CN210561937U - Intelligent snow sweeping robot based on multi-perception interaction - Google Patents

Abstract

The utility model discloses an intelligent snow sweeping robot based on multi-perception interaction, which mainly comprises a snow pushing assembly, a solar panel shell, a camera, a positioning device, a communication device, a floating snow clearing assembly, a 4+2 wheel type driving assembly and the like; the snow pushing assembly can control the height of the rotary cutting type snow pushing plate based on the differential thought by controlling the push rod motor; the floating snow removing assembly mainly blows away the residual floating snow through high-pressure airflow; the 4+2 wheel type driving assembly can deform and advance the driving assembly; the camera is used for collecting image information; the positioning device is used for acquiring position information; the communication device is used for transmitting various data; the solar panel housing is used for instant electric energy supplement. This intelligent snow sweeping robot based on interaction of perception more mainly used solve current snow sweeping machine bulky, with high costs, the flexibility is poor, and no intelligence, the poor scheduling problem of snow sweeping effect, this robot is used for the snow clearance in narrow and small space, has higher practicality.

Description

Intelligent snow sweeping robot based on multi-perception interaction

Technical Field

The utility model relates to a directional technical field of carrying, concretely relates to intelligence snow sweeping robot based on it is mutual that many perceptions.

Background

In the field of snow sweeping operation in China, manual snow sweeping is time-consuming and labor-consuming, and risks of slipping, falling injury and frostbite exist in the labor process; the large-scale snow sweeping equipment has the defects of large energy consumption, almost non-renewable energy consumption, aggravation of environmental pollution, high cost of the snow sweeping equipment, suitability for wide places and the like. Therefore, some snow sweeping robots in the market can effectively avoid cold and severe environments of related workers, avoid tumble injury, slipping and frostbite in the labor process, save time and labor, mainly adopt electric energy as energy, and meet the requirements of energy conservation and emission reduction, but the existing snow sweeping robots have various defects in structure. For example: the snow sweeping control device generally uses a hydraulic or pneumatic device, the hydraulic device has poor flexibility and poor activity in cold seasons, the pneumatic device has high requirement on air tightness, the cost is increased, most importantly, hydraulic and pneumatic elements are difficult to accurately control and cannot be accurately positioned, the force is greatly influenced by the load condition, and the control precision is low; the crawler type driving chassis has good performance when the snow sweeping robot sweeps snow, but the snow sweeping robot also relates to a navigation function, and at the moment, the crawler is stable but slow, the maneuverability is poor, so that the efficiency of a navigation stage is not high; the tire type driving chassis generally uses a four-wheel driving chassis, rarely uses independent four-wheel drive, generally adopts a driving mode that the speed of two tires on each side is the same, can provide the maximum speed which is larger than that of a crawler type, has good performance in snow grip, but has heavy abrasion on the tires during turning, and has poor performance in steering compared with the crawler type; the snow removing device is characterized in that a part of machines transmit snow to snow throwing equipment by using rotary slices, and then the snow is thrown to the roadside, and the method has some practical problems, firstly, the snow can be thrown to a distant place by using very high power, and secondly, when the road surface condition is poor, the snow removing device can not only damage the road surface, but also damage the rotary slices, so that the snow sweeping method has certain defects; the partial machines directly control the snow pushing plate by hydraulic pressure or air pressure, and push snow to one side or right ahead by changing the angle of the snow pushing plate, but the cleaning effect of the mode is poor in the road place with poor road conditions, and the main reason is that the hydraulic and pneumatic elements have poor performance of keeping the original state under the condition of unstable external force; the snow sweeper is small in size, flexible and convenient, and the problem that the existing intelligent snow sweeper cannot be provided with a large-capacity battery is solved; in conclusion, the actual application of the existing snow sweeping structure in the intelligent snow sweeping robot needs to be improved, so that the snow sweeping robot with high efficiency, small volume, strong cruising ability, low cost, flexible control, high control precision and high flexibility is designed to become a primary task; therefore, the intelligent snow sweeping robot is designed according to the problems, is used for solving the problems of cost, risk and the like of snow clearing and manual snow sweeping of narrow road sections, and overcomes the defects of large size, high cost, complex structure, insufficient flexibility, low control precision and poor snow sweeping effect of the conventional snow sweeping structure. The intelligent snow sweeping robot based on multi-perception interaction is mainly used for clearing snow on narrow road sections, residential streets, courtyards and campuses.

Disclosure of Invention

In order to solve the problem of the existence, the utility model provides an intelligence snow sweeping robot based on it is mutual that many perceptions.

The utility model discloses a realize through following technical scheme:

an intelligent snow sweeping robot based on multi-perception interaction comprises an upper computer and a robot body, wherein the robot body comprises a rotary slice, a rotary-cut snow pushing plate based on a differential thought, a snow pushing assembly, a snow pushing plate retainer, a push rod motor, a solar panel shell, a steering engine, a binocular camera, a positioning device, a communication device, a high-pressure air storage tank, an anti-skidding tire, an ultrasonic sensor, a pressure stabilizing and regulating device, an air guide pipe, a floating snow removing assembly, a separating shovel, a driving motor, a pin shaft connection, an air blowing device, a direct current motor, a pressure bearing, a 4+2 wheel type driving assembly and a torsion steering engine; the 4+2 wheel type driving assembly consists of a movable chassis, six groups of independently controlled driving motors and anti-skid tires, wherein the movable chassis is connected through a tapered roller bearing and a pin shaft, the six groups of independently controlled driving motors are connected with the chassis through bolts, the movable chassis is divided into a front part and a rear part, and the two parts can rotate relatively in a certain range through the connection of the tapered roller bearing and a mandrel shaft system; the snow pushing assembly consists of a rotary cutting type snow pushing plate based on the differential thought, a snow pushing plate retainer and a push rod motor, is connected with the machine body through a pin shaft, and can complete the height adjustment of the rotary cutting type snow pushing plate based on the differential thought by controlling the push rod motor.

The floating snow removing assembly is composed of an air blowing device, an air guide pipe, a pressure stabilizing and regulating device and a high-pressure air storage tank, high-pressure air in the high-pressure air storage tank forms high-pressure air flow through the air guide device and a pneumatic element to blow away residual floating snow after the snow pushing device is moved away, and a plurality of air blowing ports of the air blowing device can be controlled in turning direction and can remove the floating snow towards a specified direction; when the pressure value of the high-pressure air storage tank is lower than the set value, the pressure of the high-pressure air storage tank can be automatically increased to the set pressure value through internal equipment.

The relative motion of the snow pushing assembly and the machine body and the relative motion of the floating snow removing assembly and the machine body are controlled by a push rod motor, so that the defect of low control precision of hydraulic and pneumatic components is overcome.

The solar panel shell is located above the machine body, the Bluetooth device is located above the solar panel shell, the positioning device is located above the solar panel shell, the ultrasonic sensors are located on two sides and the front side of the solar panel shell, and the steering engine and the binocular camera are located above the solar panel shell.

The intelligent snow sweeping robot based on multi-perception interaction integrates information of various sensors, and is controlled by combining an algorithm to carry out snow sweeping tasks along correct routes and postures.

Compared with the prior art, the beneficial effects of the utility model are that:

the rotary-cut snow pushing plate based on the differential thought realizes moving snow to one side through the rotary slice, and the bottom of the snow pushing plate is a plurality of independent separation shovels, and when the snow pushing plate meets uneven road surfaces, the separation shovels can stretch up and down, so that the snow can be removed more thoroughly, and the impact resistance of the snow sweeping assembly is stronger due to the plurality of independent separation shovels.

The 4+2 wheel type driving assembly is independently driven by six independent driving motors, so that the high-speed steering wheel can provide enough high working speed, provides larger ground gripping performance and enough thrust, and can reduce the abrasion to the tire during steering.

The push rod motor can provide enough thrust to ensure the mechanical requirements of the rotary cutting type snow pushing plate based on the differential thought, and the self-locking function of the push rod motor can ensure the control precision.

The floating snow removing assembly consists of a high-pressure air storage tank, an air guide pipe, a pressure stabilizing and regulating device and an air blowing device; the air flow can blow away the residual floating snow after the rotary-cut snow pushing plate based on the differential thought is removed, and the direction control of the air flow is realized by adjusting the rotating angle of the air blowing opening; the stable air current of this assembly is clear away to floating snow can improve the operating stability of robot.

When the robot works, the solar panel shell can be automatically charged when light is higher than set illumination intensity, so that the energy utilization rate is improved as much as possible, and the cruising ability is improved.

The intelligent snow sweeping robot based on multi-perception interaction can automatically deduce a forward route, can be separated from the intervention of workers, and can efficiently complete a snow sweeping task.

The intelligent snow sweeping robot based on multi-perception interaction is divided into two parts, one part is that an upper computer is placed indoors and is responsible for complex control operation, and the other part is that the robot body is responsible for simple control operation tasks, so that the power consumption of the robot body can be reduced, and the cruising ability of the robot body is improved.

Drawings

Fig. 1 is a front view of the structure of the present invention.

Fig. 2 is a bottom view of the structure of the present invention.

Fig. 3 is a working principle diagram of the snow pushing structure of the present invention.

Fig. 4 is a partial plan view of the rotary cutting type snow pushing plate based on differential thought of the present invention.

Fig. 5 is a partial plane view of the structural connection of the movable chassis of the 4+2 wheel drive assembly of the present invention.

Fig. 6 is a schematic view of the movable chassis structure of the present invention.

1-rotary slice, 2-rotary cutting type snow pushing plate based on differential thought, 3-snow pushing plate retainer, 4-push rod motor, 5-solar panel shell, 6-steering engine, 7-binocular camera, 8-positioning device, 9-communication device, 10-high pressure air storage tank, 11-antiskid tyre, 12-ultrasonic sensor, 13-pressure stabilizing and regulating device, 14-air guide pipe, 15-4+2 wheel type driving assembly, 16-swinging steering engine, 17-air blowing device, 18-floating snow removing assembly, 19-separating shovel, 20-direct current motor, 21-snow pushing assembly, 22-chassis front part, 23 driving motor, 24-chassis rear part, 25-elastic retainer ring, 26-pin shaft, 27-spring, etc, 28-separation shovel body, 29-bolt, 30-tapered roller bearing, 31-gasket, 32-nut and 33-movable chassis.

Detailed Description

The invention will be described in further detail with reference to the following drawings and embodiments thereof:

as shown in fig. 1 and 2, the intelligent snow sweeping robot based on multi-perception interaction comprises two parts, wherein one part is an upper computer, the other part is a robot body, and the robot body comprises a 4+2 wheel type driving assembly (15), a snow pushing assembly (21), a floating snow clearing assembly (18), a push rod motor (4), a solar panel shell (5), a steering engine (6), a binocular camera (7), a positioning device (8), a communication device (9), a high-pressure air storage tank (10), an ultrasonic sensor (12), a pressure stabilizing and regulating device (13), an air guide pipe (14), a separation shovel (19), an air blowing device (17) and a 4+2 wheel type driving assembly (15); the 4+2 wheel type driving assembly (15) consists of a movable chassis (33), a driving motor (23) and an anti-skid tire (11); the snow pushing assembly consists of a rotary cutting type snow pushing plate (2) based on a differential thought, a snow pushing plate retainer (3), a direct current motor (20), a separating shovel (19), a rotary cutting piece (1), a push rod motor (4), a pin shaft (26), a spring (27), a separating shovel body (28) and an elastic retainer ring (25); one end of the steering engine (6) is connected with the binocular camera (7), and the other end is connected with the solar panel shell (5), and the ultrasonic sensors (12) are positioned on the front side and two sides of the solar panel shell (5); the movable chassis (33) is divided into a chassis front part (22) and a chassis rear part (24), and the middle parts are connected by a spindle shaft system consisting of a tapered roller bearing (30) and a bolt (29); the solar panel shell (5) is arranged on the front part (22) of the chassis, and the steering engine (6), the binocular camera (7), the positioning device (8) and the communication device (9) are sequentially arranged on the upper side of the solar panel shell (5); the blowing device (17) is arranged in front of the lower part of the front part (22) of the chassis; two driving motors in the 4+2 wheel type driving assembly (15) are fixed in the middle of the lower surface of the rear part (24) of the chassis through bolts, and four driving motors are fixed under the front part (22) of the chassis through bolts; the snow pushing assembly (21) is positioned in front of the whole robot and is connected with the 4+2 wheel type driving assembly (15) through a pin shaft (26). The 4+2 wheel type driving assembly (15) consists of a movable chassis (33), a driving motor (23) and an anti-skid tire (11), wherein the movable chassis (33) is divided into a front part and a rear part, and the front part and the rear part are connected through a pair of tapered roller bearings (30) and a mandrel shaft system and can rotate relatively, so that the purpose of driving the assembly to move is realized; four anti-skid tires (11) are arranged on the front part (22) of the chassis, two anti-skid tires (11) are arranged on the rear part (24) of the chassis, the front part and the rear part of the movable chassis (33) are positioned on the same horizontal plane, under the normal running state of any one of the front part and the rear part, the other part can rotate by taking a bolt (29) as a center within a certain angle range, and the anti-skid tires (11) on the front part and the rear part can generate a certain speed difference under certain driving, so that the driving wheels reduce the abrasion to the anti-skid tires (11) when turning; the driving motor (23) is connected with the movable chassis through threaded connection, and the anti-skid tire (11) is connected with an output shaft of the driving motor (23) through key connection; the snow pushing assembly (21) is composed of a rotary cutting type snow pushing plate (2) based on a differential thought, a snow pushing plate holder (3), a direct current motor (20), a separating shovel (19), a rotary cutting piece (1) and a push rod motor (4), wherein the rotary cutting type snow pushing plate (2) based on the differential thought is welded with the snow pushing plate holder (3), the rotary cutting piece (1) is connected with the snow pushing plate through a bearing, the direct current motor (20) is connected with the rotary cutting piece (1) through a coupler, and the direct current motor (20) is in screw connection with the snow pushing plate holder (3).

The snow pushing assembly (21) is composed of a rotary cutting type snow pushing plate (2) based on a differential thought, a snow pushing plate holder (3) and a push rod motor (4), the snow pushing assembly (21) is connected with the machine body through a pin shaft, the rotary cutting type snow pushing plate (2) based on the differential thought is connected with the machine body through the snow pushing plate holder (3) and the push rod motor (4), the height of the rotary cutting type snow pushing plate (2) based on the differential thought is further controlled by controlling the stroke of the push rod motor (4), the push rod motor (4) sets an initial expansion amount to enable the rotary cutting type snow pushing plate (2) based on the differential thought to have a pre-pressure to enable springs (27) on a plurality of independent separating shovels (19) to be compressed, the rotary cutting plate (1) carries out first snow removing, then the remaining snow is carried out second snow removing by the separating shovels (19), and when the accumulated snow removed by the separating shovels (19) is accumulated to a certain degree, the rotary slice (1) can remove the accumulated snow, and the two-step snow removal makes the effect more obvious.

The separation shovel (19) is connected with the rotary cutting type snow pushing plate (2) based on the differential thought through a structure shown in the figure 4, the structure consists of a pin shaft (26), a spring (27), a separation shovel body (28) and an elastic retainer ring (25), the spring (27) is sleeved on the pin shaft, one end of the pin shaft penetrates through a shaft hole of the rotary cutting type snow pushing plate (2) based on the differential thought to be matched with the elastic retainer ring (25), and the other end of the pin shaft is fixedly connected with the separation shovel (19), so that the separation shovel (19) can do reciprocating linear motion through the shaft hole, the separation shovel (19) can freely stretch out and draw back according to the state of the spring, and the spring is in a semi-compression state during working; when the ground is sunk, the spring on the corresponding separation shovel (19) is relaxed, the shovel tip descends, and the separation shovel (19) can shovel accumulated snow at the low-lying position; when the ground is high, the spring on the corresponding separation shovel (19) is further compressed, and the shovel tip rises; because each separation shovel (19) can stretch out and draw back in a certain range, the motion of each separation shovel (19) does not influence the whole position of the rotary cutting type snow pushing plate (2) based on the differential thought, the smooth motion of the rotary cutting type snow pushing plate (2) based on the differential thought can be still maintained when the rotary cutting type snow pushing plate faces to an uneven road surface, and the excellent clearing effect is shown. The direct current motor (20) is connected with the rotary cutting piece (1), and the rotary cutting piece (1) rotates during working, so that snow moves to the left side of the advancing direction, and resistance of accumulated snow in the snow pushing plate to the robot can be reduced.

The movable chassis (33) is divided into a chassis front part (22) and a chassis rear part (24), and the two parts are connected through a spindle shaft system consisting of a tapered roller bearing (30) and a bolt (29) to achieve the aim of relative rotation, so that the aim of driving the assembly to move is fulfilled; a control part of a robot is mainly arranged above the front part (22) of the chassis, a high-pressure air storage tank (10) is arranged above the rear part (24) of the chassis, four anti-skid tires (11) are arranged below the front part (22) of the chassis, two anti-skid tires (11) are arranged below the rear part (24) of the chassis, the front part and the rear part are positioned on the same horizontal plane, and the other part can rotate by taking a bolt as a center within a certain angle range under the normal running state of any one of the front part and the rear part, so that the anti-skid tires (11) of the front part and the rear part can generate a certain speed difference under certain driving; the driving motor (23) is connected with the movable chassis (33) through bolts, the antiskid tires (11) are directly connected with the output shaft of the driving motor (23) through key connection, the wheelbase of two pairs of tires at the front part (22) of the chassis is small, the tires are not easy to wear, the rear pair of tires are fixed on the rear part (24) of the chassis, the front part (22) of the chassis is connected with the rear part (24) of the chassis through the tapered roller bearing (30) and the bolts (29), so that the symmetrical surfaces of the three pairs of antiskid tires (11) are not coplanar when the vehicle steers; the 6 independently controlled driving motors (23) are adopted instead of the tire group with the same power, so that a speed error range can be given to each driving motor (23), the steering is further stable and flexible, and the loss of tires is further greatly reduced.

The driving motor (23) is independently controlled by the main control board, part of control signals of the driving motor are derived from an optimal path command which is made by an information algorithm of image information captured by a binocular camera (7), distance information captured by an ultrasonic sensor (12) and coordinate information captured by a positioning device (8) of an upper computer, and interaction information between the upper computer and the intelligent snow sweeping robot based on multi-perception interaction is transmitted through a communication device (9); the other part of the robot attitude information captured by the gyroscope is combined with an instruction for forward attitude adjustment made by an algorithm.

The positioning device (8) collects the driving track data on the road network, carries out map projection operation on the driving track on the upper computer, and stores the operation result into the track database to provide a basis for path optimization.

The floating snow removing assembly (18) consists of a high-pressure air storage tank (10), an air guide pipe (14), a pressure stabilizing and regulating device (13) and an air blowing device (17); after the device is started, a plurality of air blowing openings blow high-speed air flow with certain pressure, the air flow can blow away residual floating snow after a rotary cutting type snow pushing plate (2) based on a differential thought is cleared, an air blowing device (17) is positioned behind a snow pushing assembly (21) and is arranged in front of the lower part of a movable chassis (33), the direction of an outlet can be adjusted according to requirements, an air guide pipe (14) penetrates through a vehicle body to be connected with a pressure stabilizing and adjusting device (13), and the control of the air flow direction is realized by adjusting the torsion angle of the air blowing openings so as to realize the control of the clearing direction of the snow; the blowing device (17) mainly comprises a plurality of air outlets, a base and an air inlet interface, the air outlets and the base are connected with the pressure stabilizing and regulating device (13) through hoses, the air outlets are rotated to adjust the wind direction angle under the sealing premise, the air outlets are connected through a four-bar mechanism, and linkage control can be performed through a swing steering engine (16) so as to control the snow blowing angle; compared with a roller brush and a disc brush, the floating snow removing assembly (18) can reduce the vibration of the machine body by outputting stable airflow through the pressure stabilizing and regulating device (13), so that the stability of the robot is improved, the robot can keep a constant speed state during working, the operation control precision is improved, and the snow removing efficiency is improved; when a pressure sensor of the high-pressure air storage tank (10) senses a low pressure set value of the high-pressure air storage tank (10), the pressure sensor can automatically boost pressure through internal equipment, and normal operation of the robot is guaranteed.

Solar panel shell (5) mainly are formed according to certain shape processing by solar cell panel, and this solar panel shell (5) can charge the battery when the robot is worked, and light is higher than certain illumination intensity, has solved the problem of the continuation of the journey of robot to a certain extent, has improved the duration of the robot.

The communication device (9) is used for transmitting information between the robot body and the upper computer based on the 4G technology, and a complex control algorithm is given to the upper computer for operation, so that the power consumption of the robot body can be reduced, and the cruising ability of the robot body can be improved.

The snow pushing assembly (21) realizes control of the rotary cutting type snow pushing plate (2) based on a differential thought through the push rod motor (4), can increase the stability and the accuracy of control, and is suitable for being used in a cold environment. The intelligent snow sweeping robot based on multi-perception interaction has the maximum moving speed of 5m/s, the maximum thrust of 2500N, the movement speed of the snow pushing assembly (21) of 0.048m/s, the total length of the robot of 1.2m, the total width of the robot of 0.65m and the length of the snow pushing assembly (21) of 0.65 m.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited by the above embodiments, and the above embodiments and descriptions are only illustrative of the reasons for the present invention, and that the present invention can be modified and modified without departing from the spirit and scope of the present invention, and all such modifications and changes fall within the scope of the present invention as claimed. The appended claims and their equivalents define the scope of the invention.

Claims (6)

1. The utility model provides an intelligence snow sweeping robot based on it is mutual to perceive more, including 4+2 wheeled drive assembly (15), push away snow assembly (21), float snow and clear away assembly (18), push rod motor (4), solar panel shell (5), steering wheel (6), binocular camera (7), positioner (8), communication device (9), high pressure gas holder (10), ultrasonic sensor (12), steady voltage and pressure regulating device (13), air duct (14), separation shovel (19), gas blowing device (17), its characterized in that: the intelligent snow sweeping robot based on multi-perception interaction comprises a snow pushing assembly (21) capable of cleaning uneven working environment for one round, a floating snow removing assembly (18) capable of cleaning floating snow for two rounds, a 4+2 wheel type driving assembly (15), an ultrasonic sensor (12) for acquiring working environment information, a binocular camera (7) and the like; the 4+2 wheel type driving assembly (15) consists of a movable chassis (33), a driving motor (23) and an anti-skid tire (11); the snow pushing assembly (21) consists of a rotary cutting type snow pushing plate (2) based on a differential thought, a snow pushing plate retainer (3), a direct current motor (20), a separating shovel (19), a rotary cutting piece (1) and a push rod motor (4); one end of the steering engine (6) is connected with the binocular camera (7), the other end of the steering engine is connected with the solar panel shell (5), and the ultrasonic sensors (12) are located on the front side and two sides of the solar panel shell (5); the movable chassis (33) is divided into a chassis front part (22) and a chassis rear part (24), and the middle parts are connected by a spindle shaft system consisting of a tapered roller bearing (30) and a bolt (29); the solar panel shell (5) is arranged on the front part (22) of the chassis, and the steering engine (6), the camera (7), the positioning device (8) and the communication device (9) are sequentially arranged on the upper side of the solar panel shell (5); the blowing device (17) is connected with the pressure stabilizing and regulating device (13) through a hose and is arranged at the front part below the front part (22) of the chassis; two driving motors (23) in the 4+2 wheel type driving assembly (15) are fixed below the rear part (24) of the chassis through bolts, and four driving motors (23) are fixed below the front part (22) of the chassis through bolts; the snow pushing assembly (21) is positioned in front of the whole robot and is connected with the 4+2 wheel type driving assembly (15) through a pin shaft.

2. An intelligent snow removal robot based on multi-perception interaction as claimed in claim 1, wherein: the snow pushing assembly (21) consists of a rotary cutting type snow pushing plate (2) based on a differential thought, a snow pushing plate holder (3), a direct current motor (20), a separating shovel (19), a rotary cutting piece (1) and a push rod motor (4), wherein the rotary cutting type snow pushing plate (2) based on the differential thought is welded with the snow pushing plate holder (3), the rotary cutting piece (1) is connected with the snow pushing plate holder (3) through a bearing, the direct current motor (20) is connected with the rotary cutting piece (1) through a coupler, and the direct current motor (20) is connected with the snow pushing plate holder (3) through screws; the separating shovel (19) is connected with the rotary-cut snow pushing plate (2) based on the differential thought through a shaft sleeve structure, the shaft sleeve structure is composed of a pin shaft (26) and a spring (27), the spring (27) is sleeved on the pin shaft (26), one end of the pin shaft (26) is connected with the rotary-cut snow pushing plate (2) based on the differential thought through a sliding pair, and the other end of the pin shaft is fixed with a separating shovel body (28), so that the separating shovel (19) can do reciprocating linear motion through the shaft sleeve structure.

3. An intelligent snow removal robot based on multi-perception interaction as claimed in claim 1, wherein: the front part (22) of the chassis of the movable chassis (33) is provided with four anti-skid tires (11), the rear part (24) of the chassis is provided with two anti-skid tires (11), the horizontal heights of the front part and the rear part are the same, the other part can rotate by taking a rotating shaft as the center under the state that any one of the front part and the rear part normally operates, and the anti-skid tires (11) of the front part and the rear part can generate corresponding speed difference under the driving of different rotating speeds, so that the friction of the driving wheels to the anti-skid tires (11) is reduced when the driving wheels turn; the driving motor (23) is connected with the movable chassis through bolts, and the antiskid tyre (11) is connected with an output shaft of the driving motor (23) through key connection.

4. An intelligent snow removal robot based on multi-perception interaction as claimed in claim 1, wherein: the floating snow removing assembly (18) mainly comprises a high-pressure air storage tank (10), an air guide pipe (14), a pressure stabilizing and regulating device (13) and an air blowing device (17); the blowing device (17) is positioned behind the snow pushing assembly (21), the outlet direction can be adjusted according to the actual working condition, the air guide pipe (14) penetrates through the robot to be connected with the pressure stabilizing and adjusting device (13), the blowing device (17) mainly comprises a plurality of air outlets, a base and an air inlet interface, the air outlets are connected with the base through rotary joints, the air outlets are connected through four-rod mechanisms to further perform linkage control through a swing steering engine (16), and the floating snow removing assembly (18) outputs stable air flow through the pressure stabilizing and adjusting device (13); when the pressure sensor of the high-pressure air storage tank (10) senses that the pressure of the high-pressure air storage tank (10) is lower than a certain value, the pressure sensor can automatically boost pressure through internal equipment, and normal operation of the robot is guaranteed.

5. An intelligent snow removal robot based on multi-perception interaction as claimed in claim 1, wherein: the solar panel shell (5) is mainly formed by processing a solar panel according to a certain shape, and when the robot works, the solar panel shell (5) is automatically charged when light is higher than set illumination intensity.

6. An intelligent snow removal robot based on multi-perception interaction as claimed in claim 1, wherein: the intelligent snow sweeping robot has the maximum moving speed of 5m/s, the maximum thrust of 2500N, the moving speed of the snow pushing assembly (21) of 0.048m/s, the total length of the robot of 1.2m, the total width of the robot of 0.6m and the length of the snow pushing assembly (21) of 0.65 m.

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