Control method for an extended-range intelligent all-terrain multi-functional vehicle and the multi-functional vehicle

Abstract

The present invention relates to a control method for a range-extended intelligent all-terrain multi-purpose vehicle and the multi-purpose vehicle, and relates to the field of multi-purpose vehicles. The method comprises: collecting a ground environment image in response to a mode input instruction; identifying environmental features from the ground environment image to determine the environment type; determining an identification working mode based on matching the environment type; retrieving a set working mode from the mode input instruction, the set working mode including a weeding mode, a snow-clearing mode, and a soil loosening mode; determining the driving power of a battery pack in response to the set working mode based on the consistency between the identified working mode and the set working mode; controlling the multi-purpose vehicle to operate with the driving power, and controlling the range extender to charge the battery pack to maintain the operation of the multi-purpose vehicle. The multi-purpose vehicle of the present invention has the functions of snow clearing, mowing, and soil loosening, and adopts a range-extended electric charging solution, so that the multi-purpose vehicle has a long driving time.

Description

Technical Field

[0001] The present invention relates to the field of multi-purpose vehicles, and in particular to a control method for an extended-range intelligent all-terrain multi-purpose vehicle and the multi-purpose 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] Currently, mainstream multi-purpose vehicles on the market typically have only a single function and are powered by diesel, with the engine burning diesel to generate power, which in turn drives the vehicle. Before each operation, a multi-purpose vehicle needs to be refueled with diesel. However, this high diesel consumption per operation results in a short overall driving time. There is an urgent need for a solution to provide a multi-purpose vehicle with multiple functions and extended driving time. Summary of the Invention

[0004] In order to enable a multi-purpose 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-purpose vehicle and the multi-purpose 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:

[0006] A control method for an extended-range intelligent all-terrain multi-purpose vehicle, comprising:

[0007] S1: In response to a preset mode input instruction, collecting ground environment images;

[0008] S2: Identifying preset environmental features from the ground environment image to determine the environment type;

[0009] S3: Determine the recognition working mode based on the environment type matching;

[0010] S4: Retrieving a set working mode from the mode input instruction, the set working mode including a weeding mode, a snow-clearing mode, and a soil loosening mode;

[0011] S5: determining a preset driving power of the battery pack in response to the set operating mode based on the identification operating mode being consistent with the set operating mode;

[0012] S6: controlling the multi-purpose vehicle to operate with the driving power, and controlling a preset range extender to charge the battery pack to maintain the operation of the multi-purpose vehicle.

[0013] By adopting the above technical solution, the multi-purpose vehicle integrates multiple operating modes, including mowing, snow removal, and loosening soil. By inputting a specific mode into the multi-purpose vehicle, the system can identify the environment in which the multi-purpose vehicle is located and ultimately determine the operating mode of the multi-purpose vehicle. Once the operating mode is determined, the system can provide a corresponding range-extended control solution based on the different operating modes. The battery pack is charged by the range extender, and then powered by the battery pack. Since the multi-purpose vehicle is driven by electricity, the energy consumption is lower, thereby improving the vehicle's endurance.

[0014] Optionally, under the same working mode, the driving power of the battery pack is different due to different working environment parameters, and the driving power needs to be corrected. The driving power correction method includes:

[0015] S500: When the multi-purpose vehicle is working, collecting working force values in real time;

[0016] S501: Matching a reference force value based on the set working mode;

[0017] S502: When the working force value is greater than the reference force value, calculating the difference between the working force value and the reference force value, and defining the difference as a force difference value;

[0018] S503: Matching a power correction value based on the force difference, and correcting the driving power according to the power correction value to obtain a corrected driving power;

[0019] S504: replacing the driving power with the corrected driving power, and outputting the corrected driving power.

[0020] Optionally, the method for charging the battery pack by the range extender includes:

[0021] S600: Recording the corrected driving power in real time and forming a power waveform diagram;

[0022] S601: Retrieving the historical maximum power from the power waveform diagram;

[0023] S602: While the multi-purpose vehicle is in operation, collecting the remaining power of the battery pack in real time;

[0024] S603: Calculate the difference between the remaining power and the preset charging redundancy power, and define it as the charging threshold power;

[0025] S604: Matching peak output power based on the charging threshold power;

[0026] S605: When the peak output power is less than the historical maximum power, start the range extender and control the range extender to charge the battery pack at a preset charging power until the remaining power reaches a preset full power.

[0027] Optionally, also include:

[0028] S610: Matching supported power based on the historical maximum power;

[0029] S611: Determine a support time based on the full charge, the support charge, and the corrected output power;

[0030] S612: When the support time is greater than a preset range extender shutdown time, controlling the range extender to shut down and rest after the remaining power reaches the full power;

[0031] S613: When the support time is not greater than the range extender downtime, collecting the reserve power of the preset intermediate battery pack;

[0032] S6131: Determine whether the reserve power is greater than the preset supply power;

[0033] S6132: When the reserve power is greater than the supply power, after the remaining power reaches the full power, controlling the range extender to stop and rest, and controlling the intermediate battery pack to replenish the power of the battery pack at a preset replenishment power;

[0034] S6133: When the reserve power is not greater than the supply power, control the range extender to charge the intermediate battery pack at the charging power until the remaining power is consumed to the support power, and then control the range extender to charge the battery pack.

[0035] Optionally, the charging efficiency of the battery pack when the range extender is charging is affected by temperature, and the solution includes:

[0036] S620: In the snow-clearing mode, collecting the operating temperature of the range extender;

[0037] 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 the snow and ice into a preset first snow box to cool the range extender;

[0038] 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;

[0039] 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.

[0040] Optionally, also include:

[0041] S630: Collecting the surface temperature of the battery pack;

[0042] 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;

[0043] 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;

[0044] S633: When the water level is greater than a preset overflow level, collecting the water inlet flow rate of the heat storage tank;

[0045] S634: Matching the water outflow value based on the water inflow value, and matching the preset water spray volume of the nozzle according to the water outflow value;

[0046] S635: Control the nozzle to spray the hot water in the heat storage tank onto the ice and snow according to the water spraying amount to assist in snow clearing.

[0047] Optionally, also include:

[0048] S640: When the range extender is started, collecting the range extender startup temperature and the water storage temperature in the heat storage tank;

[0049] S641: When the water storage temperature is not less than a preset reference starting temperature, controlling a preset preheating valve to open, and introducing the hot water in the heat storage tank into a heating pipe preset around the range extender;

[0050] S642: When the water storage temperature is lower than the reference starting temperature, the room temperature water in the heat storage tank is drained and the ice and snow are shoveled back into the second snow box.

[0051] In a second aspect, the present application provides an extended-range intelligent all-terrain multi-purpose vehicle, which adopts the following technical solutions:

[0052] A range-extended intelligent all-terrain multi-purpose vehicle is controlled by a control method for a range-extended intelligent all-terrain multi-purpose 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 assemblies, 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.

[0053] Using this technical solution, the range extender generates electricity and charges the battery pack. When the battery pack has sufficient power, it directly drives the drive motor, thereby driving the multi-purpose vehicle. Compared with a direct diesel-powered structure, this structure, which generates electricity through diesel and then drives it through electricity, consumes less energy, thereby improving the vehicle's range.

[0054] 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, and the driving wheel is connected to the drive motor group; the track surface is spaced apart with an anti-sliding block; and there is an anti-interference gap between the fixed wheel and the driving wheel.

[0055] Optionally, the front end of the vehicle body is provided with a connecting mechanism for installing different functional modules.

[0056] In summary, this application includes at least one of the following beneficial technical effects:

[0057] The SUV integrates multiple operating modes, including mowing, snow removal, and soil loosening. By inputting a specific mode into the SUV, the system can identify the environment in which the SUV is located and ultimately determine the operating mode. Once the operating mode is determined, the system can provide a corresponding range-extending control solution based on the different operating modes. The range extender charges the battery pack, which then provides power to the SUV. Since the SUV is powered by electricity, the energy consumption is lower, thereby extending the SUV's endurance.

[0058] By setting up 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, thus avoiding frequent start and stop of the range extender and reducing energy consumption;

[0059] In snow-clearing mode, by collecting and utilizing ice and snow, when the temperature of the range extender and battery pack is high, the ice and snow are used to cool them down. 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

[0060] Figure 1 This is a schematic diagram of the overall structure of an extended-range intelligent all-terrain multi-purpose vehicle according to an embodiment of the present invention;

[0061] Figure 2 This is a schematic diagram of the internal structure of an extended-range intelligent all-terrain multi-purpose vehicle according to an embodiment of the present invention;

[0062] Figure 3 This is a method flow chart of a control method for an extended-range intelligent all-terrain multi-purpose vehicle according to an embodiment of the present invention;

[0063] Figure 4 is a flow chart of a driving power correction method according to an embodiment of the present invention;

[0064] Figure 5 This is the method flow of the range extender charging method for the battery pack according to the embodiment of the present invention Figure 1 ;

[0065] Figure 6 This is the method flow of the range extender charging method for the battery pack according to the embodiment of the present invention Figure 2 .

[0066] 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. Drive wheel; 23. Track; 24. Anti-sliding block; 25. Anti-interference gap; 3. Drive motor group; 4. Battery pack; 5. Range extender; 6. Connecting mechanism. DETAILED DESCRIPTION

[0067] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to 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 intended to limit the present invention.

[0068] The embodiments of the present application disclose an extended-range intelligent all-terrain multi-purpose vehicle.

[0069] Reference Figure 1 and Figure 2 A range-extended 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 drive motor group 3, a battery pack 4 and a range extender 5 are provided inside the vehicle body 1. The drive motor group 3 and the track wheel assembly 2 are connected by a rotating shaft. There are two drive 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 drive motor group 3 to drive the drive motor group 3 to operate. The range extender 5 is a diesel generator that can generate electricity by burning diesel, thereby charging the battery pack 4.

[0070] When the multi-purpose vehicle is running, an appropriate 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.

[0071] Furthermore, the track wheel assembly 2 includes a fixed wheel 21, a drive wheel 22, and a track 23. There are multiple fixed wheels 21, spaced horizontally on the sides of the vehicle body 1. The drive wheel 22 is located above the fixed wheel 21 and is connected to the drive motor assembly 3, rotating when driven by the drive motor assembly 3. The track 23 is mounted on the outside of the fixed wheel 21 and the drive wheel 22, and has anti-slip blocks 24 spaced apart on its surface.

[0072] When the driving motor group 3 drives the driving wheel 22 to rotate, the fixed wheel 21 can be passively rotated, thereby causing the crawler track 23 to rotate, and the multi-purpose vehicle can move at this time.

[0073] Furthermore, the fixed wheel 21 and the driving wheel 22 have an anti-interference 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 likely to be caught in the driving wheel 22 and are not likely to interfere with the rotation of the driving wheel 22.

[0074] Furthermore, the front end of the vehicle body 1 is provided with a connecting mechanism 6, and the multi-purpose vehicle can be installed with different functional modules through the connecting structure, so that the multi-purpose vehicle can operate in different scenarios.

[0075] The embodiments of the present application disclose a control method for an extended-range intelligent all-terrain multi-purpose vehicle.

[0076] Reference Figure 3 A control method for an extended-range intelligent all-terrain multi-purpose vehicle comprises the following steps:

[0077] Step S1: In response to a preset mode input instruction, a ground environment image is collected.

[0078] The mode input instruction is an instruction pre-set and stored by the technician in the system of the multi-purpose vehicle. When the person presses the work button on the surface of the multi-purpose vehicle, the system is triggered to issue the mode input instruction, which will not be described in detail here.

[0079] The ground environment image refers to an image obtained by taking a picture of the ground below the multi-purpose vehicle using a camera integrated into the multi-purpose vehicle. The camera is installed at the bottom of the multi-purpose vehicle.

[0080] When the system trigger mode input command, the system can control the camera to collect images of the ground environment.

[0081] Step S2: identifying preset environmental features from the ground environment image to determine the environment type.

[0082] Environmental characteristics refer to the characteristics of the ground in different working scenarios, including ice, snow, weeds, soil, etc.

[0083] 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.

[0084] By identifying environmental features such as ice, snow, weeds, and soil in the ground environment image, if ice and snow features occupy a large area in the ground environment image, the multi-purpose vehicle is currently in a snowy environment and may need to be cleared. If weed features occupy a large area in the ground environment image, the multi-purpose vehicle is currently in a weedy environment and may need to be mowed. If soil features occupy a large area in the ground environment image, the multi-purpose vehicle is currently directly on soil and may need to be loosened.

[0085] Step S3: Determine and identify the working mode based on the environment type matching.

[0086] The system identifies the operating mode of the multi-purpose vehicle based on image analysis. These modes include weeding mode, snow-clearing mode, and soil loosening mode. The identification mode depends on the environment type: snow-clearing mode is used for ice and snow, weeding mode for weeds, and soil loosening mode for soil.

[0087] Step S4: Retrieve the 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.

[0088] The set work mode is manually determined by the operator. Similar to the identified work modes, the set work mode includes weeding mode, snow removal mode, and soil loosening mode. The mode input command includes the set work mode selected by the operator, allowing the set work mode to be directly retrieved from the mode input command.

[0089] 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.

[0090] When the identified working mode is consistent with the set working mode, 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.

[0091] Driving power refers to the power output by the battery pack 4 to drive the drive motor 3. The required driving power of the battery pack 4 varies depending on the operating mode selected. The highest driving power is required for loosening soil, while the lowest is required for mowing.

[0092] 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.

[0093] After the driving power is determined, the battery pack 4 outputs the driving power to control the multi-purpose vehicle to operate. Furthermore, while the multi-purpose vehicle is operating, to ensure that the battery pack 4 has enough power to maintain the output driving power, the system controls the range extender 5 to charge the battery pack 4. The method by which the range extender 5 charges the battery pack 4 is not described here in detail and will be described in detail in subsequent embodiments.

[0094] In step S5, if the identified working mode and the set working mode are inconsistent, the system drives the multi-purpose vehicle to operate according to the identified working mode. The specific operating method is the same as selecting the set working mode and will not be repeated here.

[0095] Reference Figure 4 Under 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:

[0096] Step S500: When the multi-purpose vehicle is working, the working force value is collected in real time.

[0097] The operating force value refers to the actual force applied to the working module of the multi-purpose vehicle during operation. When the working module comes into contact with soil, weeds, ice and snow, it will be subject to a reaction force. The magnitude of this reaction force is related to the density of the soil, weeds, ice and snow.

[0098] The multi-purpose vehicle is integrated with a pressure sensor, which can collect the working force value when the working module is working.

[0099] Step S501: matching a reference force value based on the set working mode.

[0100] The baseline force value is estimated by the system based on the average density of soil, weeds, ice and snow. Each operating mode corresponds to a corresponding baseline force value. The multi-purpose vehicle's driving power is also determined based on the baseline force value.

[0101] 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.

[0102] If the working force value is not greater than the reference force value, it means that the multi-purpose vehicle's output driving power is sufficient to complete tasks such as snow sweeping, loosening soil, and mowing grass, and there is no need to correct the driving power.

[0103] 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. 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.

[0104] The amount of correction required for the drive power is related to the force difference.

[0105] 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.

[0106] Power correction refers to the correction applied to the drive power. The power correction is proportional to the force difference; the greater the force difference, the greater the power correction.

[0107] 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.

[0108] Step S504: replacing the driving power with the corrected driving power, and outputting the corrected driving power.

[0109] 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.

[0110] Reference Figure 5 The method for charging the battery pack 4 by the range extender 5 includes the following steps:

[0111] Step S600: Recording the corrected driving power in real time and forming a power waveform diagram.

[0112] The power waveform diagram refers to a waveform diagram formed by statistically analyzing the historical corrected drive power of a multi-purpose vehicle. From the power waveform diagram, the changes in the corrected drive power can be analyzed to clarify the working environment.

[0113] When the multi-purpose vehicle is running, it will record in real time each time the system corrects the driving power, forming a power waveform diagram for analysis, and providing a basis for the subsequent charging strategy of the battery pack 4.

[0114] Step S601: Retrieve the historical maximum power from the power waveform diagram.

[0115] 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.

[0116] Step S602: While the multi-purpose vehicle is in operation, the remaining power of the battery pack 4 is collected in real time.

[0117] The remaining power refers to the real-time power status of the multi-purpose vehicle during operation. The system is integrated with a battery charge measurement module, and the remaining power can be directly retrieved from the system.

[0118] Step S603: Calculate the difference between the remaining power and the preset charging redundancy power, and define it as the charging threshold power.

[0119] Since it takes a certain amount of time for the range extender 5 to start charging the battery pack 4, and the battery pack 4 will continue to consume power during this process, the charging redundancy 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 repeated here.

[0120] 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.

[0121] Step S604: matching the peak output power based on the charging threshold power.

[0122] The peak output power is the maximum power that the battery pack 4 can output when the range extender 5 starts charging it.

[0123] 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 level. The higher the charging threshold power level is, the greater the peak output power that the battery pack 4 can output.

[0124] Step S605: When the peak output power is less than the historical maximum power, the range extender 5 is started and controlled to charge the battery pack 4 at a preset charging power until the remaining power reaches a preset full power.

[0125] 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 charging the battery pack 4.

[0126] 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 operating in the current working environment and is not easily affected by the force and cannot be propelled. At this time, there is no need to charge the battery pack 4.

[0127] 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 peak output power. The multi-purpose vehicle is easily affected by resistance and cannot be propelled. Therefore, when the current remaining power is sufficient, it is necessary to start the range extender 5 and start charging the battery pack 4.

[0128] 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.

[0129] The full charge refers to the full charge state of the battery pack 4 .

[0130] Reference Figure 6 The method for charging the battery pack 4 by the range extender 5 further includes the following steps:

[0131] Step S610: matching the supported power based on the historical maximum power.

[0132] The "support capacity" refers to the remaining charge in the battery pack 4 when it can operate at its historical maximum power and control the multi-purpose vehicle. The support capacity is proportional to the historical maximum power; the higher the historical maximum power, the higher the support capacity. When the battery pack 4 operates at its historical maximum power, it can propel the vehicle even in the most intensive working environments and is less likely to become stuck due to resistance.

[0133] Step S611: determining a support time based on the full charge, the support charge, and the corrected output power.

[0134] The support time refers to the time required for a 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.

[0135] 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.

[0136] There needs to be a period of time between each start and stop of the range extender 5. Frequent start and stop will cause greater 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 and to provide a targeted strategy.

[0137] 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.

[0138] The downtime of the range extender 5 refers to the interval between each start and stop of the range extender 5 set by the technician. If the interval between each start and stop is greater than the downtime of the range extender 5, it is less likely to cause damage to the range extender 5.

[0139] 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 be consumed from the full power state to the support 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.

[0140] 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.

[0141] 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 power 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.

[0142] The reserve power refers to the power stored in the intermediate battery pack. The intermediate battery pack is equipped with a sensor that specifically collects its power. The system can directly read the data from the sensor to obtain the reserve power of the intermediate battery pack.

[0143] 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 charge state to the support charge 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.

[0144] Step S6131: Determine whether the reserve power is greater than the preset supply power.

[0145] 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.

[0146] 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 .

[0147] 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.

[0148] 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 it takes for the battery pack 4 to be depleted from a full charge state to a support charge state is short, the intermediate battery pack can replace the range extender 5 to charge the battery pack 4, thereby extending the time it takes for the battery pack 4 to be depleted from a full charge state to a support charge state. In this case, the range extender 5 can be shut down for maintenance after fully charging the battery pack 4.

[0149] The supplementary power is the power set by the technicians for the intermediate battery pack to charge the original battery pack 4, which will not be described in detail here.

[0150] 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 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.

[0151] 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 low. At this time, after the range extender 5 fully charges the primary 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 primary battery pack 4 is detected in real time. When charging is needed, the range extender 5 recharges the primary battery pack 4, thereby avoiding frequent starts and stops of the range extender 5.

[0152] The charging efficiency of the battery pack 4 when the range extender 5 is charged is affected by temperature. The solution includes the following steps:

[0153] The snow-clearing mode is used to clear ice and snow, which often appear in low-temperature environments. Therefore, this embodiment processes the startup and operation of the range extender 5 in a low-temperature environment.

[0154] Step S620: In the snow-clearing mode, collecting the operating temperature of the range extender.

[0155] 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 by the temperature sensor.

[0156] 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 snow of a preset weight and send it into a preset first snow box to cool the range extender 5.

[0157] When the range extender 5 operates within a suitable temperature range, the charging efficiency of the range extender 5 does not decrease. However, 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.

[0158] 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.

[0159] 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.

[0160] In this embodiment, the range extender 5 is cooled by using the ice and snow that needs to be cleared during operation of the multi-purpose vehicle.

[0161] The snow shoveling device is assembled at 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.

[0162] The first snow box is arranged in the vehicle body 1 and is close to the range extender 5. Ice and snow can be piled in the first snow box.

[0163] When the range extender 5 needs to be cooled, the snow shovel is used to collect the snow and ice, and the snow shovel can send the snow and ice to the first snow box. Since the melting of the snow and ice requires heat absorption, the first snow box and the range extender 5 are cooled.

[0164] 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.

[0165] The heat storage tank is arranged in the vehicle body 1 of the multi-purpose vehicle for storing hot water. The heat storage tank is connected to the first snow box via a pipeline.

[0166] After the ice and snow in the first snow box melt into water, the temperature is higher 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.

[0167] The remaining ice and snow weight refers to the real-time remaining ice and snow weight in the first snow box. A pressure sensor is provided on the first snow box, and the remaining ice and snow weight can be collected through the pressure sensor.

[0168] 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 impact temperature.

[0169] The baseline residual weight is the weight of ice and snow set by technicians to cool the range extender 5, and is not detailed here. If the remaining ice and snow in the first snow box is no greater than the baseline residual weight, the ice and snow in the first snow box have been homogenized into water, resulting in insufficient ice and snow to continue cooling the range extender 5. In this case, it is necessary to continue adding ice and snow to the first snow box using a snow shovel. Repeat the above steps while the multi-purpose vehicle is in operation until the operating temperature of the range extender drops below the impact temperature.

[0170] The solution also includes the following steps:

[0171] Step S630: collecting the surface temperature of the battery pack 4 .

[0172] 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.

[0173] 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 it into a preset second snow box to cool the battery pack 4.

[0174] 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.

[0175] The second snow box is the same as the first snow box and is both 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.

[0176] 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.

[0177] Step S632: The snow water generated in the second snow box is introduced into the heat storage tank, and the water level value of the heat storage tank is collected.

[0178] 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 generated by melting in the second snow box can also be introduced into the heat storage tank and stored in the heat storage tank.

[0179] 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.

[0180] The water level value refers to the water level of 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.

[0181] Step S633: When the water level value is greater than the preset overflow water level value, the water inlet flow value of the heat storage tank is collected.

[0182] The overflow level refers to the water level when the heat storage tank is full of water, which will not be explained here. The inlet flow rate refers to the flow of hot water flowing into the pipe of the heat storage tank. The pipe is equipped with a flow meter, which can measure the inlet flow rate.

[0183] When the water level exceeds 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 can be used later, 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.

[0184] Step S634: matching the water outflow value based on the water inflow value, and matching the preset water spraying volume of the nozzle according to the water outflow value.

[0185] The outflow flow rate refers to the flow rate of hot water flowing out of the heat storage tank, and the outflow flow rate can be measured by a flow meter installed on the heat storage tank. In this embodiment, the outflow flow rate is consistent with the inflow flow rate to ensure that the hot water in the heat storage tank is always fully stored.

[0186] In this embodiment, the hot water discharged from the heat storage tank can be sprayed through a nozzle and used for de-icing. The water spray volume is the flow rate of the hot water sprayed by the nozzle. The water spray volume of the nozzle is proportional to the water flow rate value. The larger the water flow rate value, the greater the water spray volume of the nozzle.

[0187] Step S635: controlling the nozzle to spray the hot water in the heat storage tank onto the ice and snow according to the water spraying amount to assist in snow clearing.

[0188] When the multi-purpose vehicle is in operation, the snow shovel device shovels ice and snow into the second snow box to cool the battery pack 4. The melted ice and snow can be injected into and stored in the heat storage tank. If 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. 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 it, thereby assisting in snow clearing.

[0189] The solution to the problem of temperature affecting the start-up of the range extender 5 includes the following steps:

[0190] Step S640: When the range extender 5 is started, the range extender start-up temperature and the water storage temperature in the heat storage tank are collected.

[0191] The range extender 5 needs to reach a certain temperature before it can work when it is started, so the range extender 5 needs to be preheated.

[0192] 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 provided on its surface.

[0193] The water temperature in the heat storage tank refers to the temperature of the hot water stored in the heat storage tank. A temperature sensor is provided in the heat storage tank, and the temperature of the hot water therein can be measured by the temperature sensor in the heat storage tank.

[0194] 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 around the range extender 5.

[0195] 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.

[0196] In this embodiment, a heating pipe is provided circumferentially of the range extender 5 , the heating pipe is connected to the heat storage tank, and is opened and closed by a preheating valve.

[0197] 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.

[0198] Step S642: When the water storage temperature is lower than the reference starting temperature, the room temperature water in the heat storage tank is drained and the ice and snow are shoveled back into the second snow box.

[0199] When the range extender 5 is started, if the water temperature in the heat storage tank is detected to be lower than the base starting temperature, it indicates that the water in the heat storage tank has cooled down and needs to be drained out first. Since the battery pack 4 has typically been operating for a while and has reached a certain surface temperature when the range extender 5 is started, the snow shoveling device can be used to shovel ice and snow into the second snow tank to generate hot water. This hot water is then directed to the heating pipe to heat the range extender 5.

[0200] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection 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: Identifying preset environmental features from the ground environment image to determine the environment type; S3: Determine the recognition working mode based on the environment type matching; S4: Retrieving a set working mode from the mode input instruction, the set working mode including a weeding mode, a snow-clearing mode, and a soil loosening mode; S5: Based on the identification working mode and the set working mode being consistent, determining the preset driving power of the battery pack (4) in response to the set working mode; 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; Under 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 multi-purpose vehicle is working, collecting working force values in real time; 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, calculating the difference between the working force value and the reference force value, and defining the difference as a force difference value; S503: Matching a power correction value based on the force difference, and correcting the driving power according to the power correction value to obtain a corrected driving power; S504: replacing the driving power with the corrected driving power, and outputting the corrected driving power; The method for charging the battery pack (4) by the range extender (5) includes: S600: Recording the corrected driving power in real time and forming a power waveform diagram; S601: Retrieving the historical maximum power from the power waveform diagram; S602: While the multifunctional vehicle is in operation, the remaining power of the battery pack (4) is collected in real time; S603: Calculate the difference between the remaining power and the preset charging redundancy 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.

2. The control method of a range-extended intelligent all-terrain multi-purpose vehicle according to claim 1, 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 driving power; S612: When the support time is greater than the preset range extender (5) shutdown time, the range extender (5) is controlled to shut down and rest after the remaining power reaches the full power; 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, the range extender (5) is controlled to stop and rest, and the intermediate battery pack is controlled to replenish 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).

3. 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: 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; 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.

4. The control method of the extended-range intelligent all-terrain multi-purpose vehicle according to claim 3, 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 is greater than a preset overflow level, collecting the water inlet flow rate of the heat storage tank; S634: Matching the water outflow value based on the water inflow value, and matching the preset water spray volume of the nozzle according to the water outflow value; S635: Control the nozzle to spray the hot water in the heat storage tank onto the ice and snow according to the water spraying amount to assist in snow clearing.

5. The control method of the extended-range intelligent all-terrain multi-purpose vehicle according to claim 4, characterized in that: Also includes: S640: When the range extender (5) is started, the start-up temperature of the range extender and the water temperature in the heat storage tank are collected; 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); S642: When the water storage temperature is lower than the reference starting temperature, the room temperature water in the heat storage tank is drained and the ice and snow are shoveled back into the second snow box.

6. An extended-range intelligent all-terrain multi-purpose vehicle, controlled by the control method of an extended-range intelligent all-terrain multi-purpose vehicle according to any one of claims 1 to 5, 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).

7. The extended-range intelligent all-terrain multi-purpose vehicle according to claim 6, characterized in that: The crawler wheel assembly (2) comprises a fixed wheel (21) arranged horizontally at intervals, 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-interference gap (25) is provided between the fixed wheel (21) and the driving wheel (22).

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

Images