Bucket, obstacle-clearing off-road vehicle, and bucket intelligent control method

Abstract

The present invention belongs to the technical field of automatic control of buckets, and specifically relates to a bucket, a tow truck and an intelligent control method for a bucket. Specifically, an articulated structure is installed on a front bumper plate, and a front shovel plate is installed on a triangular plate of the articulated structure. One end of a first transmission arm is hinged to the top of a side of the triangular plate, and the other end thereof is hinged to the top of a force-bearing plate through a strip through hole of the front bumper plate, and one end of a second transmission arm is hinged to the bottom of a side of the triangular plate, and the other end thereof is hinged to the bottom of the force-bearing plate, so as to fix the entire articulated structure, and a pushing mechanism is used to push the first transmission arm of the articulated structure, and the pushing mechanism is used to control the swing angle of the first transmission arm in the strip through hole on the front bumper plate, and the height and tilt angle of the front shovel plate of the front shovel structure are controlled by changing the swing position of the first transmission arm; thereby, the position of the front shovel plate can be automatically adjusted, and the intelligence level of the shovel head of the off-road vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of bucket automatic control, and in particular to a bucket, an obstacle clearing off-road vehicle and a bucket intelligent control method. Background Art

[0002] An off-road vehicle is a car specially designed for off-roading, mainly referring to off-road vehicles that can be used on rugged roads. Its main features are a non-load-bearing body, four-wheel drive, a higher chassis, tires with better grip, a higher exhaust pipe, greater horsepower and thick and strong bumpers, which can adapt to various road conditions in the wild; however, when dealing with complex outdoor environments, off-road vehicles are often unable to cope with various situations relying solely on their original body structure; for example, when encountering earth slopes or obstacles that are higher than the vehicle chassis in the wild, as well as encountering small trees that are higher than the vehicle chassis, direct driving may directly lead to vehicle wear and tear and reduce its service life.

[0003] To this end, in order to improve the performance of off-road vehicles in wild environments, some people in the market have gradually increased the ability of off-road vehicles to solve problems in the wild by adding buckets to off-road vehicles, thereby improving the use value of off-road vehicles; for example, an off-road vehicle can be equipped with a bucket in front of the front of the vehicle for tasks such as digging soil, digging ditches and digging obstacles, so that the off-road vehicle has stronger passability and operational capabilities; at the same time, when a road needs to be temporarily opened up, the added bucket can easily dig the road surface and open up a road suitable for off-road vehicles; and, since uneven roads in the wild are common, off-road vehicles can be used to level the road surface by adding buckets, making the vehicle run more smoothly and reducing the vibration and loss of off-road vehicles caused by poor road conditions.

[0004] However, during the control process of the bucket off-road vehicle, the improvement in its hardware cannot enable the bucket off-road vehicle to perform intelligent analysis according to the current environment, resulting in the bucket off-road vehicle being unable to clear obstacles, which in turn causes the bucket to be easily damaged, affecting its service life; at the same time, since the existing bucket off-road vehicle can often only be used by the driver manually operating the shovel head, it is actually not capable of being used intelligently according to the real-time environment, which makes it impossible to accurately operate the bucket according to environmental data, and also reduces the operating effect and efficiency of the bucket off-road vehicle.

[0005] Therefore, how to intelligently control the shovel head of an off-road vehicle is a technical problem that technical personnel need to solve at present. Summary of the invention

[0006] The purpose of the present invention is to solve the problem in the prior art that it is inconvenient to collect environmental data and soil data in real time during the control process of a bucket off-road vehicle, which leads to the inability to accurately operate the bucket according to the environmental data, thereby reducing the working effect. A control circuit for an off-road vehicle with a bucket that can clear roadblocks is proposed.

[0007] A first aspect of the present application provides a bucket for installation on a vehicle, comprising:

[0008] A pushing mechanism, a front bar structure, an articulated structure and a front shovel structure; the front bar structure includes a front bar plate; the articulated structure includes a triangular plate, a first transmission arm and a second transmission arm; the front shovel structure includes a front shovel plate, the front shovel plate is fixed on the hypotenuse of the triangular plate, and the back of the front shovel plate is in contact with the hypotenuse of the triangular plate; a strip through hole is provided on the front bar plate, and a force-bearing plate is provided on the back of the front bar plate, which is close to the strip through hole; one end of the first transmission arm is hinged to the top of the side of the triangular plate, and the other end passes through the front bar plate and is hinged to the top of the force-bearing plate; one end of the second transmission arm is hinged to the bottom of the side of the triangular plate, and the other end is hinged to the bottom of the force-bearing plate; the pushing end of the pushing mechanism is connected to the middle part of the first transmission arm to control the swing angle of the first transmission arm in the strip through hole.

[0009] Preferably, there are two strip-shaped through holes, which are respectively arranged on both sides of the front bumper plate; wherein, the pushing mechanism and the hinge structure are each provided with two groups, each of the strip-shaped through holes corresponds to a group of first transmission arms in the hinge structure, and each group of the pushing mechanism corresponds to pushing one of the first transmission arms.

[0010] Preferably, the pushing mechanism includes a power module, a linear motor and a driving push rod, the power module is electrically connected to the linear motor, the starting end of the driving push rod is connected to the output end of the linear motor, and the end of the driving push rod is provided with a guide swing arm; an arc-shaped through hole is provided on the force-bearing plate, and the first transmission arm is provided with a groove, which is adapted to the outer wall of the guide swing arm, and the guide swing arm is located in the arc-shaped through hole.

[0011] Preferably, a fixed plate is also provided on the side of the strip through hole, and the fixed plate is arranged corresponding to the force-bearing plate and parallel to the force-bearing plate; a connecting plate is provided between the force-bearing plate and the fixed plate, and the connecting plate is rigidly connected to the force-bearing plate and the fixed plate respectively, and the pushing mechanism is fixed on the connecting plate, and the pushing direction of the pushing mechanism faces the first transmission arm.

[0012] Preferably, the power module includes a converter DC / DC, the converter DC / DC is connected to a capacitor C2, a resistor R3 and a transistor Q2, the resistor R3 is connected to the transistor Q2, one end of the capacitor C2 is connected to a diode D1 and a diode D2, one end of the diode D1 is connected to a resistor R8, one end of the diode D2 is connected to the transistor Q2, the transistor Q2 is connected to a resistor R5, the resistor R5 is connected to a diode D3, one end of the resistor R8 is connected to a transistor Q1, the transistor Q1 is connected to resistors R1, R2 and R4, the diode D3 is connected to resistor R4, the resistor R1 is connected to a switch SW1, the switch SW1 is connected to a resistor R6, the resistor R6 is connected to the capacitor C1 and the resistor R7, the resistor R7 is connected to the transistor Q3, and the transistor Q3 is connected to the resistor R4.

[0013] A second aspect of the present application provides an off-road obstacle removal vehicle, comprising:

[0014] A bucket as described in any of the above items, wherein the off-road obstacle removal vehicle includes a front bumper, and the front bumper structure is mounted and fixed on the front bumper.

[0015] The third aspect of the present application provides an intelligent control method for a bucket of an obstacle-clearing off-road vehicle, which is applied to the obstacle-clearing off-road vehicle as described above, and comprises the following steps:

[0016] Step S1, according to the operation instruction of the driver, turning on the photoelectric rangefinder or the sonic rangefinder on the front bumper panel to obtain a first distance value, where the first distance value is a straight-line distance value projected by the photoelectric rangefinder or the sonic rangefinder on the front bumper panel at a preset angle to the road surface ahead;

[0017] Step S2, determining whether the first distance value is less than a preset range value;

[0018] Step S3: If yes, a roadblock signal is issued, and the pushing mechanism is controlled to push the first transmission arm to lift;

[0019] Step S4: If not, determine whether the first distance value is greater than the preset range value; if so, send a pothole signal and control the pushing mechanism to pull the first transmission arm down.

[0020] Preferably, after step S4, the method further includes:

[0021] Step S41, obtaining a second distance value, where the second distance value is a straight-line distance value measured when the bottom of the vehicle is projected vertically onto the road surface;

[0022] Step S42, comparing the second distance value with a preset height value;

[0023] Step S43: if the second distance value is greater than the preset height value, a retreat signal is issued, and the pushing mechanism is controlled to pull the first transmission arm to lift, and step S2 is executed again;

[0024] Step S44: If the first distance value is smaller than the preset range value, the pushing mechanism is controlled to pull the first transmission arm downward and send a forward signal.

[0025] Preferably, after step S3, the method further includes:

[0026] Step S31, when the first distance value is less than the preset range value, a roadblock height value is calculated based on formula 1, and the roadblock height value is the real-time height value of the roadblock when the off-road vehicle encounters the roadblock; wherein the formula 1 is: H1=cosα(L1-L2), H1 represents the roadblock height value; α represents a preset angle, and the preset angle is a fixed angle projected by the photoelectric rangefinder or the sonic rangefinder to the road surface ahead; L1 represents a constant distance value when the photoelectric rangefinder or the sonic rangefinder is projected to a flat road surface, and L2 represents the first distance value;

[0027] Step S32, determining whether the roadblock height value is greater than the chassis height value;

[0028] Step S33: If yes, setting the swing angle of the first transmission arm in the strip-shaped through hole to R1;

[0029] Step S34: if not, then the swing angle of the first transmission arm in the strip-shaped through hole is set to R2; R1 is an obtuse angle, R2 is an acute angle, and R1 is complementary to R2.

[0030] Preferably, after step S4, the method further includes:

[0031] When the first distance value is greater than the preset range value, the pothole depth value is calculated based on Formula 2, and the pothole depth value is the vertical height when the off-road vehicle encounters a pothole; wherein Formula 2 is: H2=cosα(L2-L1), and H2 represents the pothole depth value.

[0032] Determine whether the pothole depth value is greater than the chassis height value;

[0033] If so, an alarm signal is sounded.

[0034] Preferably, after step S31, the method further includes:

[0035] When the roadblock height value falls within the first range value, the swing angle of the first transmission arm in the strip-shaped through hole is set to R3;

[0036] When the roadblock height value falls within the second range value, the swing angle of the first transmission arm in the strip-shaped through hole is set to R4;

[0037] When the roadblock height value falls within the third range, the swing angle of the first transmission arm in the strip-shaped through hole is set to R5;

[0038] The first range value, the second range value and the third range value increase in sequence, and R3, R4 and R5 decrease in sequence.

[0039] The technical solution provided by this application may have the following beneficial effects:

[0040] In the present technical scheme, the present application fixes the entire hinged structure by installing the hinged structure on the front bumper plate of the front bumper structure, and installing the front shovel plate of the front shovel structure on the triangular plate of the hinged structure, and then hinges one end of the first transmission arm to the top of the side of the triangular plate, and hinges the other end of the first transmission arm to the top of the force-bearing plate through the strip through hole of the front bumper plate, and hinges one end of the second transmission arm to the bottom of the side of the triangular plate, and hinges the other end of the second transmission arm to the bottom of the force-bearing plate, so as to enable the front shovel plate of the front shovel structure to tilt to the front, and at the same time, by pushing the first transmission arm of the hinged structure by a pushing mechanism, the pushing mechanism is used to control the swing angle of the first transmission arm in the strip through hole on the front bumper plate, and the height and tilt angle of the front shovel plate of the front shovel structure are controlled by changing the swing position of the first transmission arm, so that it can clear roadblocks of different heights and shapes, and can automatically adjust the position of the front shovel plate, thereby greatly improving the intelligence of the shovel head of the off-road vehicle, and thus improving the operation effect and efficiency of the bucket off-road vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The above and other objects, features and advantages of the present application will become more apparent through a more detailed description of exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0042] Figure 1 It is a flow chart of a bucket intelligent control method shown in an embodiment of the present application;

[0043] Figure 2 is a schematic diagram of the structure of a bucket shown in an embodiment of the present application;

[0044] Figure 3 is another structural schematic diagram of a bucket shown in an embodiment of the present application;

[0045] Figure 4 is a schematic diagram of the structure of a power module shown in an embodiment of the present application;

[0046] In the figure: a pushing mechanism 10, a power module 11, a linear motor 12, a driving push rod 13, a guide swing arm 14; a front bar structure 20, a front bar plate 21, a strip through hole 22, a force-bearing plate 23, an arc through hole 24, a fixed plate 25, a connecting plate 26; a hinged structure 30, a triangular plate 31, a first transmission arm 32, a second transmission arm 33; a front shovel structure 40, a front shovel plate 41, and a guide plate 42. DETAILED DESCRIPTION

[0047] In order to make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application; the technical solutions in the embodiments of the present application will be described in detail below in conjunction with the drawings.

[0048] In order to improve the problem-solving ability of an off-road vehicle in the wild, and thus improve the use value of the off-road vehicle, the bucket of the off-road vehicle can perform intelligent analysis according to the current environment, improve the intelligence of the bucket off-road vehicle in clearing obstacles, and protect the off-road vehicle from being easily damaged, and improve the service life of the front bumper of the off-road vehicle; the application provides a bucket for installation on a vehicle or off-road vehicle, including:

[0049] The push mechanism 10 includes a front bar structure 20, a hinge structure 30 and a front shovel structure 40; the front bar structure 20 includes a front bar plate 21; the hinge structure 30 includes a triangular plate 31, a first transmission arm 32 and a second transmission arm 33; the front shovel structure 40 includes a front shovel plate 41, the front shovel plate 41 is fixed on the hypotenuse of the triangular plate 31, and the back of the front shovel plate 41 is in contact with the hypotenuse of the triangular plate 31; the front bar plate 21 is provided with a strip through hole 22, and the back of the front bar plate 21 is provided with a There is a force-bearing plate 23, and it is close to the strip through hole 22; one end of the first transmission arm 32 is hinged to the top of the side of the triangular plate 31, and the other end passes through the front bumper plate 21 and is hinged to the top of the force-bearing plate 23; one end of the second transmission arm 33 is hinged to the bottom of the side of the triangular plate 33, and the other end is hinged to the bottom of the force-bearing plate 23; the pushing end of the pushing mechanism 10 is connected to the middle part of the first transmission arm 32 to control the swing angle of the first transmission arm 32 in the strip through hole.

[0050] Specifically, there are two strip-shaped through holes 22, which are respectively arranged on both sides of the front bumper plate 21; wherein, the pushing mechanism 10 and the hinge structure 20 are each provided with two groups, each of the strip-shaped through holes 22 corresponds to a group of first transmission arms in the hinge structure 30, and each group of the pushing mechanism 10 corresponds to pushing one of the first transmission arms 32.

[0051] Specifically, the pushing mechanism 10 includes a power module 11, a linear motor 12 and a driving push rod 13, the power module 11 is electrically connected to the linear motor 12, the starting end of the driving push rod 13 is connected to the output end of the linear motor 12, and the end of the driving push rod 13 is provided with a guide swing arm 14; the force-bearing plate 23 is provided with an arc-shaped through hole 24, the first transmission arm 32 is provided with a groove, the groove is adapted to the outer wall of the guide swing arm 14, and the guide swing arm 14 is located in the arc-shaped through hole 24.

[0052] Specifically, the side plate of the strip through hole 22 is also provided with a fixed plate 25, and the fixed plate 25 is arranged corresponding to the force-bearing plate 23 and parallel to the force-bearing plate 23; a connecting plate 26 is provided between the force-bearing plate 23 and the fixed plate 25, and the connecting plate 26 is rigidly connected to the force-bearing plate 23 and the fixed plate 25 respectively, and the pushing mechanism 10 is fixed on the connecting plate 26, and the pushing direction of the pushing mechanism 10 faces the first transmission arm 32.

[0053] Specifically, the power module includes a converter DC / DC, the converter DC / DC is connected to a capacitor C2, a resistor R3 and a transistor Q2, the resistor R3 is connected to the transistor Q2, one end of the capacitor C2 is connected to a diode D1 and a diode D2, one end of the diode D1 is connected to a resistor R8, one end of the diode D2 is connected to the transistor Q2, the transistor Q2 is connected to a resistor R5, the resistor R5 is connected to a diode D3, one end of the resistor R8 is connected to a transistor Q1, the transistor Q1 is connected to resistors R1, R2 and R4, the diode D3 is connected to resistor R4, the resistor R1 is connected to a switch SW1, the switch SW1 is connected to a resistor R6, the resistor R6 is connected to the capacitor C1 and the resistor R7, the resistor R7 is connected to the transistor Q3, and the transistor Q3 is connected to the resistor R4.

[0054] Embodiment 1

[0055] See also Figures 1 to 3This example aims to solve the problem that during the control process of the current bucket off-road vehicle, the bucket off-road vehicle cannot perform intelligent analysis according to the current environment due to its hardware improvement, which causes the bucket off-road vehicle to be unable to clear obstacles, thereby causing the bucket to be easily damaged and affecting its service life. By installing the hinged structure on the front bumper plate of the front bumper structure, and installing the front shovel plate of the front shovel structure on the triangular plate of the hinged structure, and then hinge one end of the first transmission arm with the top of the side of the triangular plate, and hinge the other end of the first transmission arm with the top of the force-bearing plate through the strip through hole of the front bumper plate, and hinge one end of the second transmission arm with the bottom of the side of the triangular plate. , and hinge its other end with the bottom of the force-bearing plate to fix the entire hinged structure, and enable the front shovel plate of the front shovel structure to tilt to the front opposite side. At the same time, the pushing mechanism pushes the first transmission arm of the hinged structure, and the pushing mechanism is used to control the swing angle of the first transmission arm in the strip through hole on the front bumper plate. By changing the swing position of the first transmission arm, the height and tilt angle of the front shovel plate of the front shovel structure are controlled, so that it can clear obstacles of different heights and shapes, and can automatically adjust the position of the front shovel plate, thereby greatly improving the intelligence level of the shovel head of the off-road vehicle, thereby improving the operation effect and efficiency of the bucket off-road vehicle.

[0056] At the same time, when realizing the automated adjustment of the position of the front shovel plate, it is also necessary to solve the force acting on the entire bucket installed on the front bumper of the off-road vehicle, so that the bucket can effectively clear roadblocks and protect the front bumper of the vehicle from being hit; to this end, this example arranges two strip through holes on the front bumper plate, respectively arranged on both sides of the front bumper plate, and simultaneously arranges two groups of the pushing mechanisms and the hinged structures, so that each of the strip through holes can correspond to a group of the first transmission arms in the hinged structure, and each group of the pushing mechanisms can correspondingly push one of the first transmission arms, to ensure that when the bucket is pushed by automated control, the forces on both ends are evenly connected, thereby ensuring the structural stability of the bucket.

[0057] In addition, it should be noted that in order to enhance the clearing ability of the bucket and reduce the force on the bucket when clearing roadblocks, the front shovel plate of the front shovel structure is also configured as a conical plate, and a guide plate is simultaneously provided below the front shovel plate so that an angle can be formed between the guide plate and the front shovel plate. Moreover, since the front shovel plate is inclined relative to the road surface, the guide plate can form a bucket with a conical end with the front shovel plate, so that when encountering roadblocks, the roadblocks can be effectively removed.

[0058] It is also worth noting that in the process of automatically controlling the bucket, since the shapes of the roadblocks encountered will be different, it is extremely easy to encounter uneven force when pushing to clear the roadblocks, and since the entire hinged structure is easily deformed when the pushing mechanism pushes the transmission arm, the service life of the entire bucket is reduced; therefore, this example also provides a fixed plate on the side of the strip through hole, and by correspondingly arranging the fixed plate and the force-bearing plate and being parallel to the force-bearing plate, it is ensured that when the pushing mechanism pushes the first transmission arm, the position of the thrust will not change, thereby achieving the purpose of protecting the stability of the entire hinged structure; at the same time, in this example, the force-bearing plate and A connecting plate is provided between the fixed plates. The connecting plate is rigidly connected to the load-bearing plate and the fixed plate respectively, and then the pushing mechanism is fixed on the connecting plate so that the pushing direction of the pushing mechanism faces the first transmission arm. The entire pushing mechanism is fixed on the bucket to ensure that the entire bucket can effectively push the first transmission arm to move when in use, thereby achieving automatic control of the position of the front shovel structure and improving the use efficiency of the bucket. At the same time, the stability of the entire articulated structure can also be improved, so that the pushing mechanism can better bear force on the bucket instead of the off-road vehicle when pushing the first transmission arm, thereby achieving the purpose of protecting the front bumper of the off-road vehicle.

[0059] Embodiment 2

[0060] When the pushing mechanism pushes the first transmission arm, if uneven force occurs in the process of clearing the roadblock, the first transmission arm will be offset, so that the swing angle of the first transmission arm cannot meet the preset requirements, and the driving push rod of the pushing mechanism will also be sheared, thereby destroying the stability of the structure; for this reason, in this example, the pushing mechanism with the power module, the linear motor and the driving push rod is further fixed to limit the direction of force, so that the axis of the reaction force of pushing the roadblock acts on the driving push rod, and is finally borne by the linear motor and the entire structure, thereby ensuring the stability of the entire structure.

[0061] Specifically, in this example, the power module is electrically connected to the linear motor, and the starting end of the driving push rod is connected to the output end of the linear motor, and a guide swing arm is provided at the end of the driving push rod, and an arc-shaped through hole is provided on the force-bearing plate, and a groove is provided on the first transmission arm. The groove is configured to be adapted to the outer wall of the guide swing arm, and the guide swing arm of the first transmission arm will swing in the arc-shaped through hole. By controlling the pushing distance of the pushing mechanism to drive the push rod, the swing angle of the first transmission arm can be accurately controlled, and then the position of the front shovel structure can be controlled to achieve the removal of roadblocks of different heights and shapes, thereby greatly improving the degree of automation and ensuring the stability of the entire structure.

[0062] In addition, in order to prevent the bucket from being damaged due to overload and the front bumper of the vehicle from being deformed when the bucket pushes an overly rigid roadblock, this example also provides a power module and installs a pressure sensor at the bottom of the linear motor. When the pressure value of the pressure sensor reaches a safety threshold, the programmable logic controller controls the shutdown of the power module, causing the linear motor to stop running and sending out an alarm signal, thereby ensuring that the linear motor and the entire bucket structure or the front bumper of the vehicle are not damaged.

[0063] The power module includes a converter DC / DC, the converter DC / DC is connected with a capacitor C2, a resistor R3 and a transistor Q2, by connecting the resistor R3 to the transistor Q2, and connecting a diode D1 and a diode D2 to one end of the capacitor C2, and connecting a resistor R8 to one end of the diode D1, and connecting one end of the diode D2 to the transistor Q2, and connecting a resistor R5 to the transistor Q2 and a diode D3 to the resistor R5, and connecting one end of the resistor R8 to the transistor Q1, and connecting the transistor Q2 to the resistor R5. 1 is connected with resistor R1, resistor R2 and resistor R4, diode D3 is connected with resistor R4, resistor R1 is connected with switch SW1, switch SW1 is connected with resistor R6, resistor R6 is connected with capacitor C1 and resistor R7, resistor R7 is connected with transistor Q3, transistor Q3 is connected with resistor R4; and in this example, on the one hand, the power supply module can effectively utilize the power supply on the vehicle to provide a power source for the linear motor; on the other hand, the power supply module can be effectively controlled by the programmable logic controller to prevent the bucket and the vehicle body from being crushed.

[0064] Embodiment 3

[0065] In order to specifically reflect the actual effect of the bucket, improve the effect of the off-road vehicle in the wild, and protect the vehicle at the same time, this example enables the bucket to be completely installed on the vehicle or off-road vehicle, so that the vehicle or off-road vehicle has an obstacle clearing function; to this end, the present application also provides an obstacle clearing off-road vehicle with an obstacle clearing function, including the bucket as described above; wherein, the obstacle clearing off-road vehicle in this example is provided with a front end bumper, and this example can effectively fix the bucket on the obstacle clearing off-road vehicle by installing and fixing the front bumper structure on the front end bumper, so that when the vehicle is in the wild, it can clearly clear the roadblocks or obstructions in front of the vehicle.

[0066] Embodiment 4

[0067] See also Figures 1 to 4In order to further improve the intelligence level of the obstacle-clearing off-road vehicle, the purpose of automatically controlling the bucket activity has been achieved, and the efficiency of using the bucket on the vehicle has been improved. This example also provides an intelligent control method for the bucket of an obstacle-clearing off-road vehicle. The solution is applied to the obstacle-clearing off-road vehicle as mentioned above. The method can automatically control the bucket to clear obstacles, reduce the operation items of the driver, and thus ensure the personal safety of the driver; specifically, the method includes the following steps:

[0068] Step S1, according to the operation instruction of the driver, turning on the photoelectric rangefinder or the sonic rangefinder on the front bumper panel, and obtaining a first distance value through the rangefinder or the sonic rangefinder, wherein the first distance value is a straight-line distance value projected by the photoelectric rangefinder or the sonic rangefinder on the front bumper panel at a preset angle to the road surface in front;

[0069] Step S2, determining whether the first distance value is less than a preset range value;

[0070] Step S3: If yes, a roadblock signal is issued, and the pushing mechanism is controlled to push the first transmission arm to lift;

[0071] Step S4: If not, determine whether the first distance value is greater than the preset range value; if so, send a pothole signal and control the pushing mechanism to pull the first transmission arm down.

[0072] In this example, after the above steps S1 to S4, when the off-road vehicle is driving in the wild, since the rangefinder or sonic rangefinder is tilted at a preset angle toward the road ahead, the rangefinder or sonic rangefinder can obtain a distance value regardless of whether it is on a flat or inclined road surface; for this reason, by comparing with the preset range value, it is easy to determine whether there are roadblocks or potholes on the road ahead, and since the off-road vehicle will inevitably experience slight vibrations when driving on the road, the preset range value can easily avoid frequent triggering of different signals, thereby reducing the occurrence of misjudgment behavior. At the same time, the above preset range value and the first distance value can be used to determine the situation of the road ahead, and according to different first distance values, the front shovel structure activity in the bucket can be intelligently controlled so that it can overcome the difficulties of the road ahead at the optimal angle, thereby achieving the purpose of protecting the off-road vehicle.

[0073] Embodiment 5

[0074] In actual applications, when an off-road vehicle is driving in the wild, it will often encounter obstacles of different shapes and sizes. If it faces different road obstacles at a single angle, the function of the bucket will inevitably be reduced, and the bucket that cannot adjust its angle by itself is obviously not suitable for the application scenario. Therefore, in order to improve the use efficiency of the bucket off-road vehicle, this example further specifically implements the following steps after step S3:

[0075] Step S31, when the first distance value is less than the preset range value, a roadblock height value is calculated based on formula 1, and the roadblock height value is the real-time roadblock height value when the off-road vehicle encounters the roadblock; wherein the formula 1 is: H1=cosα(L1-L2), H1 represents the roadblock height value; α represents a preset angle, and the preset angle is a fixed angle projected by the photoelectric rangefinder or the sonic rangefinder to the road ahead; L1 represents a constant distance value when the photoelectric rangefinder or the sonic rangefinder is projected to a flat road surface, and L2 represents the first distance value;

[0076] Step S32, determining whether the roadblock height value is greater than the chassis height value;

[0077] Step S33: If yes, setting the swing angle of the first transmission arm in the strip-shaped through hole to R1;

[0078] Step S34: if not, setting the swing angle of the first transmission arm in the strip-shaped through hole to R2; R1 is an obtuse angle, R2 is an acute angle, and R1 is complementary to R2;

[0079] In this example, when the bucket off-road vehicle encounters an obstacle (such as a soil slope, stone, etc.), the distance obtained by tilting it toward the road ahead at a preset angle can be effectively predicted, and the height of the obstacle can be determined through a trigonometric function relationship. Based on the height of the obstacle, it is determined whether to control the bucket off-road vehicle to move forward to prevent the obstacle from hindering the movement of the bucket off-road vehicle; moreover, the height of the obstacle can be calculated and determined through the first distance value and formula one, and by comparison, it is determined whether the height of the obstacle has exceeded the chassis height of the vehicle, thereby achieving the purpose of preventing the bucket off-road vehicle from being damaged by obstacles.

[0080] Therefore, this example controls the height of the front shovel structure of the bucket by changing the swing angle of the first transmission arm in the strip through hole, so that the front shovel structure can effectively clear obstacles or lower the height of obstacles, thereby ensuring that the bucket off-road vehicle can pass smoothly; for example, when the roadblock height value is greater than the chassis height value, this example sets the swing angle of the first transmission arm in the strip through hole to R1, so that the front shovel structure of the bucket can be lifted to a certain height, and partially remove the obstacle when the bucket off-road vehicle moves forward, thereby achieving the purpose of lowering the height of the obstacle and preventing the obstacle from exceeding the vehicle chassis; at the same time, when the roadblock height value is less than or equal to the chassis height value, by setting the swing angle of the first transmission arm in the strip through hole to R2, the front shovel structure of the bucket can be lowered to a certain height, and obstacles below the chassis height are partially cleared first, thereby leveling the road surface.

[0081] In addition, in order to ensure the intelligence level of the bucket in actual operation, after step S31, in order to enable the front shovel structure of the bucket to be adjusted in sequence, so as to push and shovel obstacles of different heights and level the road surface; this example is set according to different roadblock height values ​​and performs step-by-step changes, for example:

[0082] When the roadblock height value falls within the first range value, this example sets the swing angle of the first transmission arm in the strip through hole to R3; when the roadblock height value falls within the second range value, this example sets the swing angle of the first transmission arm in the strip through hole to R4; when the roadblock height value falls within the third range value, this example sets the swing angle of the first transmission arm in the strip through hole to R5; wherein, the first range value, the second range value and the third range value increase successively, and the R3, the R4 and the R5 decrease successively; this example performs a step-by-step setting in the above manner, which can effectively adjust the angle of the front bumper plate of the front shovel structure according to obstacles of different heights, thereby greatly improving the flexibility and intelligence of the bucket.

[0083] Embodiment 6

[0084] In addition, after step S4, the following situations may occur, such as:

[0085] When the first distance value is greater than the preset range value, it means that there is a pothole on the road ahead of the bucket off-road vehicle, and when the pothole depth value is greater than the chassis height value, if the bucket off-road vehicle continues to move forward, the chassis of the vehicle will be damaged, and it is also easy to cause a safety accident; for this reason, in order to prevent such incidents from occurring, this example determines whether the pothole depth value is greater than the chassis height value, and calculates the pothole depth value H2 by H2=cosα(L2-L1), and the pothole depth value is the vertical height of the off-road vehicle when it encounters a pothole; when the pothole depth value is greater than the chassis height value, it means that there is a pothole on the road ahead, which makes it inconvenient to continue moving forward, and an alarm signal is issued to remind the driver of the bucket off-road vehicle.

[0086] In this example, by predicting the condition of the road ahead of the bucket off-road vehicle in advance and making intelligent judgments based on the actual situation, the bucket off-road vehicle is prevented from being hit and damaged in the wild, thereby achieving the purpose of protecting the off-road vehicle itself and greatly improving the intelligence of the bucket.

[0087] Embodiment 7

[0088] In the above embodiment, the method can predict the road condition in front of the bucket off-road vehicle and remove obstacles by intelligently controlling the position of the bucket; however, in actual application, if there are both obstacles and potholes on the road ahead, this example can push the obstacles into the potholes to level the road; for example, after step S4, this example also includes the following steps:

[0089] Step S41, obtaining a second distance value, where the second distance value is a straight-line distance value measured when the bottom of the vehicle is projected vertically onto the road surface;

[0090] Step S42, comparing the second distance value with a preset height value;

[0091] Step S43: if the second distance value is greater than the preset height value, a retreat signal is issued, and the pushing mechanism is controlled to pull the first transmission arm to lift, and step S2 is executed again;

[0092] Step S44: If the first distance value is smaller than a preset range value, the pushing mechanism is controlled to pull the first transmission arm downward and send a forward signal.

[0093] In this example, a second distance value is obtained, that is, a straight-line distance value measured by vertically projecting the bottom of the vehicle to the road surface, and it is compared with a preset height value. When the second distance value is greater than the preset height value, it indicates that there is an obstacle (such as a soil slope or a stone) under the vehicle. Therefore, a backward signal can be issued to enable the driver to control the bucket off-road vehicle to move backward, and control the pushing mechanism to pull the first transmission arm to lift up, so as to prevent the bucket from colliding with the obstacle in the opposite direction and damaging the body when the vehicle moves backward; at the same time, after pulling the first transmission arm to lift up, step S2 is executed again, and the first distance value is compared with the preset range value. If the first distance value is less than the preset range value, it indicates that the obstacle under the chassis has been exposed. For this reason, in this example, the front shovel structure of the bucket structure is lowered by controlling the pushing mechanism to pull the first transmission arm downward, and a forward signal is issued to remind the driver to drive the off-road vehicle forward and push the obstacle into the pothole to achieve leveling of the road surface.

[0094] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A bucket for installation on a vehicle, characterized in that: include: Propelling mechanism, front bar structure, hinge structure and front shovel structure; The front bumper structure includes a front bumper plate; The hinged structure includes a triangular plate, a first transmission arm and a second transmission arm; The front shovel structure includes a front shovel plate, which is fixed on the hypotenuse of the triangular plate, and the back side of the front shovel plate is in contact with the hypotenuse of the triangular plate; The front bumper plate is provided with a strip-shaped through hole, and a force-bearing plate is provided on the back of the front bumper plate and is close to the strip-shaped through hole; One end of the first transmission arm is hinged to the top of the side of the triangular plate, and the other end passes through the front bumper plate and is hinged to the top of the force-bearing plate; one end of the second transmission arm is hinged to the bottom of the side of the triangular plate, and the other end is hinged to the bottom of the force-bearing plate; The pushing end of the pushing mechanism is connected to the middle part of the first transmission arm to control the swing angle of the first transmission arm in the strip-shaped through hole; It also includes a photoelectric rangefinder or an acoustic rangefinder arranged on the front bumper plate, and a first distance value is obtained by the rangefinder or the acoustic rangefinder, wherein the first distance value is a straight-line distance value of the photoelectric rangefinder or the acoustic rangefinder on the front bumper plate projected at a preset angle to the road surface ahead, and by comparing the first distance value with a preset range value, it is determined whether there is a roadblock or pothole on the road surface ahead, and according to different first distance values, the movement of the front shovel structure in the bucket is intelligently controlled.

2. The bucket according to claim 1, characterized in that: There are two strip-shaped through holes, which are respectively arranged on both sides of the front bumper plate; wherein the pushing mechanism and the hinge structure are each provided with two groups, each strip-shaped through hole corresponds to a group of first transmission arms in the hinge structure, and each group of the pushing mechanism corresponds to pushing one of the first transmission arms.

3. The bucket according to claim 1, characterized in that: The pushing mechanism includes a power module, a linear motor and a driving push rod, the power module is electrically connected to the linear motor, the starting end of the driving push rod is connected to the output end of the linear motor, and the end of the driving push rod is provided with a guide swing arm; an arc-shaped through hole is provided on the force-bearing plate, and the first transmission arm is provided with a groove, the groove is adapted to the outer wall of the guiding swing arm, and the guiding swing arm is located in the arc-shaped through hole.

4. The bucket according to claim 1, characterized in that: A fixed plate is also provided on the side of the strip through hole, and the fixed plate is arranged corresponding to the force-bearing plate and parallel to the force-bearing plate; a connecting plate is provided between the force-bearing plate and the fixed plate, and the connecting plate is rigidly connected to the force-bearing plate and the fixed plate respectively, and the pushing mechanism is fixed on the connecting plate, and the pushing direction of the pushing mechanism faces the first transmission arm.

5. The bucket according to claim 3, characterized in that The power supply module includes a converter DC / DC, the converter DC / DC is connected to a capacitor C2, a resistor R3 and a transistor Q2, the resistor R3 is connected to the transistor Q2, one end of the capacitor C2 is connected to a diode D1 and a diode D2, one end of the diode D1 is connected to a resistor R8, one end of the diode D2 is connected to the transistor Q2, the transistor Q2 is connected to a resistor R5, the resistor R5 is connected to a diode D3, one end of the resistor R8 is connected to a transistor Q1, the transistor Q1 is connected to resistors R1, R2 and R4, the diode D3 is connected to the resistor R4, the resistor R1 is connected to a switch SW1, the switch SW1 is connected to a resistor R6, the resistor R6 is connected to the capacitor C1 and the resistor R7, the resistor R7 is connected to the transistor Q3, and the transistor Q3 is connected to the resistor R4.

6. A tow-clearing off-road vehicle, characterized in that: include: The bucket according to any one of claims 1 to 4, wherein the off-road obstacle removal vehicle includes a front bumper, and the front bumper structure is mounted and fixed on the front bumper.

7. An intelligent control method for a bucket of an obstacle-clearing off-road vehicle, applied to the obstacle-clearing off-road vehicle as claimed in claim 6, characterized in that: The following steps are involved: Step S1, according to the operation instruction of the driver, turning on the photoelectric rangefinder or the sonic rangefinder on the front bumper panel to obtain a first distance value, wherein the first distance value is a straight-line distance value projected by the photoelectric rangefinder or the sonic rangefinder on the front bumper panel at a preset angle to the road surface ahead; Step S2, determining whether the first distance value is less than a preset range value; Step S3: If yes, a roadblock signal is issued, and the pushing mechanism is controlled to push the first transmission arm to lift; Step S4: If not, determine whether the first distance value is greater than the preset range value; if so, send a pothole signal and control the pushing mechanism to pull the first transmission arm down.

8. The bucket intelligent control method according to claim 7, characterized in that: After step S4, the method further includes: Step S41, obtaining a second distance value, where the second distance value is a straight-line distance value measured when the bottom of the vehicle is projected vertically onto the road surface; Step S42, comparing the second distance value with a preset height value; Step S43: if the second distance value is greater than the preset height value, a retreat signal is issued, and the pushing mechanism is controlled to pull the first transmission arm to lift, and step S2 is executed again; Step S44: If the first distance value is smaller than a preset range value, the pushing mechanism is controlled to pull the first transmission arm downward and send a forward signal.

9. The bucket intelligent control method according to claim 7, after step S3, further comprising: Step S31, when the first distance value is less than the preset range value, a roadblock height value is calculated based on formula 1, and the roadblock height value is the real-time roadblock height value when the off-road vehicle encounters the roadblock; wherein the formula 1 is: H1=cosα(L1-L2), H1 represents the roadblock height value; α represents a preset angle, and the preset angle is a fixed angle projected by the photoelectric rangefinder or the sonic rangefinder to the road ahead; L1 represents a constant distance value when the photoelectric rangefinder or the sonic rangefinder is projected to a flat road surface, and L2 represents the first distance value; Step S32, determining whether the roadblock height value is greater than the chassis height value; Step S33: If yes, setting the swing angle of the first transmission arm in the strip-shaped through hole to R1; Step S34: If not, setting the swing angle of the first transmission arm in the strip-shaped through hole to R2; R1 is an obtuse angle, R2 is an acute angle, and R1 is complementary to R2.

10. The intelligent bucket control method according to claim 9, characterized in that: After step S4, the method further includes: When the first distance value is greater than the preset range value, the pothole depth value is calculated based on Formula 2, and the pothole depth value is the vertical height when the off-road vehicle encounters the pothole; wherein the Formula 2 is: H2=cosα(L2-L1), and H2 represents the pothole depth value; Determining whether the pothole depth value is greater than the chassis height value; If so, an alarm signal is sounded.

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