Snow-clearing method, device and snow-clearing machine

Abstract

The present invention relates to the technical field of snowplows, and discloses a method, device and snowplow for getting out of trouble. When the snowplow detects that the current position is in a trigger condition for getting out of trouble, the method executes a corresponding preset escape action, and the preset escape action includes: adjusting the head-up height of the snowplow's snowplow head at least once; after completing the preset escape action, judging whether it is still in the trigger condition for getting out of trouble; if not, determining the next snowplowing position, and performing the snowplowing operation. The present invention triggers the preset escape action by detecting the trigger condition for getting out of trouble, and adjusts the head-up height of the snowplow head to perform the escape operation, thereby solving the technical problem that when the snowplow is in trouble, it escapes by retreating along the original route, which increases the detour distance, and improves the snowplowing efficiency of the snowplow.

Description

Technical Field

[0001] The present invention relates to the technical field of snowplows, and in particular to a method and device for clearing snow from trouble, and a snowplow. Background Art

[0002] The existing snowplow forms a machine path by manually operating the direction of its movement. This method cannot achieve intelligent walking. In addition, when walking, if the snowplow hits bumps, icicles, and cracks in the ground, it is easy for the snowplow to climb onto the snow, causing the snowplow to slip, thereby affecting the snow-clearing efficiency of the snowplow. When the existing snowplow is in a difficult situation, it can escape by retreating along the original route, which makes the detour distance longer, resulting in the snow-clearing efficiency of the snowplow being affected.

[0003] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of the present invention is to provide a method, device and snowplow for getting out of trouble by shoveling snow, aiming to solve the technical problem that the snowplow in the prior art gets out of trouble by backing up along the original route, which makes the detour distance longer and affects the working efficiency of the snowplow.

[0005] To achieve the above object, the present invention provides a method for shoveling snow out of trouble, the method comprising the following steps:

[0006] When the snowplow detects that the current position is in the escape trigger condition, the corresponding preset escape action is executed, and the preset escape action includes: adjusting the head height of the snowplow's snow shoveling head at least once;

[0007] After completing the preset escape action, determining whether the escape trigger condition is still met;

[0008] If not, the next snow shoveling position is determined and the snow shoveling operation is performed.

[0009] Optionally, the escape trigger condition includes a first escape trigger condition, wherein the first escape trigger condition is that the snowplow is not performing the automatic snow shoveling operation for the first time or the motor current of the snowplow is greater than a preset threshold, and the snowplow is slipping;

[0010] The preset escape action comprises the following steps:

[0011] Retreating a first preset distance and adjusting the head-up height of the snow shoveling head to a target head-up height;

[0012] Go forward a second preset distance and perform a snow shoveling operation;

[0013] During the process of advancing the second preset distance, if the advancing distance reaches a preset distance threshold, determining whether the motor current is greater than a preset threshold;

[0014] If not, continue to shovel snow at the target head-up height, and after determining that the snow shovel is completed, adjust the head-up height of the snow shovel head to the ground height.

[0015] Optionally, in the process of advancing the second preset distance, if the advancing distance reaches a preset distance threshold, after the step of determining whether the motor current is greater than a preset threshold, the method further comprises:

[0016] If yes, retreat the first preset distance on the forward distance, and adjust the head height of the snow shovel head to the ground level;

[0017] Continue to move forward the second preset distance, and in the process of moving to the next snow shoveling position, keep the head height of the snow shoveling head at a height close to the ground.

[0018] Optionally, the escape trigger condition includes a second escape trigger condition, wherein the second escape trigger condition is that the snowplow slips after the snowplow performs the automatic snow shoveling operation for the first time or the marked position is manually opened;

[0019] The preset escape action also includes the following steps:

[0020] The head height of the snow shovel head is adjusted from the ground level at preset height intervals;

[0021] Determining whether the snowplow at the current position is slipping according to the positioning information of the snowplow;

[0022] If yes, return to the step of raising the head height of the snow shoveling head according to the preset height interval until the head height of the snow shoveling head is adjusted to the upper limit of the head height of the snow shoveling head, take the current position as the marked position, and record the marked position and the marked head height corresponding to the marked position;

[0023] If not, the current position is used as the mark position, and the mark position and the mark head height corresponding to the mark position are recorded.

[0024] Optionally, the method further comprises:

[0025] When the snowplow runs to the marked position corresponding to the next snow shoveling position, the head-up height of the snowplow is adjusted to the marked head-up height.

[0026] Optionally, the method further comprises:

[0027] When the snowplow automatically performs a snow-shoveling operation for the first time, detecting whether the motor current of the snowplow is greater than a preset threshold;

[0028] If yes, the head height of the snow shoveling head is adjusted to the ground height to shovel snow;

[0029] Determine the next target location to perform snow shoveling operations.

[0030] Optionally, when the snowplow detects that the current position is in the escape triggering condition, after executing the corresponding preset escape action, the method further comprises:

[0031] Determine the current position through the positioning information, and judge whether the current position exceeds the boundary;

[0032] If so, obtain the historical coordinate position determined by the positioning information and return to the historical position corresponding to the historical coordinate position, and continue to perform the snow shoveling operation.

[0033] Optionally, the method further comprises:

[0034] When adjusting the head height of the snowplow's snowplow head, a target push rod value is determined by the relationship between the push rod value and the head height of the snowplow head;

[0035] The current push rod value is adjusted to the target push rod value to adjust the head-up height of the snow shovel head.

[0036] In addition, in order to achieve the above-mentioned purpose, the present invention also provides a snow-shoveling device for escaping from a difficult situation, the device comprising:

[0037] A detection module, configured to execute a corresponding preset escape action when the snowplow detects that the current position is in an escape trigger condition, wherein the preset escape action includes: adjusting the head height of the snowplow's snow shoveling head at least once;

[0038] A judgment module, used for judging whether the escape triggering condition is still met after completing the preset escape action;

[0039] The snow shoveling module is used to determine the next snow shoveling location and perform snow shoveling operations.

[0040] In addition, to achieve the above-mentioned purpose, the present invention also proposes a snowplow, which includes: a snowplow head, a snowplow body and a controller, wherein the snowplow head is detachably connected to the snowplow body, and the controller is arranged on the snowplow body. The controller is used to control the snowplow head and the snowplow motor, and the controller can run a snow-escape program, and the snow-escape program is configured to implement the steps of the snow-escape method as described above.

[0041] When the snowplow detects that the current position is in a triggering condition for getting out of trouble, the present invention executes a corresponding preset escape action, and the preset escape action includes: adjusting the head-up height of the snowplow's snow-clearing head at least once; after completing the preset escape action, determining whether it is still in the triggering condition for getting out of trouble; if not, determining the next snow-clearing position, and performing the snow-clearing operation. The present invention triggers the preset escape action by detecting the triggering condition for getting out of trouble, and adjusts the head-up height of the snow-clearing head to perform the escape operation, thereby solving the existing technical problem that when the snowplow is in trouble, it escapes by retreating along the original route, which increases the detour distance, and improves the snow-clearing efficiency of the snowplow. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A schematic diagram of the structure of a snowplow in the hardware operating environment involved in the embodiment of the present invention;

[0043] Figure 2 A schematic diagram of the process of the first embodiment of the snow shoveling method for escaping a difficult situation according to the present invention;

[0044] Figure 3 A schematic diagram of a second embodiment of the snow shoveling method for escaping a difficult situation according to the present invention;

[0045] Figure 4 It is a structural frame diagram of the first embodiment of the snow-clearing device of the present invention.

[0046] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0047] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0048] Reference Figure 1 , Figure 1 A schematic diagram of the structure of a snowplow in the hardware operating environment involved in an embodiment of the present invention.

[0049] like Figure 1 As shown, the snowplow may include: a snowplow head, a snowplow body and a controller, wherein the snowplow head is detachably connected to the snowplow body, the controller is arranged on the snowplow body, the controller is used to control the snowplow head and the snowplow motor, the controller can run a snow-escaping program, and the snow-escaping program is configured to implement the steps of the snow-escaping method as described above, and the snowplow executes the snow-escaping method provided by the embodiment of the present invention.

[0050] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation of the snowplow, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0051] The embodiment of the present invention provides a method for shoveling snow out of trouble, referring to Figure 2 , Figure 2 It is a schematic flow chart of the first embodiment of the snow shoveling method for escaping distress according to the present invention.

[0052] In this embodiment, the escape triggering condition includes a first escape triggering condition and / or a second escape triggering condition, wherein the first escape triggering condition is that the snowplow is not performing the automatic snow shoveling operation for the first time or the motor current of the snowplow is greater than a preset threshold and the snowplow is slipping. The first escape triggering condition can be implemented on the basis that the snowplow has not triggered the second escape triggering condition, and can also be implemented on the basis that the snowplow has triggered the second escape triggering condition. The second escape triggering condition is that the snowplow performs the automatic snow shoveling operation for the first time or the marking position is manually opened. The second escape triggering condition can be implemented separately. The escape and snow shoveling method includes:

[0053] Step S10: When the snowplow detects that the current position is in an escape trigger condition, it executes a corresponding preset escape action, and the preset escape action includes: adjusting the head height of the snowplow's snow shoveling head at least once.

[0054] It should be noted that the method of this embodiment can be applied in a scene where snow shoveling is required, and the execution subject of the method of this embodiment can be the above-mentioned snowplow, or other equipment that can achieve the same or similar functions. Here, the above-mentioned snowplow is used to specifically illustrate this implementation and the following embodiments.

[0055] It should be noted that the above-mentioned current position may be the position of the snowplow while clearing snow according to a pre-set snow-clearing path. In this embodiment, the snow-clearing path is formed by connecting position coordinates one by one.

[0056] It should be understood that the above-mentioned escape trigger condition can be that when the snowplow encounters ground protrusions, icicles or cracks in the ground during the snow shoveling process, the snowplow moves onto the snow pile, the position of the snowplow determined by the positioning sensor of the snowplow has not changed, but the movement of the snowplow wheels is detected.

[0057] It should be emphasized that the above-mentioned preset escape action can be a corresponding escape action triggered when the snowplow detects that it is in a preset escape trigger condition, so as to enable the snowplow to escape from the situation where the snowplow slips on the snow pile when it encounters ground protrusions, icicles or cracks in the ground during the snow shoveling process.

[0058] It is understandable that the head-up height of the snowplow head can be adjusted by adjusting the push rod value to raise the snowplow head of the snowplow machine to a certain distance, that is, the height of the snowplow head from the ground. Specifically, the head-up height of the snowplow head of the snowplow machine can be set to 4 levels, and the 4 levels correspond to the head-up heights of the snowplow head of the snowplow machine of 1cm, 2cm, 3cm and 5cm respectively, among which the head-up height of the 1st level is 1cm and the head-up height of the 4th level is 5cm.

[0059] It should be noted that the above-mentioned snow shoveling operation may be an operation in which the snowplow is in operation for the purpose of shoveling snow. In the present embodiment, it may be an operation in which the snowplow adjusts the snow rolling blade and the snow throwing blade to rotate at high speed during the movement.

[0060] In a specific implementation, the snowplow of this embodiment performs a corresponding preset escape action when it detects that the position of the snowplow determined by the positioning sensor of the snowplow has not changed, but detects that the wheels of the snowplow have moved. The preset escape action includes: adjusting the head-up height of the snowplow's snow-clearing head at least once.

[0061] Step S20: After completing the preset escape action, determine whether the escape trigger condition is still met.

[0062] In a specific implementation, after completing the preset escape action, the snowplow determines whether it is still in the escape trigger condition. If it is not in the escape trigger condition, it means that the escape snow shoveling operation is successful. If it is still in the escape trigger condition, it means that the snowplow's head height is adjusted to the highest height and still meets the trigger condition. The snowplow fails to execute the escape snow shoveling operation and the user needs to be notified to implement other solutions.

[0063] Step S30: If not, determine the next snow shoveling position and perform the snow shoveling operation.

[0064] In a specific implementation, if the escape trigger condition is not met, the next target position will be determined according to the pre-set path, and the snow shoveling operation will continue.

[0065] When the snowplow detects that the current position is in the escape trigger condition, the present embodiment executes the corresponding preset escape action, and the preset escape action includes: adjusting the head height of the snowplow's snow shoveling head at least once; after completing the preset escape action, determining whether it is still in the escape trigger condition; if not, determining the next snow shoveling position and executing the snow shoveling operation. The present embodiment triggers the preset escape action by detecting the escape trigger condition, and adjusts the head height of the snowplow to perform the escape operation, thereby solving the existing technical problem that when the snowplow is in trouble, it escapes by retreating along the original route, which increases the detour distance, and improves the snow shoveling efficiency of the snowplow.

[0066] refer to Figure 3, Figure 3 It is a schematic flow chart of the second embodiment of the snow shoveling method for escaping distress according to the present invention.

[0067] Based on the first embodiment, in this embodiment, the escape trigger condition includes a first escape trigger condition, and the first escape trigger condition is that the snowplow is not performing the automatic snow shoveling operation for the first time or the motor current of the snowplow is greater than a preset threshold, and the snowplow is slipping. Accordingly, the preset escape action includes the following steps:

[0068] It should be understood that the first escape triggering condition may be that the snowplow is still in a slipping condition when the snowplow triggers the second escape triggering condition.

[0069] It should be noted that the above-mentioned first escape triggering condition may be the snow clearing operation performed by the snowplow after the behavior recorded on the terrain.

[0070] Step S110: retreat a first preset distance and adjust the head-up height of the snow shoveling head to a target head-up height.

[0071] It should be noted that the target head-up height mentioned above may be the head-up height to which the snowplow head is to be adjusted.

[0072] Step S120: moving forward a second preset distance and performing snow shoveling operations.

[0073] Step S130: During the process of advancing the second preset distance, if the advancing distance reaches a preset distance threshold, determining whether the motor current is greater than a preset threshold.

[0074] It should be noted that the motor current (motor load) can be used to determine whether the snowplow is eating snow, that is, whether the snowplow is shoveling snow. Specifically, it is determined whether the current is greater than a preset threshold, such as 17A. If it is greater than a preset threshold, it indicates that the snowplow is eating snow, and if it is less than or equal to a preset threshold, it indicates that the snowplow is not eating snow.

[0075] It should be understood that the above-mentioned preset distance threshold can be a value greater than zero and less than the second preset distance. When the snowplow advances the second preset distance and the advance distance reaches the preset distance threshold, it is determined whether the snowplow eats snow to determine whether the current escape trigger condition of the snowplow is thick and hard snow or ground cracks / terrain protrusions / icicles.

[0076] Step S140: If not, continue to shovel snow at the target head-up height, and after determining that the snow shovel is completed, adjust the head-up height of the snow shovel head to the ground height.

[0077] It should be noted that the above-mentioned height close to the ground can be the height at which the snowplow head of the snowplow is close to the ground, that is, the height of the snowplow head from the ground is zero.

[0078] It should be noted that if the motor current of the snowplow is less than or equal to the preset threshold, the current escape trigger condition is ground cracks / terrain protrusions / icicles.

[0079] In a specific implementation, when the snowplow detects that the current position is in the first escape condition, it retreats the first preset distance and adjusts the head-up height of the snowplow head to the target head-up height. In the process of advancing the second preset distance, if the advancing distance reaches the preset distance threshold, it determines whether the motor current is greater than the preset threshold. If not, it continues to shovel snow at the target head-up height. After determining that the snowplow is completed, the head-up height of the snowplow head is adjusted to the ground height. Specifically, when the snowplow detects that the current position is in the escape trigger condition without terrain records, the snowplow retreats 50cm, adjusts the head-up height of the snowplow head to 3cm, and advances 65cm. When it advances to 55cm, if the motor current of the snowplow is less than or equal to 17A, it indicates that the snowplow has passed the ground protrusion and has completed the escape.

[0080] Furthermore, in this embodiment, the above step S130 includes:

[0081] Step S131: If yes, retreat the first preset distance on the forward distance, and adjust the head height of the snow shovel head to the ground level.

[0082] It should be noted that if the motor current of the snowplow is greater than the preset threshold, it means that the current escape trigger condition is thick and hard snow.

[0083] Step S132: Continue to move forward the second preset distance, and in the process of moving to the next snow shoveling position, keep the head height of the snow shoveling head close to the ground.

[0084] In a specific implementation, the snowplow will keep the head-up height of the snowplow head at ground level while heading to the next snow-shoveling position; if the next snow-shoveling position entered is a marked position recorded in the terrain, the ground level will be directly adjusted to the head-up height corresponding to the position recorded in the terrain; if the next snow-shoveling position entered is a marked position recorded in the terrain, and when passing through the position at the head-up height recorded in the terrain, if it is determined that slipping has occurred, the preset escape action corresponding to the first escape trigger condition will be executed, including: retreating 50cm, adjusting the head-up height of the snowplow head to 3cm, and the snowplow moving forward 65cm. When moving forward to 55cm, if the current of the snowplow motor is greater than the preset threshold, it is determined that thick and hard snow has been encountered, and the snowplow will continue to move forward to 65cm, and continue to retreat 50cm, adjust the head-up height of the snowplow head to ground level, and then move forward 65cm to remove the thick and hard snow and resume the normal automatic snow-shoveling plan; if the next snow-shoveling position entered is not a marked position recorded in the terrain, and if it is determined that slipping has occurred, the preset escape action corresponding to the first escape trigger condition will continue to be executed, as described above.

[0085] Further, in this embodiment, the escape trigger condition includes a second escape trigger condition, the second escape trigger condition is that the snowplow slips after the snowplow performs the automatic snow shoveling operation for the first time or the marked position is manually opened, and the preset escape action includes the following steps:

[0086] It should be noted that the second escape trigger condition may be the behavior of terrain recording of the snowplow, recording the position of the ground cracks / terrain protrusions / icicles and the corresponding head height of the snowplow head.

[0087] Step S210: raising the head height of the snowplow head from the ground level according to a preset height interval.

[0088] It should be noted that the above-mentioned preset height interval can be a height interval for achieving height adjustment through the preset gear height of the snow blower. Specifically, the height interval adjusted from gear 1 (1 cm) to gear 2 (2 cm) is 1 cm.

[0089] Step S220: Determine whether the snowplow at the current position is slipping based on the positioning information of the snowplow.

[0090] Step S230: If yes, return to the step of adjusting the head-up height of the snowplow head according to the preset height interval until the head-up height of the snowplow head is adjusted to the upper limit of the head-up height of the snowplow head, take the current position as the marked position, and record the marked position and the marked head-up height corresponding to the marked position.

[0091] Step S240: If not, the current position is used as the mark position, and the mark position and the mark head height corresponding to the mark position are recorded.

[0092] It should be noted that the above-mentioned marking position may be a position where the terrain (ground crack / terrain protrusion / icicle) needs to be recorded.

[0093] It should be understood that the above-mentioned marked head-up height can be the head-up height of the snowplow's snow-clearing head when the snowplow is in the process of getting out of trouble.

[0094] In a specific implementation, the marked position of the ground cracks / terrain protrusions / icicles is recorded. In the subsequent escape process, the head height of the snow shovel head can be adjusted to the marked head height directly when walking to the position.

[0095] In this embodiment, if the marked head-up height is less than or equal to the preset head-up height, the snowplow moves a preset walking distance, and the snowplow head is released while walking, and the head-up angle is restored to the default angle; if the marked head-up height is greater than the preset head-up height, the snowplow moves two preset walking distances, and first determines whether the current inclination angle of the machine is consistent with the default angle. If not, the machine restores the head-up angle to the default angle. If consistent, the current head-up height is maintained and moved for a preset distance, and the above determination of whether the angles are consistent is repeated. Among them, a preset walking distance can be any one of 20 to 40 centimeters, preferably 30 centimeters.

[0096] Furthermore, in this embodiment, the snow shoveling method further includes:

[0097] Step S40: When the snowplow runs to the marked position corresponding to the next snow shoveling position, the head-up height of the snowplow is adjusted to the marked head-up height.

[0098] It should be noted that, based on the first escape condition (terrain record), when the snowplow runs to the marked position corresponding to the next snow shoveling position, the head-up height of the snowplow head will be adjusted to the marked head-up height of the above record.

[0099] Furthermore, in this embodiment, the snow shoveling method further includes:

[0100] Step S250: When the snowplow automatically performs the snow clearing operation for the first time, detect whether the motor current of the snowplow is greater than a preset threshold.

[0101] Step S260: If yes, the head height of the snow shoveling head is adjusted to a height close to the ground to shovel snow.

[0102] Step S270: Determine the next target location to perform snow shoveling operations.

[0103] In a specific implementation, when the snowplow automatically performs the snow shoveling operation for the first time, it is detected whether the motor current of the snowplow is greater than a preset threshold value. If the motor current of the snowplow is greater than the preset threshold value, it indicates that the snowplow is in a snow-eating state, and the head height of the snowplow head is adjusted to the height close to the ground for snow shoveling.

[0104] Furthermore, in this embodiment, the above step S10 includes:

[0105] Step S11: determine the current position through positioning information, and judge whether the current position exceeds the boundary.

[0106] It should be noted that the positioning information may be longitude and latitude location information. The positioning information may be determined by the snowplow's positioning sensor and RTK (RTK is a technology that uses GPS carrier phase observation for real-time dynamic relative positioning, and is also a measuring device that can receive satellite signals to achieve high-precision positioning) after fusion positioning. The positioning sensor may include an IMU and an odometer.

[0107] In a specific implementation, positioning information is obtained through a positioning sensor to determine the current position, and to determine whether the current position is within the preset route range. If it is within the preset route range, it has not exceeded the boundary; if it is not within the preset map, it has exceeded the boundary.

[0108] Step S12: If yes, obtain the historical coordinate position determined by the positioning information and return to the historical position corresponding to the historical coordinate position, and continue to perform the snow shoveling operation.

[0109] In a specific implementation, if the boundary is exceeded, that is, the travel path is exceeded, the coordinate position of the previous snow shoveling operation (historical coordinate position) is obtained, and the historical position corresponding to the historical coordinate position is returned to, and the snow shoveling operation is continued.

[0110] Furthermore, in this embodiment, the snow shoveling method further includes:

[0111] Step S50: When adjusting the head height of the snowplow's snowplow head, a target push rod value is determined based on the relationship between the push rod value and the head height of the snowplow head.

[0112] It should be noted that the above-mentioned push rod can be a device for a snowplow to adjust the height of the snowplow head through the push rod, wherein different push rod values ​​correspond to different heights of the snowplow head.

[0113] Step S60: adjusting the current push rod value to the target push rod value to adjust the head-up height of the snow shovel head.

[0114] In this embodiment, the maximum head height of the snow shovel head is 5 cm, at which time the push rod value is 0, the minimum head height of the snow shovel head is 0 cm, at which time the push rod value is 64, and when the head height of the snow shovel head is 3 cm, the push rod value is 20. It can be seen that the head height of the snow shovel head is determined by controlling the push rod value of the snowplow, and the push rod value and the head height of the snow shovel head are in a nonlinear (curve) relationship. The current push rod value is adjusted to the target push rod value to adjust the head height of the snow shovel head.

[0115] Reference Figure 4 , Figure 4 It is a structural frame diagram of the first embodiment of the snow-clearing device of the present invention.

[0116] like Figure 4 As shown, the snow shoveling device for escaping from a difficult situation provided by the embodiment of the present invention comprises:

[0117] The detection module 100 is used to execute a corresponding preset escape action when the snowplow detects that the current position is in an escape trigger condition, and the preset escape action includes: adjusting the head height of the snowplow's snow shoveling head at least once;

[0118] A judgment module 200 is used to judge whether the escape triggering condition is still met after completing the preset escape action;

[0119] The snow shoveling module 300 is used to determine the next snow shoveling position and perform the snow shoveling operation if no.

[0120] When the snowplow detects that the current position is in the escape trigger condition, the present embodiment executes the corresponding preset escape action, and the preset escape action includes: adjusting the head height of the snowplow's snow shoveling head at least once; after completing the preset escape action, determining whether it is still in the escape trigger condition; if not, determining the next snow shoveling position and executing the snow shoveling operation. The present embodiment triggers the preset escape action by detecting the escape trigger condition, and adjusts the head height of the snowplow to perform the escape operation, thereby solving the existing technical problem that when the snowplow is in trouble, it escapes by retreating along the original route, which increases the detour distance, and improves the snow shoveling efficiency of the snowplow.

[0121] Other embodiments or specific implementations of the snow-clearing device of the present invention can refer to the above-mentioned method embodiments and will not be described in detail here.

[0122] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0123] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0124] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory / random access memory, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0125] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for shoveling snow out of trouble, characterized in that: The method comprises: When the snowplow detects that the current position is in the escape trigger condition, the corresponding preset escape action is executed, and the preset escape action includes: adjusting the head height of the snowplow's snow shoveling head at least once; After completing the preset escape action, determining whether the escape trigger condition is still met; If not, the next snow shoveling position is determined and the snow shoveling operation is performed; The escape triggering condition includes a first escape triggering condition and / or a second escape triggering condition, wherein the first escape triggering condition is that the snowplow is not performing the automatic snow shoveling operation for the first time or the motor current of the snowplow is greater than a preset threshold value and the snowplow is slipping; The preset escape action comprises the following steps: Retreating a first preset distance and adjusting the head-up height of the snow shoveling head to a target head-up height; Go forward a second preset distance and perform a snow shoveling operation; During the process of advancing the second preset distance, if the advancing distance reaches a preset distance threshold, determining whether the motor current is greater than a preset threshold; If not, continue to shovel snow at the target head-up height, and after determining that the snow shovel is completed, adjust the head-up height of the snow shovel head to the ground height; In the process of advancing the second preset distance, if the advancing distance reaches the preset distance threshold, after the step of determining whether the motor current is greater than the preset threshold, the method includes: If yes, retreat the first preset distance on the forward distance, and adjust the head height of the snow shovel head to the ground level; Continue to move forward the second preset distance, and in the process of moving to the next snow shoveling position, keep the head height of the snow shoveling head at a height close to the ground.

2. The snow shoveling method according to claim 1, characterized in that: The escape triggering condition includes a second escape triggering condition, wherein the second escape triggering condition is that the snowplow slips after the snowplow performs the automatic snow shoveling operation for the first time or the marked position is manually opened; The preset escape action also includes the following steps: The head-up height of the snow shovel head is adjusted from the ground level at preset height intervals; Determining whether the snowplow at the current position is slipping according to the positioning information of the snowplow; If yes, return to the step of raising the head height of the snow shoveling head according to the preset height interval until the head height of the snow shoveling head is adjusted to the upper limit of the head height of the snow shoveling head, take the current position as the marked position, and record the marked position and the marked head height corresponding to the marked position; If not, the current position is used as the mark position, and the mark position and the mark head height corresponding to the mark position are recorded.

3. The snow shoveling method according to any one of claims 1 to 2, characterized in that: The method further comprises: When the snowplow runs to the marked position corresponding to the next snow shoveling position, the head-up height of the snowplow is adjusted to the marked head-up height.

4. The snow shoveling method according to claim 2, characterized in that: The method further comprises: When the snowplow automatically performs a snow-shoveling operation for the first time, detecting whether the motor current of the snowplow is greater than a preset threshold; If yes, the head height of the snow shoveling head is adjusted to the ground height to shovel snow; Determine the next target location to perform snow shoveling operations.

5. The snow shoveling method according to any one of claims 1 to 2, characterized in that: After the step of executing a corresponding preset escape action when the snowplow detects that the current position is in an escape trigger condition, the method includes: Determine the current position through the positioning information, and judge whether the current position exceeds the boundary; If so, obtain the historical coordinate position determined by the positioning information and return to the historical position corresponding to the historical coordinate position, and continue to perform the snow shoveling operation.

6. The snow shoveling method according to any one of claims 1 to 2, characterized in that: The method further comprises: When adjusting the head height of the snowplow's snowplow head, a target push rod value is determined by the relationship between the push rod value and the head height of the snowplow head; The current push rod value is adjusted to the target push rod value to adjust the head-up height of the snow shovel head.

7. The snow shoveling method according to claim 1, characterized in that: The method is also applied to a snow-clearing device, which comprises: A detection module, configured to execute a corresponding preset escape action when the snowplow detects that the current position is in an escape trigger condition, wherein the preset escape action includes: adjusting the head height of the snowplow's snow shoveling head at least once; A judgment module, used for judging whether the escape triggering condition is still met after completing the preset escape action; The snow shoveling module is used to determine the next snow shoveling position and perform the snow shoveling operation if the answer is no.

8. A snow sweeper, characterized in that: The snowplow includes: a snowplow head, a snowplow body and a controller, wherein the snowplow head is detachably connected to the snowplow body, the controller is arranged on the snowplow body, the controller is used to control the snowplow head and the snowplow motor, the controller can run a snow-escape program, and the snow-escape program is configured to implement the steps of the snow-escape method as described in any one of claims 1 to 6.

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