WO2020134664A1 - 智能扫雪机及其方法 - Google Patents

智能扫雪机及其方法 Download PDF

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Publication number
WO2020134664A1
WO2020134664A1 PCT/CN2019/117776 CN2019117776W WO2020134664A1 WO 2020134664 A1 WO2020134664 A1 WO 2020134664A1 CN 2019117776 W CN2019117776 W CN 2019117776W WO 2020134664 A1 WO2020134664 A1 WO 2020134664A1
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Prior art keywords
snow
angle
walking
intelligent
throwing
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PCT/CN2019/117776
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English (en)
French (fr)
Inventor
查霞红
赵凤丽
程坤
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苏州宝时得电动工具有限公司
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Publication of WO2020134664A1 publication Critical patent/WO2020134664A1/zh

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    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H5/00—Removing snow or ice from roads or like surfaces; Grading or roughening snow or ice
    • E01H5/04—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H5/00—Removing snow or ice from roads or like surfaces; Grading or roughening snow or ice
    • E01H5/04—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material
    • E01H5/08—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material dislodging essentially by driven elements

Definitions

  • the invention relates to the field of mobile control, in particular to an intelligent snowplow and its method.
  • the traditional snow sweeping method is mainly performed by manually controlling a semi-automatic snow sweeper.
  • This snow sweeping method has low efficiency, greater harm to human bodies, and higher cost.
  • the intelligent snow sweeper can autonomously clean a certain area of the road in front of the house, while reducing costs, and greatly improving the efficiency of snow sweeping.
  • the existing intelligent snowplow can recognize the slope and walk on the slope when it encounters a slope, but when the intelligent snowplow is going uphill, it may cause repeated snow removal or the snow cannot be thrown to the road due to too close snow throw On both sides, the snow on the slope cannot be effectively removed.
  • the present disclosure proposes an intelligent snowplow and its method, which can effectively clean snow on slopes.
  • an intelligent snow sweeper including: a detection module configured to detect a walking angle and a horizontal walking angle of the intelligent snow sweeper; a processing module, It is configured to adjust snow throwing parameters for throwing snow according to the walking angle.
  • the snow throwing parameter includes at least one of a snow throwing tube elevation angle, a snow throwing tube horizontal azimuth angle, a working head rotation speed, and a walking speed.
  • the processing module includes: a judging unit configured to judge whether the walking angle meets a preset condition; an execution unit configured to, according to the walking angle satisfying the preset condition, according to The first option is to adjust the elevation angle of the snow thrower.
  • the execution unit is further configured to adjust the elevation angle of the snow thrower according to the second solution when the walking angle does not satisfy the preset condition.
  • the preset condition is that the total angle of the walking angle and the angle of the snow thrower elevation angle is greater than 45 degrees.
  • the first solution is to reduce the angle of the snow thrower's elevation angle until the total angle is adjusted to 45 degrees.
  • the second solution is to increase the angle of the snow thrower's elevation angle until the total angle is adjusted to 45 degrees.
  • the execution unit is further configured to adjust the horizontal angle of the snow thrower such that the horizontal angle of the snow thrower is different from the walking direction.
  • the execution unit is further configured to reduce the working head rotation speed or walking speed.
  • the execution unit is further configured to: after adjusting the elevation angle of the snow thrower, determine the rotation speed of the spiral snow collector according to the adjusted angle of the snow thrower; The conveying speed of the device is adjusted to the determined rotation speed.
  • a method for an intelligent snow sweeper comprising: detecting a walking angle of a walking direction and a horizontal direction of the intelligent snow sweeper; adjusting for Snow throwing parameters for snow throwing.
  • the snow throwing parameter includes at least one of a snow throwing tube elevation angle, a snow throwing tube horizontal azimuth angle, a working head rotation speed, and a walking speed.
  • adjusting the snow throwing parameter for snow throwing according to the walking angle includes: determining whether the walking angle meets a preset condition; when the walking angle meets the preset condition, according to The first option is to adjust the elevation angle of the snow thrower.
  • the method further includes: when the walking angle does not satisfy the preset condition, adjusting the elevation angle of the snow thrower according to the second solution.
  • the preset condition is that the total angle of the walking angle and the angle of the snow thrower elevation angle is greater than 45 degrees.
  • the first solution is to reduce the angle of the snow thrower's elevation angle until the total angle is adjusted to 45 degrees.
  • the second solution is to increase the angle of the snow thrower's elevation angle until the total angle is adjusted to 45 degrees.
  • adjusting the snow throwing parameter for snow throwing according to the walking angle includes adjusting the horizontal azimuth angle of the snow thrower such that the horizontal azimuth angle of the snow thrower is different from the walking direction.
  • adjusting the snow throwing parameters for snow throwing according to the walking angle includes: reducing the working head rotational speed or walking speed.
  • adjusting the elevation angle of the snow thrower according to the first scheme or the second scheme includes: after adjusting the elevation angle of the snow thrower, determining the spiral snow collector's angle according to the adjusted angle of the snow thrower Rotation speed; adjust the conveying speed of the spiral snow collector to the determined rotation speed.
  • the snow throwing parameters can be determined according to the walking angle, so that when facing the slope, the snow throwing parameters can meet the actual needs, and efficient snow sweeping can be achieved.
  • FIG. 1 shows a block diagram of an intelligent snowplow according to an embodiment of the present invention
  • FIG. 2 shows a snow sweeping scene diagram of an intelligent snow sweeper according to an embodiment of the present invention
  • FIG. 3 shows a flowchart of a method for an intelligent snow sweeper according to an embodiment of the present invention.
  • FIG. 1 shows a block diagram of an intelligent snow sweeper according to an embodiment of the present invention.
  • the intelligent snowplow 100 includes a detection module 110 and a processing module 120.
  • the detection module 110 detects the walking direction of the smart snowplow and the horizontal walking angle. If the smart snowplow 100 walks on a flat ground, the walking direction detected by the detection module 110 is 0, and if the smart snowplow When the machine 100 is walking on a slope, the walking angle detected by the detection module 110 is the slope of the slope.
  • the detection module 110 includes but is limited to an angle sensor.
  • the processing module 120 may determine whether the walking angle is within a predetermined range; if the walking angle is within the predetermined range, control the intelligent snowplow 100 to adjust the walking mode of the intelligent snowplow 100 according to a predetermined mode. Specifically, the smart snowplow 100 adjusts the walking style of the smart snowplow 100 in such a manner that the walking angle of the smart snowplow 100 is reduced.
  • the processing module 120 is further configured to control the smart snowplow 120 to perform an alarm/stop operation if the walking angle is greater than the predetermined range.
  • the alarm/shutdown operation can be set as required by those skilled in the art.
  • the processing module 120 can control the intelligent snowplow 100 to stop operation when the walking angle is greater than 15 degrees, or control the intelligent snowplow 100 to perform the alarm operation
  • the alarm operation includes reminding the user from sight, hearing, touch, etc.
  • the processing module 120 may control the intelligent snowplow to issue an alarm.
  • the processing module 120 may simultaneously perform shutdown and alarm operations when the walking angle is greater than a predetermined range.
  • the processing module 120 obtains the walking angle detected by the detection module after each time the smart snowplow is controlled to adjust the walking mode of the smart snowplow according to a predetermined mode, if the walking angles obtained for a predetermined number of consecutive times are within a predetermined range
  • the intelligent snowplow is controlled to perform shutdown/alarm operations.
  • the two driving wheels of the intelligent snowplow 100 go forward one round and one round backward, and walk about 40 cm during the adjustment
  • the detection module 110 detects that the walking angle is still between 10 degrees and 15 degrees, and then continues to adjust as above. During this adjustment, it walked about 10 cm. If the detection module 110 detects that the walking angle is less than 10 degrees, then The intelligent snowplow can walk at a predetermined speed along a straight line. If the walking angle is between 10 degrees and 15 degrees after three adjustments, the processing module 120 may perform an alarm operation while being stopped.
  • the two driving wheels of the intelligent snowplow 100 adjust the walking angle one wheel forward and one wheel backward, if within a predetermined time, for example If the angle is still greater than 10 degrees within 10 seconds, continue to adjust the drive wheel and continuously adjust a predetermined number of times. For example, after 3 times, the angle is still greater than 10 degrees, then stop and/or alarm.
  • the processing module 120 is further configured to control the intelligent snowplow 100 to continue walking in the original unadjusted walking mode if the walking angle is less than the predetermined range. For example, when the walking angle is 5 degrees, that is, the slope of the slope where the smart snowplow walks is 5 degrees, the smart snowplow 100 can continue to walk straight.
  • the intelligent snowplow judges the walking angle when the walking angle is detected by the detection module, and changes the walking mode according to the walking angle, so that the intelligent snowplow can adapt Various road conditions are more in line with actual needs.
  • the processing module 120 may be further configured to adjust snow throwing parameters for throwing snow according to the walking angle. It should be noted that the processing module 120 may adjust the snow throwing parameters while changing the walking mode, where the snow throwing parameters include at least one of the snow throwing tube elevation angle, the snow throwing tube horizontal azimuth angle, the working head rotational speed, and the walking speed.
  • the processing module 120 may separately adjust one or more of the above snow throwing parameters.
  • the processing module 120 may include a judgment unit (not shown) and an execution unit (not shown), wherein the judgment unit is configured to judge whether the walking angle satisfies a preset condition .
  • the execution unit adjusts the elevation angle of the snow thrower according to the first scheme.
  • the execution unit adjusts the elevation angle of the snow thrower according to the second scheme.
  • the preset condition is that the total angle of the walking angle and the angle of the snow throw tube elevation angle is greater than 45 degrees.
  • the first solution is to reduce the angle of the snow thrower's elevation angle until the total angle is adjusted to 45 degrees.
  • the second option is to increase the elevation angle of the snow thrower until the total angle is adjusted to 45 degrees.
  • the first plan or the second plan can increase the snow throwing distance and prevent the snow from being thrown too close during climbing.
  • the execution unit can also determine the rotation speed of the spiral snow collector according to the adjusted angle of the snow thrower after adjusting the elevation angle of the snow thrower; and adjust the conveying speed of the spiral snow collector to the determined rotation speed.
  • the processing module 120 may adjust the horizontal azimuth of the snow thrower so that the horizontal azimuth of the snow thrower is different from the walking direction. In this way, snow can be thrown on both sides of the road during climbing.
  • the execution unit can also reduce the working head speed or walking speed. In this way, the height and distance of snow sweeping can be controlled during snow sweeping.
  • the intelligent snowplow according to the exemplary embodiment of the present application can adjust the snow throwing parameters according to the slope angle when facing the slope, thereby enabling efficient snow sweeping, and further, by increasing the Adjust to increase the snow throwing distance to prevent repeated snow sweeping. Furthermore, by adjusting the horizontal azimuth of the snow thrower, the snow is thrown to both sides of the road. Furthermore, the height and distance of snow throwing can be controlled by reducing the working head rotation speed or walking speed.
  • the smart snowplow clears snow on the slope when walking on the slope.
  • the intelligent snowplow includes a spiral snow collector 210 and a snow thrower 220. It should be noted that the intelligent snowplow only specifically shows components related to this exemplary embodiment, and those skilled in the art should be clear that The smart snowplow also includes details other than FIG. 2.
  • the spiral snow collector 210 can collect snow and drive it from the snow thrower to the roadside or the snow transport vehicle through the rotation of the fan.
  • the types of spiral snow collectors include, but are not limited to, single spiral rotor type, double spiral rotor type, and double vertical single wire spiral rotor type.
  • the spiral snow collector 210 is an auger.
  • the processing module is further configured to: after determining the elevation angle of the snow thrower of the intelligent snowplow, determine the spiral snow collection according to the elevation angle of the snow thrower The rotation speed of the device; adjust the conveying speed of the spiral snow collector to the determined rotation speed.
  • the snow throwing distance in order to allow snow to fall onto the roadside after being thrown from the snow thrower, the snow throwing distance may be determined in a case where the elevation angle of the snow throwing tube is predetermined, for example, the snow throwing distance is 5 meters, as shown in Equation 1 below,
  • x max is the snow throwing distance
  • u o is the speed of the snow throwing barrel when the snow leaves the snow throwing barrel
  • ⁇ is the elevation angle of the snow throwing barrel
  • g is the gravity coefficient
  • c is the drag coefficient.
  • the rotation speed of the spiral snow collector can be determined according to Equation 2 and Equation 3:
  • Equation 2 V oy is used to indicate the speed at which the snow leaves the spiral snow collector, which is actually the rotation speed of the spiral snow collector, and u o is used to indicate the speed of snow at the exit of the snow thrower, and S is the pitch , N is the rotation speed of the spiral snow collector, ⁇ is the spiral angle, Ho is the vertical distance from the outlet of the snow thrower to the central axis of the snow collector, and ⁇ is the friction and impact caused by the snow and the wall of the snow thrown through the snow thrower Energy loss coefficient.
  • the intelligent snowplow according to the exemplary embodiment can adjust the elevation angle of the snow thrower according to the walking angle, combined with the snowplowing ability of the intelligent snowplow, such as the height of the snow thrown and the distance of the snow thrown, in order to avoid encounters The slope drops suddenly, the snow throwing height is too high, and hurts people or animals under the slope, and the snow throwing height is controlled, for example, the snow throwing height is controlled to 1 meter, thereby controlling the rotation speed of the dragon, so that the intelligent snow sweeper According to the terrain, it is possible to adopt an appropriate plan to clean up snow to meet people's needs.
  • step S310 the walking angle of the smart snowplow in the walking direction and the horizontal direction is detected.
  • step S320 the snow throwing parameters for snow throwing are adjusted according to the walking angle.
  • the snow throwing parameter includes at least one of a snow throwing tube elevation angle, a snow throwing tube horizontal azimuth angle, a working head rotational speed, and a walking speed.
  • adjusting the snow throwing parameters for throwing snow according to the walking angle includes: judging whether the walking angle satisfies a preset condition; when the walking angle satisfies the preset condition, adjusting the throw according to the first scheme Snow tube elevation.
  • the method further includes: adjusting the elevation angle of the snow thrower according to the second solution when the walking angle does not satisfy the preset condition.
  • the preset condition is that the total angle of the walking angle and the angle of the snow thrower elevation angle is greater than 45 degrees.
  • the first solution is to reduce the angle of the snow thrower's elevation angle until the total angle is adjusted to 45 degrees.
  • the second solution is to increase the angle of elevation of the snow thrower until the total angle is adjusted to 45 degrees.
  • adjusting the snow throwing parameters for snow throwing according to the walking angle includes adjusting the horizontal azimuth angle of the snow throwing tube so that the horizontal azimuth angle of the snow throwing tube is different from the walking direction.
  • adjusting the snow throwing parameters for snow throwing according to the walking angle includes: reducing the working head rotational speed or walking speed.
  • adjusting the elevation angle of the snow thrower according to the first scheme or the second scheme includes: after adjusting the elevation angle of the snow thrower, determining the rotation speed of the spiral snow collector according to the adjusted angle of the snow thrower; The conveying speed of the snow collector is adjusted to the determined rotation speed.
  • the method for an intelligent snowplow can adjust snow throwing parameters according to the slope angle when facing a slope, thereby enabling efficient snow sweeping, and further, by throwing
  • the adjustment of the snow tube elevation angle increases the snow throwing distance and prevents repeated snow sweeping.
  • the snow is thrown to both sides of the road.
  • the height and distance of snow throwing can be controlled by reducing the working head rotation speed or walking speed.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Cleaning Of Streets, Tracks, Or Beaches (AREA)
  • Medicines Containing Plant Substances (AREA)

Abstract

本公开涉及一种智能扫雪机及其方法，所述智能扫雪机包括：检测模块，被配置为检测所述智能扫雪机的行走方向与水平方向的行走角度；处理模块，被配置为根据所述行走角度调整用于抛雪的抛雪参数。根据本发明的实施例的智能扫雪机能够根据行走角度确定抛雪参数，这样在面对斜坡时可使抛雪参数满足实际需求，实现高效扫雪。

Description

智能扫雪机及其方法
本申请要求了申请日为2018年12月27日，申请号为201811615227.1的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及移动控制领域，特别是涉及一种智能扫雪机及其方法。
背景技术
智能设备越来越多的出现在人们生活中，尤其是一些智能的自动智能扫雪机，可以代替人进行各种各样的工作。
以扫雪机为例，传统的扫雪方式主要是以人工控制半自动扫雪机进行，这种扫雪方式效率较低，对人身体的伤害较大，而且成本较高。而智能扫雪机能够自主运行清扫房屋前的道路的某一区域，在降低成本的同时，大大提高了扫雪效率。
但现有的智能扫雪机在遇到斜坡时，可识别斜坡并在斜坡上行走，但是智能扫雪机在上坡时可能会由于抛雪过近导致重复扫雪或无法将雪抛到道路两旁，无法有效清扫斜坡上的积雪。
发明内容
有鉴于此，本公开提出了一种智能扫雪机及其方法，可有效清扫斜坡上的积雪。
根据本公开的一方面，提供了一种智能扫雪机，所述智能扫雪机包括：检测模块，被配置为检测所述智能扫雪机的行走方向与水平方向的行走角度；处理模块，被配置为根据所述行走角度调整用于抛雪的抛雪参数。
在一种可能的实现方式中，所述抛雪参数包括抛雪筒仰角、抛雪筒水平 方位角、工作头转速以及行走速度中的至少一个。
在一种可能的实现方式中，处理模块包括：判断单元，被配置为判断所述行走角度是否满足预设条件；执行单元，被配置为在所述行走角度满足预设条件的情况下，按照第一方案调整抛雪筒仰角。
在一种可能的实现方式中，执行单元还被配置为：在所述行走角度不满足预设条件的情况下，按照第二方案调整抛雪筒仰角。
在一种可能的实现方式中，所述预设条件是所述行走角度与抛雪筒仰角的角度的总角度大于45度。
在一种可能的实现方式中，第一方案是减小抛雪筒仰角的角度直至总角度调整到45度。
在一种可能的实现方式中，第二方案是增加抛雪筒仰角的角度直至总角度调整到45度。
在一种可能的实现方式中，执行单元还被配置为调整抛雪筒水平方位角，使得抛雪筒水平方位角与行走方向不同。
在一种可能的实现方式中，执行单元还被配置为降低工作头转速或行走速度。
在一种可能的实现方式中，执行单元还被配置为：在对抛雪筒仰角进行调整后，根据调整后的抛雪筒角度，确定螺旋式集雪器的旋转速度；将螺旋式集雪器的输送速度调整为确定的旋转速度。
根据本公开的一方面，提供了一种用于智能扫雪机的方法，所述方法包括：检测所述智能扫雪机的行走方向与水平方向的行走角度；根据所述行走角度调整用于抛雪的抛雪参数。
在一种可能的实现方式中，所述抛雪参数包括抛雪筒仰角、抛雪筒水平方位角、工作头转速以及行走速度中的至少一个。
在一种可能的实现方式中，根据所述行走角度调整用于抛雪的抛雪参数 包括：判断所述行走角度是否满足预设条件；在所述行走角度满足预设条件的情况下，按照第一方案调整抛雪筒仰角。
在一种可能的实现方式中，所述方法还包括：在所述行走角度不满足预设条件的情况下，按照第二方案调整抛雪筒仰角。
在一种可能的实现方式中，所述预设条件是所述行走角度与抛雪筒仰角的角度的总角度大于45度。
在一种可能的实现方式中，第一方案是减小抛雪筒仰角的角度直至总角度调整到45度。
在一种可能的实现方式中，第二方案是增加抛雪筒仰角的角度直至总角度调整到45度。
在一种可能的实现方式中，根据所述行走角度调整用于抛雪的抛雪参数包括：调整抛雪筒水平方位角，使得抛雪筒水平方位角与行走方向不同。
在一种可能的实现方式中，根据所述行走角度调整用于抛雪的抛雪参数包括：降低工作头转速或行走速度。
在一种可能的实现方式中，按照第一方案或第二方案调整抛雪筒仰角包括：在对抛雪筒仰角进行调整后，根据调整后的抛雪筒角度，确定螺旋式集雪器的旋转速度；将螺旋式集雪器的输送速度调整为确定的旋转速度。
据本发明的实施例，能够根据行走角度确定抛雪参数，这样在面对斜坡时可使抛雪参数满足实际需求，实现高效扫雪。
根据下面参考附图对示例性实施例的详细说明，本公开的其它特征及方面将变得清楚。
附图说明
包含在说明书中并且构成说明书的一部分的附图与说明书一起示出了本公开的示例性实施例、特征和方面，并且用于解释本公开的原理。
图1示出根据本发明的实施例的智能扫雪机的框图；
图2示出根据本发明的实施例的智能扫雪机的扫雪场景图；
图3示出根据本发明的实施例的用于智能扫雪机的方法的流程图。
具体实施方式
以下将参考附图详细说明本公开的各种示例性实施例、特征和方面。附图中相同的附图标记表示功能相同或相似的元件。尽管在附图中示出了实施例的各种方面，但是除非特别指出，不必按比例绘制附图。
在这里专用的词“示例性”意为“用作例子、实施例或说明性”。这里作为“示例性”所说明的任何实施例不必解释为优于或好于其它实施例。
另外，为了更好的说明本公开，在下文的具体实施方式中给出了众多的具体细节。本领域技术人员应当理解，没有某些具体细节，本公开同样可以实施。在一些实例中，对于本领域技术人员熟知的方法、手段、元件和电路未作详细描述，以便于凸显本公开的主旨。
图1示出根据本发明的实施例的智能扫雪机的框图。如图1所示，智能扫雪机100包括检测模块110和处理模块120。
具体来说，检测模块110检测智能扫雪机的行走方向与水平方向的行走角度，如果智能扫雪机100在平地上行走，则检测模块110检测到的行走方向为0，而如果智能扫雪机100在斜坡上行走时，检测模块110检测出的行走角度就是斜坡的坡度。根据本申请的示例性实施例，检测模块110包括但是限于角度传感器。
随后，处理模块120可判断行走角度是否在预定范围内；若行走角度在预定范围内，则控制智能扫雪机100按照预定模式调整智能扫雪机100的行走方式。具体来说，智能扫雪机100按照使智能扫雪机100的行走角度减小的方式调整智能扫雪机100的行走方式。按照使智能扫雪机100的行走角度减小的 方式调整智能扫雪机100的行走方式，包括：控制智能扫雪机100的两个驱动轮中的一驱动轮前行，另一驱动轮后退，使得智能扫雪机100旋转预定角度，并沿旋转预定角度后的方向行进，其中，预定范围是10度到15度。
此外，处理模块120还被配置为若行走角度大于预定范围，则控制智能扫雪机120执行报警/停机操作。具体来说，报警/停机操作可由本领域技术人员根据需要设置，例如，处理模块120可在行走角度大于15度，则控制智能扫雪机100停机操作，或者控制智能扫雪机100执行报警操作，报警操作包括从视觉、听觉、触觉等各方面向用户提醒，例如，当行走角度大于预定范围时，处理模块120可控制智能扫雪机发出警报。此外，处理模块120可在行走角度大于预定范围的情况下同时执行停机和报警操作。
可选地，处理模块120在每次控制智能扫雪机按照预定模式调整智能扫雪机的行走方式后，获取检测模块检测出的行走角度，若连续预定次数获取到的行走角度均在预定范围内，则控制智能扫雪机执行停机/报警操作。
举例来说，当智能扫雪机100检测到行走角度大于10度且小于15度时，智能扫雪机100的两个驱动轮一轮向前，一轮向后，调整期间行走了约40厘米，调整之后，检测模块110检测到行走角度依然处于10度到15度期间，则继续如上方式进行调整，这次调整期间行走了约10厘米，若检测模块110检测到行走角度小于10度，则智能扫雪机可沿直线按照预定速度行走。若三次调整后，行走角度在10度到15度，则处理模块120可停机的同时执行报警操作。在另一个实施例中，当检测到行走角度大于10度小于15度，智能扫雪机100的两个驱动轮一轮向前，一轮向后，调整行走角度，若在预定时间内，例如10秒内角度仍然大于10度，则继续调整驱动轮，连续调整预定次数，例如3次后，角度仍然大于10度，则停机和/或报警。
可选地，处理模块120还被配置为若行走角度小于预定范围，则控制智 能扫雪机100按照未经调整的原行走方式继续行走。例如，当行走角度为5度时，也就是智能扫雪机行走的斜坡的坡度为5度，则智能扫雪机100可继续直线行走。
如上所述，根据本发明的示例性实施例的智能扫雪机通过检测模块检测出行走角度的情况下对行走角度进行判断，并根据行走角度来改变行走模式，从而使得智能扫雪机能够适应各种不同的路况，更加符合实际需求。
基于此，以下将对在上坡过程中针对扫雪的技术方案进行详细描述。
处理模块120还可被配置为根据所述行走角度调整用于抛雪的抛雪参数。应注意，处理模块120可在改变行走模式的同时调整抛雪参数，其中，所述抛雪参数包括抛雪筒仰角、抛雪筒水平方位角、工作头转速以及行走速度中的至少一个。
具体来说，处理模块120可对上述抛雪参数中的一个或多个分别进行调整。在对抛雪筒仰角进行调整的过程中，处理模块120可包括判断单元(未示出)和执行单元(未示出)，其中，判断单元被配置为判断所述行走角度是否满足预设条件。在所述行走角度满足预设条件的情况下，执行单元按照第一方案调整抛雪筒仰角。在所述行走角度不满足预设条件的情况下，执行单元按照第二方案调整抛雪筒仰角。其中，所述预设条件是所述行走角度与抛雪筒仰角的角度的总角度大于45度。
根据本申请的实施例，第一方案是减小抛雪筒仰角的角度直至总角度调整到45度。第二方案是增加抛雪筒仰角的角度直至总角度调整到45度。通过第一方案或第二方案可增大抛雪距离，防止在爬坡的时候将雪抛的过近。执行单元还可在对抛雪筒仰角进行调整后，根据调整后的抛雪筒角度，确定螺旋式集雪器的旋转速度；将螺旋式集雪器的输送速度调整为确定的旋转速度。
针对抛雪筒水平方位角，处理模块120可将调整抛雪筒水平方位角，使 得抛雪筒水平方位角与行走方向不同。通过这样，可在爬坡时将雪抛在道路两侧。
此外，执行单元还可降低工作头转速或行走速度。这样可在扫雪时控制扫雪高度和扫雪距离。
综上可述，根据本申请的示例性实施例的智能扫雪机可在面对斜坡时根据斜坡角度调整抛雪参数，从而能够实现高效扫雪，更进一步地，通过对抛雪筒仰角的调整，增大抛雪距离，防止重复扫雪。更进一步地，通过调整抛雪筒水平方位角，将积雪抛到道路两侧。更进一步地，通过降低工作头转速或行走速度来控制抛雪高度和距离。
以下将结合图2和图3对智能扫雪机进行详述。
如图2所示，智能扫雪机在斜坡上行走的情况下，对斜坡上的积雪进行清除。所述智能扫雪机包括螺旋式集雪器210和抛雪筒220，应注意，所述智能扫雪机仅具体示出了与本示例性实施例相关的组件，本领域技术人员应清楚，所述智能扫雪机还包括除图2之外的细节。
螺旋式集雪器210可收集雪并通过风机旋转带动从抛雪筒抛到路边或者运雪车上。螺旋式集雪器的种类包括但不限于单螺旋转子式、双螺旋转子式和双立式单线螺旋转子式，在一个具体的实施例中，螺旋式集雪器210为搅龙。
可选地，在智能扫雪机100是智能扫雪机的情况下，处理模块还被配置为：在确定智能扫雪机的抛雪筒仰角后，根据抛雪筒仰角，确定螺旋式集雪器的旋转速度；将螺旋式集雪器的输送速度调整为确定的旋转速度。
根据本申请的示例性实施例，为了使积雪从抛雪器抛出后能够落到路边上，可在预先确定抛雪筒仰角的情况下，确定抛雪距离，例如，抛雪距离为5米，如以下公式1所示，
Figure PCTCN2019117776-appb-000001
其中，x max是抛雪距离，u o是雪离开抛雪筒时的抛雪筒速度，β是抛雪筒仰角，g是重力系数，c是阻力系数。由此可以看出，在抛雪距离和抛雪筒仰角确定的情况下，根据公式1可确定抛雪筒速度u o。
在确定抛雪筒速度的情况下，可根据公式2和公式3确定螺旋式集雪器的旋转速度：
速度，如以下公式2所示，
Figure PCTCN2019117776-appb-000002
u 0＝[V oy 2-2gH 0(1+ψ)] 1/2       公式3
在公式2中，V oy用来表示雪离开螺旋式集雪器的速度，实际上就是螺旋式集雪器的旋转速度，u o用来表示雪在抛雪筒出口时的速度，S为螺距，n表示螺旋式集雪器的转速，α表示螺旋角，Ho为抛雪筒出口到集雪器中心轴的垂直距离，ψ为雪经过抛雪筒时因与筒壁摩擦和冲击而产生的能量损失系数。
综上所示，根据示例性实施例的智能扫雪机可根据行走角度调整抛雪筒仰角，结合智能扫雪机的扫雪能力，例如抛雪的高度和抛雪的距离，为了避免遇到斜坡突然陡降，抛雪高度太高，而伤害到斜坡下的人或动物等，而控制抛雪高度，例如控制抛雪高度为1米，从而控制搅龙的转速，从而使智能扫雪机能够根据地形采用适当地方案清理积雪，满足人们的需求。
为了更清楚地明白本申请的示例性实施例的发明构思，以下将参照图3描述本申请的示例性实施例的用于智能扫雪机的行走方法的流程图。
参照图3，在步骤S310，检测所述智能扫雪机的行走方向与水平方向的行走角度。
在步骤S320，据所述行走角度调整用于抛雪的抛雪参数。
可选地，所述抛雪参数包括抛雪筒仰角、抛雪筒水平方位角、工作头转速以及行走速度中的至少一个。
可选地，根据所述行走角度调整用于抛雪的抛雪参数包括：判断所述行走角度是否满足预设条件；在所述行走角度满足预设条件的情况下，按照第一方案调整抛雪筒仰角。
可选地，所述方法还包括：在所述行走角度不满足预设条件的情况下，按照第二方案调整抛雪筒仰角。
可选地，所述预设条件是所述行走角度与抛雪筒仰角的角度的总角度大于45度。
可选地，第一方案是减小抛雪筒仰角的角度直至总角度调整到45度。
可选地，第二方案是增加抛雪筒仰角的角度直至总角度调整到45度。
可选地，根据所述行走角度调整用于抛雪的抛雪参数包括：调整抛雪筒水平方位角，使得抛雪筒水平方位角与行走方向不同。
可选地，根据所述行走角度调整用于抛雪的抛雪参数包括：降低工作头转速或行走速度。
可选地，按照第一方案或第二方案调整抛雪筒仰角包括：在对抛雪筒仰角进行调整后，根据调整后的抛雪筒角度，确定螺旋式集雪器的旋转速度；将螺旋式集雪器的输送速度调整为确定的旋转速度。
综上可述，根据本申请的示例性实施例的用于智能扫雪机的方法可在面对斜坡时根据斜坡角度调整抛雪参数，从而能够实现高效扫雪，更进一步地， 通过对抛雪筒仰角的调整，增大抛雪距离，防止重复扫雪。更进一步地，通过调整抛雪筒水平方位角，将积雪抛到道路两侧。更进一步地，通过降低工作头转速或行走速度来控制抛雪高度和距离。
以上已经描述了本公开的各实施例，上述说明是示例性的，并非穷尽性的，并且也不限于所披露的各实施例。在不偏离所说明的各实施例的范围和精神的情况下，对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。本文中所用术语的选择，旨在最好地解释各实施例的原理、实际应用或对市场中的技术的技术改进，或者使本技术领域的其它普通技术人员能理解本文披露的各实施例。

Claims (20)

  1. 一种智能扫雪机，其特征在于，包括：
    检测模块，被配置为检测所述智能扫雪机的行走方向与水平方向的行走角度；
    处理模块，被配置为根据所述行走角度调整用于抛雪的抛雪参数。
  2. 如权利要求1所述的智能扫雪机，其特征在于，所述抛雪参数包括抛雪筒仰角、抛雪筒水平方位角、工作头转速以及行走速度中的至少一个。
  3. 如权利要求2所述的智能扫雪机，其特征在于，处理模块包括：
    判断单元，被配置为判断所述行走角度是否满足预设条件；
    执行单元，被配置为在所述行走角度满足预设条件的情况下，按照第一方案调整抛雪筒仰角。
  4. 如权利要求3所述的智能扫雪机，其特征在于，执行单元还被配置为：
    在所述行走角度不满足预设条件的情况下，按照第二方案调整抛雪筒仰角。
  5. 如权利要求3所述的智能扫雪机，其特征在于，所述预设条件是所述行走角度与抛雪筒仰角的角度的总角度大于45度。
  6. 如权利要求3所述的智能扫雪机，其特征在于，第一方案是减小抛雪筒仰角的角度直至总角度调整到45度。
  7. 如权利要求4所述的智能扫雪机，其特征在于，第二方案是增加抛雪筒仰角的角度直至总角度调整到45度。
  8. 如权利要求3所述的智能扫雪机，其特征在于，执行单元还被配置为调整抛雪筒水平方位角，使得抛雪筒水平方位角与行走方向不同。
  9. 如权利要去3所述的智能扫雪机，其特征在于，执行单元还被配置为降低工作头转速或行走速度。
  10. 如权利要求3所述的智能扫雪机，其特征在于，执行单元还被配置为：在对抛雪筒仰角进行调整后，根据调整后的抛雪筒角度，确定螺旋式集 雪器的旋转速度；将螺旋式集雪器的输送速度调整为确定的旋转速度。
  11. 一种用于智能扫雪机的方法，其特征在于，包括：
    检测所述智能扫雪机的行走方向与水平方向的行走角度；
    根据所述行走角度调整用于抛雪的抛雪参数。
  12. 如权利要求11所述的方法，其特征在于，所述抛雪参数包括抛雪筒仰角、抛雪筒水平方位角、工作头转速以及行走速度中的至少一个。
  13. 如权利要求12所述的方法，其特征在于，根据所述行走角度调整用于抛雪的抛雪参数包括：
    判断所述行走角度是否满足预设条件；
    在所述行走角度满足预设条件的情况下，按照第一方案调整抛雪筒仰角。
  14. 如权利要求13所述的方法，其特征在于，还包括：
    在所述行走角度不满足预设条件的情况下，按照第二方案调整抛雪筒仰角。
  15. 如权利要求13所述的方法，其特征在于，所述预设条件是所述行走角度与抛雪筒仰角的角度的总角度大于45度。
  16. 如权利要求13所述的方法，其特征在于，第一方案是减小抛雪筒仰角的角度直至总角度调整到45度。
  17. 如权利要求14所述的方法，其特征在于，第二方案是增加抛雪筒仰角的角度直至总角度调整到45度。
  18. 如权利要求13所述的方法，其特征在于，根据所述行走角度调整用于抛雪的抛雪参数包括：调整抛雪筒水平方位角，使得抛雪筒水平方位角与行走方向不同。
  19. 如权利要去11所述的方法，其特征在于，根据所述行走角度调整用于抛雪的抛雪参数包括：降低工作头转速或行走速度。
  20. 如权利要求13或14所述的方法，其特征在于，按照第一方案或第二方案调整抛雪筒仰角包括：在对抛雪筒仰角进行调整后，根据调整后的抛雪筒角度，确定螺旋式集雪器的旋转速度；将螺旋式集雪器的输送速度调整为确定的旋转速度。
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