Intelligent throwing and sweeping snow removal robot

Abstract

The utility model provides an intelligent throwing and sweeping snow removal robot, and relates to the technical field of snow removal robots. A snow sweeping mechanism is installed at one end of the traction locomotive, a snow throwing mechanism is installed at the other end of the traction locomotive, the traction locomotive comprises a locomotive frame, a locomotive shell and a locomotive base, an engine is arranged in the locomotive shell, a plunger type variable pump is arranged on one side of the engine, and an electromagnetic valve set is arranged on the other side of the engine. The engine drives the plunger type variable pump to work, then power is provided for the intelligent throwing and sweeping snow removal robot through control of the electromagnetic valve set, a holder is installed at the upper end of the locomotive shell, a receiving antenna and a sending antenna are arranged on the two sides of the holder, and the receiving antenna and the sending antenna are used for receiving control signals and sending working signals respectively. The intelligent throwing and sweeping snow removal robot has an automatic snow removal mode or a remote control snow removal mode, an operator does not need to work outdoors in a cold environment, the working environment of the operator is improved, and the intelligent throwing and sweeping snow removal robot has important practical significance and practicability.

Description

Technical Field

[0001] The utility model relates to the technical field of snow removal robots, in particular to an intelligent snow-sweeping robot. Background Art

[0002] In northern my country, when there is windy and snowy weather in winter, it is necessary to clear the snow from roads, squares and other places in a timely manner to facilitate people's travel and activities and avoid the snow melting and freezing, which may cause accidents.

[0003] Traditional snowplows rely on manual operation by the user to move and clear the snow. Even though traditional snowplows have good working efficiency, users have to use them outdoors in the severe cold, which to a certain extent takes up the user's time and energy, and also brings many potential safety issues. Utility Model Content

[0004] In response to the deficiencies of the above-mentioned existing technologies, the utility model provides an intelligent snow-throwing and snow-removing robot. The intelligent snow-throwing and snow-removing robot has an automatic snow-removing mode or a remote-controlled snow-removing mode. The operator does not need to work in the cold outdoors, which improves the operator's working environment and improves its intelligence level. The intelligent snow-throwing and snow-removing robot can automatically or remotely perform snow removal work, which has important practical significance and practicality.

[0005] To this end, the technical solution of the present invention is an intelligent snow-throwing and snow-removing robot, which includes a traction locomotive, a snow-clearing mechanism is installed at one end of the traction locomotive, and a snow-throwing mechanism is installed at the other end of the traction locomotive. The traction locomotive includes a locomotive frame, a locomotive shell and a locomotive base. An engine is provided inside the locomotive shell, a plunger-type variable pump is provided on one side of the engine, and an electromagnetic valve group is provided on the other side of the engine. The engine drives the plunger-type variable pump to work, and then provides power for the intelligent snow-throwing and snow-removing robot through the control of the electromagnetic valve group. A pan-tilt platform is installed at the upper end of the locomotive shell, and a receiving antenna and a transmitting antenna are provided on both sides of the pan-tilt platform. The receiving antenna and the transmitting antenna are used for receiving control signals and sending working signals respectively.

[0006] Furthermore, driving wheels and driven wheels are provided on both sides of the locomotive base, a plurality of auxiliary wheels are provided between the driving wheels and the driven wheels, tracks are installed on the driving wheels and the driven wheels, and the driving wheels are connected to the driving motor.

[0007] Furthermore, the snow-clearing mechanism includes a left snow-clearing guard plate and a right snow-clearing guard plate, a snow-clearing head and a snow-clearing shaft are provided between the left snow-clearing guard plate and the right snow-clearing guard plate, a snow-clearing motor is provided on one side of the snow-clearing head, and a left snow-clearing hydraulic cylinder and a right snow-clearing hydraulic cylinder are provided at both ends of the snow-clearing shaft respectively, and the snow-clearing mechanism is connected to the locomotive frame through the left snow-clearing hydraulic cylinder and the right snow-clearing hydraulic cylinder.

[0008] Furthermore, a lifting cantilever is provided in the middle of the snow-clearing shaft, one end of the lifting cantilever is fixedly connected to the snow-clearing shaft, and the other end of the lifting cantilever is provided with a lifting hydraulic cylinder, which is connected to the locomotive frame.

[0009] Furthermore, the snow throwing mechanism includes a snow collecting shield and a snow throwing shield. The two ends of the outer side of the snow collecting shield are respectively provided with a left snow collecting cantilever and a right snow collecting cantilever. The left snow collecting cantilever is connected to the locomotive frame through a left snow collecting hydraulic cylinder, and the right snow collecting cantilever is connected to the locomotive frame through a right snow collecting hydraulic cylinder.

[0010] Furthermore, the left snow collecting cantilever has the same structure as the right snow collecting cantilever. The left snow collecting cantilever includes a first cantilever and a second cantilever. An angle is provided between the first cantilever and the second cantilever. A cantilever seat is provided at the connection between the first cantilever and the second cantilever. The middle parts of the left snow collecting cantilever and the right snow collecting cantilever are respectively rotatably connected to the locomotive frame through the cantilever seat.

[0011] Furthermore, a snow collecting shaft is provided inside the snow collecting shield, a snow collecting shaft bevel gear is provided in the middle of the snow collecting shaft, a snow throwing shaft is provided inside the snow throwing shield, a snow throwing shaft bevel gear is provided at one end of the snow throwing shaft, the snow collecting shaft bevel gear is meshed with the snow throwing shaft bevel gear, and a snow throwing motor is provided at the other end of the snow throwing shaft.

[0012] Furthermore, a plurality of snow collecting wheels are symmetrically arranged on the snow collecting shaft, and the snow collecting wheels include a snow collecting shaft sleeve, a support plate, an upper spiral wheel piece and a lower spiral wheel piece. The upper spiral wheel piece and the lower spiral wheel piece have the same structure, are spiral in shape, and are installed in opposite directions. The outer sides of the upper spiral wheel piece and the lower spiral wheel piece are provided with spaced teeth.

[0013] Furthermore, a snow throwing wheel is installed on the snow throwing shaft, and the snow throwing wheel includes a base plate, a snow throwing shaft sleeve and a snow throwing wheel piece. An upper auxiliary wheel piece is provided at the upper end of the snow throwing wheel piece, and an angle is provided between the upper auxiliary wheel piece and the snow throwing wheel piece. A side auxiliary wheel piece is provided on the outer side of the snow throwing wheel piece, and the side auxiliary wheel piece is vertically fixedly connected to the snow throwing wheel piece, and a plurality of connecting protrusions are provided at the lower end of the snow throwing wheel piece.

[0014] Furthermore, a lower snow throwing cylinder, an upper snow throwing cylinder and a snow throwing nozzle are provided above the snow throwing shield. The lower snow throwing cylinder is rotatably connected to the upper snow throwing cylinder, and the upper snow throwing cylinder is rotatably connected to the snow throwing nozzle.

[0015] The beneficial effects of the present invention are that the intelligent snow-throwing and snow-removing robot has an automatic snow-removing mode or a remote-controlled snow-removing mode, and the travel path of the intelligent snow-throwing and snow-removing robot is controlled by a driving motor; by controlling the telescopic length of the left snow-clearing hydraulic cylinder and the right snow-clearing hydraulic cylinder, the inclination direction and inclination angle of the snow-clearing mechanism relative to the locomotive frame can be adjusted, thereby controlling the snow-clearing work; by controlling the telescopic length of the left snow-collecting cantilever and the right snow-collecting cantilever, the height of the snow-throwing mechanism relative to the ground can be adjusted to adapt to the snow-throwing work in different snow conditions, and the effect of layered snow throwing can be achieved.

[0016] This intelligent snow removal method can remotely operate the walking, snow sweeping, and snow throwing of the intelligent snow-throwing and snow-removing robot through the mobile terminal customer touch module; remotely view the snow conditions on site, the working status of the intelligent snow-throwing and snow-removing robot, the site cleaning status, and monitor whether there are any emergencies through the global video monitoring module; perform safety management, repair, and maintenance of the intelligent snow-throwing and snow-removing robot through the safety management module; and when encountering temporary obstacles during the snow removal process, realize the automatic obstacle avoidance function by removing the path of the key point marked area of the obstacle map from the planned path, thereby improving the intelligence level of the intelligent snow-throwing and snow-removing robot, which has important practical significance and practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0018] Figure 2 yes Figure 1 The main view;

[0019] Figure 3 It is a schematic diagram of the internal structure of the traction locomotive;

[0020] Figure 4 It is a schematic diagram of the mechanism of the locomotive base;

[0021] Figure 5 It is a structural diagram of the snow-clearing mechanism;

[0022] Figure 6 It is a structural diagram of the snow throwing mechanism;

[0023] Figure 7 It is a schematic diagram of the internal structure of the snow throwing mechanism;

[0024] Figure 8 It is a schematic diagram of the connection between the snow collecting shaft and the snow throwing shaft;

[0025] Figure 9 It is a structural diagram of the snow collecting wheel;

[0026] Figure 10 yes Figure 9 The main view;

[0027] Figure 11 It is a structural diagram of the snow throwing wheel;

[0028] Figure 12 It is a structural diagram of the snow throwing wheel;

[0029] Figure 13 It is a structural diagram of the snow throwing channel;

[0030] Figure 14 yes Figure 13 A structural diagram from another angle.

[0031] Explanation of symbols in the figure:

[0032] 1. Traction locomotive; 11. Locomotive frame; 12. Locomotive shell; 121. Engine; 122. Plunger variable displacement pump; 123. Solenoid valve assembly; 13. Locomotive chassis; 131. Driving wheel; 132. Driven wheel; 133. Auxiliary wheel; 134. Track; 135. Travel motor; 14. Pan / tilt; 15. Receiving antenna; 16. Transmitting antenna; 2. Snowplow mechanism; 21. Left snowplow guard; 22. Right snowplow guard; 23. Snowplow head; 24. Snowplow shaft; 25. Left snowplow hydraulic cylinder; 26. Right snowplow hydraulic cylinder; 27. Lifting boom; 28. Lifting hydraulic cylinder; 29. Snowplow motor; 3. Snow throwing mechanism; 31. Snow collecting hood; 311. Left snow collecting boom; 312. Right snow collecting boom; 313. Left snow collecting hydraulic cylinder; 314. Right snow collecting hydraulic cylinder; 3 2. Snow collecting shaft; 321. Snow collecting shaft bevel gear; 33. Snow collecting wheel; 331. Snow collecting shaft sleeve; 332. Support plate; 3321. Reinforced connecting plate; 333. Upper spiral wheel; 3331. Flower teeth; 334. Lower spiral wheel; 34. Snow throwing shaft; 341. Snow throwing shaft bevel gear; 35. Snow throwing wheel; 351. Bottom plate; 352. Snow throwing shaft sleeve; 353. Snow throwing wheel; 353 1. Upper auxiliary wheel; 3532. Side auxiliary wheel; 3533. Connecting protrusion; 36. Snow throwing shield; 37. Snow throwing motor; 38. Lower snow throwing cylinder; 381. Turbine drive assembly; 39. Upper snow throwing cylinder; 391. Rotating disc; 392. Disperser; 393. Pull wire holder; 394. Pull wire; 310. Snow throwing nozzle; 3101. Angle adjustment pull tab; 3102. Arc groove. DETAILED DESCRIPTION

[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0034] like Figures 1-14 As shown, the utility model provides an intelligent snow-throwing and snow-removing robot, which includes a traction locomotive 1, a snow-clearing mechanism 2 is installed at one end of the traction locomotive 1, and a snow-throwing mechanism 3 is installed at the other end of the traction locomotive 1. When the amount of snow is small, the traction locomotive 1 drives the snow-clearing mechanism 2 to work, and when the amount of snow is heavy, the traction locomotive 1 drives the snow-throwing mechanism 3 to work, thereby achieving a multi-purpose effect of one machine and being able to adapt to different weather conditions.

[0035] The traction locomotive 1 includes a locomotive frame 11, a locomotive shell 12 and a locomotive base 13. The traction locomotive 1 uses a diesel engine as a power source. Compared with equipment using batteries as a power source, the traction locomotive 1 is more adaptable to cold and snowy environments. An engine 121 is provided inside the locomotive shell 12. The engine 121 is preferably a diesel engine. A plunger-type variable pump 122 is provided on one side of the engine 121. The plunger-type variable pump 122 is a hydraulic pump that can accurately control flow and pressure. Its main feature is that it can automatically adjust the displacement as the load changes during operation, thereby realizing an efficient and energy-saving hydraulic transmission system; an electromagnetic valve group 123 is provided on the other side of the engine 121. The engine 121 drives the plunger-type variable pump 122 to work, and then provides power to each unit of the intelligent snow-sweeping robot through the control of the electromagnetic valve group 123.

[0036] A driving wheel 131 and a driven wheel 132 are provided on both sides of the locomotive base 13, and a plurality of auxiliary wheels 133 are provided between the driving wheel 131 and the driven wheel 132. Tracks 134 are installed on the driving wheel 131 and the driven wheel 132. The driving wheel 131 is connected to the driving motor 135 in a transmission manner. The driving motor 135 is a hydraulic motor, and the driving motor 135 is connected to the plunger variable pump 122 through the solenoid valve group 123.

[0037] A pan platform 14 is installed at the upper end of the locomotive shell 12, and a receiving antenna 15 and a transmitting antenna 16 are provided on both sides of the pan platform 14. The receiving antenna 15 and the transmitting antenna 16 are respectively used for receiving control signals and sending working signals of the intelligent snow-sweeping robot.

[0038] The snow-clearing mechanism 2 includes a left snow-clearing guard plate 21 and a right snow-clearing guard plate 22. A snow-clearing head 23 and a snow-clearing shaft 24 are provided between the left snow-clearing guard plate 21 and the right snow-clearing guard plate 22. The snow-clearing head 23 is rotatably connected to the left snow-clearing guard plate 21 and the right snow-clearing guard plate 22. A snow-clearing motor 29 is provided on one side of the snow-clearing head 23. The snow-clearing motor 29 is a hydraulic motor. The snow-clearing motor 29 is connected to the plunger variable pump 122 through the solenoid valve group 123. The snow-clearing shaft 24 is connected to the left snow-clearing guard plate 21 and the right snow-clearing guard plate 22. 2, a left snow-plowing hydraulic cylinder 25 and a right snow-plowing hydraulic cylinder 26 are respectively provided at both ends of the snow-plowing rotating shaft 24, and the snow-plowing rotating shaft 24 is rotationally connected to the piston rods of the left snow-plowing hydraulic cylinder 25 and the right snow-plowing hydraulic cylinder 26 respectively. The snow-plowing mechanism 2 is connected to the locomotive frame 11 through the left snow-plowing hydraulic cylinder 25 and the right snow-plowing hydraulic cylinder 26. By controlling the extension and contraction lengths of the left snow-plowing hydraulic cylinder 25 and the right snow-plowing hydraulic cylinder 26, the tilting direction and tilting angle of the snow-plowing mechanism 2 relative to the locomotive frame 11 can be adjusted.

[0039] A lifting cantilever 27 is provided in the middle of the snow-clearing shaft 24. One end of the lifting cantilever 27 is fixedly connected to the snow-clearing shaft 24. The other end of the lifting cantilever 27 is provided with a lifting hydraulic cylinder 28. The lifting hydraulic cylinder 28 is connected to the locomotive frame 11. By controlling the telescopic length of the lifting hydraulic cylinder 28, the height of the snow-clearing mechanism 2 relative to the ground can be adjusted to adapt to different snow conditions.

[0040] The snow throwing mechanism 3 includes a snow collecting shield 31 and a snow throwing shield 36. The two ends of the outer side of the snow collecting shield 31 are respectively provided with a left snow collecting cantilever 311 and a right snow collecting cantilever 312. The left snow collecting cantilever 311 and the right snow collecting cantilever 312 have the same structure. The left snow collecting cantilever 311 includes a first cantilever and a second cantilever. An angle is provided between the first cantilever and the second cantilever, which is an obtuse angle. A cantilever seat is provided at the connection between the first cantilever and the second cantilever. The middle parts of the left snow collecting cantilever 311 and the right snow collecting cantilever 312 are respectively rotatably connected to the locomotive frame 1 through the cantilever seat. The tail of the left snow collecting cantilever 311 is connected to the locomotive frame 1 through the left snow collecting hydraulic cylinder 313, and the tail of the right snow collecting cantilever 312 is connected to the locomotive frame 1 through the right snow collecting hydraulic cylinder 314. By controlling the telescopic length of the left snow collecting cantilever 311 and the right snow collecting cantilever 312, the height of the snow throwing mechanism 3 relative to the ground can be adjusted to adapt to different snow conditions for throwing snow.

[0041] In addition, when the snow is particularly thick, the intelligent snow-throwing and snow-removing robot can control the snow-throwing mechanism 3 to gradually move downward by gradually increasing the telescopic length of the left snow-collecting cantilever 311 and the right snow-collecting cantilever 312, thereby achieving the effect of layered snow throwing. The snow-throwing mechanism 3 can be controlled to move downward continuously or in stages. For example, the first stage controls the height of the snow-throwing mechanism 3 relative to the ground to be 10 cm, the second stage controls the height of the snow-throwing mechanism 3 relative to the ground to be 20 cm, the third stage controls the height of the snow-throwing mechanism 3 relative to the ground to be 30 cm, and so on. The existing snow-throwing structure is fixed and can only work close to the ground. When the snow is particularly thick, the load is large. The snow-throwing mechanism 3 of the present invention can achieve a layered snow-throwing working mode, which reduces the load of snow throwing by layering, which is beneficial to extending the service life of the snow-throwing structure. It can also achieve the cleaning of thick snow by a low-power snow-throwing structure, reducing the manufacturing cost of the equipment.

[0042] A snow collecting shaft 32 is provided inside the snow collecting shield 31, and a snow collecting shaft bevel gear 321 is provided in the middle of the snow collecting shaft 32. A snow throwing shaft 34 is provided inside the snow throwing shield 36, and a snow throwing shaft bevel gear 341 is provided at one end of the snow throwing shaft 34. The snow collecting shaft bevel gear 321 is meshed with the snow throwing shaft bevel gear 341, and a snow throwing motor 37 is provided at the other end of the snow throwing shaft 34. The snow throwing motor 37 is a hydraulic motor. The snow throwing motor 37 is connected to the plunger variable pump 122 through the solenoid valve group 123. The snow throwing motor 37 drives the snow throwing shaft 34 and the snow collecting shaft 32 to rotate.

[0043] The snow collecting shaft 32 is symmetrically provided with a plurality of snow collecting wheels 33, the snow collecting wheels 33 including a snow collecting shaft sleeve 331, a support plate 332, an upper spiral wheel piece 333 and a lower spiral wheel piece 334. The snow collecting shaft sleeve 331 is used for fixing the snow collecting wheels 33 to the snow collecting shaft 32. The upper spiral wheel piece 333 and the lower spiral wheel piece 334 are fixedly connected to the snow collecting shaft sleeve 331 through the support plate 332 respectively. The upper spiral wheel piece 333 and the lower spiral wheel piece 334 have the same structure. The spiral wheel piece 333 and the lower spiral wheel piece 334 are spiral in shape. The installation directions of the upper spiral wheel piece 333 and the lower spiral wheel piece 334 are opposite, that is, the upper spiral wheel piece 333 is in the right spiral direction and the lower spiral wheel piece 334 is in the left spiral direction. A reinforcing connecting plate 3321 is provided at the connection between the support plate 332 and the upper and lower spiral wheel pieces 333 and 334. The outer sides of the upper and lower spiral wheel pieces 333 and 334 are provided with spaced-apart flower teeth 3331.

[0044] A snow throwing wheel 35 is installed on the snow throwing shaft 34, and the snow throwing wheel 35 includes a base plate 351, a snow throwing sleeve 352 and a snow throwing wheel piece 353. The base plate 351 is fixedly connected to the snow throwing sleeve 352 and the snow throwing wheel piece 353 respectively. The snow throwing sleeve 352 is used to install and fix the snow throwing wheel 35 and the snow throwing shaft 34. An upper auxiliary wheel piece 3531 is provided at the upper end of the snow throwing wheel piece 353. An angle is provided between the upper auxiliary wheel piece 3531 and the snow throwing wheel piece 353, and the angle is obtuse. A side auxiliary wheel piece 3532 is provided on the outer side of the snow throwing wheel piece 353, and the side auxiliary wheel piece 3532 is vertically fixedly connected to the snow throwing wheel piece 353. A plurality of connecting protrusions 3533 are provided at the lower end of the snow throwing wheel piece 353. The connecting protrusions 3533 are used to strengthen the connection strength between the snow throwing wheel piece 353 and the base plate 351.

[0045] A lower snow throwing cylinder 38, an upper snow throwing cylinder 39 and a snow throwing nozzle 310 are provided above the snow throwing shield 36. The lower snow throwing cylinder 38 is fixedly connected to the snow throwing shield 36, the lower snow throwing cylinder 38 is rotatably connected to the upper snow throwing cylinder 39, and the upper snow throwing cylinder 39 is rotatably connected to the snow throwing nozzle 310. A rotating disk 391 is provided at the lower end of the upper snow throwing cylinder 39, and a turbine drive assembly 381 is provided on one side of the rotating disk 391. The turbine drive assembly 381 includes a turbine and a driving hydraulic motor, and the turbine drive assembly 381 is installed on the lower snow throwing cylinder 38.

[0046] The upper snow-throwing barrel 39 is a semi-open arc-shaped cylinder. A scatterer 392 is provided at the lower end of the opening of the upper snow-throwing barrel 39. The scatterer 392 includes a connecting plate and a scattering column. The scatterer 392 is used to scatter the thrown snow. A pull wire seat 393 is fixedly provided at the upper end of the upper snow-throwing barrel 39. The pull wire seat 393 is connected to the snow-throwing nozzle 310 through a pull wire 394. The rotation angle of the snow-throwing nozzle 310 relative to the upper snow-throwing barrel 39 is adjusted by the pull wire, thereby controlling the direction angle of the snow-throwing.

[0047] The snow-throwing nozzle 310 is provided with an angle adjustment pull tab 3101 and an arc-shaped groove 3102. The snow-throwing nozzle 310 is connected to the pull wire 394 through the angle adjustment pull tab 3101. A limiting column is provided in the arc-shaped groove 3102. The limiting column is fixedly connected to the upper snow-throwing tube 39. The snow-throwing nozzle 310 is rotationally limited by the arc-shaped groove 3102 and the limiting column.

[0048] A smart snow removal method uses the smart snow-throwing and snow-removing robot and the smart snow-removing system described above. The smart snow-removing system includes an application resource layer module, a cloud server module, and an execution and perception layer module. The application resource layer module includes a mobile terminal client touch module, a global video monitoring module, a weather environment information management module, a robot teaching module, and a safety management module. The mobile terminal client touch module is the smart control module of the smart snow-throwing and snow-removing robot. The walking, snow-sweeping, and snow-throwing operations of the smart snow-throwing and snow-removing robot can be remotely operated through the mobile terminal client touch module; the global video monitoring module is used for remote monitoring, remotely viewing the snow conditions on site, the working status of the smart snow-throwing and snow-removing robot, the cleaning status of the site, and monitoring whether there are any emergencies; the weather environment information management module is used to view and manage weather information, and provide meteorological information support for the snow removal of the smart snow-throwing and snow-removing robot; the robot teaching module is used for teaching demonstrations of the smart snow-throwing and snow-removing robot to help users learn how to operate the robot; and the safety management module is used for safety management, repair, and maintenance of the smart snow-throwing and snow-removing robot.

[0049] The cloud server module is used for the transmission of communication control information and the storage of data. The execution and perception layer module includes an environmental perception module, a data processing module, a snow removal control module and a wireless communication module. The execution and perception layer module is a functional module of the intelligent snow-throwing and snow-removing robot. The environmental perception module is the pan-tilt platform 14 of the intelligent snow-throwing and snow-removing robot. The pan-tilt platform 14 is equipped with a laser radar, a visible light camera and an infrared camera. The laser radar is used for scanning the work site and identifying obstacles. The visible light camera and the infrared camera provide visible light images and infrared images respectively, so as to perform reliable image and video monitoring of the work site based on information fusion of multi-channel images.

[0050] The data processing module performs real-time and reliable data processing on various data of the intelligent snow-throwing and snow-removing robot, and completes data processing of core functions such as work site detection, navigation positioning, mobile control, snow sweeping, and snow throwing through the data processing module.

[0051] The snow removal control module controls the travel path of the intelligent snow-throwing and snow-removing robot through the driving motor 135; by controlling the telescopic length of the left snow-clearing hydraulic cylinder 25 and the right snow-clearing hydraulic cylinder 26, the inclination direction and inclination angle of the snow-clearing mechanism 2 relative to the locomotive frame 11 can be adjusted, thereby controlling the snow-clearing work; by controlling the telescopic length of the left snow-collecting cantilever 311 and the right snow-collecting cantilever 312, the height of the snow-throwing mechanism 3 relative to the ground can be adjusted to adapt to the snow-throwing work in different snow conditions, and the effect of layered snow throwing can be achieved.

[0052] The wireless communication module further includes a receiving antenna 15 and a transmitting antenna 16, and snow removal data and control instructions are communicated with the application resource layer module through the wireless communication module.

[0053] An intelligent snow removal method specifically includes the following steps:

[0054] 1. Build an environment map

[0055] The environmental map is the prior knowledge formed by the intelligent snow-throwing and snow-removing robot after understanding the site environment through the pan-tilt system. An accurate environmental map is a prerequisite for the intelligent snow-throwing and snow-removing robot to achieve navigation, positioning, and path planning. The intelligent snow-throwing and snow-removing robot integrates lidar information with visible light images and infrared images to construct a two-dimensional environmental map, providing information for the intelligent snow-throwing and snow-removing robot's navigation, positioning, and path planning.

[0056] In addition to being automatically obtained through scanning by the intelligent snow-sweeping robot, the environmental map can also be obtained through manual entry. When the site environment is complex, obtaining the environmental map through manual entry avoids errors in subsequent driving route planning.

[0057] 2. Plan your driving route

[0058] The snow removal task of the intelligent snow-sweeping robot is highly repeatable. Through the driving path planning algorithm, it obtains the globally optimal driving path, which can significantly improve snow removal efficiency and reduce energy consumption.

[0059] The route planning process includes marking key points on the map, calculating candidate paths, and selecting the optimal path. First, key points are marked on the environment map. Then, multiple candidate paths are generated based on these key points. Finally, the optimal path is selected.

[0060] Map key point marking: Map key points are points where the intelligent snow-sweeping robot needs to stop and check (parking points) or turn (turning points) or relay points (intermediate control points) when performing snow removal tasks. Clarifying the location, direction, type and other attributes of each key point in the snow removal task is the basis for path planning.

[0061] The attributes of a map key point include: the unique number of the key point, the name of the key point, the x coordinate of the key point on the map, the y coordinate of the key point on the map, the angle of the key point on the map, the direction of the key point, the turn type, etc.

[0062] Candidate path calculation: Candidate paths are directed paths between key points on the map and are the basic components of snow removal routes. Calculating the distance of candidate paths can provide data support for selecting the optimal path.

[0063] The attributes of the candidate path include: the unique number of the path, the starting key point, the ending key point, the distance between the two key points, the turning angle, etc.

[0064] Optimal Path Screening: The optimal path is the shortest possible sequence of paths that traverses the key points on the snow removal map and returns to the initial location. It is the final result of driving path planning. Considering the high repeatability of snow removal tasks and the real-time nature of path planning, a branch-and-bound method is used to screen the optimal route offline and obtain the global shortest path.

[0065] Branch and bound is a solution space search algorithm that is optimized based on the breadth-first search (BrS) algorithm. By expanding and pruning the branches of the solution space search tree, the search direction is continuously adjusted to accelerate the speed of finding the global optimal solution.

[0066] 3. Start snow removal tasks

[0067] The mobile terminal customer touches the module to issue snow removal tasks and select automatic snow removal mode or remote control snow removal mode. In the remote control snow removal mode, the operator remotely controls the intelligent snow-sweeping robot to perform snow removal tasks through the real-time images transmitted back by the global video monitoring module.

[0068] In automatic snow removal mode, the intelligent snow-sweeping robot calculates the target position through navigation and positioning algorithms based on an accurate environmental map and a clear planned path, and starts the snow removal task according to the planned path, returning to the initial position after the snow removal is completed.

[0069] When encountering temporary obstacles during snow removal, the environment perception module automatically identifies the obstacles, establishes key point marks on the obstacle map, and removes the path in the key point mark area of the obstacle map from the planned path to achieve automatic obstacle avoidance.

[0070] However, the above description is merely a specific embodiment of the present invention and should not be used to limit the scope of implementation of the present invention. Therefore, the replacement of equivalent components, or equivalent changes and modifications made according to the scope of protection of the patent of the present invention should still fall within the scope covered by the claims of the present invention.

Claims

1. An intelligent snow-sweeping robot, comprising a traction locomotive, characterized in that: One end of the traction locomotive is equipped with a snow-clearing mechanism, which is connected to the locomotive frame through a left snow-clearing hydraulic cylinder, a right snow-clearing hydraulic cylinder and a lifting hydraulic cylinder. The other end of the traction locomotive is equipped with a snow-throwing mechanism, which includes a snow-collecting shield and a snow-throwing shield. The two ends of the outer side of the snow-collecting shield are respectively provided with a left snow-collecting cantilever and a right snow-collecting cantilever. The left snow-collecting cantilever is connected to the locomotive frame through the left snow-collecting hydraulic cylinder, and the right snow-collecting cantilever is connected to the locomotive frame through the right snow-collecting hydraulic cylinder. The traction locomotive includes a locomotive frame, a locomotive shell and a locomotive bottom. The locomotive shell is provided with an engine inside, a plunger variable pump is provided on one side of the engine, and a solenoid valve group is provided on the other side of the engine. The engine drives the plunger variable pump to work, and then provides power for the intelligent snow-sweeping robot through the control of the solenoid valve group. A pan-tilt platform is installed on the upper end of the locomotive shell, and a laser radar, a visible light camera and an infrared camera are installed on the pan-tilt platform. Receiving antennas and transmitting antennas are provided on both sides of the pan-tilt platform, and the receiving antennas and transmitting antennas are used for receiving control signals and sending working signals respectively.

2. The intelligent snow-sweeping robot according to claim 1 is characterized in that: Driving wheels and driven wheels are provided on both sides of the locomotive base, a plurality of auxiliary wheels are provided between the driving wheels and the driven wheels, crawlers are installed on the driving wheels and the driven wheels, and the driving wheels are connected to the driving motor.

3. The intelligent snow-sweeping robot according to claim 1 is characterized in that: The snow-clearing mechanism includes a left snow-clearing guard plate and a right snow-clearing guard plate, a snow-clearing head and a snow-clearing rotating shaft are provided between the left snow-clearing guard plate and the right snow-clearing guard plate, a snow-clearing motor is provided on one side of the snow-clearing head, and a left snow-clearing hydraulic cylinder and a right snow-clearing hydraulic cylinder are provided at both ends of the snow-clearing rotating shaft respectively, and the snow-clearing mechanism is connected to the locomotive frame through the left snow-clearing hydraulic cylinder and the right snow-clearing hydraulic cylinder.

4. The intelligent snow-sweeping robot according to claim 3 is characterized in that: A lifting cantilever is provided in the middle of the snow-clearing rotating shaft, one end of the lifting cantilever is fixedly connected to the snow-clearing rotating shaft, and the other end of the lifting cantilever is provided with a lifting hydraulic cylinder, which is connected to the locomotive frame.

5. The intelligent snow-sweeping robot according to claim 1 is characterized in that: The left snow collecting cantilever has the same structure as the right snow collecting cantilever. The left snow collecting cantilever includes a first cantilever and a second cantilever. An angle is provided between the first cantilever and the second cantilever. A cantilever seat is provided at the connection between the first cantilever and the second cantilever. The middle parts of the left snow collecting cantilever and the right snow collecting cantilever are respectively rotatably connected to the locomotive frame through the cantilever seat.

6. The intelligent snow-sweeping robot according to claim 5 is characterized in that: A snow collecting shaft is provided inside the snow collecting shield, and a snow collecting shaft bevel gear is provided in the middle of the snow collecting shaft. A snow throwing shaft is provided inside the snow throwing shield, and a snow throwing shaft bevel gear is provided at one end of the snow throwing shaft. The snow collecting shaft bevel gear is meshed and connected with the snow throwing shaft bevel gear, and a snow throwing motor is provided at the other end of the snow throwing shaft.

7. The intelligent snow-sweeping robot according to claim 6 is characterized in that: A plurality of snow collecting wheels are symmetrically arranged on the snow collecting shaft, and the snow collecting wheels include a snow collecting shaft sleeve, a support plate, an upper spiral wheel piece and a lower spiral wheel piece. The upper spiral wheel piece and the lower spiral wheel piece have the same structure, are spiral in shape, and are installed in opposite directions. The outer sides of the upper spiral wheel piece and the lower spiral wheel piece are provided with spaced teeth.

8. The intelligent snow-sweeping robot according to claim 7 is characterized in that: A snow throwing wheel is installed on the snow throwing shaft, and the snow throwing wheel includes a base plate, a snow throwing shaft sleeve and a snow throwing wheel piece. An upper auxiliary wheel piece is provided at the upper end of the snow throwing wheel piece, and an angle is provided between the upper auxiliary wheel piece and the snow throwing wheel piece. A side auxiliary wheel piece is provided on the outer side of the snow throwing wheel piece, and the side auxiliary wheel piece is vertically fixedly connected to the snow throwing wheel piece. A plurality of connecting protrusions are provided at the lower end of the snow throwing wheel piece.

9. The intelligent snow-sweeping robot according to claim 1 is characterized in that: A lower snow throwing cylinder, an upper snow throwing cylinder and a snow throwing nozzle are provided above the snow throwing shield. The lower snow throwing cylinder is rotatably connected to the upper snow throwing cylinder, and the upper snow throwing cylinder is rotatably connected to the snow throwing nozzle.

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