Control method of range-extended intelligent all-terrain multifunctional vehicle and multifunctional vehicle

Abstract

The invention relates to a control method of an extended-range intelligent all-terrain multifunctional vehicle and the multifunctional vehicle, and relates to the field of multifunctional vehicles, and the control method comprises the following steps: acquiring a ground environment image in response to a mode input instruction; identifying environment features from the ground environment image to determine an environment type; determining an identification working mode based on environment type matching; calling a set working mode from the mode input instruction, wherein the set working mode comprises a weeding mode, a snow sweeping mode and a soil loosening mode; determining the driving power of the battery pack in response to the set working mode based on the consistency of the identification working mode and the set working mode; and controlling the multifunctional vehicle to work according to the driving power, and controlling the range extender to charge the battery pack so as to maintain the multifunctional vehicle to work. The multifunctional vehicle disclosed by the invention has the functions of sweeping snow, mowing and loosening soil, and adopts an extended-range electric charging scheme, so that the multifunctional vehicle has relatively long endurance time.

Description

Technical Field

[0001] The present invention relates to the field of multi-function vehicles, and in particular to a control method for an extended-range intelligent all-terrain multi-function vehicle and the multi-function vehicle. Background Art

[0002] A multi-purpose vehicle is an outdoor work vehicle that integrates multiple functions and is suitable for yard maintenance, small farms or landscaping projects.

[0003] The mainstream multi-purpose vehicles on the market usually have only a single function, and are powered by diesel, which is burned by the engine to generate power to drive the multi-purpose vehicle to move. Before each operation, the multi-purpose vehicle needs to be filled with diesel. However, the multi-purpose vehicle consumes a lot of diesel each time it works, resulting in a short overall endurance of the multi-purpose vehicle. There is an urgent need to provide a solution for a multi-purpose vehicle with multiple functions and a longer endurance. Summary of the invention

[0004] In order to enable a multi-function vehicle to have multiple functions and a longer driving range, the present invention provides a control method for an extended-range intelligent all-terrain multi-function vehicle and the multi-function vehicle.

[0005] In a first aspect, the present invention provides a control method for an extended-range intelligent all-terrain multi-purpose vehicle, which adopts the following technical solution: A control method for an extended-range intelligent all-terrain multi-purpose vehicle, comprising: S1: In response to a preset mode input instruction, collecting ground environment images; S2: Identify preset environmental features from the ground environment image to determine the environment type; S3: Determine and identify the working mode based on the environment type matching; S4: Retrieving a set working mode from the mode input instruction, wherein the set working mode includes a weeding mode, a snow-clearing mode, and a soil loosening mode; S5: based on the identification working mode being consistent with the set working mode, responding to the set working mode to determine a preset driving power of the battery pack; S6: Controlling the multi-purpose vehicle to operate with the driving power, and controlling the preset range extender to charge the battery pack to maintain the operation of the multi-purpose vehicle.

[0006] By adopting the above technical solution, the multi-purpose vehicle integrates multiple operating modes, including mowing, snow sweeping and loosening soil. By inputting the specified mode into the multi-purpose vehicle, the system can identify the environment in which the multi-purpose vehicle is located and finally determine the operating mode of the multi-purpose vehicle. After determining the operating mode, the system can provide corresponding extended range control solutions according to different operating modes, charge the battery pack through the range extender, and then provide power to the multi-purpose vehicle through the battery pack. Since it is driven by electricity, the multi-purpose vehicle has lower energy consumption, thereby increasing the endurance time of the multi-purpose vehicle.

[0007] Optionally, under the same working mode, due to different working environment parameters, the driving power of the battery pack is also different, and the driving power needs to be corrected. The driving power correction method includes: S500: When the multifunctional vehicle is working, real-time collection of working force values; S501: Matching a reference force value based on the set working mode; S502: When the working force value is greater than the reference force value, a difference between the working force value and the reference force value is calculated and defined as a force difference value; S503: matching a power correction amount based on the force difference, and correcting the driving power according to the power correction amount to obtain a corrected driving power; S504: replacing the driving power with the corrected driving power, and outputting the corrected driving power.

[0008] Optionally, the method for charging the battery pack by the range extender includes: S600: Record the corrected driving power in real time and form a power waveform diagram; S601: Retrieving the historical maximum power from the power waveform diagram; S602: While the multi-functional vehicle is operating, collecting the remaining power of the battery pack in real time; S603: Calculate the difference between the remaining power and the preset charging surplus power, and define it as the charging threshold power; S604: Matching peak output power based on the charging threshold power; S605: When the peak output power is less than the historical maximum power, the range extender is started and controlled to charge the battery pack at a preset charging power until the remaining power reaches a preset full power.

[0009] Optionally, also include: S610: Matching supported power based on the historical maximum power; S611: Determine a support time based on the full charge, the support charge, and the corrected output power; S612: When the support time is greater than the preset range extender shutdown time, after the remaining power reaches the full power, controlling the range extender to shut down for a rest; S613: When the support time is not greater than the range extender downtime, collecting the reserve power of the preset intermediate battery pack; S6131: Determine whether the reserve power is greater than the preset supply power; S6132: When the reserve power is greater than the supply power, after the remaining power reaches the full power, the range extender is controlled to stop and rest, and the intermediate battery pack is controlled to replenish the battery pack with a preset supplementary power; S6133: When the reserve power is not greater than the supply power, control the range extender to charge the intermediate battery pack with the charging power until the remaining power is consumed to the support power, and then control the range extender to charge the battery pack.

[0010] Optionally, the charging efficiency of the battery pack when the range extender is charged is affected by temperature, and the solution includes: S620: In the snow-clearing mode, collecting the operating temperature of the range extender; S621: When the operating temperature of the range extender is higher than a preset influencing temperature, controlling a preset snow shoveling device to shovel a preset weight of ice and snow and send the ice and snow into a preset first snow box to cool the range extender; S622: introducing the snow water generated in the first snow box into a preset heat storage tank, and collecting the remaining weight of ice and snow in the first snow box in real time; S623: When the remaining weight of ice and snow is not greater than a preset reference remaining weight, continue to shovel ice and snow into the first snow box until the operating temperature of the range extender is no higher than the impact temperature.

[0011] Optionally, also include: S630: Collecting the surface temperature of the battery pack; S631: When the surface temperature is higher than a preset battery reference temperature, controlling the snow shoveling device to shovel the ice and snow and send it into a preset second snow box to cool the battery pack; S632: introducing the snow water generated in the second snow box into the heat storage tank, and collecting the water level value of the heat storage tank; S633: When the water level value is greater than the preset overflow water level value, collecting the water inlet flow value of the heat storage tank; S634: matching the water outlet flow value based on the water inlet flow value, and matching the preset water spraying volume of the nozzle according to the water outlet flow value; S635: Controlling the nozzle with the water spraying amount to spray the hot water in the heat storage tank onto the ice and snow to assist in snow clearing.

[0012] Optionally, also include: S640: When the range extender is started, collecting the start-up temperature of the range extender and the water storage temperature in the heat storage tank; S641: When the water storage temperature is not less than the preset reference starting temperature, the preset preheating valve is controlled to open, and the hot water in the heat storage tank is introduced into the heating pipe preset in the circumference of the range extender; S642: When the water storage temperature is lower than the reference starting temperature, the normal temperature water in the heat storage tank is discharged and the ice and snow are shoveled back into the second snow box.

[0013] In the second aspect, the present application provides an extended-range intelligent all-terrain multi-purpose vehicle, which adopts the following technical solution: A range-extended intelligent all-terrain multi-function vehicle is controlled by a control method for a range-extended intelligent all-terrain multi-function vehicle, comprising a vehicle body and track wheel assemblies arranged on both sides of the vehicle body; a drive motor group for driving the track wheel assembly, a battery group for powering the drive motor group, and a range extender for generating electricity for the battery group are arranged in the vehicle body.

[0014] With the above technical solution, the range extender can generate electricity and charge the battery pack. When the battery pack has enough power, it can directly drive the drive motor group through electricity, thereby driving the multi-purpose vehicle to move. Compared with the structure driven directly by diesel, the above structure that generates electricity through diesel and then drives by electricity has lower energy consumption, thereby improving the endurance.

[0015] Optionally, the track wheel assembly includes a fixed wheel arranged at a horizontal interval, a driving wheel located above the fixed wheel, and a track mounted on the outside of the fixed wheel and the driving wheel, the driving wheel is connected to the drive motor group; the track surface is spaced apart with an anti-sliding block; and an anti-disturbance gap is provided between the fixed wheel and the driving wheel.

[0016] Optionally, the front end of the vehicle body is provided with a connecting mechanism for installing different functional modules.

[0017] In summary, the present application includes at least one of the following beneficial technical effects: The multi-purpose vehicle integrates multiple operating modes, including mowing, snow removal and loosening soil. By inputting the specified mode into the multi-purpose vehicle, the system can identify the environment in which the multi-purpose vehicle is located and finally determine the operating mode of the multi-purpose vehicle. After determining the operating mode, the system can provide corresponding extended range control solutions according to different operating modes, charge the battery pack through the range extender, and then provide power to the multi-purpose vehicle through the battery pack. Since it is driven by electricity, the multi-purpose vehicle has lower energy consumption, thereby increasing the endurance of the multi-purpose vehicle; By setting an intermediate battery pack, after the range extender charges the battery pack, if the battery pack consumes power quickly, the range extender can charge the intermediate battery pack and then directly charge the battery pack; if the battery pack consumes power slowly, the range extender can stop and rest, thereby avoiding frequent start and stop of the range extender and reducing energy consumption; In snow-clearing mode, ice and snow are collected and utilized to cool down the range extender and battery pack when the temperature is high. The hot water generated by the melting and heating of the ice and snow is stored in the heat storage tank and can be preheated when the range extender is started, thereby reducing the impact of high and low temperatures on the charging efficiency of the range extender and battery pack. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of an extended-range intelligent all-terrain multi-functional vehicle according to an embodiment of the present invention; Figure 2 It is a schematic diagram of the internal structure of an extended-range intelligent all-terrain multi-functional vehicle according to an embodiment of the present invention; Figure 3 is a method flow chart of a control method of an extended-range intelligent all-terrain multi-purpose vehicle according to an embodiment of the present invention; Figure 4 is a method flow chart of a driving power correction method according to an embodiment of the present invention; Figure 5 The method flow of the range extender charging method for the battery pack according to the embodiment of the present invention is Figure 1 ; Figure 6 The method flow of the range extender charging method for the battery pack according to the embodiment of the present invention is Figure 2 .

[0019] The names of the parts indicated by the numerical labels in the above drawings are as follows: 1. Vehicle body; 2. Track wheel assembly; 21. Fixed wheel; 22. Driving wheel; 23. Track; 24. Anti-sliding block; 25. Anti-disturbance gap; 3. Driving motor group; 4. Battery pack; 5. Range extender; 6. Connecting mechanism. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0021] The embodiment of the present application discloses an extended-range intelligent all-terrain multi-purpose vehicle.

[0022] Reference Figure 1 and Figure 2 An extended-range intelligent all-terrain multi-purpose vehicle includes a vehicle body 1 and a track wheel assembly 2. The track wheel assembly 2 is located on both sides of the vehicle body 1 and is used to drive the multi-purpose vehicle to move. A driving motor group 3, a battery pack 4 and a range extender 5 are arranged inside the vehicle body 1. The driving motor group 3 is connected to the track wheel assembly 2 through a rotating shaft. There are two driving motor groups 3, which are located on both sides of the inner cavity of the vehicle body 1 and drive the track wheel assemblies 2 on both sides of the vehicle respectively. The battery pack 4 stores electricity and can supply power to the driving motor group 3 to drive the driving motor group 3 to operate. The range extender 5 is a diesel generator, which can generate electricity by burning diesel, thereby charging the battery pack 4.

[0023] When the multi-purpose vehicle is running, a proper amount of diesel is added to the range extender 5, and the range extender 5 can generate electricity and charge the battery pack 4. When the battery pack 4 reaches a certain amount of power, the battery pack 4 can drive the drive motor group 3, so that the drive motor group 3 can drive the track wheel assembly 2 to operate.

[0024] Furthermore, the crawler wheel assembly 2 includes a fixed wheel 21, a driving wheel 22 and a crawler 23. There are multiple fixed wheels 21, which are horizontally spaced apart on the side of the vehicle body 1. The driving wheel 22 is located above the fixed wheel 21 and is connected to the driving motor group 3, and can rotate under the drive of the driving motor group 3. The crawler 23 is sleeved on the outside of the fixed wheel 21 and the driving wheel 22, and has an anti-sliding block 24 on its surface.

[0025] When the driving motor group 3 drives the driving wheel 22 to rotate, the fixed wheel 21 can be passively rotated, so that the crawler track 23 rotates, and the multi-functional vehicle can move at this time.

[0026] Furthermore, the fixed wheel 21 and the driving wheel 22 have an anti-disturbance gap 25 in the vertical direction, so that the driving wheel 22 is away from the ground. When the multi-purpose vehicle is working, soil and weeds are not easy to be rolled into the driving wheel 22, and it is not easy to interfere with the rotation of the driving wheel 22.

[0027] Furthermore, the front end of the vehicle body 1 is provided with a connection mechanism 6, and the multi-functional vehicle can be installed with different functional modules through the connection structure, so that the multi-functional vehicle can operate in different scenarios.

[0028] The embodiment of the present application discloses a control method for an extended-range intelligent all-terrain multi-purpose vehicle.

[0029] Reference Figure 3 A control method for an extended-range intelligent all-terrain multi-purpose vehicle comprises the following steps: Step S1: In response to a preset mode input instruction, a ground environment image is collected.

[0030] The mode input instruction is an instruction pre-set and stored in the system of the multi-purpose vehicle by the technician. When the personnel presses the working button on the surface of the multi-purpose vehicle, the system is triggered to issue the mode input instruction, which will not be elaborated here.

[0031] The ground environment image refers to an image obtained by taking a picture of the ground below the multi-purpose vehicle through a camera integrated in the multi-purpose vehicle. The camera is installed at the bottom of the multi-purpose vehicle.

[0032] When the system triggers the mode input command, the system can control the camera to collect images of the ground environment.

[0033] Step S2: identifying preset environmental features from the ground environment image to determine the environment type.

[0034] Environmental characteristics refer to the characteristics of the ground in different working scenarios, including ice, snow, weeds, soil, etc.

[0035] The environment type refers to the current working environment of the multi-purpose vehicle, and the multi-purpose vehicle needs to work according to the current working environment.

[0036] By identifying environmental features such as ice, snow, weeds, and soil from the ground environment image, when the ice and snow features occupy most of the area in the ground environment image, the multi-purpose vehicle is currently in an ice and snow environment. Snow sweeping may be required. When the weed features occupy most of the area in the ground environment image, the multi-purpose vehicle is currently in a weed environment and may need to mow the grass. When the soil features occupy most of the area in the ground environment image, the multi-purpose vehicle is currently directly on the soil and may need to loosen the soil.

[0037] Step S3: Determine and identify the working mode based on the environment type matching.

[0038] The recognition working mode is the mode in which the vehicle is about to work, which is obtained by the system of the multi-purpose vehicle based on the collected image analysis. The recognition working modes include weeding mode, snow-clearing mode and soil loosening mode. The recognition working mode is determined according to the environment type. If the environment type is in an ice and snow environment, the snow-clearing mode is matched; if the environment type is in a weed environment, the weeding mode is matched; if the environment type is in a soil environment, the soil loosening mode is matched.

[0039] Step S4: Retrieving a set working mode from the mode input instruction, wherein the set working mode includes a weeding mode, a snow-clearing mode, and a soil loosening mode.

[0040] The set working mode is a working mode manually determined by a person. The set working mode is the same as the identification working mode, including weeding mode, snow removal mode and soil loosening mode. The mode input command includes the set working mode selected by the person, so the set working mode can be directly called from the mode input command.

[0041] Step S5: Based on the consistency between the identified working mode and the set working mode, a preset driving power of the battery pack 4 is determined in response to the set working mode.

[0042] When the identification working mode and the set working mode are consistent, it means that the working mode selected by the personnel on the multi-purpose vehicle interface is correct and matches the environment in which the multi-purpose vehicle is located.

[0043] The driving power refers to the power output by the battery pack 4 to drive the driving motor group 3. The driving power required to be output by the battery pack 4 is different when working in different working modes, and the driving power is related to the selected working mode. The driving power required for loosening the soil is the largest, and the driving power required for mowing the grass is the smallest.

[0044] Step S6: controlling the multi-purpose vehicle to operate with the driving power, and controlling the preset range extender 5 to charge the battery pack 4 to maintain the operation of the multi-purpose vehicle.

[0045] After the driving power is determined, the battery pack 4 outputs the driving power to control the multi-purpose vehicle to work. When the multi-purpose vehicle is working, in order to ensure that the power of the battery pack 4 can maintain the output driving power, the system controls the range extender 5 to charge the battery pack 4. The method of charging the battery pack 4 by the range extender 5 is not described here, but will be described in detail in subsequent embodiments.

[0046] In step S5, if the identified working mode and the set working mode are inconsistent, the system drives the multi-functional vehicle to operate according to the identified working mode. The specific operation method is the same as that of selecting the set working mode, which will not be repeated here.

[0047] Reference Figure 4 In the same working mode, due to different working environment parameters, the driving power of the battery pack 4 is also different, and the driving power needs to be corrected. The driving power correction method includes the following steps: Step S500: When the multi-purpose vehicle is working, the working force value is collected in real time.

[0048] The working force value refers to the actual force on the working module of the multi-purpose vehicle when it is working. When the working module comes into contact with soil, weeds, ice and snow, it will be subject to their reaction force, and the magnitude of the reaction force is related to the density of soil, weeds, ice and snow.

[0049] A pressure sensor is integrated in the multi-purpose vehicle. When the working module is working, the pressure sensor can collect the working force value.

[0050] Step S501: matching a reference force value based on the set working mode.

[0051] The base force value is the force value estimated by the system based on the average density of soil, weeds, ice and snow. Each set working mode corresponds to a base force value. The driving power of the multi-purpose vehicle is also determined based on the base force value.

[0052] Step S502: When the working force value is greater than the reference force value, the difference between the working force value and the reference force value is calculated and defined as the force difference value.

[0053] If the working force value is not greater than the reference force value, it means that the output drive power of the multi-purpose vehicle is sufficient to complete tasks such as snow sweeping, loosening soil and mowing grass, and there is no need to correct the drive power.

[0054] If the working force value is greater than the reference force value, it means that the density of ice, snow, soil and weeds in the actual environment of the multi-purpose vehicle is greater than expected, and the driving power of the multi-purpose vehicle is insufficient to complete tasks such as snow sweeping, loosening soil and mowing grass, and the driving power needs to be corrected.

[0055] The amount of correction required in the drive power is related to the force difference.

[0056] Step S503: matching the power correction amount based on the force difference, and correcting the driving power according to the power correction amount to obtain the corrected driving power.

[0057] Power correction refers to the correction of driving power. The power correction is proportional to the force difference. The greater the force difference, the greater the power correction.

[0058] Corrected drive power refers to the actual power obtained after correcting the drive power. Corrected drive power is the sum of the drive power and the power correction amount.

[0059] Step S504: replacing the driving power with the corrected driving power, and outputting the corrected driving power.

[0060] When the multi-purpose vehicle is running, the system corrects the driving power in real time according to the working environment conditions, so as to drive the multi-purpose vehicle with the corrected driving power, so that the multi-purpose vehicle can adapt to different environmental conditions.

[0061] Reference Figure 5 The method for charging the battery pack 4 by the range extender 5 comprises the following steps: Step S600: Record the corrected driving power in real time and form a power waveform diagram.

[0062] The power waveform diagram refers to a waveform diagram formed by statistically analyzing the historical corrected driving power of the multi-purpose vehicle. The changes in the corrected driving power can be analyzed from the power waveform diagram, thereby clarifying the working environment conditions.

[0063] When the multi-purpose vehicle is running, it will record in real time the process of each correction of the driving power by the system, and form a power waveform diagram for analysis, so as to provide a basis for the subsequent charging strategy of the battery pack 4.

[0064] Step S601: Retrieve the historical maximum power from the power waveform diagram.

[0065] The historical maximum power is the maximum power output by the multi-purpose vehicle during the entire operation process. The historical maximum power is the peak value in the power waveform diagram. Therefore, the historical maximum power can be retrieved by analyzing the power waveform diagram.

[0066] Step S602: While the multi-functional vehicle is in operation, the remaining power of the battery pack 4 is collected in real time.

[0067] The remaining power refers to the real-time power status of the multi-purpose vehicle during operation. The system is integrated with a module for measuring the battery power, and the remaining power can be directly retrieved from the system.

[0068] Step S603: Calculate the difference between the remaining power and the preset charging redundant power, and define it as the charging threshold power.

[0069] Since it takes a certain amount of time for the range extender 5 to start charging the battery pack 4 , during which the battery pack 4 will continue to consume power, the charging redundant power is the estimated power consumption of the battery pack 4 during the startup of the range extender 5 set by the technician, which will not be elaborated here.

[0070] The charging threshold power is the power at which the range extender 5 starts to charge the battery pack 4 , and the charging threshold power is the difference between the remaining power and the charging redundant power.

[0071] Step S604: matching the peak output power based on the charging threshold power.

[0072] The peak output power is the maximum power that the battery pack 4 can output when the range extender 5 starts charging it.

[0073] When the remaining power of the battery pack 4 is higher than a certain level, the peak output power is proportional to the charging threshold power. The higher the charging threshold power, the greater the peak output power that the battery pack 4 can output.

[0074] Step S605: When the peak output power is less than the historical maximum power, the range extender 5 is started and the range extender 5 is controlled to charge the battery pack 4 at a preset charging power until the remaining power reaches a preset full power.

[0075] During the operation of the multi-purpose vehicle, the remaining power of the battery pack 4 is collected in real time, and the charging threshold power of the current battery pack 4 when waiting for the range extender 5 to start and start charging is calculated based on the remaining power, and the peak output power under the charging threshold power is determined. Finally, by comparing the peak output power with the historical maximum power, it is determined whether the power of the battery pack 4 can continue to support the operation of the multi-purpose vehicle when the range extender 5 starts to charge the battery pack 4.

[0076] When the peak output power is not less than the historical maximum power, it means that the remaining power of the battery pack 4 can still support the multi-purpose vehicle to continue to operate in the current working environment and is not easily affected by the force and unable to propel. At this time, there is no need to charge the battery pack 4.

[0077] When the peak output power is less than the historical maximum power, the battery pack 4 can no longer support the multi-purpose vehicle to continue operating by controlling the multi-purpose vehicle with the peak output power. The multi-purpose vehicle is easily affected by resistance and cannot be pushed forward. Therefore, when the current remaining power is used, it is necessary to start the range extender 5 and start charging the battery pack 4.

[0078] The charging power is the power set by the technician when the range extender 5 charges the battery pack 4, which will not be described in detail here.

[0079] The full charge refers to the full charge state of the battery pack 4 .

[0080] Reference Figure 6 The method for charging the battery pack 4 by the range extender 5 also includes the following steps: Step S610: matching the supported power based on the historical maximum power.

[0081] The support capacity refers to the remaining capacity when the battery pack 4 can output at the historical maximum power and control the operation of the multi-purpose vehicle. The support capacity is proportional to the historical maximum power. The greater the historical maximum power, the higher the support capacity. When the battery pack 4 outputs at the historical maximum power, it can carry out propulsion work in the most intensive working environment and is not easily stuck by resistance.

[0082] Step S611: determining the support time based on the full charge, the support charge and the corrected output power.

[0083] The support time refers to the time required for the multi-purpose vehicle to start working from a fully charged state until the remaining power reaches the support power, that is, the time the multi-purpose vehicle can work from a fully charged state to a state requiring charging.

[0084] The difference between the full charge and the support charge can be calculated to obtain the amount of power that can be consumed in the battery pack 4, and the support time can be calculated in combination with the corrected output power.

[0085] Each start and stop of the range extender 5 requires a certain period of time. Frequent start and stop will cause great damage to the range extender 5. Therefore, it is necessary to determine the support time to determine whether the range extender 5 needs to be started frequently, so as to provide a targeted strategy.

[0086] Step S612: When the support time is greater than the preset shutdown time of the range extender 5, the range extender 5 is controlled to shut down and rest after the remaining power reaches the full power.

[0087] The downtime of the range extender 5 refers to the interval time between each start and stop of the range extender 5 set by the technician. If the interval time between each start and stop is greater than the downtime of the range extender 5, it is not easy to cause damage to the range extender 5.

[0088] If the support time is greater than the shutdown time of the range extender 5, it means that the time taken for the battery pack 4 to consume the support power from the full power state is long, which is enough for the range extender 5 to be repaired. At this time, when the battery pack 4 is fully charged, the range extender 5 can be shut down for a rest.

[0089] Step S613: When the support time is not greater than the downtime of the range extender 5, the reserve power of the preset intermediate battery pack is collected.

[0090] The intermediate battery pack refers to another battery pack 4 in addition to the primary battery pack 4. The intermediate battery pack is not used as a battery pack 4 to directly supply power to the drive motor group 3, but is used to charge the primary battery pack 4. The range extender 5 can also charge the intermediate battery pack.

[0091] The reserve power refers to the power stored in the intermediate battery pack. The intermediate battery pack is provided with a sensor specifically for collecting its power. The system can directly read the data of the sensor to obtain the reserve power of the intermediate battery pack.

[0092] When the support time is not greater than the shutdown time of the range extender 5, it means that the time taken for the battery pack 4 to be consumed from a full power state to a support power state is short, which is not enough for the range extender 5 to rest. At this time, if the range extender 5 is shut down for repair when the battery pack 4 is fully charged, it is easy to cause the range extender 5 to start and stop frequently.

[0093] Step S6131: Determine whether the reserve power is greater than the preset supply power.

[0094] The supply power refers to the power level set by the technicians when the intermediate battery pack can supply power to the outside, which will not be elaborated here.

[0095] By judging whether the reserve power is greater than the supply power, it is possible to determine whether the current intermediate battery pack can be used to charge the battery pack 4 .

[0096] Step S6132: When the reserve power is greater than the supply power, the range extender 5 is controlled to stop and rest after the remaining power reaches the full power, and the intermediate battery pack is controlled to replenish the battery pack 4 with a preset supplementary power.

[0097] If the reserve power is greater than the supply power, the power in the intermediate battery pack is sufficient, and the battery pack 4 can be charged at any time. In the current state, if the time taken for the battery pack 4 to be consumed from the full power state to the support power state is short, the intermediate battery pack can replace the range extender 5 to charge the battery pack 4, thereby extending the time required for the battery pack 4 to be consumed from the full power state to the support power state. At this time, the range extender 5 can be stopped for repair after the battery pack 4 is fully charged.

[0098] The supplementary power is the power set by the technician for the intermediate battery pack to charge the original battery pack 4, which will not be elaborated here.

[0099] Step S6133: When the reserve power is not greater than the supply power, the range extender 5 is controlled to charge the intermediate battery pack with the charging power until the remaining power is consumed to the support power, and then the range extender 5 is controlled to charge the battery pack 4.

[0100] If the reserve power of the intermediate battery pack is not greater than the supply power, it means that the power of the intermediate battery pack is less. At this time, after the range extender 5 fully charges the original battery pack 4, it can continue to charge the intermediate battery pack without stopping. During the charging process of the intermediate battery pack, the remaining power of the original battery pack 4 is detected in real time. When charging is needed, the range extender 5 recharges the original battery pack 4, thereby avoiding frequent start and stop of the range extender 5.

[0101] The charging efficiency of the battery pack 4 when the range extender 5 is charged is affected by temperature, and the solution includes the following steps: The snow-clearing mode is used to clear ice and snow, and ice and snow often appear in low-temperature environments. Therefore, this embodiment processes the startup and operation of the range extender 5 in a low-temperature environment.

[0102] Step S620: In the snow-clearing mode, collecting the operating temperature of the range extender.

[0103] The range extender operating temperature refers to the surface temperature of the range extender 5 during operation. The multi-purpose vehicle is provided with a temperature sensor on the surface of the range extender 5, and the range extender operating temperature can be collected through the temperature sensor.

[0104] Step S621: When the operating temperature of the range extender is higher than the preset influencing temperature, the preset snow shoveling device is controlled to shovel ice and snow of a preset weight and send it into a preset first snow box to cool the range extender 5.

[0105] When the range extender 5 operates within a suitable temperature range, the charging efficiency of the range extender 5 will not decrease, but when the temperature of the range extender 5 is too high, the charging efficiency will decrease. The influencing temperature is the critical temperature at which the charging efficiency of the range extender 5 begins to decrease.

[0106] If the operating temperature of the range extender is not higher than the impact temperature, the range extender 5 can operate at the maximum charging efficiency without cooling it.

[0107] If the operating temperature of the range extender is higher than the influencing temperature, the temperature of the range extender 5 is relatively high, and the charging efficiency is affected by the temperature and decreases. In this case, the range extender 5 needs to be cooled.

[0108] In this embodiment, the range extender 5 is cooled by using the ice and snow that need to be removed during operation of the multi-purpose vehicle.

[0109] The snow shoveling device is mounted on the front end of the multi-purpose vehicle for shoveling ice and snow, and also collects ice and snow in this embodiment. The weight of ice and snow is the weight of ice and snow collected by the snow shoveling device each time set by the technician, and will not be described in detail here.

[0110] The first snow box is arranged in the vehicle body 1 and is close to the range extender 5 , and ice and snow can be piled in the first snow box.

[0111] When the range extender 5 needs to be cooled, the snow is collected by the snow shoveling device, and the snow shoveling device can send the snow into the first snow box. Since the melting of snow requires heat absorption, the first snow box and the range extender 5 are cooled.

[0112] Step S622: The snow water generated in the first snow box is introduced into a preset heat storage tank, and the weight of the remaining ice and snow in the first snow box is collected in real time.

[0113] The heat storage tank is arranged in the body 1 of the multi-purpose vehicle for storing hot water. The heat storage tank is connected to the first snow box through a pipeline.

[0114] After the ice and snow in the first snow box melt into water, the temperature is relatively high due to the high temperature of the range extender 5. At this time, the water can flow into the heat storage tank through the pipeline for storage.

[0115] The remaining ice and snow weight refers to the remaining real-time ice and snow weight in the first snow box. The first snow box is provided with a pressure sensor, through which the remaining ice and snow weight can be collected.

[0116] Step S623: When the remaining weight of ice and snow is not greater than the preset reference remaining weight, continue to shovel ice and snow into the first snow box until the operating temperature of the range extender is no higher than the influencing temperature.

[0117] The reference residual weight is the weight of ice and snow set by the technicians to cool the range extender 5, which will not be described in detail here. When the weight of the remaining ice and snow in the first snow box is not greater than the reference residual weight, the ice and snow in the first snow box have been homogenized into water, resulting in insufficient ice and snow, and the range extender 5 cannot continue to be cooled. At this time, it is necessary to continue to add ice and snow to the first snow box through the snow shoveling device. The multi-purpose vehicle repeats the above steps when working until the operating temperature of the range extender drops to less than the influencing temperature.

[0118] The solution also includes the following steps: Step S630: collecting the surface temperature of the battery pack 4.

[0119] The surface temperature of the battery pack 4 refers to the surface temperature of the battery pack 4 used to power the drive motor group 3. A temperature sensor is provided on the surface of the battery pack 4. The surface temperature can be collected by the temperature sensor, and data can be read from the temperature sensor by the system.

[0120] Step S631: When the surface temperature is higher than the preset battery reference temperature, the snow shoveling device is controlled to shovel the ice and snow and send them into a preset second snow box to cool the battery pack 4.

[0121] When the temperature of the battery pack 4 is too high, it will affect its operation. The battery reference temperature is the critical high temperature that will affect the battery pack 4, which will not be described in detail here.

[0122] The second snow box is the same as the first snow box, and both are arranged in the body 1 of the multi-purpose vehicle. The second snow box is close to the battery pack 4 and is used for stacking ice and snow.

[0123] When the range extender 5 is not running or the temperature of the range extender 5 is not high, if the surface temperature of the battery pack 4 is higher than the battery reference temperature, the snow shoveling device can shovel ice and snow into the second snow box to cool the battery pack 4 through the second snow box.

[0124] Step S632: introducing the snow water generated in the second snow box into the heat storage tank, and collecting the water level value of the heat storage tank.

[0125] The second snow box is the same as the first snow box and is also connected to the heat storage tank. The high-temperature water produced by melting in the second snow box can also be introduced into the heat storage tank and stored in the heat storage tank.

[0126] There is a difference between the battery pack 4 and the range extender 5. The battery pack 4 is always in operation, so it always needs to be cooled, while the range extender 5 is not always in operation. Therefore, the amount of high-temperature water generated in the second snow box is greater than that in the first snow box, and the hot water in the heat storage tank is mainly supplied by the second snow box.

[0127] The water level value refers to the water level of the hot water in the heat storage tank. A water level sensor is provided in the heat storage tank. The water level in the heat storage tank can be collected through the water level sensor. The system can directly read the water level value from the water level sensor.

[0128] Step S633: When the water storage level value is greater than the preset overflow water level value, the water inlet flow value of the heat storage tank is collected.

[0129] The overflow water level value refers to the water level value when the heat storage tank is full of water, which will not be described here. The water inlet flow value refers to the hot water flow rate in the pipeline of the hot water supply tank. A flow meter is provided on the pipeline, and the water inlet flow value can be measured by the flow meter.

[0130] When the water level is greater than the overflow level, the heat storage tank needs to be drained. In order to ensure that the hot water in the heat storage tank is always full and to maintain the subsequent use of hot water, the water inlet flow rate needs to be determined first, so as to determine the flow rate of water discharged from the heat storage tank.

[0131] Step S634: matching the water outlet flow value based on the water inlet flow value, and matching the preset water spraying volume of the nozzle according to the water outlet flow value.

[0132] The outflow flow value refers to the flow of hot water flowing out of the heat storage tank, and the outflow flow value can be measured by a flow meter set on the heat storage tank. In this embodiment, the outflow flow value is consistent with the inflow flow value to ensure that the hot water in the heat storage tank is always fully stored.

[0133] In this embodiment, the hot water discharged from the heat storage tank can be sprayed through the nozzle and used for de-icing. The water spraying amount is the flow rate of the hot water sprayed by the nozzle. The water spraying amount of the nozzle is proportional to the water flow value. The larger the water flow value, the larger the water spraying amount of the nozzle.

[0134] Step S635: Control the nozzle with the water spraying amount to spray the hot water in the heat storage tank onto the ice and snow to assist in snow clearing.

[0135] When the multi-purpose vehicle is working, the snow shovel device shovels ice and snow into the second snow box to cool the battery pack 4, and the melted ice and snow can be injected into and stored in the heat storage tank. When the operating temperature of the range extender is too high, the snow shovel device can also shovel ice and snow into the first snow box to cool the range extender 5, and the melted ice and snow can also be injected into and stored in the heat storage tank. When the hot water in the heat storage tank is full, the excess hot water can be used to spray ice and snow to melt the ice and snow to assist in snow clearing.

[0136] The solution to the problem of the range extender 5 being affected by temperature when starting includes the following steps: Step S640: When the range extender 5 is started, the start-up temperature of the range extender and the water storage temperature in the heat storage tank are collected.

[0137] When the range extender 5 is started, it needs to reach a certain temperature before it can work, so the range extender 5 needs to be preheated.

[0138] The range extender startup temperature refers to the surface temperature of the range extender 5 when it is started in a low temperature environment. The range extender startup temperature can be measured by a temperature sensor arranged on its surface.

[0139] The water temperature in the heat storage tank refers to the temperature value of the hot water stored in the heat storage tank. A temperature sensor is provided in the heat storage tank, and the temperature value of the hot water therein can be measured by the temperature sensor in the heat storage tank.

[0140] Step S641: When the water storage temperature is not less than the preset reference starting temperature, the preset preheating valve is controlled to open, and the hot water in the heat storage tank is introduced into the heating pipe preset in the circumference of the range extender 5.

[0141] The reference starting temperature is a standard parameter of the range extender 5 , which is the temperature value when the range extender 5 starts working, and will not be described in detail here.

[0142] In this embodiment, a heating pipe is circumferentially arranged on the range extender 5 , the heating pipe is connected to the heat storage tank, and is opened and closed by a preheating valve.

[0143] When the water storage temperature is not less than the reference starting temperature, the hot water in the heat storage tank can be used to preheat the range extender 5. After the preheating valve is opened, the hot water in the heat storage tank can flow into the heating pipe, thereby preheating the range extender 5 through the heating pipe.

[0144] Step S642: When the water storage temperature is lower than the reference starting temperature, the normal temperature water in the heat storage tank is discharged and the ice and snow are shoveled back into the second snow box.

[0145] When the range extender 5 is started, if it is detected that the water storage temperature in the heat storage tank is lower than the reference starting temperature, it means that the water in the heat storage tank has cooled down, and the cold water in the heat storage tank needs to be discharged first. When the range extender 5 is started, the battery pack 4 has usually been working for a period of time, and the battery pack 4 has a certain surface temperature. At this time, the snow shoveling device is used to shovel ice and snow into the second snow box to generate hot water, and finally the hot water is introduced into the heating pipe to heat the range extender 5.

[0146] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A control method for an extended-range intelligent all-terrain multi-purpose vehicle, characterized in that: include: S1: In response to a preset mode input instruction, collecting ground environment images; S2: Identify preset environmental features from the ground environment image to determine the environment type; S3: Determine and identify the working mode based on the environment type matching; S4: Retrieving a set working mode from the mode input instruction, wherein the set working mode includes a weeding mode, a snow-clearing mode, and a soil loosening mode; S5: based on the identification working mode being consistent with the set working mode, responding to the set working mode to determine a preset driving power of the battery pack (4); S6: controlling the multi-purpose vehicle to operate with the driving power, and controlling the preset range extender (5) to charge the battery pack (4) to maintain the operation of the multi-purpose vehicle.

2. The control method of the extended-range intelligent all-terrain multi-purpose vehicle according to claim 1, characterized in that: In the same working mode, due to different working environment parameters, the driving power of the battery pack (4) is also different, and the driving power needs to be corrected. The driving power correction method includes: S500: When the multifunctional vehicle is working, real-time collection of working force values; S501: Matching a reference force value based on the set working mode; S502: When the working force value is greater than the reference force value, a difference between the working force value and the reference force value is calculated and defined as a force difference value; S503: matching a power correction amount based on the force difference, and correcting the driving power according to the power correction amount to obtain a corrected driving power; S504: replacing the driving power with the corrected driving power, and outputting the corrected driving power.

3. The control method of the extended-range intelligent all-terrain multi-purpose vehicle according to claim 2, characterized in that: The method for charging the battery pack (4) by the range extender (5) comprises: S600: Record the corrected driving power in real time and form a power waveform diagram; S601: Retrieving the historical maximum power from the power waveform diagram; S602: While the multifunctional vehicle is in operation, collecting the remaining power of the battery pack (4) in real time; S603: Calculate the difference between the remaining power and the preset charging surplus power, and define it as the charging threshold power; S604: Matching peak output power based on the charging threshold power; S605: When the peak output power is less than the historical maximum power, the range extender (5) is started and the range extender (5) is controlled to charge the battery pack (4) at a preset charging power until the remaining power reaches a preset full power.

4. The control method of the extended-range intelligent all-terrain multi-purpose vehicle according to claim 3, characterized in that: Also includes: S610: Matching supported power based on the historical maximum power; S611: Determine a support time based on the full charge, the support charge, and the corrected output power; S612: When the support time is greater than a preset stop time of the range extender (5), after the remaining power reaches the full power, controlling the range extender (5) to stop and rest; S613: When the support time is not greater than the downtime of the range extender (5), collecting the reserve power of the preset intermediate battery pack; S6131: Determine whether the reserve power is greater than the preset supply power; S6132: when the reserve power is greater than the supply power, after the remaining power reaches the full power, controlling the range extender (5) to stop and rest, and controlling the intermediate battery pack to replenish the power of the battery pack (4) with a preset supplementary power; S6133: When the reserve power is not greater than the supply power, the range extender (5) is controlled to charge the intermediate battery pack at the charging power until the remaining power is consumed to the support power, and then the range extender (5) is controlled to charge the battery pack (4).

5. The control method of the extended-range intelligent all-terrain multi-purpose vehicle according to claim 1, characterized in that: The charging efficiency of the range extender (5) when charging the battery pack (4) is affected by temperature, and a solution includes: S620: In the snow-clearing mode, collecting the operating temperature of the range extender; S621: When the operating temperature of the range extender is higher than a preset influencing temperature, controlling a preset snow shoveling device to shovel a preset weight of snow and ice and send it into a preset first snow box to cool the range extender (5); S622: introducing the snow water generated in the first snow box into a preset heat storage tank, and collecting the remaining weight of ice and snow in the first snow box in real time; S623: When the remaining weight of ice and snow is not greater than a preset reference remaining weight, continue to shovel ice and snow into the first snow box until the operating temperature of the range extender is no higher than the impact temperature.

6. The control method of the extended-range intelligent all-terrain multi-purpose vehicle according to claim 5, characterized in that: Also includes: S630: collecting the surface temperature of the battery pack (4); S631: When the surface temperature is higher than a preset battery reference temperature, controlling the snow shoveling device to shovel the ice and snow and send it into a preset second snow box to cool the battery pack (4); S632: introducing the snow water generated in the second snow box into the heat storage tank, and collecting the water level value of the heat storage tank; S633: When the water level value is greater than the preset overflow water level value, collecting the water inlet flow value of the heat storage tank; S634: matching the water outlet flow value based on the water inlet flow value, and matching the preset water spraying volume of the nozzle according to the water outlet flow value; S635: Control the nozzle with the water spraying amount to spray the hot water in the heat storage tank onto the ice and snow to assist in snow clearing.

7. The control method of the extended-range intelligent all-terrain multi-purpose vehicle according to claim 6, characterized in that: Also includes: S640: When the range extender (5) is started, collecting the start-up temperature of the range extender and the water storage temperature in the heat storage tank; S641: When the water storage temperature is not less than a preset reference starting temperature, a preset preheating valve is controlled to open, so that the hot water in the heat storage tank is introduced into a heating pipe preset in a circumferential direction of the range extender (5); S642: When the water storage temperature is lower than the reference starting temperature, the normal temperature water in the heat storage tank is discharged and the ice and snow are shoveled back into the second snow box.

8. An extended-range intelligent all-terrain multi-function vehicle, controlled by a control method for an extended-range intelligent all-terrain multi-function vehicle as claimed in any one of claims 1 to 7, characterized in that: The invention comprises a vehicle body (1) and track wheel assemblies (2) arranged on both sides of the vehicle body (1); a drive motor group (3) for driving the track wheel assembly (2), a battery group (4) for supplying power to the drive motor group (3), and a range extender (5) for generating electricity for the battery group (4) are arranged in the vehicle body (1).

9. The extended-range intelligent all-terrain multi-purpose vehicle according to claim 8, characterized in that: The crawler wheel assembly (2) comprises a fixed wheel (21) arranged at a horizontal interval, a driving wheel (22) located above the fixed wheel (21), and a crawler belt (23) sleeved on the outside of the fixed wheel (21) and the driving wheel (22); the driving wheel (22) is connected to the driving motor group (3); an anti-sliding block (24) is provided on the surface of the crawler belt (23); and an anti-disturbance gap (25) is provided between the fixed wheel (21) and the driving wheel (22).

10. The extended-range intelligent all-terrain multi-purpose vehicle according to claim 8, characterized in that: The front end of the vehicle body (1) is provided with a connecting mechanism (6) for installing different functional modules.

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