Snow sweeper and control method

Abstract

The invention discloses a snowplow and a control method, and the snowplow comprises a main body which comprises a working assembly; the handle is used for being held by a user and is connected to the main body; the power supply device provides electric energy for the snow sweeper; the motor drives the snow sweeper to move; the detection module is used for judging whether the snow sweeper slips and idles or not; the control module is at least connected with the detection module and the motor; and when the detection module judges that the snow sweeper slips and idles, the control module controls the snow sweeper to relieve the slipping and idling. By the adoption of the technical scheme, the snow sweeper can relieve slipping and idling and improve the snow sweeping efficiency.

Description

Technical Field

[0001] This application relates to the technical field of power tools, and particularly to a snow sweeper and a control method thereof. Background Art

[0002] As a hand-pushed power tool, a snow sweeper can be an important device for snow removal in winter. It has significant advantages such as high efficiency, economy, and environmental friendliness. With the increasing economy and social progress, snow sweepers are gradually popularized and used at home and abroad.

[0003] When in use, if the snow sweeper encounters situations such as icy roads, slippery roads, or large snowdrifts, the resistance under the driving wheels of the snow sweeper is small, and the driving wheels may slip and idle, making the snow sweeper unable to continue moving forward.

[0004] This part provides background information related to this application, and this background information is not necessarily prior art. Summary of the Invention

[0005] An object of this application is to solve or at least mitigate part or all of the above problems. To this end, an object of this application is to provide a snow sweeper and a control method thereof to eliminate the situation of slipping and idling and improve the snow removal efficiency.

[0006] To achieve the above objective, the following technical solutions are adopted in this application:

[0007] A snow sweeper includes: a main body including a working component; a handle for the user to hold, and the handle is connected to the main body; a power supply device for providing electrical energy for the snow sweeper; a motor for driving the snow sweeper to move; the snow sweeper further includes: a detection module for judging whether the snow sweeper has slipped and idled; a control module connected to at least the detection module and the motor; when the detection module judges that the snow sweeper has slipped and idled, the control module controls the snow sweeper to eliminate the slipping and idling.

[0008] In some embodiments, the snow sweeper further includes: a plurality of sensors disposed on the main body; the detection module is connected to the plurality of sensors.

[0009] In some embodiments, when at least three of the plurality of sensors are triggered, the detection module judges that the snow sweeper has slipped and idled.

[0010] In some embodiments, the motor includes a first motor and a second motor. The first motor is connected to the first driving wheel of the snow sweeper to drive the first driving wheel; the second motor is connected to the second driving wheel of the snow sweeper to drive the second driving wheel.

[0011] In some embodiments, the control module is configured to control the snow sweeper to enter a first motion mode to eliminate the slipping and idling of the snow sweeper; wherein, the first motion mode is that the snow sweeper swings left and right and moves forward within a preset time.

[0012] In some embodiments, the snowplow moving forward with left - right swing includes: based on a preset time interval, the first motor drives the first driving wheel to advance alternately at a first speed and a second speed; wherein, when the first driving wheel is at the first speed, the second motor drives the second driving wheel to advance at the second speed; when the first driving wheel is at the second speed, the second motor drives the second driving wheel to advance at the first speed; wherein, the preset time interval is less than a preset time, and the first speed is less than the second speed.

[0013] In some embodiments, the control module is configured to control the snowplow to enter a second motion mode to relieve the snowplow from slipping and idling; wherein, the second motion mode is that within a preset time, the snowplow alternately stops running and starts running.

[0014] In some embodiments, the control module is configured to control the snowplow to enter a third motion mode to relieve the snowplow from slipping and idling; wherein, the third motion mode is that within a preset time, the snowplow first retreats a distance in the front - rear direction and then runs forward at a third speed, and the third speed is a speed greater than or equal to 0.1 m / s.

[0015] In some embodiments, when at least three sensors are still triggered after exceeding the preset time, the detection module determines that the snowplow will still slip and idle, and the control module controls the snowplow to maintain the first motion mode; wherein, the time for the snowplow to maintain the first motion mode is equal to the preset time.

[0016] In some embodiments, when at least three sensors are no longer triggered, the detection module determines that the snowplow no longer slips and idles, and the control module controls the snowplow to exit the first motion mode.

[0017] In some embodiments, the control module is configured to control the snowplow to sequentially enter any two of the first motion mode, the second motion mode, and the third motion mode to relieve the snowplow from slipping and idling.

[0018] In some embodiments, the control module is configured to control the snowplow to sequentially enter the first motion mode, the second motion mode, and the third motion mode to relieve the snowplow from slipping and idling.

[0019] In some embodiments, multiple sensors are arranged on the snow - sweeping bucket of the main body; wherein, at least two sensors are arranged on the upper side edge of the snow - sweeping bucket, at least one sensor is arranged on the left side edge of the snow - sweeping bucket, and at least one sensor is arranged on the right side edge of the snow - sweeping bucket.

[0020] In some embodiments, the sensors on the left side edge of the snow - sweeping bucket and the sensors on the right side edge of the snow - sweeping bucket are both not lower than the plane where the first axis is located.

[0021] In some embodiments, the sensor is a collision sensor, a mechanical switch sensor, a Hall switch sensor, or a ranging sensor.

[0022] In some embodiments, a control method applicable to a snow sweeper includes: determining whether the snow sweeper slips and idles; when it is determined that the snow sweeper slips and idles, controlling the snow sweeper to relieve the slipping and idling.

[0023] In some embodiments, after it is determined that the snow sweeper slips and idles, controlling the snow sweeper to enter a first motion mode to relieve the slipping and idling; wherein, the first motion mode is that the snow sweeper swings left and right and moves forward within a preset time.

[0024] In some embodiments, after it is determined that the snow sweeper slips and idles, controlling the snow sweeper to enter a second motion mode to relieve the slipping and idling; wherein, the second motion mode is that the snow sweeper alternately stops running and starts running within a preset time.

[0025] In some embodiments, after it is determined that the snow sweeper slips and idles, controlling the snow sweeper to enter a third motion mode to relieve the slipping and idling; wherein, the third motion mode is that the snow sweeper first retreats a certain distance in the front-rear direction within a preset time, and then moves forward at a third speed, and the third speed is a speed greater than or equal to 0.1 m / s.

[0026] In some embodiments, it is characterized in that after it is determined that the snow sweeper slips and idles, controlling the snow sweeper to sequentially enter the first motion mode, the second motion mode, and the third motion mode.

[0027] The beneficial effect of this application is that: the snow sweeper of this application can detect whether the snow sweeper slips and idles through the detection module, and when it slips and idles, the control module can relieve the slipping and idling of the snow sweeper, thereby improving the snow sweeping efficiency of the snow sweeper and avoiding the snow sweeper from always being in a state of slipping and idling. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a perspective view of a snow sweeper according to an embodiment;

[0029] Figure 2 is Figure 1 the top view of the snow sweeper in

[0030] Figure 3 is Figure 1 the side view of the snow sweeper in

[0031] Figure 4 is Figure 1 the circuit structure block diagram of the snow sweeper in

[0032] Figure 5 is a flowchart of a control method for a snow sweeper according to an embodiment;

[0033] Figure 6 is a circuit structure block diagram of a snow sweeper according to an embodiment;

[0034] Figure 7 is a circuit structure block diagram of a snow sweeper according to an embodiment. Detailed implementation manners

[0035] Before explaining any embodiment of the present application in detail, it should be understood that the present application is not limited to the structural details and component arrangements set forth in the following description or shown in the above drawings.

[0036] In the present application, the terms "include", "comprise", "have" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device including a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the presence of additional identical elements in the process, method, article or device including the element.

[0037] In the present application, the term "and / or" describes the association relationship of associated objects and indicates that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the present application, the character " / " generally represents an "and / or" relationship between the associated objects before and after.

[0038] In the present application, the terms "connect", "combine", "couple", "mount" may be direct connection, combination, coupling or mounting, or may be indirect connection, combination, coupling or mounting. Among them, by way of example, direct connection means that two parts or components are connected together without the need for an intermediate member, and indirect connection means that two parts or components are respectively connected to at least one intermediate member, and these two parts or components are connected through the intermediate member. In addition, "connect" and "couple" are not limited to physical or mechanical connection or coupling, and may include electrical connection or coupling.

[0039] In this application, those of ordinary skill in the art will understand that relative terms used in connection with quantities or conditions (such as "about", "approximately", "substantially", etc.) are intended to include the stated value and have the meaning indicated by the context. For example, such relative terms include at least the degree of error associated with the measurement of a particular value, tolerances caused by manufacturing, assembly, use, etc. associated with a particular value. Such terms should also be considered to disclose ranges defined by the absolute values of two endpoints. The relative term may refer to plus or minus a certain percentage (such as 1%, 5%, 10% or more) of the indicated value. Numerical values that do not employ relative terms should also be disclosed as specific values having tolerances. In addition, when expressing relative angular positional relationships (such as substantially parallel, substantially perpendicular), "substantially" may refer to plus or minus a certain number of degrees (such as 1 degree, 5 degrees, 10 degrees or more) based on the indicated angle.

[0040] In this application, those of ordinary skill in the art will understand that the functions performed by a component can be performed by one component, multiple components, one part, or multiple parts. Similarly, the functions performed by a part can also be performed by one part, one component, or a combination of multiple parts.

[0041] In this application, the orientation terms such as "upper", "lower", "left", "right", "front", "rear", etc. are described based on the orientation and positional relationship shown in the drawings, and should not be construed as a limitation on the embodiments of this application. In addition, in the context, it should also be understood that when it is mentioned that one element is connected "above" or "below" another element, it can not only be directly connected "above" or "below" another element, but also be indirectly connected "above" or "below" another element through an intermediate element. It should also be understood that the orientation terms such as the upper side, the lower side, the left side, the right side, the front side, the rear side, etc. not only represent the positive orientation, but can also be understood as the side orientation. For example, the lower side can include directly below, lower left, lower right, lower front, and lower rear, etc.

[0042] In this application, the terms "control module", "processor", "central processor", "CPU", "MCU" can be used interchangeably. When using the units "control module", "processor", "central processor", "CPU", or "MCU" to perform specific functions, unless otherwise specified, these functions can be performed by a single one of the above units or multiple ones of the above units.

[0043] In this application, for the terms "device", "module" or "unit" to achieve a specific function, they can be implemented in the form of hardware or software.

[0044] In this application, the terms "calculate", "judge", "control", "determine", "identify", etc. refer to the operations and processes of a computer system or similar electronic computing devices (such as a control module, a processor, etc.).

[0045] Currently, when a snow sweeper encounters situations such as icy roads, slippery roads, or large snowdrifts, the driving wheels of the snow sweeper will spin idly due to the large forward resistance and small resistance under the wheels, resulting in the inability of the snow sweeper to move forward to complete the snow sweeping task. Based on this, the present application proposes a snow sweeper. When the driving wheels are in a slipping and idling state, the control module controls the snow sweeper to enter a special motion mode, thereby relieving the slipping and idling state of the driving wheels of the snow sweeper, improving the snow sweeping efficiency of the snow sweeper, saving the physical strength of the user, and optimizing the operation experience of the user.

[0046] As Figure 1 shown, a snow sweeper 100 of an embodiment is used for a user to clean the snow on the road surface, or in the courtyard, or in the garden and other ground surfaces. In this embodiment, the snow sweeper 100 takes a rear-walking snow sweeper 100 as an example. When working, the user holds the rear-walking snow sweeper 100 and pushes the rear-walking snow sweeper 100 to walk on the ground behind the rear-walking snow sweeper 100, or follows the rear-walking snow sweeper 100 to walk on the ground. In some embodiments, the snow sweeper 100 can also be an intelligent snow sweeper 100, and the intelligent snow sweeper 100 can move on the ground without the user following to clean the snow on the ground. Or, in some embodiments, the snow sweeper 100 can also be a manned snow sweeper 100, and the user can be supported by the manned snow sweeper 100 and walk together with the manned snow sweeper 100. It can be understood that the specific structural form of the snow sweeper 100 is not limited by the relationship with the user. As long as the snow sweeper 100 includes at least part of the solutions described below in the present application, it falls within the scope protected by the present application.

[0047] For the convenience of explaining the technical solutions of the application, the upper side, lower side, front side, rear side, left side, and right side as indicated by the arrows in Figure 1 are also defined. Of course, the directions in this embodiment are not limited thereto.

[0048] As Figure 1 and Figure 2As shown, the snow blower 100 includes: a main body 10, a handle 20, a power supply device 30 and a motor 40. The main body 10 includes a plurality of working components, including: a main housing 11, a travel component 12, a snow collecting device 13 and a snow throwing device 14. The main housing 11 is used as the main frame of the snow blower 100 to support the snow collecting device 13 and the snow throwing device 14; the travel component 12 is used to support the main housing 11 to drive the snow blower 100 to walk on the ground; the snow collecting device 13 is used to stir the snow on the ground and collect the snow into the main housing 11; the snow throwing device 14 is used to throw the snow collected by the snow collecting device 13 to a preset position outside the snow blower 100. The handle 20 is for the user to hold, and the handle 20 is connected to the main body 10. In the front and rear direction of the snow blower 100, the handle 20 is arranged at the rear end of the main body 10.

[0049] The power supply device 30 is used to provide power for the snowplow 100. In some embodiments, the power supply device 30 includes at least one battery pack, and the battery pack includes a lithium battery cell for storing electrical energy disposed inside the battery pack housing. The main housing 11 is formed with a battery compartment, and at least part of the battery pack is installed in the battery compartment, wherein the battery pack is detachably installed in the battery compartment. In some embodiments, the power supply device 30 may also be a power supply cable or its energy storage device, which is not limited in this application.

[0050] The walking assembly 12 includes a driving wheel 121 for driving the snow sweeper 100 to walk on the ground, and the driving wheel 121 is driven by the motor 40. Figure 2 As shown, the driving wheel 121 includes a first driving wheel 1211 and a second driving wheel 1212, which are respectively arranged on both sides of the main housing 11 and support the main housing 11. In the left and right directions of the snowplow 100, the first driving wheel 1211 and the second driving wheel 1212 are respectively the left driving wheel and the right driving wheel. This embodiment is specifically described by taking the first driving wheel 1211 as the left driving wheel and the second driving wheel 1212 as the right driving wheel as an example.

[0051] like Figure 4 As shown, the snowplow 100 further includes a detection module 50 and a control module 60. The detection module 50 is used to determine whether the snowplow 100 is slipping and idling. The control module 60 is at least connected to the detection module 50 and the motor 40, and is used to control the snowplow 100 to stop slipping and idling when the detection module 50 determines that the snowplow 100 is slipping and idling. Figure 1 , Figure 3 and Figure 4As shown, the snow sweeper further includes a plurality of sensors 70, wherein the plurality of sensors 70 are arranged on the main body 10, and the detection module 50 is at least connected to the plurality of sensors 70 to determine whether the snow sweeper 100 slips and idles based on the sensing results of the plurality of sensors 70. Optionally, the plurality of sensors 70 are arranged on the snow scooper 131 of the snow collection device 13. Optionally, the detection module 50 and the control module 60 can be arranged on the motor 40, or the detection module 50 and the control module 60 can also be arranged on the handle 20. In addition, the detection module 50 and the control module 60 can also be arranged at other parts of the snow sweeper 100, which is not limited in this application. The control module 60 includes a single-chip microcomputer or a micro control unit (MCU). In some embodiments, the single-chip microcomputer is an ARM (Advanced RISC Machine) chip; the micro control module is a DSP chip (general digital signal processor).

[0052] In some embodiments, the plurality of sensors 70 are arranged on the snow scooper 131 of the main body 10, and the number of the plurality of sensors 70 is greater than or equal to four. In the up and down direction, at least two sensors 70 are arranged on the upper side edge of the snow scooper 131; in the left and right direction, at least one sensor 70 is arranged on the left side edge of the snow scooper 131, and at least one sensor 70 is arranged on the right side edge of the snow scooper 131. As Figure 1 and Figure 3 shown, when the number of the plurality of sensors 70 is six, two sensors 70 are arranged on the upper side edge of the snow scooper 131, and two sensors 70 are respectively arranged on the left side edge and the right side edge of the snow scooper 131. By arranging sensors 70 on the upper side edge, the left side edge and the right side edge of the snow scooper 131, when the snow sweeper 100 touches a large snow pile and slips and idles, the plurality of sensors 70 on the snow scooper 131 can sense that the snow sweeper 100 touches a large snow pile. Among them, the sensor 70 is a collision sensor, or a mechanical switch sensor, or a Hall switch sensor, or a ranging sensor. In addition, the sensor 70 can also be other sensors for sensing external objects or sensing distances, which is not limited in this application. Optionally, the plurality of sensors 70 on the left side edge and the right side edge of the snow scooper 131 are not lower than the plane where the first axis is located. Among them, as Figure 1 shown, an Auger shaft 1311 is arranged in the snow scooper 131, and the first axis is the Auger shaft 1311. As Figure 3 shown, the plane where the Auger shaft 1311 is located is plane A, and the heights of the plurality of sensors 70 arranged on the left side edge and the right side edge of the snow scooper 131 are not lower than plane A. By setting the heights of the plurality of sensors 70 on the left and right side edges not lower than the height of plane A, the plurality of sensors 70 can sense only when the height of the snow pile reaches at least the height where plane A is located.

[0053] In some embodiments, when at least three sensors 70 among the multiple sensors 70 are triggered, the signals of the at least three sensors 70 being triggered are transmitted to the detection module 50, and the detection module 50 determines that the snowplow 100 has slipped and idling, then the control module 60 controls the snowplow 100 to stop slipping and idling according to the determination result of the detection module 50. Among them, at least three sensors 70 are triggered when at least one sensor 70 on the upper side, left side and right side of the snowplow bucket 131 is triggered. Optionally, the control module 60 controls the snowplow 100 to enter the first motion mode. Specifically, the first motion mode is that the snowplow 100 swings left and right and moves forward within a preset time. Among them, the preset time is set according to an empirical value. Specifically, when at least three sensors 70 are triggered, that is, at least three sensors 70 sense snow, it means that the sensors 70 on the left and right sides of the snowplow bucket 131 sense snow, and at least one sensor 70 on the upper side of the snowplow bucket 131 senses snow, so it is determined that the snowplow 100 touches a large snow pile and the snowplow 100 slips and idles. If the snowplow 100 is still moving normally, it will keep slipping and idling.

[0054] In some embodiments, Figure 2 As shown, the motor 40 includes a first motor 41 and a second motor 42, wherein the first motor 41 is connected to the first driving wheel 1211 to drive the first driving wheel 1211 to operate; the second motor 42 is connected to the second driving wheel 1212 to drive the second driving wheel 1212 to operate. Thus, when the control module 60 controls the snowplow 100 to enter the first motion mode, based on the preset time interval, the first motor 41 drives the first driving wheel 1211 to move forward alternately at the first speed and the second speed, and when the first driving wheel 1211 is at the first speed, the second motor 42 drives the second driving wheel 1212 to move forward at the second speed, and when the first driving wheel 1211 is at the second speed, the second motor 42 drives the second driving wheel 1212 to move forward at the first speed. Wherein, the preset time interval is less than the preset time, and the first speed is less than the second speed.

[0055] In some embodiments, if at least three sensors 70 are still triggered after exceeding a preset time, the detection module 50 determines that if the snow sweeper 100 moves forward normally, wheel spin will still occur, that is, the snow sweeper 100 will still touch a large snowdrift. Then, the control module 60 controls the snow sweeper 100 to continue to maintain the first motion mode. Among them, the time for the snow sweeper 100 to maintain the first motion mode is equal to the preset time. Therefore, when at least three sensors 70 are continuously triggered, the control module 60 controls the snow sweeper 100 to repeatedly enter the first motion mode until at least three sensors 70 are no longer triggered. Then, the detection module 50 determines that wheel spin will no longer occur when the snow sweeper 100 moves forward normally, and the large snowdrift has been cleared by the snow sweeper 100. The control module 60 controls the snow sweeper 100 to exit the first motion mode and resume normal movement.

[0056] In some embodiments, the preset time is set to 5 s and the preset time interval is 1 s. Then, in the first motion mode, at the 1st s, the first motor 41 can first drive the first driving wheel 1211 to move forward at the first speed, and the second motor 42 drives the second driving wheel 1212 to move forward at the second speed. Since the second speed is greater than the first speed, the snow sweeper 100 swings forward to the left. At the 2nd s, the first motor 41 drives the first driving wheel 1211 to move forward at the second speed, and the second motor 42 drives the second driving wheel 1212 to move forward at the first speed. At this time, the snow sweeper 100 swings forward to the right. And so on until the preset time ends. After the preset time ends, the control module 60 controls the snow sweeper 100 to continue to enter the first motion mode or exit the first motion mode and resume normal movement based on the judgment result of the detection module 50. Optionally, to ensure that the degree of left and right swing of the snow sweeper 100 is not large and it can swing forward repeatedly without deviating from the large snowdrift, the second speed is greater than and slightly greater than the first speed. Thus, the snow sweeper 100 swings left and right repeatedly in the first motion mode, collecting the snow on the side of the large snowdrift multiple times, so that the snow on the side of the large snowdrift gradually decreases until the large snowdrift is completely cleared by the snow sweeper, and further ensuring that the snow sweeper 100 does not spin in place when encountering a large snowdrift.

[0057] In some embodiments, when at least three of the plurality of sensors 70 are triggered, a signal indicating that at least three sensors 70 are triggered is transmitted to the detection module 50. The detection module 50 determines that the snow sweeper 100 has slipped and idled, and then the control module 60 controls the snow sweeper 100 to relieve the slipping and idling. The control module 60 can also control the snow sweeper 100 to enter a second motion mode. Herein, the second motion mode is that within a preset time, the snow sweeper 100 alternately stops running and starts running. Herein, the speed at which the snow sweeper 100 starts running is relatively low. Herein, the preset time of the second motion mode is the same as the preset time of the first motion mode. Specifically, when the control module 60 controls the snow sweeper 100 to enter the second motion mode, the motor 40 first controls the snow sweeper 100 to stop running, that is, the first motor 41 controls the first driving wheel 1211 to stop rotating, and at the same time, the second motor 42 controls the second driving wheel 1212 to stop rotating. After the snow sweeper 100 stops running, the control module 60 controls the snow sweeper 100 to start running again. At this time, the first motor 41 drives the first driving wheel 1211 to rotate at a low speed, and at the same time, the second motor 42 controls the second driving wheel 1212 to rotate at the same low speed as the first driving wheel 1211. After the snow sweeper 100 runs at a low speed for a certain period of time, the control module 60 controls the snow sweeper 100 to stop running again. Herein, the time for the snow sweeper 100 to run at a low speed is set according to an empirical value. Thus, within the preset time, the snow sweeper 100 alternately stops running and starts running multiple times.

[0058] In some embodiments, similar to when the control module 60 controls the snow sweeper 100 to enter the first motion mode, when the preset time ends, if at least three sensors 70 are still triggered, the control module 60 controls the snow sweeper 100 to continue to maintain the second motion mode, and the time for maintaining the second motion mode is equal to the preset time. When the three sensors 70 are no longer triggered, that is, when the snow sweeper 100 walks normally without slipping and idling, the control module 60 controls the snow sweeper 100 to exit the second motion mode and resume normal walking. By controlling the snow sweeper 100 to alternately stop running and start running at a low speed within the time when at least three sensors 70 are triggered, the snow sweeper 100 repeatedly clears large snowdrifts in small amplitudes multiple times, thereby preventing the snow sweeper 100 from slipping and idling in place. In addition, when the snow sweeper 100 encounters a large snowdrift, the load of the snow sweeper 100 is large, and the load of the Auger of the snow sweeper 100 is large, so that the Auger of the snow sweeper 100 is prone to jamming and stopping. By controlling the snow sweeper 100 to alternately stop running and start running at a low speed multiple times, the load of the Auger of the snow sweeper 100 changes. After the snow sweeper 100 stops running, the load of the Auger of the snow sweeper 100 will become smaller. By controlling the snow sweeper 100 to start and stop alternately, the load of the Auger changes, and the problem that the Auger is prone to jamming and stopping is solved.

[0059] In some embodiments, when at least three sensors 70 among the multiple sensors 70 are triggered, the signals of at least three sensors 70 being triggered are transmitted to the detection module 50, and the detection module 50 determines that the snowplow 100 has slipped and idling, then the control module 60 controls the snowplow 100 to stop slipping and idling. The control module 60 can also control the snowplow 100 to enter the third motion mode. Among them, the third motion mode is that within a preset time, in the front and rear direction, the snowplow 100 first retreats a distance, and then runs forward at a third speed. Among them, the third speed is a speed greater than or equal to 0.1m / s, and the third speed is a faster running speed. Among them, the preset time of the third motion mode is the same as the preset time of the first motion mode. Specifically, when the control module 60 controls the snowplow 100 to enter the third motion mode, within a preset time, the motor 40 first controls the snowplow 100 to retreat backwards, and after retreating to a preset distance, the motor 40 controls the snowplow 100 to run forward at the third speed again until the snowplow 100 collides with the large snow pile again. Then, the motor 40 controls the snowplow 100 to retreat to a preset distance again, and to run forward at a third speed until it touches the snow pile, that is, the snowplow 100 accelerates and collides with the snow pile. This is repeated multiple times until the preset time ends. The preset distance is set according to an empirical value.

[0060] In some embodiments, similar to the control module 60 controlling the snowplow 100 to enter the first motion mode and the second motion mode, after the preset time ends, if at least three sensors 70 are still triggered, the control module 60 controls the snowplow 100 to continue to maintain the third motion mode, and the time of maintaining the third motion mode is equal to the preset time. When the three sensors 70 are no longer triggered and the snowplow 100 will no longer slip and idle during normal walking, the control module 60 controls the snowplow 100 to exit the third motion mode and resume normal walking. By repeatedly controlling the snowplow 100 to repeatedly retreat and accelerate to collide with a large snow pile within the time when at least three sensors 60 are triggered, the snowplow 100 repeatedly collides and cleans the large snow pile, thereby preventing the snowplow 100 from slipping and idling in situ.

[0061] In some embodiments, when at least three of the plurality of sensors 70 are triggered, the detection module 50 determines that the snow sweeper 100 has slipped and idled. At this time, the control module 60 can control the snow sweeper 100 to enter the first motion mode. If at least three sensors 70 are still triggered after the preset time ends, the control module 60 can control the snow sweeper 100 to enter the second motion mode or the third motion mode. Among them, the control module 60 can also first control the snow sweeper 100 to enter the second motion mode or the third motion mode first. This application does not limit the order in which the snow sweeper 100 enters any two of the three motion modes. Thus, the control module 60 can control the snow sweeper 100 to repeatedly enter any two of the three motion modes until the snow sweeper 100 no longer slips and idles when walking normally.

[0062] In some embodiments, when at least three of the plurality of sensors 70 are triggered, the detection module 50 determines that the snow sweeper 100 has slipped and idled. At this time, the control module 60 can control the snow sweeper 100 to enter the first motion mode. If at least three sensors 70 are still triggered after the preset time ends, the control module 60 can control the snow sweeper 100 to enter the second motion mode. If at least three sensors 70 are still triggered after the second motion mode, the control module 60 can control the snow sweeper 100 to enter the third motion mode. Thus, the control module 60 can control the snow sweeper 100 to repeatedly enter any one of the three motion modes in sequence until the snow sweeper 100 no longer slips and idles. In addition, this application does not limit the order in which the snow sweeper 100 enters the three motion modes.

[0063] In some embodiments, as Figure 5 shown is the flowchart of the control method applicable to the above-mentioned snow sweeper. This control method is executed by the snow sweeper 100 in the embodiments of this application. This control method specifically includes:

[0064] Step 510: Determine whether the snow sweeper has slipped and idled.

[0065] Specifically, the detection module 50 can be used to determine whether the snowplow 100 is slipping and idling. The detection module 50 is connected to multiple sensors 70, and the detection module 50 obtains the sensing results of the multiple sensors 70. Among them, the sensing results of the multiple sensors 70 are whether the sensors 70 are triggered or not, and the number of multiple sensors 70 that are triggered. When the sensing results of the multiple sensors 70 are that at least three sensors 70 are triggered, the detection module 50 can determine that the state of the snowplow 100 is slipping and idling. When the sensing results of the multiple sensors 70 are less than three sensors 70 are triggered, the detection module 50 can determine that the state of the snowplow 100 is normal operation. Among them, the specific method for determining the state of the snowplow 100 is as described above in this application, and will not be repeated here.

[0066] Step 520: When it is determined that the snowplow is slipping and idling, control the snowplow to stop slipping and idling.

[0067] Specifically, in step 510, when the detection module 50 determines that the state of the snowplow 100 is slipping and idling, the control module 60 controls the snowplow 100 to enter the first motion mode, and / or the second motion mode, and / or the third motion mode. The specific process of the snowplow 100 entering the above motion modes is as described above in this application, and will not be repeated here. When the state of the snowplow 100 is normal operation, the snowplow 100 continues to maintain normal operation.

[0068] By setting at least four sensors 70 on the snow sweeping bucket 131 of the snow sweeper 100, it is determined that the snow sweeper 100 has slipped and idling according to the sensing results of the sensors 70, and the snow sweeper 100 is promptly controlled to enter the motion mode, thereby preventing the snow sweeper 100 from slipping and idling in situ through multiple motion modes, thereby improving the snow sweeping efficiency of the snow sweeper 100. In addition, by setting a collision sensor or a mechanical switch sensor, costs are saved, and accurate sensing can be performed when the snow sweeper 100 is outdoors, indoors, during the day or at night.

[0069] In some embodiments, a speed acquisition sensor 80 is provided on the body of the snowplow 100 for acquiring the moving speed of the snowplow 100. The speed acquisition sensor 80 may be a visual sensor, an ultrasonic speed sensor, etc. When the snowplow 100 is moving normally, the rotation speed of the motor 40 is equal to the moving speed of the snowplow 100. When the snowplow 100 slips and idles, the moving speed of the snowplow 100 will be less than the real-time rotation speed of the motor 40. Therefore, by comparing the moving speed of the snowplow 100 and the real-time rotation speed of the motor 40, it can be determined whether the snowplow 100 slips and idles. Optionally, as Figure 6As shown, the detection module 50 is connected to the speed acquisition sensor 80, the motor 40, and the control module 60, and is configured to obtain the moving speed of the snow sweeper 100 acquired by the speed acquisition sensor 80 and the real-time speed of the motor 40, and compare the two. When the difference between the moving speed of the snow sweeper 100 and the real-time rotational speed of the motor 40 is greater than the first preset threshold, it can be determined that the snow sweeper 100 has slipped and idled, and thus a signal indicating that the snow sweeper 100 has slipped and idled is transmitted to the control module 60. The control module 60 is connected to the motor 40, and further, the control module 60 controls the snow sweeper 100 to enter three motion modes. Among them, the first preset threshold is determined according to empirical values.

[0070] In some embodiments, an inertial sensor 90 is provided on the body of the snow sweeper 100, and the inertial sensor 90 is configured to obtain the attitude signal of the snow sweeper 100. As Figure 7 shown, the inertial sensor 90 is connected to the control module 60, and the control module 60 is connected to the motor 40. The control module 60 receives the attitude signal of the snow sweeper 100 input from the inertial sensor 90. When the snow sweeper 100 slips and idles, the snow sweeper 100 will slip and idle in place or the speed of the snow sweeper 100 will decrease significantly, and the attitude of the snow sweeper 100 will change. The control module 60 controls the snow sweeper 100 to enter three motion modes according to the change in the attitude of the snow sweeper 100 detected by the inertial sensor 90.

[0071] In some embodiments, a plurality of buttons are further provided on the snow sweeper 100, and the plurality of buttons respectively represent the first motion mode, the second motion mode, and the third motion mode. When the snow sweeper 100 slips and idles, if the sensor 70 does not sense in time, the detection module 50 cannot determine the state of the snow sweeper 100, and the control module 60 cannot automatically control the snow sweeper 100 to enter the motion mode. Or, when the sensor 70 is not installed on the snow sweeper 100, the user can manually control the snow sweeper 100 to enter the motion mode through the buttons to solve the problem of the snow sweeper 100 slipping and idling. Optionally, the buttons can be provided on the handle 20 for the convenience of the user to operate. In addition, the buttons can also be provided at other positions on the snow sweeper 100, and the present application does not make any limitations.

[0072] The above shows and describes the basic principles, main features, and advantages of the present application. Those skilled in the art should understand that the above embodiments do not limit the present application in any form. Any technical solutions obtained by using equivalent replacements or equivalent transformations fall within the protection scope of the present application.

Claims

1. A snow sweeper, include: The main body, including the working components; a handle for a user to hold, the handle being connected to the body; A power supply device, providing electrical energy to the snowplow; A motor, driving the snowplow to move; Characterized in that the snow sweeper also includes: A detection module, used to determine whether the snowplow is slipping and idling; A control module, connected to at least the detection module and the motor; When the detection module determines that the snowplow is slipping and idling, the control module controls the snowplow to stop slipping and idling.

2. The snow sweeper according to claim 1, It is characterized in that The snow sweeper further comprises: a plurality of sensors arranged on the main body; and the detection module is connected to the plurality of sensors.

3. The snow sweeper according to claim 2, It is characterized in that When at least three sensors among the multiple sensors are triggered, the detection module determines that the snowplow is slipping and idling.

4. The snow sweeper according to claim 1, It is characterized in that The motor includes a first motor and a second motor. The first motor is connected to a first driving wheel of the snowplow to drive the first driving wheel; the second motor is connected to a second driving wheel of the snowplow to drive the second driving wheel.

5. The snow sweeper according to claim 4, It is characterized in that The control module is configured to control the snowplow to enter a first motion mode so as to stop the snowplow from slipping and idling; wherein, the first motion mode is that the snowplow swings left and right to move forward within a preset time.

6. The snow sweeper according to claim 5, It is characterized in that The left and right swinging movement of the snowplow includes: based on a preset time interval, the first motor drives the first drive wheel to move forward alternately at a first speed and a second speed; wherein, when the first drive wheel is at the first speed, the second motor drives the second drive wheel to move forward at the second speed; when the first drive wheel is at the second speed, the second motor drives the second drive wheel to move forward at the first speed; wherein, the preset time interval is less than the preset time, and the first speed is less than the second speed.

7. The snow sweeper according to claim 1, It is characterized in that The control module is configured to control the snowplow to enter a second motion mode so as to stop the snowplow from slipping and idling; wherein, the second motion mode is that the snowplow alternately stops and starts running within a preset time.

8. The snow sweeper according to claim 1, It is characterized in that The control module is configured to control the snowplow to enter a third motion mode so that the snowplow stops slipping and idling; wherein, the third motion mode is that within a preset time, the snowplow first moves backward a certain distance in the front and rear directions, and then moves forward at a third speed, and the third speed is a speed greater than or equal to 0.1 m / s.

9. The snow sweeper according to claim 3 or 5, It is characterized in that When the at least three sensors are still triggered after the preset time has elapsed, the detection module determines that the snow sweeper will still experience slipping and idling, and the control module controls the snow sweeper to maintain the first motion mode; wherein, the time for which the snow sweeper maintains the first motion mode is equal to the preset time.

10. The snow sweeper according to claim 3 or 5, wherein, When the at least three sensors are no longer triggered, the detection module determines that the snow sweeper no longer experiences slipping and idling, and the control module controls the snow sweeper to exit the first motion mode.

11. The snow sweeper according to any one of claims 1-8, wherein, The control module is configured to control the snow sweeper to sequentially enter any two of the first motion mode, the second motion mode, and the third motion mode to relieve the snow sweeper of slipping and idling.

12. The snow sweeper according to any one of claims 1-8, wherein, The control module is configured to control the snow sweeper to sequentially enter the first motion mode, the second motion mode, and the third motion mode to relieve the snow sweeper of slipping and idling.

13. The snow sweeper according to claim 2, wherein, The plurality of sensors are arranged on the snow plow of the main body; wherein, at least two sensors are arranged on the upper side edge of the snow plow, at least one sensor is arranged on the left side edge of the snow plow, and at least one sensor is arranged on the right side edge of the snow plow.

14. The snow sweeper according to claim 13, wherein, The sensors on the left side edge of the snow plow and the sensors on the right side edge of the snow plow are both not lower than the plane where the first axis is located.

15. The snow sweeper according to claim 2, wherein, The sensor is a collision sensor, or a mechanical switch sensor, or a Hall switch sensor, or a ranging sensor.

16. A control method applicable to a snow sweeper, comprising: Determining whether the snow sweeper experiences slipping and idling; When it is determined that the snow sweeper experiences slipping and idling, controlling the snow sweeper to relieve the slipping and idling.

17. The control method of the snow sweeper according to claim 16, wherein, After it is determined that the snow sweeper experiences slipping and idling, controlling the snow sweeper to enter the first motion mode to relieve the slipping and idling; wherein, the first motion mode is that the snow sweeper moves forward while swinging left and right within a preset time.

18. The control method of the snow sweeper according to claim 16, wherein, After it is determined that the snow sweeper experiences slipping and idling, controlling the snow sweeper to enter the second motion mode to relieve the slipping and idling; wherein, the second motion mode is that the snow sweeper alternately stops running and starts running within a preset time.

19. The control method of the snow sweeper according to claim 16, wherein, After it is determined that the snow sweeper slips and idles, control the snow sweeper to enter a third motion mode to relieve the slipping and idling; wherein, in the third motion mode, within a preset time, the snow sweeper first retreats a distance in the front-rear direction and then runs forward at a third speed, and the third speed is a speed greater than or equal to 0.1 m / s.

20. The control method of the snow sweeper according to any one of claims 17-19, characterized in that after it is determined that the snow sweeper slips and idles, control the snow sweeper to sequentially enter the first motion mode, the second motion mode and the third motion mode.

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