanism is triggered, the sensing force and the protection of the machine to external living bodies are improved while the safe operation of the machine is ensured, and the safety protection is realized.

Preceding crashproof strip support 232 is connected on side steel sheet 111 through preceding crashproof strip connecting bolt 231, preceding crashproof strip 233 is fixed in the front on crashproof strip support 232 through preceding crashproof strip connecting bolt 234, preceding ultrasonic wave 237 is installed in preceding ultrasonic wave support 235, be fixed in preceding crashproof strip support 232 through preceding ultrasonic wave connecting bolt 236, side crashproof strip support 238 is fixed on side steel 111 through side crashproof strip support connecting bolt 239, side crashproof strip 2310 is fixed on side crashproof strip support 238 through side crashproof strip connecting bolt 2311, side ultrasonic wave 2312 is installed on dustcoat 116.

Through set up ultrasonic wave and anticollision strip at machine front end and side, preceding ultrasonic wave 237 and side ultrasonic wave 2312 are arranged in carrying out real-time dynamic perception to people and thing among the machine surrounding environment, and preceding anticollision strip support 232 and side ultrasonic wave 2312 constitute mechanical type protection for prevent that machine and barrier from colliding, have the effect of buffering simultaneously. When an obstacle is found in front of or on the side face of the machine, the machine can carry out path re-planning and work by bypassing the obstacle, so that intelligent obstacle avoidance is realized.

The intelligent snow throwing patrol module 3 mainly comprises a snow throwing port device 31, a driving device 32 and a two-layer upright post patrol device 33. The snow throwing port device 31 includes a snow throwing port body 311, a snow throwing port body pressing plate 312 mounted on the snow throwing port body 311, and a snow throwing port adjusting mechanism 316 mounted on the upper end of the snow throwing port body 311. The snow throwing port body pressing plate 312 is fixed on the snow throwing port body 311 through a snow throwing port body pressing plate fixing bolt 313, and the snow throwing port adjusting mechanism 316 is fixed on the upper end of the snow throwing port body 311 through a snow throwing port adjusting shaft 315 and a snow throwing port adjusting locking nut 314.

The driving device 32 includes a driving motor 321 fixed on the two-layer supporting base plate 113 by a driving motor connecting bolt 322, and a driving gear 323 is fixed on the driving motor 321 by a driving gear pressing shaft 324 and a driving gear limiting bolt 325.

The two-layer column inspection device 33 comprises a Hall sensor 331 installed below the two-layer supporting base plate 113, a two-layer rotating supporting bearing 332 installed above the two-layer supporting base plate 113, a two-layer rotating gear 333 installed on the two-layer rotating supporting bearing 332, a two-layer rotating supporting plate 334 for fixing the bearing 332 installed above the two-layer rotating gear 333, a two-layer transition support 335 installed above the two-layer rotating supporting plate 334, a middle column 336 fixed on the upper rotating shaft of the two-layer rotating gear 333 through a middle column lower locking nut 337, an outer column 338 fixed on an outer column supporting flange 339 through an outer column lower locking nut 338, an outer column flange connecting bolt 3311 for fixing the outer column supporting flange 339 on the two-layer transition support 335, a fixed dialing tooth 3312 fixed on the upper end of the outer column 338 through an outer column upper locking nut 3313, a movable dialing tooth pressure plate 3315 for fixing the movable dialing tooth 3314 above the fixed dialing tooth 3312 through a movable dialing tooth pressure plate locking nut 3316, the guide sleeve 3317 centers the center post 336, the camera housing 3318 is fixed above the moving teeth 3314 by the camera housing connecting bolt 3319, the camera body 3320, the camera compensating lamp 3321 is fixed to a camera support 3322 by a camera connecting bolt 3323, the camera support connecting bolt 3325 connects the camera support 3322 to a camera housing upper cover 3324, the camera quartz glass 3326 is adhered to a camera housing 3318, an antenna base plate 3327 is connected to the upper end of a center pillar 336 by a center pillar upper locking bolt 3328, a two-layer control board 3329 is fixed to the antenna base plate 3327 by a two-layer control board fixing bolt 3330, an infrared camera support 3331 is fixed to the antenna base plate 3327 by an infrared camera support fixing bolt 3332, the infrared camera body 3333 is clamped to the infrared camera support 3331, an antenna body 3335 is mounted to an antenna fixing plate 3334 by an antenna fixing bolt 3336, and an antenna housing 3338 above an antenna housing supporting transparent flange 3337 is fixed to the antenna base plate by an antenna housing fixing bolt 3339.

The infrared camera body 3333 on the two-layer upright post patrol device 33 at the upper end of the machine forms a linkage system through the two-layer rotating gear 333 at the lower end of the middle upright post 336, the driving gear 323 and the gear on the snow throwing port body 314, so as to ensure that the position of the infrared camera body 3333 is synchronous with the position of the snow throwing port adjusting mechanism 316. During the machine operation, infrared camera body 3333 perception snow throwing mouth the place ahead has or not the live body, if there is the live body, and the snow throwing mouth starts humanized intelligent rotation mechanism, and under driving motor 321's drive, snow throwing mouth device 31 and two layers of stand tour device 33 carry out synchronous motion, turn to and do not have live thing one side and carry out the snow throwing. The camera body 3320 on the two-layer upright patrol device 33 can monitor the surrounding environment of the machine in daytime and at night with the aid of the camera compensation lamp 3321. The camera body 3320 can realize rotary motion by pulling the dial teeth 3314, can carry out all-round intelligent inspection to the machine all around, has high intelligent degree, and can realize unmanned operation.

The work execution module 4 mainly comprises an auger drive motor connecting plate 412, an auger drive motor fixing plate 416, an auger drive motor 411, a driving belt pulley 414, an auger shaft 422, a driven belt pulley 421, an elastic multi-wedge belt 417, a belt drive protective cover 418), an auger fixing shaft sleeve 425, an auger bearing 426 and an auger bearing seat 428.

The auger driving motor 411 is fixed on an auger driving motor connecting plate 412 through an auger driving motor fixing bolt 413, the driving belt pulley 414 is fixed on the shaft of the auger driving motor 411 through a driving belt pulley locking bolt 415, the auger driving motor fixing plate 416 plays a supporting role, the elastic V-ribbed belt 417 is used for power transmission between the driving belt pulley 414 and the driven belt pulley 421, and the belt transmission protective cover 418 plays a protective role in belt transmission. An auger fixing shaft sleeve 425 is sleeved on the auger shaft 422, the driven belt pulley 421 is fixed on the auger shaft 422 through an auger shaft washer 423 and an auger shaft locking nut 424, an auger bearing 426 is fixed in an auger bearing seat 428 through an auger snap spring 427, the auger shaft 422 penetrates through an auger body 429 and the auger bearing 426, and the auger bearing seat 428 is installed on the side steel plate 111.

When the machine runs to a snowfield, the auger driving motor 411 is started, the driving belt wheel 414 is driven by the auger driving motor 411 to rotate, the driving belt wheel 414 transmits power to the driven belt wheel 421 through the elastic V-ribbed belt 417, the driven belt wheel 421 drives the auger body 429 on the auger shaft 422 to rotate, snow is gathered to the middle of the auger body 429 in the rotating process and is thrown, the profiling obstacle crossing module 5 below the auger body 429 is attached to the ground to work, and the snow on the ground surface is cleaned.

The copying obstacle crossing module 5 comprises a snow scraping shovel tip 521, a snow scraping shovel tip connecting bolt 522, a snow scraping shovel connecting rod shaft 523, a snow scraping shovel connecting rod locking nut 524, a snow scraping shovel torsional spring retainer ring 525, a snow scraping shovel connecting rod torsional spring 526, a snow scraping shovel connecting rod shaft fixing bolt 527, a snow scraping shovel connecting rod 528, a snow scraping shovel connecting rod limiting plate 529, a snow scraping shovel shaft 5210, a snow scraping shovel torsional spring 5211, a snow scraping shovel body 5212, a snow scraping shovel overturning limiting 5213 and a snow scraping shovel locking nut 5214.

The front snow-scraping plate 511 is fixed to the side steel plates 111 by front snow-scraping plate coupling bolts 512. The snow scraping shovel tip 521 is fixed to the snow scraping shovel body 5212 through the snow scraping shovel tip connecting bolt 522, the snow scraping shovel link shaft 523 is fixed to the side steel plate 111 through the snow scraping shovel link shaft fixing bolt 527, the snow scraping shovel link torsion spring 526 and the snow scraping shovel link 528 are fixed to the snow scraping shovel link shaft 523 through the snow scraping shovel link locking nut 524 and the snow scraping shovel torsion spring retainer ring 525, the snow scraping shovel link limiting plate 529 is installed on the side steel plate 111, the snow scraping shovel shaft 5210 penetrates through the snow scraping shovel torsion spring 5211, the snow scraping shovel body 5212 and the snow scraping shovel overturn limiting 5213, and the snow scraping shovel shaft 5210 is fixed to the snow scraping shovel link 528 through the snow scraping shovel locking nut 5214.

The snow scraping shovel can be turned and attached according to the ground surface, and the residual snow on the ground surface is less. When meeting obstacles such as small stones or earth surface bulges, the force at the moment is larger than the torsion of the torsion spring 526 of the connecting rod 528 of the snow scraper, the connecting rod 528 of the snow scraper rotates backwards, the snow scraper retracts at the moment, and when the obstacles are crossed, the resetting movement is carried out under the action of the torsion. The front snow-scraper 511 and the safety snow-guide groove 221 have a filtering effect on the slightly larger obstacles at the bottom of the machine. The front side snow guide plate 115 can guide snow at the front end of the machine into the bottom of the machine, and meanwhile, snow can be prevented from appearing under wheels, so that the working efficiency is improved under the condition of ensuring stable walking. Snow is conveyed to the snow throwing port body 311 by the auger body 429 and is thrown to the side of the machine through the snow throwing port adjusting mechanism 316.

The automatic charging module 6 includes a battery device 61 and a charging mechanism 62. The battery device 61 includes a battery pack housing 611, a heat insulation cotton 612, a battery pack heating plate 613, a battery plug box 614, a battery pack 615, a temperature sensor 616, a glan head 617, a charging block base 621, a charging block copper support frame 622, a copper support frame 623, a copper guide block 624, a guide post 625, a compression spring 626, a fixing bolt 627, a rotating shaft 628, a torsion spring 629 and a charging block upper cover 6210.

The heat insulation cotton 612 is arranged on the inner side of the battery pack cover 611, the battery pack heating sheet 613 is adhered to the inner side of the heat insulation cotton 612, the battery pack 615, the temperature sensor 616 and the Glan head 617 are arranged on the battery plug box 614, and the battery plug box 614 is fixed on the rear lower bottom plate 112 through a battery plug box connecting bolt 618.

Charging block base 621 is fixed on back lower plate 112, and the copper support frame 622 that charges is fixed on charging base 621 through copper support frame 623, installs guide pillar 625, pressure spring 626 on the copper guide block 624, and fixing bolt 627 and rotation axis 628 fix copper guide block 624 on charging block base 621, and torsion spring 629 is installed at the rotation axis 628 both ends, and the block upper cover 6210 that charges is fixed on charging block base 621 through fast upper cover fixing bolt 6211 that charges.

The intelligent snow sweeper is preheated on a charging pile, the battery pack heating piece 613 works, the temperature in the space where the battery pack 615 is located is raised under the protection of the heat insulation cotton 612, and when the temperature is raised to 25 ℃, the temperature sensor 616 triggers a safety mechanism to cut off the power of the battery pack heating piece 613; when the temperature is lower than 20 ℃, the heating sheet 613 of the battery pack is turned on again, so that the temperature in the space where the battery pack 615 is located is maintained at 20 ℃ to 25 ℃. And after the standby device finishes preheating, a snow sweeping mode is carried out.

The invention has the automatic recharging function: when the electric quantity of the machine reaches 25%, a low-electric-quantity early warning is started, the machine returns to the pile for charging, the machine charges the pile, the copper guide block 624 has a self-adaptive fitting function, after the machine is stopped in place, the copper guide block 624 can perform profiling fitting adjustment under the combined action of the pressure spring 626 and the torsion spring 629, the copper guide block 624 is stably fitted in the charging process is ensured, and when the charging quantity reaches 100%, the charging pile is automatically powered off.

And after the machine is fully charged, the machine processes the snow depth information returned by the snow depth measuring device before and after charging, returns to the initial recharging point to continue working if no snow falls in the period of time, and repeats the operation flow if snow is newly added in the period of time.

The intelligent snow sweeping robot provided by the invention has a multi-sensor fusion technology, has a good environment sensing effect, and can effectively avoid obstacles; the safety protection plate and the pyroelectric instrument device at the bottom of the machine can effectively protect the living body; the small-sized barriers at the bottom can be effectively avoided through the copying obstacle-crossing rebound; the navigation walking and recharging function has high precision.

In addition, the invention also provides an intelligent snow sweeping method, which is applied to the intelligent snow sweeping robot and specifically comprises the following steps:

starting up and preheating: when the snow depth measuring device detects that snow falls and the snow depth reaches a preset value, the automatic charging module 6 is powered off when preheating and heating to a first preset temperature, and is heated when the temperature is lower than a second preset temperature and is maintained within a preset temperature range;

navigation and walking: after preheating, the work execution module 4 carries out snow sweeping work, the position of the vehicle body is obtained through the intelligent snow throwing patrol module 3, and the chassis walking module 1 carries out navigation walking;

snow sweeping action execution: when the machine travels to a snow position, the work execution module 4 starts to be attached to the ground to remove snow on the ground surface, and when an obstacle is encountered, the copying obstacle crossing module 5 moves backwards and then moves in a reset mode after crossing the obstacle;

safety protection and intelligent obstacle avoidance: when the safety protection module 2 detects that a living object exists in the detection range in the working process, an emergency stop mechanism is triggered, and a path is planned again so as to bypass the obstacle to work;

intelligent patrol: the intelligent snow throwing patrol module 3 is used for monitoring the surrounding environment, and when a living body is detected in front of a snow throwing port, the intelligent snow throwing patrol module turns to the side without the living body to perform snow throwing operation;

automatic recharging: when the electric quantity of the machine is lower than the preset electric quantity, the automatic charging module 6 starts low-electric-quantity early warning, the chassis walking module 1 drives the machine to return the pile for charging, the automatic charging module 6 charges the pile, and when the charging quantity reaches 100%, the charging pile is automatically powered off;

and (4) continuing to work: after the snow is fully charged, the machine can process the snow depth information returned by the snow depth measuring device before and after charging, if no snow falls in the preset time period, the machine returns to the initial recharging point to continue working, and if snow is newly added in the preset time period, the operation steps are repeated.

Specifically, after the device is started, a preheating process is started, when snow is detected by the snow depth measuring device, when the snow depth reaches preset values (for example, 5cm, 10cm, 15cm and 20cm), a work preparation instruction is issued to the intelligent snow sweeper, the intelligent snow sweeper is preheated on a charging pile, a battery pack heating sheet 613 in the automatic charging module 6 works, the temperature in a space where the battery pack 615 is located is raised under the protection of heat insulation cotton 612, when the temperature is raised to 25 ℃, a temperature sensor 616 triggers a safety mechanism to cut off the power of the battery pack heating sheet 613, and when the temperature is lower than 20 ℃, the battery pack heating sheet 613 is restarted to maintain the temperature in the space where the battery pack 615 is located at 20-25 ℃.

After the standby device finishes the preheating mode, executing a navigation walking mode: the position of a vehicle body is obtained through an antenna body 3335 in the intelligent snow throwing inspection module 3, a driving motor 121 in the chassis walking module 1 rotates, a driving rubber covered wheel 124 rotates, a driving chain wheel 129 on the driving rubber covered wheel 124 works synchronously along with the driving rubber covered wheel 124, a driven chain wheel 146 rotates under the driving of the driving chain wheel 129, the driven rubber covered wheel 144 rotates along with the driven chain wheel 146, a chain transmission tensioning mechanism 13 in the chassis walking module 1 tensions a chain, and the machine walks. The straight running and turning of the machine are realized through differential control of the left and right driving rubber coating wheels 124.

When the machine travels to the snow, the snow sweeping action is performed: the auger driving motor 411 in the work execution module 4 is started, the driving belt pulley 414 is driven by the auger driving motor 411 to rotate, the driving belt pulley 414 transmits power to the driven belt pulley 421 through the elastic V-belt 417, the driven belt pulley 421 drives the auger body 429 on the auger shaft 422 to rotate, the auger body 429 gathers snow to the middle in the rotating process to shed the snow, the snow scraper profiling device 52 below the auger body 429 is attached to the ground to work, the snow on the ground surface is cleaned, when an obstacle (small stone or raised ground surface) is encountered, the force at the moment is greater than the torsion of the snow scraper connecting rod torsion spring 526 in the profiling obstacle crossing module 5, the snow scraper connecting rod 528 performs backward rotation operation, the snow scraper is retracted at the moment, and when the obstacle is crossed, the snow scraper performs reset motion under the action of the torsion. The front snow-scraper 511 and the safety snow-guide groove 221 have a filtering effect on the slightly larger obstacles at the bottom of the machine. The front side snow guide plate 115 can guide snow at the front end of the machine into the bottom of the machine, and meanwhile, snow can be prevented from appearing under wheels, so that the working efficiency is improved under the condition of ensuring stable walking. Snow in the work execution module 4 is conveyed to the snow throwing port body 311 by the packing auger body 429 and is thrown to the side face of the machine through the snow throwing port adjusting mechanism 316.

Because the front end of the machine is provided with the safety protection module 2 which is provided with the heat release device 21 and the safety snow guide groove 221, if a heat source (human body, small animal and the like) is found when the heat release device 21 works in the machine, when the heat source is 10 cm-20 cm away from the machine, an emergency stop mechanism is triggered, the safe operation of the machine is ensured, and meanwhile, the perception and protection of the machine on external living bodies are improved. The front end and the side face of the machine are provided with ultrasonic waves and anti-collision strips, real-time dynamic sensing is carried out on the surrounding environment (people, objects and the like) of the machine through the ultrasonic waves, the machine is prevented from colliding with obstacles, the anti-collision strips have the functions of protection and buffering, when the situation that the obstacles exist in the front of the machine or on the side face of the machine is detected, the machine plans a path again, and works by bypassing the obstacles.

The machine realizes intelligent tour in operation: the intelligent snow throwing inspection module 3 at the upper end of the machine is internally provided with a two-layer upright post inspection device 33, the two-layer upright post inspection device 33 is provided with an infrared camera body 3333, the infrared camera body 3333 forms a linkage system through a two-layer rotating gear 333 at the lower end of a middle upright post 336, a driving gear 323 and a gear on the snow throwing port body 314, and the position of the infrared camera body 3333 is ensured to be synchronous with the position of the snow throwing port adjusting mechanism 316. The machine is at the working process, and infrared camera body 3333 perception snow throwing mouth the place ahead has or not the live body, and if there is the live body, the snow throwing mouth starts humanized intelligent rotation mechanism, and under driving motor 321, snow throwing mouth device 31 and two layers of stand tour device 33 carry out synchronous motion, turn to and do not have live object one side and carry out the snow throwing. The camera body 3320 on the two-layer upright patrol device 33 can monitor the surrounding environment of the machine in daytime and at night with the aid of the camera compensation lamp 3321. The camera body 3320 can realize rotation by pulling the dial teeth 3314, and can monitor all sides of the machine.

When the automatic recharging step is executed, when the electric quantity of the machine reaches 25%, low-electric-quantity early warning is started, the machine carries out pile returning charging, the machine reaches the position near the charging pile, the machine carries out pile charging, the copper guide block 624 has a self-adaptive fitting function, when the machine is parked in place, the copper guide block 624 can carry out profile modeling fitting adjustment under the combined action of the pressure spring 626 and the torsion spring 629, the condition that the copper guide block 624 is stably fitted in the charging process is ensured, and when the charging quantity reaches 100%, the charging pile is automatically powered off.

And after the machine is fully charged, the machine processes the snow depth information returned by the snow depth measuring device before and after charging, returns to the initial recharging point to continue working if no snow falls in the period of time, and repeats the operation flow if snow is newly added in the period of time.

It is noted that, in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities.

The intelligent snow-sweeping robot and the intelligent snow-sweeping method provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims (8)

1. An intelligent snow removal robot, comprising:

the chassis walking module (1) is used for realizing the walking of the whole machine;

the safety protection module (2) is used for making a distinguishing response to obstacles around the machine and detecting living objects at the front end of the machine;

the intelligent snow throwing inspection module (3) is used for carrying out living body detection in the snow outlet range of the snow throwing port;

the work execution module (4) is used for cleaning the snow on the ground surface;

the profiling obstacle crossing module (5) is used for detecting the terrain of the ground surface in real time and adjusting the snow shoveling position;

and the automatic charging module (6) is used for realizing low-electric-quantity recharging.

2. The intelligent snow-sweeping robot according to claim 1, characterized in that the chassis walking module (1) comprises a supporting chassis (11), a driving wheel mechanism (12) mounted on the chassis (11) and in transmission connection, a chain transmission tensioning mechanism (13) and a driven wheel mechanism (14), and a control module (15);

the chassis (11) comprises a side steel plate (111), the side steel plate (111) is provided with a rear lower bottom plate (112), a two-layer supporting bottom plate (113), a front lower bottom plate (114) and a front snow guide plate (115), the rear lower bottom plate (112) and the front lower bottom plate (114) are provided with an outer cover (116), the side of the side steel plate (111) is provided with a side anti-collision strip cover plate (117) and a side cover plate (118), and the outer cover (116) is provided with a key switch (119), an emergency stop button (1110), an electric quantity digital display module (1111) and a switch (1112);

the driving wheel mechanism (12) comprises a motor (121) arranged on the side steel plate (111), a speed reducer (122) and a driving rubber covered wheel (124) connected to the end part of the motor (121), a driving wheel limiting gasket (125), a driving wheel axial limiting bolt (126), a driving wheel bearing (127), a driving wheel bearing shaft (128), a driving chain wheel (129) and a driving chain wheel fixing bolt (1210);

the chain transmission tensioning mechanism (13) comprises a tensioning connecting rod rotating shaft (131) arranged on the side steel plate (111), a tensioning connecting rod (133) arranged on the tensioning connecting rod rotating shaft (131), a tensioning torsion spring (132) arranged on the tensioning connecting rod rotating shaft (131) and the tensioning connecting rod (133), a tensioning wheel chain wheel bearing seat (136), a tensioning chain wheel bearing (137) fixed inside the tensioning wheel chain wheel bearing seat (136) through a tensioning chain wheel clamping spring (138), and a tensioning chain wheel (1311) fixedly arranged on the end face of the tensioning chain wheel bearing seat (136) and connected to the tensioning connecting rod (133);

the driven wheel mechanism (14) comprises a driven wheel shaft (141) arranged on the side steel plate (111), a first driven wheel bearing (143), a driven rubber covered wheel (144), a second driven wheel bearing (145), a driven chain wheel (146) arranged on the outer end face of the driven rubber covered wheel (144), and a second driven wheel bearing pressure bearing shaft (148) arranged on the driven wheel shaft (141) are arranged on the driven wheel shaft (141).

3. The intelligent snow removal robot according to claim 2, wherein the safety protection module (2) comprises a heat release instrument device (21), a safety protection device (22) and an anti-collision device (23);

the pyroelectric instrument device (21) comprises a pyroelectric instrument support (211) arranged on the outer cover (116), a pyroelectric instrument module (212) arranged inside the pyroelectric instrument support (211), a pyroelectric instrument sunshade (213) arranged at the front end of the pyroelectric instrument support (211), a safety regulation snow guide groove (221) arranged below the front lower bottom plate (114), and an adjustable snow feeding plate (222) arranged above the safety regulation snow guide groove (221);

the bumper device (23) comprises a front bumper strip bracket (232) mounted on the side steel plate (111), a front bumper strip (233) mounted on the front bumper strip bracket (232), a front ultrasonic bracket (235), a front ultrasonic wave (237) mounted in the front ultrasonic bracket (235), a side bumper strip bracket (238) mounted on the side steel plate (111), a side bumper strip (2310) mounted on the side bumper strip bracket (238), and a side ultrasonic wave (2312) mounted on the outer cover (116).

4. The intelligent snow removal robot according to claim 3, wherein the intelligent snow throwing patrol module (3) comprises a snow throwing port device (31), a driving device (32) and a two-layer upright patrol device (33);

the snow throwing port device (31) comprises a snow throwing port body (311), a snow throwing port body pressing plate (312) arranged on the snow throwing port body (311), and a snow throwing port adjusting mechanism (316) arranged at the upper end of the snow throwing port body (311);

the driving device (32) comprises a driving motor (321) arranged on the two-layer supporting base plate (113) and a driving gear (323) arranged on the driving motor (321) through a driving gear pressing shaft (324) and a driving gear limiting bolt (325);

the two-layer upright post inspection device (33) comprises a Hall sensor (331) arranged below the two-layer supporting base plate (113), a two-layer rotating supporting bearing (332) arranged above the two-layer supporting base plate (113), a two-layer rotating gear (333) arranged on the two-layer rotating supporting bearing (332), a two-layer rotating supporting plate (334) used for fixing the two-layer rotating supporting bearing (332), a two-layer excessive supporting (335) arranged above the two-layer rotating supporting plate (334), a middle upright post (336) fixed on an upper rotating shaft of the two-layer rotating gear (333), an outer upright post supporting flange (339) arranged on the two-layer excessive supporting (335), an outer upright post (338) arranged on the outer upright post supporting flange (339), and fixed dialing teeth (3312) arranged on the upper end of the outer upright post (338), A moving shifting tooth (3314) and a moving shifting tooth pressure plate (3315) for mounting the moving shifting tooth (3314) above the fixed shifting tooth (3312); the antenna comprises a movable dialing tooth (3314), a camera housing (3318) mounted above the movable dialing tooth (3314), a camera body (3320), a camera compensation lamp (3321) mounted on the camera support (3322), a camera housing upper cover (3324) used for mounting the camera support (3322), camera quartz glass (3326) adhered to the camera housing (3318), an antenna base plate (3327) mounted at the upper end of the middle upright post (336), a two-layer control plate (3329) mounted on the antenna base plate (3327), an infrared camera support (3331) mounted on the antenna base plate (3327), an infrared camera body (3333) clamped on the infrared camera support (3331), an antenna fixing plate (3334), an antenna body (3335) mounted on the antenna fixing plate (3334), an antenna housing supporting transparent flange (3337) and an antenna housing (3338) mounted above the antenna housing supporting transparent flange (3337) and used for fixing the antenna housing An antenna substrate of the enclosure (3338).

5. The intelligent snow sweeping robot of claim 2, wherein the work execution module (4) comprises a packing auger drive motor connecting plate (412), a packing auger drive motor fixing plate (416), a packing auger drive motor (411) installed on the packing auger drive motor connecting plate (412) and the packing auger drive motor fixing plate (416), a driving pulley (414) installed on the packing auger drive motor shaft, a packing auger shaft (422), a driven pulley (421) installed on the packing auger shaft (422), an elastic multi-wedge belt (417) for transmitting power to the driving pulley (414) and the driven pulley (421), a belt transmission protective cover (418), a packing auger bearing seat (428), a packing auger bearing (426) fixed in the packing auger bearing seat (428) through a packing auger snap spring (427), the packing auger shaft (422) passes through a packing auger body (429) and the packing auger bearing (426), the packing auger bearing seat (428) is arranged on the side steel plate (111).

6. The intelligent snow removal robot as claimed in claim 2, wherein the profile modeling obstacle crossing module (5) comprises a snow scraping shovel tip (521), a snow scraping shovel tip connecting bolt (522), a snow scraping shovel connecting rod shaft (523), a snow scraping shovel connecting rod locking nut (524), a snow scraping shovel torsion spring retainer ring (525), a snow scraping shovel connecting rod torsion spring (526), a snow scraping shovel connecting rod shaft fixing bolt (527), a snow scraping shovel connecting rod (528) and a snow scraping shovel connecting rod limiting plate (529); the snow scraper is characterized in that a snow scraper blade tip (521) is fixed on a snow scraper body (5212) through a snow scraper blade tip connecting bolt (522), a snow scraper blade connecting rod shaft (523) is fixed on a side steel plate (111) through a snow scraper blade connecting rod shaft fixing bolt (527), a snow scraper connecting rod torsion spring (526), a snow scraper connecting rod (528) is arranged on the side steel plate (111) through a snow scraper blade connecting rod locking nut (524) and a snow scraper blade torsion spring retainer ring (525) which is fixed on the snow scraper blade connecting rod shaft (523), a snow scraper connecting rod limiting plate (529) is arranged, the snow scraper shaft (5210) passes through a snow scraper blade torsion spring (5211), a snow scraper body (5212) and a snow scraper blade overturning limiting ring (5213), and a snow scraper blade locking nut (5214) fixes the snow scraper shaft (5210) on the snow scraper connecting rod (528).

7. An intelligent snow grooming robot as claimed in any one of claims 2 to 6, wherein the automatic charging module (6) comprises a battery device (61) and a charging mechanism (62);

the battery device (61) comprises a battery pack cover (611), heat insulation cotton (612) arranged at the inner side of the battery pack cover (611), a battery pack heating sheet (613) adhered to the inner side of the heat insulation cotton (612), a battery plug box (614), a battery pack (615) arranged on the battery plug box (614), a temperature sensor (616) and a Glan head (617);

the charging mechanism (62) comprises a charging block base (621) arranged on the rear lower base plate (112), a copper support frame (623) arranged on the charging block base (621), a charging block copper support frame (622) arranged on the copper support frame (623), a copper guide block (624) arranged on the charging block base (621), a guide post (625) arranged on the copper guide block (624), a pressure spring (626), a fixing bolt (627) and a rotating shaft (628) for arranging the copper guide block (624) on the charging block base (621), torsion springs (629) arranged at two ends of the rotating shaft (628) and a charging block upper cover (6210) on the charging block base (621).

8. An intelligent snow sweeping method applied to the intelligent snow sweeping robot as claimed in any one of claims 1 to 7, characterized by comprising the steps of:

starting up and preheating: when the snow depth measuring device detects that snow falls and the snow depth reaches a preset value, the automatic charging module (6) is powered off when preheating and heating to a first preset temperature, and is heated when the temperature is lower than a second preset temperature and is maintained within a preset temperature range;

navigation and walking: after preheating, the work execution module (4) performs snow sweeping work, the position of the vehicle body is obtained through the intelligent snow throwing inspection module (3), and the chassis walking module (1) performs navigation walking;

snow sweeping action execution: when the machine travels to a snow position, the work execution module (4) starts to be attached to the ground to remove snow on the ground surface, when encountering an obstacle, the copying obstacle crossing module (5) moves backwards, and moves in a reset mode after crossing the obstacle;

safety protection and intelligent obstacle avoidance: when the safety protection module (2) detects that a living object exists in the detection range in the working process, an emergency stop mechanism is triggered, and a path is planned again so as to bypass the obstacle to work;

intelligent patrol: the intelligent snow throwing inspection module (3) is used for monitoring the surrounding environment, and when a living body is detected in front of a snow throwing port, the intelligent snow throwing inspection module turns to the side without the living body to perform snow throwing operation;

automatic recharging: when the electric quantity of the machine is lower than the preset electric quantity, the automatic charging module (6) starts low-electric-quantity early warning, the chassis walking module (1) drives the machine to return to the pile for charging, the automatic charging module (6) charges the pile, and when the charging quantity reaches 100%, the charging pile automatically cuts off the power supply;

and (4) continuing to work: and after the snow is fully charged, the machine processes the snow depth information returned by the snow depth measuring device before and after charging, returns to the initial recharging point to continue working if no snow falls within a preset time period, and repeats the working steps if snow is newly added within the preset time period.

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