WO2017133708A1 - 自动行走除雪设备 - Google Patents

自动行走除雪设备 Download PDF

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Publication number
WO2017133708A1
WO2017133708A1 PCT/CN2017/072996 CN2017072996W WO2017133708A1 WO 2017133708 A1 WO2017133708 A1 WO 2017133708A1 CN 2017072996 W CN2017072996 W CN 2017072996W WO 2017133708 A1 WO2017133708 A1 WO 2017133708A1
Authority
WO
WIPO (PCT)
Prior art keywords
snow
module
walking
obstacle
throwing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/072996
Other languages
English (en)
French (fr)
Inventor
高振东
王家达
焦石平
查霞红
赵凤丽
李先峰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Positec Power Tools Suzhou Co Ltd
Original Assignee
Positec Power Tools Suzhou Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Positec Power Tools Suzhou Co Ltd filed Critical Positec Power Tools Suzhou Co Ltd
Priority to EP22173387.6A priority Critical patent/EP4071304B1/en
Priority to EP25156476.1A priority patent/EP4535040A3/en
Priority to EP17747028.3A priority patent/EP3412833B1/en
Publication of WO2017133708A1 publication Critical patent/WO2017133708A1/zh
Priority to US16/054,239 priority patent/US10920386B2/en
Anticipated expiration legal-status Critical
Priority to US17/004,549 priority patent/US11352757B2/en
Priority to US17/827,314 priority patent/US11993904B2/en
Priority to US18/643,851 priority patent/US20240287749A1/en
Ceased legal-status Critical Current

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    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H5/00—Removing snow or ice from roads or like surfaces; Grading or roughening snow or ice
    • E01H5/04—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material
    • E01H5/08—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material dislodging essentially by driven elements
    • E01H5/09—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material dislodging essentially by driven elements the elements being rotary or moving along a closed circular path, e.g. rotary cutter, digging wheels
    • E01H5/098—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material dislodging essentially by driven elements the elements being rotary or moving along a closed circular path, e.g. rotary cutter, digging wheels about horizontal or substantially horizontal axises perpendicular or substantially perpendicular to the direction of clearing
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H5/00—Removing snow or ice from roads or like surfaces; Grading or roughening snow or ice
    • E01H5/04—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H5/00—Removing snow or ice from roads or like surfaces; Grading or roughening snow or ice
    • E01H5/04—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material
    • E01H5/045—Means per se for conveying or discharging the dislodged material, e.g. rotary impellers, discharge chutes
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H5/00—Removing snow or ice from roads or like surfaces; Grading or roughening snow or ice
    • E01H5/04—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material
    • E01H5/06—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material dislodging essentially by non-driven elements, e.g. scraper blades, snow-plough blades, scoop blades
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H5/00—Removing snow or ice from roads or like surfaces; Grading or roughening snow or ice
    • E01H5/04—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material
    • E01H5/06—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material dislodging essentially by non-driven elements, e.g. scraper blades, snow-plough blades, scoop blades
    • E01H5/07—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material dislodging essentially by non-driven elements, e.g. scraper blades, snow-plough blades, scoop blades and conveying dislodged material by driven or pneumatic means
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H5/00—Removing snow or ice from roads or like surfaces; Grading or roughening snow or ice
    • E01H5/04—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material
    • E01H5/08—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material dislodging essentially by driven elements
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H5/00—Removing snow or ice from roads or like surfaces; Grading or roughening snow or ice
    • E01H5/04—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material
    • E01H5/08—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material dislodging essentially by driven elements
    • E01H5/09—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material dislodging essentially by driven elements the elements being rotary or moving along a closed circular path, e.g. rotary cutter, digging wheels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G05D1/222—Remote-control arrangements operated by humans
    • G05D1/224—Output arrangements on the remote controller, e.g. displays, haptics or speakers
    • G05D1/2244—Optic
    • G05D1/2245—Optic providing the operator with a purely computer-generated representation of the environment of the vehicle, e.g. virtual reality
    • G05D1/2246—Optic providing the operator with a purely computer-generated representation of the environment of the vehicle, e.g. virtual reality displaying a map of the environment
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/245—Arrangements for determining position or orientation using dead reckoning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
    • G05D1/249—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons from positioning sensors located off-board the vehicle, e.g. from cameras
    • G—PHYSICS
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    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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    • G05D1/43—Control of position or course in two dimensions [2D]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • G05D1/622—Obstacle avoidance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/648—Performing a task within a working area or space, e.g. cleaning
    • G—PHYSICS
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    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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    • G05D1/648—Performing a task within a working area or space, e.g. cleaning
    • G05D1/6484—Performing a task within a working area or space, e.g. cleaning by taking into account parameters or characteristics of the working area or space, e.g. size or shape
    • G—PHYSICS
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    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G—PHYSICS
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    • G05D2105/12—Specific applications of the controlled vehicles for removing ice or snow
    • G—PHYSICS
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    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/10—Outdoor regulated spaces
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    • G—PHYSICS
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    • G05D2111/54—Internal signals, i.e. from sensors located in the vehicle, e.g. from compasses or angular sensors for measuring the travel distances, e.g. by counting the revolutions of wheels

Definitions

  • the invention relates to the field of intelligent control, and in particular to an automatic walking snow removal device.
  • small mechanical snow-cleaning vehicles are mainly composed of a prime mover, a transmission device, a snow collecting device, a snow throwing device, and an operating system.
  • the prime mover can use a motor or an engine.
  • most of them use a gasoline engine or a diesel engine;
  • the snow collecting device is used to collect snow, mainly using a snow shovel or a spiral auger;
  • the snow throwing device throws the collected snow to the side of the road. Or in the collection device.
  • the main methods are snow throwing impeller and blower;
  • the operating device mainly controls the operation of the equipment, and the forward and the direction of the machine are realized by hand pushing. In this way, under the impetus of manpower, the de-icing and snow-removing machine can continuously remove accumulated ice and snow.
  • a snow removing device with automatic working ability comprising: a working module for performing specific work of the automatic snow removing device; and a walking module for driving the automatic snow removing device on the ground Walking; an energy module providing energy to at least a walking module of the automatic snow removal device, or at least providing energy for both the walking module and the working module; a detecting module for detecting an external environment and/or internal parameters; and a control module, said The control module stores an algorithm for automatically operating the snow removing device, and the control module controls the walking module and/or the working module of the automatic snow removing device according to the information detected by the detecting module and based on the algorithm, so that the automatic snow removing device follows the Preset road The path rules to walk and work.
  • the energy module comprises a rechargeable battery and/or a photovoltaic battery.
  • the working module comprises a snow scraping assembly, a snow throwing assembly, and a motor that drives the snow scraping assembly and the snow throwing assembly to work.
  • the snow scraping assembly comprises a snow collecting wheel, and the snow collecting wheel has a rotational speed of less than 100 rpm.
  • the snow throwing assembly comprises a snow thrower driven by the motor, and the snow throwing wheel has a rotational speed of 1000-5000 rpm.
  • the snow throwing assembly includes a snow thrower for throwing snow collected by the snow scraping assembly
  • the detecting module includes an obstacle detecting device
  • the obstacle detecting device is configured to detect a snow throwing direction of the snow throwing cylinder The obstacle within the preset range
  • the control module adjusts the position of the snow throwing cylinder according to the signal detected by the obstacle detecting device to change the snow direction.
  • the walking module comprises a driving wheel, a traveling motor driving the driving wheel, a driven wheel and a crawler connected to the driving wheel and the driven wheel.
  • the detecting module includes a direction detecting device for detecting a walking direction of the snow removal device
  • the snow removing device further includes an input module
  • the control module is capable of inputting a regular working area according to the input module.
  • the information and the starting point position at which the snow removing device starts to work automatically generate a boundary coordinate map as an origin, and the control module controls the automatic snow removing device to walk and work within the boundary of the working area according to the boundary coordinate map and the direction detecting device.
  • the direction detecting device comprises an electronic compass or a gyroscope.
  • the automatic snow removal device further includes a positioning navigation module, the control module stores a boundary coordinate map of the working area of the snow removal device, and the control module automatically clears the snow according to the boundary coordinate map and the positioning navigation module.
  • the coordinates of the real-time position of the device control the automatic snow removal device to walk and work regularly within the boundaries of the work area.
  • the detecting module includes an energy detecting unit, and the energy detecting unit is configured to detect an energy value of the energy module, and feed back the energy value information to the control module, where the energy value detected by the detecting module reaches or falls below a preset value. Value, the control module controls the automatic snow removal device to walk to a preset location to supplement energy.
  • control module includes a path comparison unit, and the path comparison unit can compare the path that has completed snow removal with a preset path. When the two are consistent, the control module controls the automatic snow removal device to walk to the preset. The location replenishes energy.
  • the snow removing device has at least three states, and walks along the preset path rule. a working state, a standby state that stays at a preset location, and a supplemental energy state that stays at a preset location, the detection module includes a snow detecting device that detects snow or detects that the amount of snow reaches a preset The control module controls the snow removal device to start from a preset location and transition from a standby state to a working state.
  • An automatic walking snow removal device comprising:
  • a walking module for driving an automatic walking snow removal device to walk on the ground
  • An energy module for providing energy to the working module and the walking module of the automatic walking snow removing device
  • control module is configured to control the automatic walking snow removal device working module and the walking module;
  • the working module comprises at least two working head mechanisms, and the at least two working head mechanisms are alternatively matched to the automatic walking and snow removing device And a control module that performs a control mode corresponding to the working head mechanism according to the mated working head.
  • the main body of the automatic walking and snow removing device includes a connecting portion for mating the working head mechanism, and the connecting portion is provided with at least two signal switches, wherein the at least two working head mechanisms are coupled to the main body Different signal switches are triggered, and the control module identifies the form of the working head mechanism according to different switching signals.
  • the at least two working head mechanisms respectively include a working part for removing snow and a working motor for driving the working part, and the corresponding control modes of the at least two working head mechanisms include respective rotating speeds of the working motors and/or Or turn.
  • the walking module comprises at least one driving wheel and a traveling motor driving the driving wheel
  • the corresponding control modes of the at least two working head mechanisms comprise rotation speed and/or steering of the respective corresponding traveling motors.
  • control modes corresponding to the at least two working head mechanisms comprise respective corresponding snow removal paths.
  • An automatic walking snow removal device comprising:
  • a walking module for driving an automatic walking snow removal device to walk on the ground
  • An energy module for providing energy to the working module and the walking module of the automatic walking snow removing device
  • control module is configured to control the automatic walking snow removal device working module and the walking module;
  • the automatic walking snow removing device further comprises a detecting module for detecting snow, and the detecting module feeds back the detected snow amount information to the control
  • the module controls the walking module to walk and the working module to work when the amount of snow reaches a preset value.
  • the snow detecting module comprises a pressure sensor and a humidity sensor, and the pressure sensor feeds back the detected pressure signal to the control module, and the humidity sensor feeds back the signal detecting the humidity to the control module, and the control The module determines whether it is snowing according to the humidity signal. If it snows, the thickness of the snow is calculated according to the pressure signal. When the thickness of the snow reaches a preset value, the automatic walking snow removal device is controlled to start working.
  • the detection module of the snow comprises at least two conductive elements and an insulation disposed between the two conductive elements, the height of the insulation being greater than the height of the two conductive elements, the height of the insulation being snow The default value of the thickness.
  • the snow detecting module comprises a container and a light sensor and a humidity sensor disposed in the container, the light sensor feeding back the signal of the detected light to the control module, the humidity sensor detecting the humidity The signal is fed back to the control module, and the control module determines that the snow-covered device is controlled to start working by the snow-covered device according to the signal of the light and the humidity signal.
  • the snow detecting module comprises at least two conductive parts disposed on the bottom of the automatic walking snow removing device, the at least two conductive parts are disposed at different heights relative to the ground and send the conduction signal to the control module, the control module The thickness of the snow is judged based on the different conduction signals and the height of the conductive parts.
  • control module performs different snow removal modes according to the amount of snow.
  • An automatic walking snow removal device comprising:
  • a walking module for driving an automatic walking snow removal device to walk on the ground
  • An energy module for providing energy to the working module and the walking module of the automatic walking snow removing device
  • control module is configured to control an automatic walking snow removal device working module and a walking module;
  • the automatic walking snow removal device further includes a human-computer interaction module, and the human-machine interaction module includes an operation panel for inputting/outputting information,
  • the control module can automatically generate a snow removal path according to the size information of the work area input on the operation panel, and control the walking module and the working module according to the generated snow removal path.
  • the automatic walking and snow removing device further includes a detecting module, configured to detect a walking direction of the automatic walking snow removing device and transmit the detected direction data to the control module, and the control module receives the direction data according to the received data.
  • the direction data of the path is compared, and when the two data are inconsistent, the walking module is controlled to adjust the walking direction.
  • the detection module comprises an electronic compass or a gyroscope.
  • the automatic walking snow removal is set as a coordinate origin along a starting position of the snow removal path
  • the control module calculates a walking distance of the automatic walking snow removing device according to the walking speed and the walking time of the walking module, and when the walking distance reaches the input working area
  • the size of the control is to control the steering of the walking module.
  • the method for controlling an automatic walking snow removal device as described above is characterized in that the control method package Including the following steps:
  • the control module generates a snow removal path according to the size information of the input work area
  • the control module controls the working module and the walking module to remove snow along the generated snow removal path.
  • control method further comprises setting the automatic walking and snow removing device along a starting position of the snow removal path as a coordinate origin.
  • control method further comprises: after the automatic walking snow removal device finishes the snow removal path, the control module controls the walking module to return the automatic walking snow removal device to the starting position.
  • the generated snow removal path includes a plurality of, and the final snow removal path may be determined by a user selection or a system default manner.
  • An automatic walking snow removal device comprising:
  • a walking module for driving an automatic walking snow removal device to walk on the ground
  • An energy module for providing energy to the working module and the walking module of the automatic walking snow removing device
  • control module is configured to control the automatic walking snow removal device working module and the walking module;
  • the automatic walking snow removal device further comprises a heating and heat preservation device, wherein the heating and heat preservation device can repeatedly heat and exchange at least part of the energy module and the control module Keep at the preset temperature.
  • the heating and heat preservation device comprises an electric heating and heat insulating material at least partially covering a main body casing of the automatic walking snow removing device.
  • the electric heating and heat insulating material is electrically heated when the automatic walking and snow removing device replenishes energy, and is insulated when the automatic walking and snow removing device works.
  • the heating and heat preservation device comprises an electric heating and heat insulating material at least partially covering an energy module and a control module of the automatic walking snow removing device.
  • An automatic walking snow removal device comprising:
  • a walking module for driving an automatic walking snow removal device to walk on the ground
  • An energy module for providing energy to the working module and the walking module of the automatic walking snow removing device
  • control module is configured to control the working module and the walking module of the automatic walking snow removing device, so as to automatically Walking equipment walks and works within preset boundaries;
  • the automatic walking and snow removing device further includes a positioning navigation module, and the control module generates a snow removal path according to the preset boundary map and coordinate data provided by the positioning navigation module to control the automatic walking snow removal device to walk along the snow removal path.
  • the map of the preset boundary is formed by continuous coordinates formed by the positioning navigation module walking one circle along the boundary of the working area.
  • the preset boundary is an energized wire disposed along a boundary of the working area.
  • the positioning navigation module is a GPS positioning navigation module
  • the automatic walking snow removal further includes a detecting module, wherein the detecting module is configured to detect a relative positional relationship between the automatic walking snow removing device and the energized wire, the control module According to the information deadt detected by the detection module, the relative coordinates of the automatic walking snow removal device are calculated, and the absolute positioning and error elimination are performed according to the coordinates of the GPS positioning navigation module, and the continuous coordinate arrangement of the automatic walking snow removal device along the energized wire is obtained.
  • a map of preset boundaries is a map of preset boundaries.
  • the positioning navigation module is configured as an ultra-wideband positioning module, and at least two ultra-wideband tags are disposed inside or outside the preset boundary, and the ultra-wideband positioning module calculates the automatic walking snow removal by using the at least two ultra-wideband tags.
  • the relative coordinates of the two positions of the device, the ultra-wideband positioning module is formed along the boundary of the working area, and two consecutive relative coordinates are formed with respect to the two ultra-wideband tags, and two consecutive relative coordinates constitute the preset Map of the borders.
  • the map of the preset boundary is generated by artificially delimiting and importing the control module on the electronic map.
  • the automatic walking and snow removing device further comprises a detecting module, wherein the detecting module is configured to automatically walk the inclination of the snow removing device, and the positioning navigation module is capable of recording each time when the automatic walking and snow removing device walks along a preset area.
  • the coordinate values of the points the detection module records the inclination value of each point, and the control module generates a map of the boundary of the 3D form according to the coordinate value and the inclination value.
  • the snow removal path removes snow in one direction or reciprocates in a direction parallel to the direction in which the road extends.
  • the snow removal path removes snow in one direction or reciprocates in a direction perpendicular to the direction in which the road extends.
  • the snow removal path comprises at least one pile snow spot.
  • the snow removal path comprises a fixed snow throwing direction.
  • the map of the preset boundary includes at least two different regions, and the control module is capable of executing different control modes according to the tags of different regions.
  • the at least two different regions include at least one snow removal region, and one or more of a junction region, a grass region, an island region, and a narrow channel region.
  • control module requires snow removal in the default snow removal area, snow removal is not required in the island area, and snow removal is optional in other areas.
  • the at least two different regions comprise at least two snow removal regions and a connection channel region between the two snow removal regions.
  • control module requires snow removal in the default snow removal area, and the connection channel area may select snow removal.
  • the automatic walking and snow removing device further comprises a work alarm device, the automatic walking snow removal device enters a setting area and/or reaches a preset alarm time, and the control module controls the work alarm device to issue an alarm.
  • An automatic walking snow removal device comprising:
  • a walking module for driving an automatic walking snow removal device to walk on the ground
  • An energy module for providing energy to the working module and the walking module of the automatic walking snow removing device
  • control module is configured to control the working module and the walking module of the automatic walking snow removing device, so that the automatic walking device walks and works in a preset area;
  • the automatic walking and snow removing device further includes a detecting module, wherein the detecting module is configured to detect an energy value of the energy module, and feed back the energy value information to the control module, and when the energy value detected by the detecting module reaches or falls below a preset value, The control module controls the automatic walking snow removal device to walk to a preset location to supplement energy.
  • the energy module includes a rechargeable battery and a charging connection structure
  • the working module and the charging connection structure are respectively disposed on the front and rear sides of the automatic walking and snow removing device, and the direction of the walking of the automatic walking snow removing device is forward In the direction, the automatic walking snow removing device travels to a preset position in a reverse direction opposite to the forward direction, and can dock the charging connection structure with the charging structure of the preset location.
  • the energy module comprises a rechargeable battery and a wireless charging receiving device
  • the wireless charging receiving device is disposed at a bottom of the automatic walking and snow removing device
  • the preset location is provided with a wireless charging transmitting device
  • the rechargeable battery Charging is achieved by docking the wireless charging receiving device and the wireless charging transmitting device.
  • the preset value of the energy value includes at least two, and the control module controls the path of the automatic walking snow removal device to return to the preset location according to the preset value of the energy value detected by the detecting module being lower or lower than the preset value.
  • the control module controls the path of the automatic walking snow removal device to return to the preset location according to the preset value of the energy value detected by the detecting module being lower or lower than the preset value.
  • the preset value includes a first preset value and a second preset value
  • the detected module detects that the energy value reaches or falls below a first preset value
  • the control module controls the automatic walking snow removal device along the edge
  • the preset snow removal path travels back and controls the working module to perform snow removal, and the detected energy value of the detecting module reaches or falls below a second preset value, and the control The module controls the automatic walking snow removal device to walk back along the path that has completed the snow removal.
  • An automatic walking snow removal device comprising:
  • a walking module for driving an automatic walking snow removal device to walk on the ground
  • An energy module for providing energy to the working module and the walking module of the automatic walking snow removing device
  • control module is configured to control the working module and the walking module of the automatic walking snow removing device, so that the automatic walking snow removing device walks and works in a preset area;
  • the control module is capable of generating a snow removal path according to the preset area, and controlling the automatic walking snow removal device to travel to the preset location after the automatic walking snow removal device walks all the snow removal paths.
  • An automatic walking snow removal device comprising:
  • a walking module for driving an automatic walking snow removal device to walk on the ground
  • An energy module for providing energy to the working module and the walking module of the automatic walking snow removing device
  • control module is configured to control the automatic walking snow removal device working module and the walking module;
  • the working module comprises a working head mechanism that is actively coupled to the main body of the automatic walking snow removing device, and the working head mechanism is capable of removing snow relative to the automatic walking
  • the host motion of the device adjusts its distance from the ground.
  • the working head mechanism is provided with a roller device.
  • the roller device can be guided to drive the working head mechanism to move relative to the main body.
  • the automatic walking snow removing device further includes a working head mechanism height adjusting mechanism including a driving motor and a transmission mechanism connected between the driving motor and the working head mechanism, wherein the driving motor can be Control moves the working head mechanism relative to the main machine through the transmission mechanism.
  • a working head mechanism height adjusting mechanism including a driving motor and a transmission mechanism connected between the driving motor and the working head mechanism, wherein the driving motor can be Control moves the working head mechanism relative to the main machine through the transmission mechanism.
  • control module controls the driving motor to drive the working head mechanism to rise or fall relative to the main body according to a preset control mode.
  • An automatic walking snow removal device comprising:
  • a walking module for driving an automatic walking snow removal device to walk on the ground
  • An energy module for providing energy to the working module and the walking module of the automatic walking snow removing device
  • control module configured to control an automatic walking snow removal device working module and a walking module;
  • the block includes a work head mechanism for collecting snow on the ground and throwing the snow in one direction, the automatic walking snow removal device further comprising a snow throwing angle adjusting mechanism for adjusting a snow throwing direction, the snow throwing angle adjusting mechanism It is connected with the working head mechanism and the snow angle adjusting mechanism is adjusted according to the instruction of the control module to adjust the snow throwing direction.
  • control module adjusts the snow throwing direction according to the direction change instruction of the automatic walking snow removal device.
  • the automatic walking and snow removing device further includes an obstacle detecting device, configured to detect a person or an object within a predetermined range of the snow throwing direction, and the control module throws snow according to a signal command detected by the obstacle detecting device.
  • the angle adjustment mechanism adjusts the direction of snow throwing.
  • the working head mechanism comprises a snow throwing cylinder
  • the snow throwing angle adjusting mechanism comprises a steering motor and a transmission mechanism connected between the steering motor and the snow throwing cylinder, and the steering motor can be controlled to be driven by the transmission mechanism
  • the cone rotates to change the direction of snow throwing.
  • An automatic snow removal system comprising:
  • An automatic walking snow removing device and a remote control device for controlling the operation of the automatic walking snow removing device, the automatic walking snow removing device comprising:
  • a walking module for driving an automatic walking snow removal device to walk on the ground
  • An energy module for providing energy to the working module and the walking module of the automatic walking snow removing device
  • control module is configured to control an automatic walking snow removal device working module and a walking module
  • the automatic walking and snow removing device further includes a monitoring module and a communication module.
  • the monitoring module is configured to monitor an environment around the automatic walking snow removing device
  • the communication module is configured to transmit the information monitored by the monitoring module to the remote control device, and receive a signal sent by the remote control device and transmit the signal to the control module.
  • the control module controls the walking module and the working module according to the signal received by the communication module.
  • An automatic snow removal system comprising:
  • An automatic walking snow removing device and a remote control device for controlling the operation of the automatic walking snow removing device, the automatic walking snow removing device comprising:
  • a walking module for driving an automatic walking snow removal device to walk on the ground
  • An energy module for providing energy to the working module and the walking module of the automatic walking snow removing device
  • control module is configured to control an automatic walking snow removal device working module and a walking module
  • a communication module configured to receive a signal sent by the remote control device and transmit the signal to the control module;
  • the remote control device includes an operation panel for inputting/outputting information, and the control module is capable of receiving the user according to the communication module
  • the size information of the work area input on the remote control device automatically generates a snow removal path, and controls the walking module and the working module according to the generated snow removal path.
  • the automatic walking and snow removing device further includes a detecting module, configured to detect a walking direction of the automatic walking snow removing device and transmit the detected direction data to the control module, and the control module receives the direction data according to the received data.
  • the direction data of the path is compared, and when the two data are inconsistent, the walking module is controlled to adjust the walking direction.
  • the detection module comprises an electronic compass or a gyroscope.
  • the automatic walking snow removal is set as a coordinate origin along a starting position of the snow removal path
  • the control module calculates a walking distance of the automatic walking snow removing device according to the walking speed and the walking time of the walking module, and when the walking distance reaches the input working area
  • the size of the control is to control the steering of the walking module.
  • the operation panel of the remote control device can input the walking information of the automatic walking snow removal device, and the control module controls the walking module according to the walking signal output by the remote control device received by the communication module.
  • the control module generates a snow removal path according to the size information of the input work area
  • the control module controls the working module and the walking module to remove snow along the generated snow removal path.
  • control method further comprises setting the automatic walking and snow removing device along a starting position of the snow removal path as a coordinate origin.
  • control method further comprises: after the automatic walking snow removal device finishes the snow removal path, the control module controls the walking module to return the automatic walking snow removal device to the starting position.
  • the generated snow removal path includes a plurality of, and the final snow removal path may be determined by a user selection or a system default manner.
  • An automatic snow removal system comprising:
  • Automatic walking snow removal device and monitoring device for monitoring operation of automatic walking snow removal device said automatic walking snow removal device include:
  • a walking module for driving an automatic walking snow removal device to walk on the ground
  • An energy module for providing energy to the working module and the walking module of the automatic walking snow removing device
  • control module is configured to control an automatic walking snow removal device working module and a walking module
  • the automatic walking and snow removing device further includes a communication module.
  • the communication module is configured to transmit information monitored by the monitoring module to the control module,
  • the control module controls the walking module and the working module according to the signal received by the communication module.
  • An automatic snow removal system comprising:
  • An automatic walking snow removing device and a boundary for limiting a working area of an automatic walking snow removing device comprising:
  • a walking module for driving an automatic walking snow removal device to walk on the ground
  • An energy module for providing energy to the working module and the walking module of the automatic walking snow removing device
  • control module is configured to control an automatic walking snow removal device working module and a walking module
  • the limit can be set to a plurality of indicia, the indicia of the control module boundary performing a control mode corresponding to the indicia.
  • control modes corresponding to the plurality of tags include walking along a preset path and a snow removal mode, walking along a preset path, and a snow removal mode according to a preset height, without one or more of the snow removal modes.
  • An automatic snow removal system comprising:
  • An automatic walking snow removing device and a docking station for automatically moving the snow removing device to park or replenish energy, the automatic walking snow removing device includes:
  • a walking module for driving an automatic walking snow removal device to walk on the ground
  • An energy module for providing energy to the working module and the walking module of the automatic walking snow removing device
  • control module is configured to control an automatic walking snow removal device working module and a walking module
  • the docking station includes a door that is switchable between opening and closing, the door being capable of moving with automatic walking
  • the snow equipment enters the docking station and is closed to enclose the automatic walking snow removal device in the docking station.
  • the door is held in an open state by a biasing mechanism, and the movement of the automatic walking snow removing device into the docking station can reverse the pressure of the biasing mechanism to cause the door to switch to the closed state.
  • the docking station is provided with a detecting device and an automatic control device for controlling opening and closing of the door, the detecting device detects movement of the automatic walking snow removing device in the direction of the docking station, and the automatic control device controls the door to open for Automatic walking snow removal equipment enters.
  • An automatic snow removal system comprising:
  • An automatic walking snow removing device and a docking station for automatically moving the snow removing device to park or replenish energy, the automatic walking snow removing device includes:
  • a walking module for driving an automatic walking snow removal device to walk on the ground
  • An energy module for providing energy to the working module and the walking module of the automatic walking snow removing device
  • control module is configured to control an automatic walking snow removal device working module and a walking module
  • the docking station includes a base and an outer cover connected to the base, the outer cover is provided with a snow sweeping device, and the snow sweeping device can be triggered to clear the automatic walking when the automatic walking snow removal device enters the docking station Snow on top of the snow removal equipment.
  • the snow sweeping device comprises a roller brush disposed at an edge of the outer cover, the roller brush being rotatable about an axis parallel to the ground.
  • the snow sweeping device comprises a plurality of rows of brushes disposed at an edge of the outer cover, the plurality of rows of brushes being rotatable about an axis that is at an angle to the ground.
  • An automatic snow removal system comprising:
  • An automatic walking snow removing device and a docking station for automatically moving the snow removing device to park or replenish energy, the automatic walking snow removing device includes:
  • a walking module for driving an automatic walking snow removal device to walk on the ground
  • An energy module for providing energy to the working module and the walking module of the automatic walking snow removing device
  • control module is configured to control an automatic walking snow removal device working module and a walking module
  • the docking station includes a base and an outer cover connected to the base, and the docking station further includes a heating and warming device for heating and holding the automatic walking device entering the docking station.
  • the heating and heat preservation device comprises one or more of a heat blower, an electric furnace, and an electric heater.
  • the heating and heat preservation device comprises an electric heating and heat insulating material disposed on an outer side wall or an outer cover or a bottom of the docking station.
  • the electrically heated insulating material constructs a carbon crystal warming material, and the carbon crystal warming material is embedded in the bottom of the base.
  • a docking station for berthing or replenishing energy of an automatic walking device comprising: a base and an outer cover connected to the base, the outer cover being switchable between opening and closing with respect to the base, The outer cover is closed as the autonomous walking device enters the docking station to enclose the autonomous walking device in the docking station.
  • the outer cover is maintained in an open state by a biasing mechanism, and the movement of the automatic walking snow removing device into the docking station can overcome the pressing force of the biasing mechanism to switch the outer cover to the closed state.
  • the docking station is provided with a detecting device and an automatic control device for controlling the opening and closing of the cover, the detecting device detects the movement of the automatic walking and snow removing device to the docking station, and the automatic control device controls the outer cover Open for automatic walking and snow removal equipment to enter.
  • a docking station for berthing or replenishing energy of an automatic walking device comprising: a base and an outer cover connected to the base, the docking station further comprising a heating and holding device, wherein the heating and holding device is used to enter the The automatic walking equipment of the stop station is heated and insulated.
  • the heating and heat preservation device comprises one or more of a heat blower, an electric furnace, and an electric heater.
  • the heating and heat preservation device comprises an electric heating and heat insulating material disposed on an outer side wall or an outer cover or a bottom of the docking station.
  • the electrically heated insulating material constructs a carbon crystal warming material, and the carbon crystal warming material is embedded in the bottom of the base.
  • a docking station for berthing or replenishing energy of an automatic walking device comprising: a base and an outer cover connected to the base, the outer cover being provided with a snow removing device, wherein the snow removing device is capable of automatically walking
  • the device enters the docking station and is triggered to clear the snow on top of the self-propelled snow removal device.
  • the snow sweeping device comprises a roller brush disposed at an edge of the outer cover, the roller brush being rotatable about an axis parallel to the ground.
  • the snow sweeping device comprises a plurality of rows of brushes disposed at an edge of the outer cover, the plurality of rows of brushes being rotatable about an axis that is at an angle to the ground.
  • a self-moving device control method wherein a steerable parabolic device and a plurality of obstacle sensors respectively corresponding to different detection positions are disposed on the mobile device, the method comprising: receiving signals of the plurality of obstacle sensors; The signal of the received obstacle sensor determines whether the obstacle sensor corresponding to the current parabolic direction detects an obstacle; when the obstacle sensor corresponding to the current parabolic direction detects the obstacle, the parabolic device is controlled to turn, so that the parabolic direction The obstacle is not detected and is the direction of the unprocessed area of the mobile device.
  • the step of setting the parabolic direction to an undetected obstacle and being the direction of the unprocessed area of the mobile device comprises:
  • an obstacle sensor does not detect an obstacle, determining whether a direction corresponding to the obstacle sensor that does not detect the obstacle points to the unprocessed area of the mobile device;
  • the direction corresponding to the obstacle sensor that does not detect the obstacle points to the area that has been processed by the mobile device, continue to judge until it is determined that one of the obstacle sensors does not detect the obstacle and is associated with the obstacle sensor
  • the corresponding direction points to the unprocessed area of the mobile device and sets the corresponding direction to the parabolic direction.
  • the method further comprises: if all the obstacle sensors detect the obstacle, or the direction corresponding to the obstacle sensor that does not detect the obstacle is the direction of the area that has been processed by the mobile device, Then, after the preset time of the self-mobile device is stopped, the step of determining whether the obstacle sensor corresponding to the current parabolic direction detects the obstacle according to the received signal of the obstacle sensor is continuously performed.
  • the self-moving device is stopped for a preset time, all the obstacle sensors detect the obstacle, or the direction corresponding to the obstacle sensor that does not detect the obstacle is that the self-mobile device has processed
  • the direction of the area is controlled, and after the preset distance is retreated from the mobile device, the walking path of the self-mobile device is re-planned.
  • the method further includes:
  • the parabolic direction is set to a direction corresponding to the obstacle sensor in which the obstacle is not detected.
  • the self-mobile device is a snowplow.
  • the obstacle sensor is an ultrasonic sensor.
  • the present invention also provides a self-moving device control system, wherein the mobile device is provided with a steerable parabolic device and a plurality of obstacle sensors respectively corresponding to different detection positions, the system comprising:
  • a signal receiving module receiving signals of the plurality of obstacle sensors
  • a signal processing module wherein an input end of the signal processing module is connected to an output end of the signal receiving module, and the signal processing module is configured to determine, according to the received signal of the obstacle sensor, whether the obstacle sensor corresponding to the current parabolic direction is An obstacle is detected;
  • the input end of the signal output module is connected to an output end of the signal processing module, and the signal output module is configured to turn the parabolic device when an obstacle sensor corresponding to the current parabolic direction detects an obstacle
  • the parabolic direction is such that no obstacle is detected and is the direction of the unprocessed area of the mobile device.
  • the signal processing module includes: an obstacle sensor determining unit, wherein an input end of the obstacle sensor determining unit is connected to an output end of the signal receiving module, and the obstacle sensor determining unit is configured to determine the current parabola Whether the obstacle sensor other than the obstacle sensor corresponding to the direction detects the obstacle; the area determining unit, the input end of the area determining unit is connected to the output end of the obstacle sensor determining unit, and the area determining unit is used for When the obstacle sensor does not detect the obstacle, it is judged whether the direction corresponding to the obstacle sensor to which the obstacle is not detected points to the unprocessed area of the mobile device.
  • the signal output module is further configured to detect an obstacle at all obstacle sensors, or the direction corresponding to the obstacle sensor that does not detect the obstacle is the area of the self-mobile device that has been processed. In the direction, after controlling the self-mobile device to stop for a preset time, it is determined whether the obstacle sensor corresponding to the current parabolic direction detects an obstacle according to the received signal of the obstacle sensor.
  • the self-mobile device when stopped for a preset time, all obstacle sensors detect an obstacle, or a direction corresponding to the obstacle sensor that does not detect the obstacle is that the self-mobile device has processed
  • the direction of the area is controlled, and after the preset distance is retreated from the mobile device, the walking path of the self-mobile device is re-planned.
  • the obstacle sensor is an ultrasonic sensor.
  • the self-mobile device is a snowplow.
  • the invention also provides a snow throwing method, comprising the steps of:
  • the snow throwing direction is adjusted such that the difference in angle between the snow throwing direction and the wind direction is within a predetermined range.
  • the step of making the difference in the angle between the snow throwing direction and the wind direction within a predetermined range comprises adjusting the snow throwing direction to coincide with the wind direction.
  • the adjusting the snow throwing direction is: rotating the snow throwing mechanism to change the snow throwing direction.
  • the snow throwing method further comprises the following steps:
  • the step of adjusting the snow throwing direction to make the difference between the snow throwing direction and the wind direction within a predetermined range is determined, and the determination is no, and the snow throwing direction is kept unchanged.
  • maintaining the snow throwing direction unchanged comprises: increasing an initial speed when the snow is thrown, and maintaining the snow throwing direction unchanged.
  • the step of obtaining the wind direction of the wind when throwing snow includes:
  • the wind direction of the maximum wind force is taken as the wind direction of the wind when throwing snow.
  • the snow throwing method further comprises the steps of:
  • the wind direction of the maximum wind force is taken as the wind direction of the wind when throwing snow.
  • one wind direction is arbitrarily selected or no wind direction is selected as the wind direction of the wind when the snow is thrown.
  • the invention also provides a snow throwing system, comprising:
  • Wind direction acquisition module for obtaining the wind direction of the wind when throwing snow
  • a snow throwing direction detecting module for obtaining a current snow throwing direction
  • An angle determining module configured to obtain an angle difference between the wind direction and a snow throwing direction
  • the snow throwing direction control module is configured to adjust the snow throwing direction so that the angle difference between the snow throwing direction and the wind direction is within a predetermined range.
  • the adjusting the snow throwing direction so that the angle difference between the snow throwing direction and the wind direction is within a predetermined range comprises: adjusting the snow throwing direction to be consistent with the wind direction.
  • the adjusting the snow throwing direction is: rotating the snow throwing mechanism to change the snow throwing direction.
  • the wind direction obtaining module is further configured to: acquire wind power after the wind direction is changed; and determine whether the wind power exceeds a predetermined threshold.
  • the snow throwing direction control module is further configured to: increase an initial speed when the snow is thrown, and maintain the snow throwing direction constant.
  • the wind direction acquisition module is further configured to:
  • the wind direction of the maximum wind force is taken as the wind direction of the wind when throwing snow.
  • the wind direction acquisition module is further configured to:
  • the wind direction of the maximum wind force is taken as the wind direction of the wind when throwing snow.
  • one wind direction is arbitrarily selected as the wind direction of the wind when the snow is thrown.
  • an automatic walking snow removal device which throws snow or inclusions without causing harm to people or objects, that is, an automatic walking snow removing device with safe energy for throwing objects.
  • an automatic walking snow removal device includes: a walking module that drives the snow removal device to move; a working module, including a working motor and a snow throwing mechanism driven by the working motor, the snow throwing mechanism collects the ground under the driving of the working motor The snow and the inclusions are thrown out of the snow throwing mechanism; the control module is configured to control the speed of the working motor so that the speed of the inclusions away from the snow throwing mechanism is not higher than 41 m/s.
  • the speed of the inclusions leaving the snow throwing mechanism is not higher than 20 m/s.
  • the speed at which the inclusions leave the snow throwing mechanism is 17.8 m/s ⁇ 1 m/s.
  • the speed at which the inclusions leave the snow throwing mechanism is 16.8 m/s ⁇ 1 m/s.
  • the speed at which the inclusions leave the snow throwing mechanism is 14.2 m/s ⁇ 1 m/s.
  • the speed at which the inclusions leave the snow throwing mechanism is 12.5 m/s ⁇ 1 m/s.
  • an automatic walking snow removal device in which thrown snow or inclusions do not cause harm to people or objects, that is, an automatic walking snow removing device in which the throwing object has a safe energy.
  • an automatic walking snow removal device includes: a walking module that drives the snow removal device to move; a working module, including a working motor and a snow throwing mechanism driven by the working motor, the snow throwing mechanism collects the ground under the driving of the working motor The snow and the inclusions are thrown out of the snow throwing mechanism; the control module is configured to control the rotational speed of the working motor so that the impulse of the inclusions away from the snow throwing mechanism is not higher than 0.041 Kg ⁇ m/s.
  • the impulse of the inclusions when leaving the snow throwing mechanism is not higher than 0.02 Kg ⁇ m/s.
  • the impulse when the inclusions leave the snow throwing mechanism is 0.0178 Kg ⁇ m/s ⁇ 0.001 Kg ⁇ m/s.
  • the impulse when the inclusions leave the snow throwing mechanism is 0.01168 Kg ⁇ m/s ⁇ 0.001 Kg ⁇ m/s.
  • the impulse when the inclusions leave the snow throwing mechanism is 0.0142 Kg ⁇ m/s ⁇ 0.001 Kg ⁇ m/s.
  • the impulse when the inclusions leave the snow throwing mechanism is 0.0125 Kg ⁇ m/s ⁇ 0.001 Kg ⁇ m/s.
  • the snow throwing mechanism comprises a snow scraping assembly rotating about a central axis, the working motor driving the component to rotate to collect snow and inclusions on the ground to the snow throwing mechanism, the maximum line of the snow scraping assembly The speed is not higher than 41m/s.
  • the radius of the snow scraping assembly is no more than 0.085 m, and the speed of the snow scraping assembly is not more than 2000 r/min.
  • the speed of the snow scraping assembly is from 2000 r/min to 1400 r/min.
  • the radius of the snow scraping assembly is no more than 0.1 m, and the speed of the snow scraping assembly is no more than 1600 r/min.
  • the present invention also provides a snow removing device capable of automatically avoiding obstacles for snow throwing, the snow removing device comprising: a working module configured to perform a specific work of the snow removing device, including a snow throwing guide assembly, guiding the working module toward the throwing The snow component throws snow in the opposite direction; the walking module is configured to drive the snow removing device to move on the ground; the detecting module includes an obstacle sensing component, and detects whether there is an obstacle in the external environment where the snow removing device is located; the control module, the configuration The working module and the walking module are controlled according to the signal transmitted by the detecting module so that the working module does not throw snow in the direction of the obstacle.
  • the guiding of the snow throwing guide assembly is adjustable
  • the obstacle sensing component is configured to detect whether there is an obstacle in the direction of the snow guiding guide component
  • the control module determines that the snow throwing component is positive according to the signal transmitted by the obstacle sensing component.
  • the snow throwing guide is controlled to change the orientation.
  • the obstacle sensing component is further configured to detect whether there are obstacles in other directions in the external environment in which the snow removing device is located, and the control module controls the snow throwing guiding component according to the signal transmitted by the obstacle sensing component.
  • the orientation is oriented so that it faces the direction of the obstacle-free area.
  • the detecting module further comprises a ground state identifying component, the ground state identifying component identifies a snow removal state of the ground where the snow removing device is located, and the control module controls the signal transmitted according to the ground state identifying component and the obstacle sensing component.
  • the snow throwing guide changes the orientation so that it faces the direction in which the unobstructed area is not removed.
  • the obstacle sensing component is configured to detect whether there is an obstacle in a direction opposite to the snow throwing guide component, and the control module determines, according to the signal transmitted by the obstacle sensing component, when there is an obstacle in the direction of the snow throwing guiding component, the control station
  • the snow removal device is stopped for a preset time, and then it is determined again whether there is an obstacle in the direction of the snow guiding guide component.
  • the determination result is no, the snow removing device is controlled to continue working.
  • control module re-plans the walking path of the snow removing device when it is determined that there is an obstacle in the direction in which the snow throwing guide assembly faces.
  • the present invention also provides a snow removing device capable of intelligently adjusting a snow throwing direction, the snow removing device comprising: a working module configured to perform a specific work of the snow removing device, including a snow throwing guide assembly, guiding the working module toward the snow throwing Component is positive Snow throwing in the opposite direction, the guiding of the snow throwing guide assembly is adjustable; the walking module is configured to drive the snow removing device to move on the ground; and the detecting module is configured to detect environmental parameters of the external environment in which the snow removing device is located and/or Or an internal parameter of the snow removing device; and a control module configured to control the snow guiding component to change the guiding according to the signal transmitted by the detecting module.
  • the environmental parameter includes a wind direction
  • the control module controls, according to a signal transmitted by the detecting module, an angular difference between a facing direction of the snow throwing guide component and the wind direction within a predetermined range.
  • the environmental parameter includes whether there is an obstacle in the direction of the snow throwing guide component
  • the control module controls the snow throwing guide component to change the guide when determining that there is an obstacle in the direction of the snow throwing guide component according to the signal transmitted by the detecting module.
  • the automatic walking and snow removing device of the invention does not need the operator to operate in person when the work is performed, and does not need the operator to monitor all the time, has the automatic working ability, saves manpower, and can quickly remove the snow after the snow, thereby facilitating people to travel.
  • Figure 1 is a front elevational view of an automatic walking snow removal apparatus in a preferred first embodiment of the present invention
  • Figure 2 is a plan view of the automatic walking snow removal device of Figure 1;
  • Figure 3 is a system frame diagram of the automatic walking snow removal device of Figure 1;
  • Figure 4 is a schematic view showing the floating of the snow throwing head of the automatic walking snow removing device of Figure 1;
  • Figure 5 is a schematic view showing the rotation of the snow throwing pipe of the snow throwing head of the automatic walking snow removing device of Figure 1;
  • Figure 6 is a top plan view showing the rotation of the snow throwing pipe of the snow throwing work head of Figure 5;
  • Figure 7 is a system frame diagram of the automatic walking and snow removing device of Figure 1 for automatic operation;
  • Figure 8 is a snow removal path diagram of the automatically working snow blower of Figure 7;
  • Figure 9 is another snow removal path diagram of the automatically working snow blower of Figure 7;
  • Figure 10 is still another snow removal path diagram of the automatically working snow blower of Figure 7;
  • Figure 11 is a system frame diagram of a snow blower in a preferred second embodiment of the present invention.
  • Figure 12 is a schematic view of the snow removing system of the snow blower and the limit and stop station of Figure 11;
  • FIG 13 is a schematic view of the docking station of Figure 12, at which time the snow blower does not enter the docking station;
  • FIG 14 is a schematic view of the docking station of Figure 12, at which time the snow blower enters the docking station and is charged by electrode docking;
  • FIG 15 is a schematic view of the docking station of Figure 12, at which time the snow blower enters the docking station and is wirelessly charged;
  • Figure 16 is a schematic view showing one of the solutions of the snow removing device provided in the docking station of Figure 12;
  • Figure 17 is a schematic view showing another arrangement of the snow removing device in the docking station of Figure 12;
  • Figure 18 is a schematic view showing a first embodiment of a snow blower setting snow detecting device in a preferred second embodiment of the present invention.
  • Figure 19 is a schematic view showing a second embodiment of a snow blower setting snow detecting device in a preferred second embodiment of the present invention.
  • Figure 20 is a schematic view showing a third embodiment of the snow blower setting snow detecting device in a preferred second embodiment of the present invention.
  • Figure 21 is a schematic view showing a fourth aspect of the snow blower setting snow detecting device in a preferred second embodiment of the present invention.
  • FIG. 22 is a schematic diagram of the snow remover of FIG. 12 adopting a navigation and positioning manner to set a work area;
  • Figure 23 is a schematic view of the working area of the snow blower of Figure 22;
  • Figure 24 is a schematic view of the snow remover of Figure 12 employing a detachable positioning navigation device
  • Figure 25 is a system frame diagram of the positioning and navigation device of the snow blower of Figure 24;
  • Figure 26 is a schematic view of the environment surrounding the house of the user who needs to remove snow;
  • Figure 27 is a schematic illustration of a work area generated in accordance with the environment surrounding the house of Figure 26;
  • Figure 28 is a schematic view showing the setting of a special area of the environment around the house in Figure 26;
  • Figure 29 is a schematic illustration of a snow removal path set according to the work area of Figure 27;
  • Figure 30 is a schematic view showing the first path of the snow removing mode of the snow blower in the preferred embodiment of the present invention, which is snow throwing and snow throwing;
  • Figure 31 is a schematic view showing a second path of the snow removing mode of the snow blower in the preferred embodiment of the present invention, which is snow throwing and snow throwing;
  • FIG. 32 is a schematic view showing a first path of snow sweeping when the snow removal mode of the snow blower in the preferred embodiment of the present invention is snow sweeping;
  • FIG. 33 is a schematic view showing a second path of the snow removal mode of the snow blower in the preferred embodiment of the present invention for snow sweeping and snow sweeping;
  • Figure 34 is a schematic view showing a third path of the snow removal mode of the snow blower in the preferred embodiment of the present invention for snow sweeping and snow sweeping;
  • Figure 35 is a schematic view showing the first path of the snow removing mode of the snow blower in the preferred embodiment of the present invention for pushing snow and pushing snow;
  • 36 is a schematic view showing a second path of the snow removing mode of the snow blower in the preferred embodiment of the present invention for pushing snow and pushing snow;
  • FIG. 37 is a schematic view showing a third path of the snow removal mode of the snow blower in the preferred embodiment of the present invention for pushing snow and pushing snow;
  • Figure 38 is a schematic view showing a change in the inclination state in the slope of the snow blower in a preferred embodiment of the present invention.
  • Figure 39 is a schematic illustration of a first path of regenerative charging of a snow blower in a preferred second embodiment of the present invention.
  • Figure 40 is a schematic view showing a second path of regenerative charging of a snow blower in a preferred second embodiment of the present invention.
  • 41 is a schematic diagram of a grid map of the snow remover of FIG. 22 using a closed loop boundary line to generate a work area, and the map is represented by a grid;
  • Figure 42 is a running diagram of the snow blower along the boundary in Figure 41, by which the size and parameters of the map are determined;
  • FIG. 43 is a storage unit address map of the snow blower of FIG. 41, showing a mapping relationship between map data and a storage unit address;
  • FIG. 44 is a schematic diagram showing the principle of using the UWB ultra-wideband to generate a working area in the snow remover of FIG. 22;
  • FIG. 45 is a schematic diagram showing the principle of a UWB ultra-wideband positioning system of the snow blower of FIG. 22 having two ultra-wideband tags;
  • Figure 46 is a schematic diagram showing the principle of having three ultra-wideband tags in the UWB ultra-wideband positioning system of the snow blower of Figure 22;
  • Figure 47 is a schematic view showing the principle of ultra-wideband ranging by the snow blower of Figure 22;
  • FIG. 48 is a schematic diagram showing the positioning principle of the Trilaterate algorithm for ultra-wideband ranging
  • FIG. 49 is a schematic diagram of a snow remover according to a preferred third embodiment of the present invention for generating a map of a work area by means of remote image extraction;
  • Figure 50 is a schematic view of the snow blower generating work area map of Figure 49;
  • Figure 51 is a schematic view showing the boundary setting of the snow remover of the preferred fourth embodiment of the present invention using a three-dimensional polar coordinate scheme
  • Figure 52 is a schematic diagram of laser ranging and angle measurement of the snow blower of Figure 51 through a three-dimensional polar coordinate scheme
  • FIG. 53 is a schematic diagram of the snow blower of FIG. 51 tracking a frame image of a snow blower feature mark through a three-dimensional polar coordinate scheme;
  • Figure 54 is a schematic view showing a first solution of the satellite signal reception failure of the snow blower in a preferred embodiment of the present invention.
  • Figure 55 is a front elevational view showing the snow removal machine installation snow removal work head in a preferred embodiment of the present invention.
  • Figure 56 is a front elevational view of the snow blower mounting snow pushing head in a preferred embodiment of the present invention.
  • Figure 57 is a plan view of the snow blower of Figure 56;
  • Figure 58 is a schematic view showing the automatic identification work head of the snow blower in a preferred embodiment of the present invention.
  • Figure 59 is a schematic view showing the heat preservation scheme of the snow blower main body in a preferred embodiment of the present invention.
  • Figure 60 is a schematic view showing an insulation scheme of an important module in a snow blower main body in a preferred embodiment of the present invention.
  • Figure A1 is a schematic diagram of a method for controlling a self-mobile device in an embodiment
  • Figure A2 is a schematic diagram of a self-mobile device in an embodiment
  • Figure A3 is a process flow diagram of step S106 in the embodiment of Figure A1;
  • Figure A4 is a flowchart of another process of step S106 in the embodiment of Figure A1;
  • Figure A5 is a process flow diagram of the step of controlling the preset time from the mobile device to stop in the embodiment shown in Figure A4;
  • Figure A6 is a schematic structural diagram of a self-mobile device control system in an embodiment
  • Figure B1 is a schematic flow chart of a snow throwing method according to an embodiment
  • Figure B2 is a structural block diagram of a snow throwing system of an embodiment
  • the automatic walking snow removing device may be an automatic snow thrower, an automatic throwing/snowing machine, an automatic pushing/shoveling machine, a combination thereof, etc., which automatically walk on the ground or surface of the work area, Snow removal, snow throwing, or snow pushing, etc., can also be considered as a snow removal machine with automatic working ability. It means that when the snow removal machine is working on snow removal, it does not need the user to operate it personally. It does not need the user to remotely control or monitor all the time. The user only needs to complete the relevant settings, and can perform other work. The snow remover automatically executes the relevant procedures.
  • a preferred first embodiment of the automatic walking snow removing apparatus is an automatic snow throwing machine, and the automatic snow throwing machine, the automatic snow throwing machine, and the automatic snow throwing machine are collectively referred to as a snow removing machine.
  • the snow remover for throwing snow includes a work module, a walking module, an energy module, a control module, a detection module, and the like.
  • the working module is used to perform a specific work task of the snow blower, and includes a snow throwing mechanism 140 and a working motor that drives the snow throwing mechanism 140 to work.
  • the snow throwing mechanism 140 here serves as a working head mechanism, and of course the working module further includes snow throwing.
  • the snow throwing mechanism 140 includes a snow scraping assembly 142, a snow throwing assembly 144, and a motor 146 that drives the snow scraping assembly 142 and the snow throwing assembly 144.
  • the scraping snow assembly 142 can be a spiral snow collecting wheel, such as The auger, the auger speed is preferably less than 100r/min, and optimally less than 50r/min, which can more effectively collect snow.
  • the snow throwing assembly 144 includes a snow throwing wheel 1442 and a snow throwing wheel 1444.
  • the snow throwing wheel 1442 may be a centrifugal fan. The snow collecting wheel is rotated in the direction of the arrow shown to collect the snow into a cavity, and the centrifugal fan in the cavity is utilized.
  • the centrifugal force at high speed rotation throws snow from the snow thrower 1444.
  • the speed of the snow thrower is preferably from 1000 to 5000 rpm, preferably from 2500 to 3500 rpm.
  • the snow scraping assembly 142 and the snow throwing assembly 144 may be driven by one motor or by different motors. As shown in the figure, a motor 146 drives the front end snow scraping assembly 142 through the transmission mechanism 148, and simultaneously drives the centrifugal fan to rotate.
  • the transmission mechanism 146 may be a bevel gear mechanism, a worm gear mechanism, or the like.
  • the detection module of the snow blower 100 may include two parts, one part for detecting the external environment of the snow blower 100, and may specifically include one or several of distance, angle, and orientation, or for detecting people, animals, and mobiles. Objects, obstacles, weather conditions (such as rain, snow, etc.) and other environmental conditions of the snow blower 100, including various environmental sensors, such as humidity sensors, temperature sensors, acceleration sensors, light sensors, etc., these sensors can help remove snow The machine 100 determines the working environment to execute the corresponding program. The other part is used to detect the internal parameters of the snow blower, such as the detection of the energy, the detection of the walking distance and so on.
  • the detection module needs to include an obstacle detection device.
  • the snow detecting position of the snow throwing cylinder 1444 is provided with an obstacle detecting sensor 1448, that is, the obstacle detecting sensor 1448 is used for real-time detection of whether there is a person, an animal or other obstacles in the snow throwing area
  • the obstacle detecting sensor 1448 may be an ultrasonic sensor, an infrared sensor, a laser sensor, or the like, and can automatically change the throw when the obstacle detecting sensor 1448 detects that there is an obstacle within a certain range of the snow throwing direction.
  • the snow throwing cylinder 1444 is rotatably sleeved on the outlet pipe of the snow throwing wheel 1442.
  • One side of the snow throwing cylinder 1444 is provided with a steering motor 1449, and a pair of gears are arranged between the steering motor 1449 and the snow throwing cylinder 1444.
  • the motor 1449 rotates the snow thrower 1446 through a pair of gears.
  • the steering and the rotational speed of the steering motor 1449 are controlled by the control module, and the control module can control the steering motor 1449 according to the signal detected by the obstacle detecting sensor 1448, and can also control the steering motor 1449 based on other conditions, such as changing the walking direction of the snow blower.
  • a control module is required to control the steering motor 1449 to drive the snow thrower 1444 to rotate to maintain the original snow throwing direction.
  • a roller device 162 is mounted on the working head mechanism.
  • two roller devices 162 are disposed, which are located along the working head mechanism.
  • the working head mechanism On both sides of the direction of the snow blower 100, when the snow blower 100 is walking on the ground, the working head mechanism can be supported, and due to the rolling support, the resistance of the main body 110 of the snow blower 100 to advance the working head mechanism is reduced, and energy is saved.
  • the working head mechanism is pivotally connected with the main body 110, when the snow removing machine 100 is walking on the uphill or downhill slope, the working head mechanism will rise or fall relative to the host 110 by the support of the roller device 162. At one angle, it is possible to prevent the working head mechanism from reaching the ground or from the ground and not completely removing the snow.
  • the distance of the working head mechanism relative to the ground in this embodiment may also be adjustable, that is, the working head mechanism may float.
  • the working head mechanism may float.
  • a driving motor can be disposed on the main body 110, and the working head mechanism is pivoted relative to the main body 110 by the driving motor, so that the distance of the working head mechanism relative to the ground can be adjusted.
  • the working head can be set to be movable up and down with respect to the main body, and the rotation of the working head can be realized by a driving motor driving the rotation-linear conversion mechanism.
  • the control of the drive motor can be realized by the control module, that is, the control module can adjust the distance of the working head relative to the ground by controlling the rotational speed of the drive motor, the timing of the steering and the rotation, and the like.
  • the walking module is used to drive the snow blower to walk on the ground or surface of the work area, and the walking module is comprised of the track travel assembly 180 and the travel motor 182 that drives the track travel assembly.
  • the crawler running assembly 180 mainly includes a driving wheel 184 connected to the traveling motor, a driven wheel 186, and a crawler belt 188 connected to the driving wheel and the driven wheel.
  • the crawler belt 188 and its corresponding driving wheel 184 and the driven wheel 186 are respectively disposed at two.
  • the traveling motor 182 is provided with two driving wheels 184 corresponding to the two sides, wherein the driving wheel 184 may be a front wheel or a rear wheel. Of course, it is not necessarily two drive wheels.
  • Each of the multiple drive wheels has motor control, so that it is more capable of walking in rain and snow, such as the four-wheel drive of a car.
  • the crawler belt 188 is preferably a rubber crawler belt, which has the characteristics of large traction force, small vibration, low noise, good wetland passing performance, no damage to the road surface, high speed and small quality, and the rubber crawler can improve the driving performance of the machine and expand the working range of the machine. In addition, it has the advantages of flexible steering and strong ability to pass on complex terrain.
  • the walking module can also consist of a wheel set mounted on the snow blower and a travel motor that drives the wheel set.
  • the wheel set includes a driving wheel connected to the traveling motor and an auxiliary wheel mainly serving as an auxiliary supporting.
  • the number of the driving wheels is two, and the driving wheel is located at the rear of the snow removing machine, and at least one driving wheel is connected with a traveling motor, and the number of the auxiliary wheels is one. Or two, located at the front of the snow blower.
  • crawler walking has a large supporting area and a small grounding pressure. It is suitable for working in soft or muddy fields, with small sag, low rolling resistance and good performance.
  • there are gear teeth on the support surface of the track which is not easy to slip, and the traction and adhesion performance is good, which is beneficial to exert a large traction force.
  • the wheeled walking has a simple structure, light weight, small motion inertia, good cushioning performance, wear resistance, low cost, long service life and good maneuverability.
  • the walking module can also be a combination of the crawler driving system and the wheeled system, that is, the front end of the snow removing machine is a crawler system, which can climb the slope, grab the slope downhill, prevent slipping, etc., and the rear end is a wheel train, which can reduce the weight and improve the weight. Maneuverability and so on.
  • the walking speed of the walking module is less than 70 m/min, preferably 15-30 m/min.
  • the working module and the walking module are respectively driven by different motors, and the motors are powered by the energy module.
  • the two driving wheels 184 of the walking module are respectively connected to a traveling motor independently, and the two traveling motors are controlled to rotate at the same speed in the same direction or differently. Speed rotation or counter-rotation, so that the snow blower walks or steers in a straight line.
  • the walking module can also be that the two drive wheels are driven by one travel motor and the steering wheel is controlled by another steering motor. By using multiple motors, each system can be individually controlled, simplifying the structure of the drive train.
  • the motor is preferably an electric motor.
  • the air motor, the hydraulic motor, the engine, and the like may be used alternately depending on the energy source for supplying energy, or may be combined with an electric motor.
  • the energy module is used to provide energy for various tasks of the snow blower, such as electric energy, hydraulic power, gasoline, diesel, natural gas, etc.
  • the energy module can only provide energy for the walking module, such as when pushing snow, the working head does not need Driven by the motor, it is also possible to provide energy only for both the walking module and the working module, while the control module is powered by a separate battery and the like.
  • the preferred energy module of the present invention includes a rechargeable battery 170 and a charging connection structure, and the charging connection structure is generally a charging electrode sheet that can be exposed outside the snow remover.
  • the rechargeable battery 170 is preferably a lithium battery.
  • the charging connection herein may also be a wireless charging receiving device.
  • the energy module can also be a photovoltaic cell, ie charged by solar energy. Therefore, the energy supply of each module has various options, such as energy-consuming walking modules and/or working modules from gasoline, Energy sources such as diesel and natural gas provide energy, while the control module uses batteries (including primary batteries, rechargeable batteries, photovoltaic cells, etc.) to provide energy. According to the working condition and energy consumption of the snow blower, the total power used by the working modules and modules is between 200 watts and 3000 watts. Of course, the working conditions are complicated or the work in a large area can be higher, such as 5000 watts.
  • the control module is used to control the automatic walking and working of the snow blower. It is the core component of the snow blower. The functions it performs include controlling the starting or stopping of the working module, generating the walking path and controlling the walking module to determine the power of the energy module according to the walking. And promptly instruct the snow thrower to return to charge and so on.
  • Control modules typically include controllers and memories as well as other peripheral circuits.
  • the controller can execute hardware instructions, for example, by executing program instructions stored on a processor readable storage medium (disk, memory, etc.) in a general purpose or special purpose processor.
  • the controller reads the instructions from the memory and executes the instructions to control the operation of the snow blower.
  • the controller can use any available processor, such as a microcontroller, a microprocessor (DSP), an ARM processor, a programmable logic circuit (PLC), and the like.
  • the memory can be implemented using any commonly used technology such as computer readable memory ROM, RAM, SRAM, DRAM, FLASH, DDRSDRAM, or some other storage technology.
  • the control module is provided with an algorithm for performing work according to various information, working conditions, etc., or a computer program, which is executed to control the operation of the snow blower.
  • the snow blower includes a housing for housing and mounting each module, an input module for the user to input some set information, such as an operation panel, or a remote control device for remotely inputting setting information (such as a mobile phone, an IPAD, a notebook). Computer, remote control, etc.), ie human-computer interaction module.
  • an input module for the user to input some set information, such as an operation panel, or a remote control device for remotely inputting setting information (such as a mobile phone, an IPAD, a notebook). Computer, remote control, etc.), ie human-computer interaction module.
  • the snow blower 100 of the embodiment can automatically perform snow removal work in the work area, and the working path thereof cannot be random. Therefore, the walking path of the snow remover must be planned, and the planning can be realized in two ways. It is a man-machine control method, such as remote control operation, setting on the operation panel, and so on.
  • the system of the snow remover 100 includes a working module, a walking module, an energy module, a control module, a detecting module, and a human-computer interaction module.
  • the human-computer interaction module has a communication unit, and can receive, for example, a remote controller, SMARTPHONE, and IPAD.
  • the control signals sent by the smart devices, these control signals are transmitted to the controller of the snow blower, and the controller can control the snow blower to move forward and backward.
  • the snow remover 100 can be equipped with a camera so that the user can remotely control it indoors. If the camera is not installed, the user can directly observe the remote control.
  • the above-mentioned remote control snow remover does not require a detection module, which is relatively simple, but requires the user to operate all the time.
  • the preferred mode of man-machine control in this embodiment is that the user remotely moves the snow blower 100 to the starting point of the work area, and then the snow blower 100 is automatically operated by some settings.
  • These settings may be specific data such as setting the walking direction, walking distance, and walking mode of the snow blower 100, or setting the snow blower to sweep the snow according to a fixed shape, such as Set a rectangle or circle or other shape, the snow blower works automatically according to the set shape of the figure, and so on.
  • the detecting module includes at least a direction detecting device, such as an electronic compass or a gyroscope, and the direction indicating sensor, so that the user can set the direction in which the snow thrower travels and the straight line of the snow blower.
  • the control module can automatically generate a boundary coordinate map according to the information of the working area of the rule input by the input module (such as the length and width dimensions) and the starting position of the snow blower starting operation, the control module according to the boundary coordinate map and the use direction detecting device Control the snow blower to walk and work regularly within the boundaries of the work area. Specifically, as shown in FIG. 8 and FIG.
  • the user manually inputs the snow removal area, such as 4 meters*10 meters, through an input module, such as a remote remote control device or a snow blower's own operation panel, and remotely moves the snow blower to the starting point. Or manually push the snow blower to the starting point, set the position of the snow remover as the coordinate origin, and the controller generates at least two snow removal paths according to the algorithm or program stored in the control module according to the data input by the controller, one of which is shown in FIG.
  • the number of snow removals can be automatically generated according to the width of the working head.
  • the controller calculates that it needs to travel at least 8 times.
  • the user can select one of the snow removal paths, or directly start the snow blower to start working, that is, adopt the system default snow removal path.
  • the detected direction data is transmitted to the control module by the direction indicating sensor, and the control module compares the received direction data with the selected snow removal path direction data, and controls the walking module to adjust the walking direction when the two data are inconsistent, thereby throwing
  • the snow machine can walk straight, and the controller can also calculate the distance traveled by the snow blower according to the rotation speed of the driving wheel of the walking module and the walking time, and reach the preset distance to control the steering of the snow blower, and more preferably, the driving wheel is detected.
  • the number of turns N, and the circumference L of the drive wheels, N*L obtain the walking distance. Recording the walking distance of the snow blower can also be achieved by setting an odometer. After the snow removal is completed, the user can return to the starting point and the user can set another area for snow removal.
  • the above-mentioned man-machine controlled semi-automatic snow removal mode is suitable for a single working area, and the road is relatively regular, the semi-automatic path can be set, reciprocating or co-directional, and the purpose of the same direction movement is to make the snow pile to one side, and reciprocate.
  • the movement will pile the snow to the sides, and after work, you can return to the starting point or stop directly.
  • the user can set the direction of the fixed starting point, so as to avoid the user's remote control to the starting point, the direction is skewed and the walking is biased.
  • the control module controls the direction of travel of the snow blower according to the sensor of the detection direction, and calculates the distance traveled.
  • no manual operation is required during the snow blower operation.
  • the above settings can also be realized without the need for remote devices, SMARTPHONE, IPAD and other smart devices.
  • the snow blower itself has an operation panel, and the corresponding settings can be completed on the operation panel.
  • Figure 10 shows a more complicated working condition.
  • the working area includes three parts extending in three directions.
  • the working area can be set separately by the above method, that is, after completing the work of one area. Set another area when However, there can be better solutions.
  • the working area can be divided into three areas of the rule: OABCDO, OCEFO, ODGHO, wherein the boundary of the three areas or the point O of the boundary extending direction is set as the base point, that is, the origin, and the rule area mentioned by the foregoing method is used.
  • OABCDO OABCDO, OCEFO, ODGHO
  • the boundary of the three areas or the point O of the boundary extending direction is set as the base point, that is, the origin, and the rule area mentioned by the foregoing method is used.
  • multiple zones can be set at a time. After cleaning one zone, return to the base point O, and then scan another zone after calibration.
  • the detection module further includes an energy detecting unit, and the energy detecting unit is configured to detect the energy value of the energy module, and feed back the energy value information.
  • the control module when the energy value detected by the detection module reaches or falls below the preset value, the control module starts the alarm prompt, and the alarm prompts in various ways, for example, the snow blower itself emits an alarm sound, and the controller transmits the alarm signal to the controller. Remote control equipment and more.
  • 11 to 40 show a preferred second embodiment of the present invention.
  • an automatic snow throwing snow remover is taken as an example for description.
  • the snow throwing machine for automatic snow throwing includes a working module, a walking module, an energy module, a control module, a detecting module, a positioning navigation module, and the like.
  • the working module, the walking module, the energy module, the control module, and the detecting module are the same as those in the foregoing embodiment, and are not described herein again.
  • the snow removal work of the full-automatic snow blower mode is realized by positioning navigation.
  • the snowplow is not able to work anywhere or need to work. Its working area is bounded. In addition, when the energy module of the snow blower is insufficient, it needs a fixed place to supply power to it. You can park when you are not working, that is, stop at the station.
  • the snow blower 100, the limit 300 and the docking station 500 constitute an automatic snow removal working system in which the limit 300 is used to limit the working area of the snow blower, the snow remover walks and works in or between the limits, and the docking station 500 is used for The snow blower is parked, especially when the energy is insufficient.
  • Boundaries are the collective term for boundaries and obstacles.
  • the boundary is the periphery of the entire work area. It is usually connected end to end, and the work area is closed.
  • the boundary can be either physical or electronic, that is, the physical boundary can be formed by walls, fences, railings, etc., or can be delimited by electronic map.
  • a virtual boundary or a boundary formed by a line connecting N coordinate points may also be a virtual boundary signal such as an electromagnetic signal or an optical signal by the boundary signal generating means.
  • Obstacles are parts or areas within the working range that cannot be walked on them, such as indoor sofas, bed cabinets, or outdoor ponds, flower beds, etc.
  • obstacles can also be physical or electronic, physical obstacles. It may be formed by the aforementioned obstacle itself, and the obstacle of the electron may be formed by the boundary signal generating means emitting a virtual obstacle signal.
  • the virtual boundary signal and the virtual obstacle signal may be the same signal or different signals, and are selected by specific requirements.
  • the detection module of the snow blower 100 further includes a relative positional relationship for detecting the snow blower 100 and the limit 300.
  • the limit detection unit may specifically include one or more of a distance, an angle, and an inner and outer position of the limit.
  • the principle of the limit detection unit can be various, such as infrared type, ultrasonic type, collision detection type, magnetic induction type, etc., the position and number of sensors and corresponding signal generating devices are also diverse, and path planning The manner is related, so it will be specifically described below in conjunction with specific embodiments and path planning methods.
  • the docking station 500 is typically located alongside the operating range, often beside the boundary 300 or at the boundary 300, and is coupled to a utility or other power providing system for the snow blower to return to charge.
  • the docking station 500 includes a base 510 and an outer cover 530 movably disposed on the base.
  • the base 510 of the docking station 500 is provided with a charging electrode 550 for corresponding electrodes of the snow blower 100.
  • Docking When the snow blower 100 does not enter the docking station 500, the outer cover 530 is open. When the snow blower 100 enters the docking station 500, the outer cover 530 is automatically closed, and the snow blower 100 is enclosed in the docking station 500.
  • the base 510 is provided with a pressing mechanism for pressing the outer cover 530 at a position where the outer cover 530 is opened, and the outer cover 530 is fixedly provided with a rib 532 for pressing
  • the mechanism is preferably a torsion spring 512.
  • the above-mentioned pressing mechanism can realize that the outer cover 530 automatically closes with the entry of the snow blower, has a simple structure and low cost.
  • the automatic opening and closing of the outer cover 530 can also be realized by electrical control, such as: induction automatic door (infrared sensing, microwave sensing, touch sensing, foot sensing), automatic automatic opening and closing by various signals. Doors, etc.
  • a heating system can be disposed in the docking station 500, and the outer side wall, the outer cover 530 or the bottom of the docking station 500 can be provided with heating and heat insulating materials. It is possible to provide a hot air blower in the docking station 500, or an electric heating device such as an electric furnace or an electric heater.
  • the carbon crystal heating material 514 is embedded in the bottom of the base of the docking station 500, which can rapidly warm the object, and the 100% electric energy input is effectively converted into more than 60% of the conduction heat energy and More than 30% of infrared radiant energy.
  • This double heating principle makes the object to be heated: the first temperature rises faster, and the second absorbs heat more.
  • Another preferred solution is to provide a heating wire, or a heating plate and a thermostat on the floor of the docking station, and the internal temperature is controlled by the thermostat, and the heat can be effectively maintained by the insulating material on the outer cover.
  • the charging mode of the snow blower 100 is wireless charging, and the wireless charging transmission can be set on the docking station 500.
  • the device 560 has a wireless charging receiving device 106 disposed on the corresponding snow removing machine 100.
  • a wireless charging and emitting board is disposed on the bottom plate of the docking station 500.
  • a wireless charging receiving board is disposed on the snow removing machine 100, and the magnetic energy is transmitted between the two. Because the wires are not connected, the docking station 500 and the snow removing machine 100 are both It can be exposed without conductive contacts, that is, there is no power contact design, which can avoid the danger of electric shock, and therefore there will be no loss caused by mechanical wear and flashover during connection and separation.
  • the power transmission element is not exposed and is not eroded by moisture, oxygen, or the like in the air.
  • the snow blower 100 automatically performs charging docking, it is much easier to dock with respect to the electrodes.
  • the docking station 500 is further provided with a snow removing device 580 for clearing the snow on the snow removing machine 100 when the snow removing machine 100 enters the stopping station 500.
  • a snow brush is disposed at the edge of the outer cover 530 of the docking station 500, and the snow brush can be controlled to rotate or rotate under the trigger of an external force.
  • the snow brush is constructed in the form of a roller brush.
  • the rotating shaft of the roller brush is substantially parallel to the ground, and the material of the roller brush can be a flexible material such as plastic, nylon or wool fabric. The rotation of the roller brush can be automatically controlled.
  • the roller brush is started to rotate, or the outer cover detects that the snow blower is turned on for the entry of the snow blower, or starts the roller brush rotation, or the snow blower.
  • the snow brush can also be configured as a row of brushes arranged along the edge of the outer cover 530. As the snow remover 100 moves into the docking station 500, the brush sweeps across the top cover of the snow blower 100 to thereby build up the product on the top cover. Snow cleared.
  • the snow brush can also be a plurality of rotating brushes distributed on the edge of the outer cover 530, the axis of rotation of which is substantially at an angle to the ground, so that the snow remover 100 can clear the snow on the top cover when entering the docking station 500.
  • the snow remover 100 itself can also remove the function of snow accumulation on the top, such as the angle at which the top cover itself is tilted, the top cover can be set to periodically shake or detect snow to shake, and the top cover can also be provided with snow scraping. , brush, etc.
  • the coordinates of the snow blower are obtained in real time through the satellite positioning mode, and the snow blower path is navigated according to the coordinates.
  • the satellite positioning method controls the snow blower to work, and the cost is slightly higher, but the degree of automation is higher, and both have advantages and disadvantages.
  • the snow blower 100 needs to work when it is snowing or snowing, to achieve the full-automatic mode of snow removal work, it is first necessary to check whether it is snowing or snow.
  • a preferred first solution is provided with a snow detector 102 on top of the main body of the snow blower, which is preferably a pressure and humidity sensor.
  • the sensor is disposed at the highest position of the host 110.
  • the pressure sensor changes, and the humidity sensor detects the change of the humidity.
  • the signal detected by the sensor is fed back to the control module, and the control module determines whether it is based on the signal. It snows, if it snows, the thickness of the snow is calculated, and when the thickness of the snow reaches a preset value, the snow blower 100 is controlled to start working.
  • Preferred second As shown in FIG.
  • two conductive metal rods 103 are mounted on the top of the main body of the snow blower 100, and an insulating rib 104 is installed between the two conductive metal rods 103.
  • the height of the insulating ribs 104 is higher than two.
  • the height of the conductive metal rod 103 when the height of the snow is higher than the height of the insulating rib 104, according to the principle of snow conduction, the two conductive metal rods 103 are turned on, and the conduction signal is transmitted to the control module, and the control module is It is judged that there is snow, and the snow blower is controlled to start work.
  • the height H of the insulating ribs 104 is the minimum thickness of the snow that triggers the snow blower 100 to start working.
  • a third preferred embodiment provides a container 200 having a photo sensor 202 and a humidity sensor 204 disposed at the bottom of the container 200.
  • the container 200 is placed on the top of the main unit of the snow blower 100 or at the docking station 500.
  • the control module controls the snow blower 100 to start the starting work.
  • a preferred fourth scheme is for detecting the thickness of the snow.
  • three conductive parts 105 are disposed on the lower side of the main body of the snow blower 100, and the first conductive part having the lowest position is detected.
  • the signal the thickness of the snow is H1, set to thin snow; when the second conductive part located in the middle detects the signal, the thickness of the snow is H2, which is set to medium snow; when the third conductive part located at the top detects the signal
  • the thickness of the snow is H3 and it is set to heavy snow.
  • the weather communication unit that sets the real-time receiving weather information on the snow remover, the weather communication unit transmits the received weather signal to the control module, and controls.
  • the module judges whether it is snowing or the amount of snow based on the received signal, and calculates the thickness of the snow according to the length of snowing.
  • the control module controls the snow blower to start working.
  • the control module controls the snow blower to start working.
  • there are many ways to detect whether there is snow and snow thickness such as camera image recognition, ultrasonic thickness measurement, etc., and will not be described here.
  • the positioning navigation module may be a DGPS (Differential GPS) positioning module, a GPS positioning module, a Beidou positioning module or a differential Beidou positioning module.
  • DGPS positioning module or differential Beidou positioning module can be used.
  • DGPS is developed for improving the accuracy of GPS code positioning. It adopts the principle of relative positioning. It uses two differential points to eliminate most common errors and obtain higher precision, thus obtaining a more accurate path. Navigation, the accuracy can reach centimeter level.
  • the positioning navigation module may also obtain the position during the snow blower travel by other means, such as ultra-wideband technology.
  • the snowshoe workflow includes setting limits, settings for various special scenarios, path planning, return charging stations, and charging methods, as well as solutions to problems encountered in these workflows.
  • the working area of the snow blower is set by means of DGPS.
  • the snow blower can be manually controlled to move along a predetermined boundary line.
  • the snow remover and the positioning navigation system are integrally installed, and the positioning navigation system is not available. Disassembled.
  • the positioning navigation system receives the positioning signal of the base station, and can obtain continuous coordinate points when the snow remover moves along the boundary line 320, and connects the coordinate points to the boundary line 320. Since the positioning navigation system is non-removable, in order to obtain the boundary line coordinate point, the snow removal machine itself must be moved to obtain the coordinate point of the boundary line, but it is obvious that the snow removal machine is heavier and the movement is not flexible. Technical problems that are difficult to control.
  • the positioning navigation module is configured as a positioning navigation device 130 that can be detached from the snow blower. Meanwhile, the positioning navigation device 130 can also be reinstalled to the snow remover 100, that is, the positioning navigation device 130 is detachably mounted to the snow blower. With the present embodiment, the coordinate points of the predetermined boundary line can be acquired by the positioning navigation device 130 alone, thereby generating a boundary line.
  • the positioning navigation device 130 includes a positioning unit 131, a storage unit 132, and a transmitting unit 133.
  • the positioning unit 131 is configured to obtain coordinate data when the positioning navigation device 130 moves according to a preset boundary line.
  • the positioning and navigation device 130 detached from the main body 110 of the snow blower is small in size and light in weight, and can be easily carried by hand by hand. Therefore, the positioning navigation device 130 can be manually carried along the predetermined boundary line 320 to acquire the coordinate points of the predetermined boundary line, and the coordinate points are continuous coordinate points, and the continuous coordinate point connection is the boundary line of the final snow blower. This is the map of the work area, as shown in Figure 23.
  • the storage unit 132 is configured to store coordinate data of the positioning unit positioning.
  • the coordinate points acquired by the positioning unit 131 need to be stored in time. To this end, the storage unit 132 needs to be disposed on the positioning navigation device 130 to prevent data loss.
  • the sending unit 133 is configured to send coordinate data stored by the storage module to the outside.
  • the transmitting unit 133 can transmit the coordinate data of the boundary line in time, for example, to the snow remover.
  • the transmitting unit 133 may be a wireless transmitting unit, or may be a wired transmitting unit that can be connected to a transmission data interface (including a USB interface or the like) in the snow blower.
  • the above positioning navigation device can be freely disassembled or installed in the snow remover.
  • the boundary line for the snow blower operation needs to be generated, only the positioning navigation device needs to be detached from the snow remover, and the boundary can be generated simply by positioning the navigation device. Lines effectively facilitate the generation of boundary lines.
  • the positioning navigation device 130 can be provided with an interface unit for fixing the positioning navigation device to the snow removal device. machine.
  • the interface unit can be a socket or a slot that can be installed in the snow blower.
  • the positioning navigation device 130 further includes a battery for providing power to the positioning navigation device. Battery can By charging separately, it is also possible to charge the snow removal machine after the positioning navigation device 130 is installed inside the snow blower.
  • the snow blower 100 in this embodiment includes the above positioning navigation device 130, and the control module further includes: a receiving unit configured to establish a connection with the transmitting unit 133 to receive the coordinate data sent by the sending unit 133.
  • the receiving unit may be a wireless receiving unit or a wired receiving unit corresponding to the transmitting unit 133.
  • the memory of the snow blower is used to store coordinate data received by the receiving module.
  • the storage unit 132 in the navigation device 130 has already stored the coordinate data of the boundary line because it is already stored data, and therefore, the positioning navigation device 130 is installed in the snow blower 110.
  • the receiving unit may directly store the coordinate data of the boundary line read by the transmitting unit 133 from the storage unit 132 into the memory of the snow blower 110 to facilitate the snow blower 110 to recognize the boundary line.
  • the snow blower control module further includes a detection control unit for detecting whether the coordinate data of the memory stored boundary line 320 is stored with the memory.
  • the snowman's coordinate data coincides and controls the snow blower to move inside the boundary line 320 when coincident.
  • the coordinate data of the snow blower coincides with the coordinate data of the boundary line 320, it indicates that the snow blower has or will soon exceed the boundary line 320, and the moving direction of the snow blower needs to be controlled in time.
  • the detection control unit comprises a detection unit for detecting whether the coordinate data of the boundary line 320 stored in the memory coincides with the coordinate data of the snow storage machine stored in the memory; the detection control unit is for the boundary of the memory storage When the coordinate data of the line 320 coincides with the coordinate data of the snow blower stored in the memory, the snow blower is controlled to move inside the boundary line.
  • the creation and storage of the snowplow map can be completed, thereby realizing the autonomous positioning navigation of the snow remover, and the controller calculates the data of the map boundary according to the coordinate data of the boundary line stored in the navigation device, and generates map data, and the snow remover Path planning can be carried out according to the map.
  • the snow blower detects that the voltage is insufficient or completes a snow removal work
  • the current coordinates and heading are automatically stored and returned to the station 500 for charging.
  • the last recorded coordinates and heading are read, and automatically Plan the optimal path to the coordinate position and continue working.
  • the detachable positioning and navigation device 130 can also be used with other automatic walking devices, such as an automatic lawn mower, an automatic cleaning machine, etc., to improve the utilization rate of the positioning navigation device and reduce the purchase cost of the user.
  • other automatic walking devices such as an automatic lawn mower, an automatic cleaning machine, etc.
  • the navigation and positioning method is used to set the working area of the snow blower not only to the above manner, but also the snow removal machine own positioning navigation module, and the position coordinate data of the positioning navigation module real-time positioning is stored in the memory of the snow blower, and the controller is based on the memory.
  • the coordinate data of the boundary line stored in the calculation calculates the data of the map boundary, and generates map data, and the snow remover can perform path planning according to the map.
  • the user can set some special scenes on the mobile phone, remote control or directly on the operation panel of the machine to help the snow remover to select the work route, the area division and the work mode. Let's go down to a detailed description.
  • the intersection here refers to the intersection of the sidewalk or the lane connecting the municipal road. Due to the limitations of the working boundary, the size of the snow machine itself and the accuracy of the navigation, the snow remover may walk on the municipal road, which will result in Some hazards, such as being knocked down by a fast-moving car, being damaged or causing damage to the car or even injuries to people in the car, etc., in order to avoid these situations, several solutions are proposed below.
  • Figure 26 is a schematic diagram showing the environment around the house of the snow-removing user.
  • the user sets the intersection 330 on the map, as shown in the shaded area of Figure 28.
  • the size of the area along the sidewalk or lane extension can be based on the snow blower and snow removal work.
  • the head size is preset, or preset according to the error of the navigation, and then the part area is filled in the map of the work area, that is, the area is defaulted to no need to clean, and can be manually cleaned by the user, thereby preventing the snow blower from walking on the municipal road. .
  • the grass does not need to remove snow
  • Most of the grassland is distributed between the roads.
  • the user can mark a certain area as grassland on the map. In the area marked as grassland, the user can select whether the area needs to be snow removal, if not In addition to snow, the machine can pass directly or not to the grass. If snow removal is required, the snow removal mode or the height of the snow removal can be set to avoid grass damage.
  • the user can set between one snow removal area and another snow removal area.
  • Channel in general, it is recommended that the user set the channel on the grass, as shown by the dotted line in Figure 27, which is the connection channel 360 of the two snow removal areas.
  • the snowy or snow removal mode and snow removal can be selected because the grass area has been set. The height is not required here.
  • the user can also set whether the path needs snow removal.
  • the snow remover can pass through the grass from one snow removal area to another. Of course, you can also choose the municipal road as a passage.
  • the municipal road is used as the channel for the second selection.
  • the size of the connecting channel 360 has a preset minimum size. After the user sets the approximate path of the channel, the snow removing machine automatically calculates and fills the path to the minimum size that passes through.
  • the minimum size here can be based on the size of the snow blower itself or The size of the working head is set.
  • the channel can also be set in two points and one line, that is, setting the starting point and the entry point from one snow removing area to another snow removing area, and the controller automatically calculates the straight path (shortest path) between the two points.
  • this part does not need to remove snow.
  • This is called an island.
  • the specific method is that the user directly sets an area island on the map.
  • the relative error of this method is relatively large, and it is suitable for the case where the island is higher than the ground. It can be combined with some collision sensors (such as ultrasonic sensors, radar detection, camera, etc.). Detect the boundaries of the islands to prevent damage to the snow blower or damage to the island's equipment.
  • a more precise manner is that when the working area is set, the user walks along the island with the positioning navigation device 130, and after the map is generated, the area is defined as an island, that is, a non-snow removal area.
  • the way to generate maps is different.
  • the way to set up islands is different, but the basic principle is similar, or it can be excluded by setting the working area, or it can be excluded from the generated map, no matter what way.
  • the area is defined on the map so that depending on the defined area, the snow remover chooses whether to work or work mode.
  • Some of the user's maps are narrower than the minimum pass size of the snow blower. We define this path as a narrow channel 350.
  • the controller of the snow blower will automatically calculate and prompt the user. The user manually sets whether the narrow passage is to be snow-removed. Generally, if snow removal is required, the user needs to ensure that there is enough on the side of the passage. The size allows the snow blower to pass, and if no work is required, the user can set the area to not work.
  • the snow blower is equipped with an alarm light, which can alert the pedestrians and users by means of full brightness and flashing.
  • the user can mark the alarm area or set the alarm time on the map, and the controller in the snow remover can reach the set area according to the user's setting, and then the alarm is reached when the alarm time is reached or the set requirement is reached at the same time.
  • the special scene setting here means that if the snow removal method is snow sweeping or snow pushing, then it is necessary to set the snow point; if the snow removal method is snow throwing, then it is necessary to set the snow throwing direction.
  • Snow sweeping sweeps the snow to the front of the snow blower through a rotating roller brush. Pushing the snow pushes the snow toward the front of the snow blower. Therefore, when pushing the snow, the snow in front of the snow blower will be thicker and thicker, in order to prevent this.
  • the occurrence of the snow remover can be set to push the snow to a set position, that is, the snow point. Snow throwing is carried out by augmenting the dragon into the snow blower and then throwing it through the snow throwing bucket. If the snow is thrown to the neighboring house, the mail box and other municipal facilities, this situation is not allowed, then it is necessary to Set the snow direction.
  • the system will automatically prompt the user whether to set the snow point. If so, the user needs to set one or more snow spots.
  • the snow removal opportunity calculates the path according to the size of the snow sweep or the snow push. If the snow pile is too small, the user will be reminded to increase. If the user chooses not to need it, the controller will automatically calculate the path based on the size of the snow or snow and automatically plan the snow point.
  • the snow removal method is to throw snow
  • the user needs to set which direction can throw snow, or set the area to throw snow
  • the controller automatically calculates the snow throwing direction according to the snow throwing area.
  • the path of the snow blower is optimized according to the setting of the snow throwing direction, so that it throws snow toward the set direction or area. If the user does not set the snow throwing direction, the default is to throw in any direction, and the snow removal path will be re-optimized.
  • Users can mark different areas according to the area on the map, such as car lanes, sidewalks, etc. Different markers can have different working modes, such as snow throwing on the path marked as a car lane, pushing snow or sweeping on the sidewalk. Snow; or in the thick snow removal mode on the road, the sidewalk is carried out in a thin snow removal mode; or the user can set the snow throwing or snow pushing mode.
  • All of the above settings can be made on the operation panel of the snow blower, or remotely on a mobile device such as a mobile phone or computer, or through the remote control that comes with the snow blower.
  • the communication mode between the control terminal and the terminal of the remote control operation may be WIFI communication, Bluetooth communication, ZigBee communication, radio frequency communication, etc., or communication between the control terminal and the terminal may also be implemented based on the cellular network.
  • the snow blower can be started to start working. Next, the path planning for the snow blower work will be described in detail.
  • the way of removing snow is different.
  • the walking path performed by the snow removal machine is also different. Specifically, when the snow removal method is snow throwing, the snow throwing path is generally parallel to the extending direction of the road, and the S-shaped route is also walking.
  • the snow cone threw the snow out.
  • the controller in the snow blower can control the rotation of the snow thrower, which can rotate at least 360 degrees.
  • the direction of snow throwing if the direction of snow throwing is defined, that is, the snow throwing surface shown in Fig. 30, the throwing snow cone will rotate according to the path of the snow blower to keep the snow throwing of the snow throwing device.
  • the mouth has been throwing snow towards the snow throwing surface.
  • the snow throwing direction is generally perpendicular to the walking road surface.
  • the snow throwing path may also be walking in one direction and throwing snow.
  • the control module needs to calculate the snow throw distance according to the distance from the snow thrower to the snow throwing surface, and the snow throwing distance can be changed by adjusting the speed of the snow throwing wheel.
  • the throwing snow cone is used to throw snow.
  • the controller of the snow remover will recognize the current and speed of the motor rotation. When the current exceeds the set threshold or the speed is lower than the threshold, the amount of snow throwing is too large.
  • the snow removal opportunity avoids overloading the snow throwing motor by reducing the walking speed;
  • the snow remover After the snow remover recognizes that there is an obstacle in the direction of snow throwing, it will adjust the snow throwing direction. If the user defines that it can only throw snow in a fixed direction, it will stop throwing snow.
  • the snow sweeping path includes at least three kinds, and as shown in FIG. 32, the first path for snow sweeping, the snow sweeping path may be perpendicular to the extending direction of the road, or parallel to the extending direction of the road.
  • the line shows the snow removal path
  • the dotted line shows the repeated path, or return path, which is characterized by sweeping snow in one direction, suitable for snow on both sides of the road, but only one side of the grass can throw snow, thus avoiding When sweeping snow, throw the snow to the grass on the other side. Since the return path has been cleaned, it is not necessary to repeat the cleaning. From the perspective of the walking distance of the snow blower, it has traveled two sections, and only one section is actually cleaned. The cleaning efficiency is general, and it is not suitable for occasions requiring rapid snow removal.
  • the second path of snow sweeping is that the snow sweeping path is perpendicular to the extending direction of the road, and the snow sweeps to both sides, that is, as long as it is a route for the snow blower to walk, snow can be performed, which can also be called S Type route sweeping snow, generally suitable for both sides of the road are grass and both sides of the grass can be snow throwing, and because the snow sweeping path is perpendicular to the direction of the road, the distance of a single sweep is short, the front of the snow remover is not It will accumulate too much snow, so there is no need to sweep to a specific pile of snow, and there is no repeated path, and the efficiency of snow sweeping is relatively high.
  • the third path of snow sweeping is parallel to the direction in which the road extends.
  • the same is the S-shaped route sweeping snow.
  • This type of snow sweeping method has the fewest turns and the efficiency is relatively high.
  • the snow pushing path includes at least three types, as shown in FIG.
  • the first path, the snow pushing path is roughly parallel to the direction in which the road extends. Because of the long distance of snow pushing, two piles of snow points need to be set, the solid line shows the snowing path, and the dotted line shows the repeating path, or Said to be the return path, which is characterized by pushing the snow to the snow pushing point from the first position in one direction, then returning, then pushing the snow to the snow pushing point from the second position in the direction, and so on, The snow is cleared until the entire width of the road, and then the snow is pushed to the next pile of snow.
  • This method is suitable for situations where there is only a fixed place to carry out snow piles.
  • the first path of pushing snow is substantially perpendicular to the extending direction of the road, and is pushed to the two sides from the middle of the road, and there are two options, one is to push one side from the middle, Return to the middle and push to the other side, and so on; the other is to push from the middle to the side, return to the middle and continue to push to the side until it is pushed to the end of the road, then push from the middle of the end to the other side, the road Half of the road from start to finish, the other half of the road from the end to the end.
  • This type of path is suitable for situations where the road is wide, and the user does not set a snow point and snow can be piled on both sides of the road.
  • the third path of pushing snow is substantially perpendicular to the extending direction of the road, and the snow is pushed from the side of the road in an S-shaped manner.
  • This method is suitable for the maximum amount of snow pushing along the width of the road is less than The load of the snow thrower, where the maximum amount of snow can be calculated based on the thickness of the snow, the width of the road, and the length of the snow head.
  • the snow pushing path described above can be automatically generated according to a map generated by the user, and the user can select it by himself or by default by the controller.
  • the default mode of the controller is as follows: If the user does not set the snow point, the first or second snow pushing method can be adopted. The snow remover recognizes the width of the road surface. If the road surface is too wide and exceeds the set value, the method is adopted. The first type of snow pushing path can make the snow pushing too much to cause the load to be too large, otherwise the second snow pushing path is adopted; if the user sets the snowing point, the third snow pushing path is adopted. The number of snow points is related to the length of the user's snow-pushing path. The path required for each pile of snow is not too long and the load of the snow is too large. The controller of the snow remover calculates whether the snow level set by the user is satisfied. Ask or prompt the user to set enough snow spots.
  • the detection module of the snow blower includes an acceleration sensor installed in the snow remover for detecting the inclination of the snow blower.
  • it can also be a pressure sensor that can measure altitude and can be used to generate 3D maps.
  • the working head of the snow blower is equipped with a motor for driving the working head to be lifted or lowered relative to the ground.
  • the snow blower When the snow blower starts to record the map, it will record the inclination value of each point at the same time, as shown in Figure A1, B1..N1; when the snow blower works according to the path, it will judge in advance whether the inclination of the front path is too large, that is, snow removal. When the machine is at point A1, it will judge the point B1.
  • the controller will start the motor to raise the working head by a certain angle in advance; the angle of the lifting and the inclination of the B1 point
  • the larger the inclination angle the larger the angle of lifting; when the inclination angle returns to normal, the controller starts the motor again to lower the working head.
  • the detection system of the snow blower of the present invention further includes an obstacle sensor, and the obstacle sensor may be an ultrasonic sensor, an infrared sensor, a laser sensor, a radar, a camera, or the like.
  • the obstacle sensor detects an obstacle, if it is pushing the snow head or sweeping the snow head, it will stop working or work in a place without obstacles; if it is a snow head, it can change the direction of snow throwing.
  • the snow blower of the present invention can automatically return to the docking station for charging according to its own condition.
  • the controller in the snow remover can calculate the energy and working time of the battery. When the energy of the battery is lower than the preset value or the working time is greater than the preset value, the snow blower is controlled to return to the stop station.
  • the regression path of the snow blower is divided into two ways. The first way is shown in Figure 39. The real line is the swept path, the dotted line is the regression path; the regression path is in the swept path, so when returning Snow sweeping is not working, which saves energy back. The second way is shown in Figure 40. The solid line is the swept path, the dashed line is the regression path, and the return path is included in the snow sweep path, that is, the snow is also cleared during the return.
  • the controller of the snow blower automatically calculates the area to be worked and the energy required.
  • the second scheme is adopted.
  • the first scheme is adopted. The benefit of using the second option is that it saves time compared to the first.
  • the docking station is provided with a wireless charging transmitting board
  • the wireless charging receiving board is arranged on the snow removing machine
  • the wireless charging receiving board is connected with the battery in the snow removing machine
  • the controller realizes the wireless charging transmitting board and the wireless by guiding the snow removing machine movement of the navigation module. Docking of the charging receiver board.
  • the detection system of the snow removing machine further comprises a signal detecting circuit, and the wireless charging transmitting board transmits and charges to the wireless charging receiving board when the snow removing machine moves to the stopping station.
  • the signal detecting circuit detects whether the strength of the charging signal received by the wireless charging receiving board reaches a predetermined value, and when the detected charging signal reaches a predetermined value, locates the position of the wireless charging receiving board and guides the snow blower to stop. Move for wireless charging.
  • the charging signal may be a current or voltage signal
  • the signal detecting circuit detects whether the current or voltage generated on the charging circuit reaches a predetermined value by detecting the charging signal received by the wireless charging receiving board in real time to determine whether the strength of the charging signal reaches a predetermined value.
  • the wireless transmitting board in this embodiment There is a sensor and a heating system for detecting the weight of snow and snow.
  • the wireless transmitting board and the receiving board are connected to each other, and the weight of the transmitting board is detected. If the weight exceeds the threshold, the heating system is started. , melt the snow; stop the snow when the weight is below the threshold.
  • the snow remover can automatically go out of the docking station to perform the snow removal work when the snow is snowing or when the snow thickness reaches the preset value, that is, no user monitoring is required after the setting is completed.
  • the snow remover can also receive weather forecasts, real-time weather and other information through the network to develop a work plan.
  • the snow remover can send the user's work area, cutting plan, etc. to the cloud, and the cloud can optimize the snow sweeper cleaning plan according to the situation of the user and surrounding users, terrain, climate and the like.
  • the data of the snow remover can be connected with the smart home in the home through the cloud.
  • the snow machine After the snow machine detects the snow, it will send data to the cloud, and the cloud will close the user window through the smart home, turn on the air conditioner, and control the snow blower to go out to work.
  • the snow blower can be used as part of the intelligent gardening system for monitoring and controlling the gardening device in the gardening area, and the control center generates control commands based on the environmental information of the gardening area collected by the sensor, and the snow removing machine is based on The control command performs snow removal work.
  • Gardening devices such as sensors and snow removers, and control centers communicate with each other to form an Internet of Things.
  • the boundary map can be generated in other ways, such as using a closed loop boundary line and a GPS combination to set the working area of the snow blower.
  • a common practice is to lay a boundary line on the work area, which is connected to the signal generator so that the boundary line can generate the signal detected by the snow blower.
  • the snow blower can judge whether it is in the working area according to the signal, and then select the corresponding working mode.
  • the manufacturer When the user purchases the snow remover, the manufacturer will come to the door to lay the boundary line of the snow removal area required by the snow blower according to the user's requirements, and lay it through some large machines that can be slotted and buried, or slotted by some electric or manual tools. Then manually place the boundary line in the slot.
  • the boundary line is an energized wire with a specific boundary line signal.
  • the boundary line signal is sent by the docking station.
  • the snow remover can receive the electromagnetic signal from the boundary line through the induction coil installed inside to identify the snow blower inside the boundary line. Still external.
  • the snow remover can use the electronic compass, odometer and GPS to realize the autonomous positioning navigation, measure the heading angle through the electronic compass, and then calculate the relative coordinates of the snow blower based on the odometer voyage, and then perform absolute positioning according to the coordinates of the GPS. And the error is eliminated, and finally the coordinates of the snow blower at any time are obtained.
  • a preferred snowplow map construction and storage method in this embodiment includes the following steps:
  • the snow remover starts from the stop station and returns to the stop station after running for one week along the boundary line of the work area.
  • the four coordinate points that determine the maximum range of the boundary line are (xa, ymax), (xb, ymin), (xmax, Ya), (xmin, yb), where xa is the abscissa corresponding to ymax, xb is the abscissa corresponding to ymin, ya is the abscissa corresponding to xmax, and yb is the abscissa corresponding to xmin;
  • ⁇ is the side length of the square map grid
  • the specific method is: storing the data of all the map grids in the storage unit according to the format of ⁇ xi, yi, map grid attribute ⁇ , wherein Each map raster data occupies a storage unit space size of m bytes, and the map center coordinates (xc, yc) are stored in the start address of the storage unit, and the start address is offset from the minimum address in the storage unit by k. , k ⁇ 0, the storage position of other coordinates (xi, yi) is determined according to the offset of the coordinate and the minimum address obtained by the following formula:
  • M and N are determined by the following methods:
  • N 2
  • N 2
  • map grid attribute in step 5 consists of a plurality of elements related to the snow blower map, including The properties of the environment within the graph grid and the attributes that characterize whether the snow blower passes this map raster.
  • the method of the system can complete the creation and storage of the snowplow map, thereby realizing the autonomous positioning navigation of the snow remover.
  • the snow remover first runs around the working area, and calculates the map boundary according to the coordinate values calculated by the sensor.
  • the snow remover constructs the map data by positioning the navigation sensor, and maps the map data and the storage unit address one by one, which facilitates the storage and reading of a large amount of map data.
  • the snowplow map data is in the form of a grid, and the attribute of the grid map can well describe the map environment.
  • the snow remover starts from the docking station when the map is established.
  • the current coordinates are continuously calculated during the running process, and four important feature coordinate points representing the map size are acquired after one week of operation, which are the two points of the largest and smallest horizontal and horizontal coordinates of the map, and the maximum and The two smallest points are then autonomously generated map data and storage unit address mapping relationship based on the four feature coordinate points.
  • the map data is closely combined with the storage unit through the establishment of address mapping, which not only enables fast reading of map data and Storage and parameter adjustment can make the method applicable to different map sizes, enabling the snow blower to operate in any working environment.
  • the map data is unique, that is, the content of the storage unit is in one-to-one correspondence with the coordinates of the entire environment map.
  • the map needs to be called during the running of the snow blower, only the current coordinates need to be calculated corresponding to the map.
  • the parameters can be quickly read map data, which can ensure that the snow machine has a clear understanding of the environment map.
  • the other is to set the working area of the snow blower by UWB ultra-wideband to generate a boundary map.
  • the positioning system of the snow blower includes a boundary 320 defining a working area of the snow blower 100, and an ultra-wideband label 410 is disposed outside the working area, and the outside of the working area includes the boundary line 320 and the boundary line 320, and the ultra-wideband
  • the tag 410 has two, the positioning and navigation module of the snow remover is an ultra-wideband positioning module, and the ultra-wideband positioning module calculates two positions of the snow blower through two ultra-wideband tags 410, and uses the position in the boundary line as the position of the snow blower. .
  • the positioning system of the above snow removing machine is provided with an ultra-wideband label outside the working area of the snow removing machine, and the snow removing machine is provided with an ultra-wideband positioning module, and the position of the snow removing machine in the working area can be accurately positioned through the ultra-wideband positioning, thereby facilitating path planning. Improve the efficiency of the snow blower.
  • the ultra-wideband positioning module transmits the ultra-wideband signal to the ultra-wideband tag 410 to wake up the ultra-wideband tag 410, and the ultra-wideband tag 410 is awakened to feed back the ultra-wideband signal to the ultra-wideband positioning module, and the ultra-wideband positioning module receives the feedback ultra-wideband signal. After the number is issued, the ultra-wideband signal is sent to the ultra-wideband tag 410 and the timing is started.
  • the ultra-wideband tag 410 sends a positioning feedback signal to the ultra-wideband positioning module after receiving the positioning ultra-wideband signal, and the ultra-wideband positioning module stops timing after receiving the positioning feedback signal. And calculate the position of the snow blower 100.
  • the ultra-wideband tag 410 can be set to two or three. There are two ultra wideband tags 410 in FIG.
  • the outside of the work area includes the boundary line 320 and the boundary line 320.
  • the two ultra-wideband tags may be disposed on the boundary line 320, or may be disposed outside the boundary line 320, or may be disposed on the boundary line 320 and the other Outside the boundary line 320.
  • the two ultra-wideband tags 410 shown in FIG. 45 are disposed on the boundary line 320.
  • the UWB positioning module when the UWB positioning module stops the timing after receiving the positioning feedback signal and calculates the position of the snow blower 100, the UWB positioning module separately calculates the time interval between the issued UWB signal and the start timing and the stop timing.
  • the distances r1 and r2 between the snow blower 100 and the two ultra-wideband tags 410 are respectively calculated by the calculated distances r1 and r2 between the snow blower 100 and the two ultra-wideband tags 410 to correspond to the ultra-wideband tags 410.
  • the position point is the two circles corresponding to the center of the circle, the intersection position of the two circles is calculated, and the position of the intersection point in the work area is determined as the position of the snow blower 100.
  • the intersection of the two circles has two positions.
  • the boundary line receiver can be set in the snow remover 100, and the ultra-wideband positioning module can be based on the boundary.
  • the boundary line signal received by the line receiver determines whether the intersection location is within the work area.
  • the UWB positioning module stops the timing after receiving the positioning feedback signal and calculates the position of the snow blower 100, the UWB positioning module separately calculates the time interval between the issued UWB signal and the start timing and the stop timing.
  • the distances r1, r2, and r3 between the snow blower 100 and the three ultra-wideband tags 410 are respectively calculated by the distances r1, r2, and r3 between the snow blower 100 and the three ultra-wideband tags 410, respectively.
  • the position point where the ultra-wideband tag 410 is located is the circle corresponding to the three circles, and the calculated intersection position of the three circles is taken as the position of the snow blower 100. As shown in Fig. 46, the three circles have and have only one common intersection position, which is the position of the snow blower 100.
  • Each UWB tag is respectively disposed on a boundary of the work area or at a plurality of preset positions on the grass next to it, is easier to install, and is closer to the UWB positioning module, which is advantageous for the UWB positioning module to quickly find its own position.
  • ultra-wideband tags Install three or more ultra-wideband tags at least in the work area or near the work area. Snow blower itself An ultra-wideband positioning module is installed.
  • the UWB positioning module can achieve its own positioning by waking up and ranging from three or more UWB tags.
  • the ultra-wideband tags are three, one of which can be placed beside the docking station and can be powered by the docking station, and the other two can be powered by solar energy or other means.
  • the ultra-wideband positioning module transmits the ultra-wideband signal to the ultra-wideband tag 410 to wake up the ultra-wideband tag 410, and the ultra-wideband signal transmitted by the ultra-wideband positioning module is a low-level signal.
  • the above snow removing machine self-positioning method comprises the following steps:
  • the S101 ultra-wideband positioning module sends a wake-up signal to each of the ultra-wideband tags; wherein the ultra-wideband positioning module is disposed on the snow remover, and each of the ultra-wideband tags is respectively disposed at a plurality of preset positions;
  • the wakeup feedback signal is sent to the UWB positioning module
  • the S103 ultra-wideband positioning module After receiving the wake-up feedback signal, the S103 ultra-wideband positioning module sends a positioning signal to each UWB tag and starts timing;
  • each of the ultra-wideband tags of S104 After receiving the positioning signals, each of the ultra-wideband tags of S104 respectively sends a positioning feedback signal to the ultra-wideband positioning module;
  • the S105 ultra-wideband positioning module stops timing after receiving the positioning feedback signal, and calculates a distance from each UWB tag according to the timing result;
  • S106 locates the position of the snow blower according to the distance between the calculated ultra-wideband positioning module and each ultra-wideband tag.
  • the wake-up signal, the wake-up feedback signal, the positioning signal and the positioning feedback signal are all ultra-wideband signals, and the ultra-wideband positioning module and the ultra-wideband tag are used for fast ranging.
  • the UWB positioning module sends a positioning signal to each UWB tag and starts timing, including the following steps:
  • the ultra-wideband positioning module sends a positioning signal to each UWB tag, and starts timing separately for each UWB tag;
  • the UWB positioning module calculates a distance from each UWB tag based on the timing result, and includes the following steps:
  • the UWB positioning module stops the timing of the UWB tag after receiving the positioning feedback signal sent by the UWB tag, and calculates the distance from the UWB tag according to the timing result.
  • the ultra-wideband positioning module sends a positioning signal to each of the ultra-wideband tags, and starts timing separately for each ultra-wideband tag; the ultra-wideband positioning module stops receiving the positioning feedback signal sent by a certain ultra-wideband tag and stops the UWB tag. Timing, the ultra-wideband positioning module can calculate the distance between itself and the UWB tag based on the timing result for an ultra-wideband tag. Therefore, according to the timing results for each ultra-wideband tag, the ultra-wideband positioning module and each super wide The distance between the labels can be calculated.
  • the step of calculating the distance from each of the ultra-wideband tags based on the timing results includes the following steps:
  • D is the distance between the ultra-wideband positioning module and the ultra-wideband tag
  • T A is the total time that the ultra-wideband positioning module counts from the start to the stop of the ultra-wideband tag
  • T replyB is the received from the ultra-wideband tag.
  • the time delayed from the positioning signal to the transmission of the positioning feedback signal, c is the light propagation speed.
  • the specific ranging methods of the ultra-wideband technology include TOA (Time of Arrival), TDOA (Time Difference of Arrival), and RTOF (Roundtrip Time of Flight), and the RTOF is taken as an example for description.
  • FIG. 47 is a schematic diagram of the principle of ultra-wideband ranging.
  • the snow remover When the snow blower starts to run, the snow remover first transmits the ultra-wideband signal through its own ultra-wideband positioning module A to wake up other pre-installed ultra-wideband positioning tags, and then emits the ultra-wideband signal, and starts timing.
  • other tags B receive the ultra-fastband signal after receiving the ultrafast band signal
  • the positioning module A on the snow blower receives the UWB signal returned by the tag again, the timer is stopped, thereby obtaining:
  • T R is the time when the signal propagates from A to B
  • T A is the total time that the ultra-wideband positioning module counts from the start to the stop of the ultra-wideband tag, that is, the total time of the signal during the measurement
  • T replyB is the super The time delay from the receipt of the positioning signal by the wideband tag to the transmission of the positioning feedback signal. Then the distance between the two points is:
  • FIG. 48 is a schematic diagram of the ultra-wideband positioning principle.
  • the snow blower communicates with each UWB tag through its own UWB module to measure the distance from each UWB tag. After measuring at least the distance between the three UWB tags, the snowflake can pass The algorithm determines its position to achieve positioning.
  • the Trilaterate algorithm can be used for positioning.
  • FIG. 5 is a schematic diagram of the positioning principle of the Trilaterate algorithm.
  • auxiliary positioning devices corresponding to the three ultra-wideband tags in the present invention
  • D(x, y) points represent the ultra-wideband positioning device assembled on the snow remover
  • A(0,0), B(k,0), C(m,n) are three
  • the coordinates of the auxiliary positioning points corresponding to the three ultra-wideband tags in the present invention
  • the distances from the three positioning devices to point D are r1, r2, r3, respectively, which can be measured by the ultra-bandwidth positioning device.
  • the position parameters of the snow blower can be calculated as follows:
  • R1 2 x 2 +y 2
  • R2 2 (kx) 2 +y 2
  • R3 2 (mx) 2 +(ny) 2
  • the ultra-wideband positioning module feeds back the position information of the positioning to the control module on the snow blower;
  • the control module controls the snow blower to perform corresponding operations according to the position information of the positioning.
  • the UWB positioning module After the UWB positioning module wakes up each UWB tag, it sends a positioning signal to each UWB tag and starts timing. Each UWB tag sends a positioning feedback signal to the UWB positioning module, and the UWB positioning module stops timing after receiving the positioning feedback signal. The distance between each of the ultra-wideband tags is calculated based on the timing result, thereby locating the position of the snow blower.
  • the ultra-wideband positioning module feeds back the position information of the positioning to the control module on the snow remover, and the control module performs corresponding actions according to the position information of the positioning, thereby realizing the autonomous positioning of the snow blower and further path planning.
  • the autonomous positioning of the snow blower and further path planning can be realized by the ultra-wideband positioning module disposed on the snow blower and the respective ultra-wideband tags respectively disposed at a plurality of preset positions.
  • the snow blower such as Google Maps
  • the entire automatic snow removal system includes a snow remover and a monitoring device 600 such as SMARTPHONE or IPAD for monitoring the working state of the snow blower.
  • the human-machine interaction module of the snow blower includes a wireless communication unit, a wireless communication unit and a control. The module is connected to receive signals from monitoring devices such as SMARTPHONE or IPAD and transmit signals to the control module. The control module controls the walking direction, walking speed, working state, etc. of the snow blower 100 according to different signals.
  • the monitoring device 600 such as SMARTPHONE or IPAD is fixed by the bracket and set in a place where the entire working area can be photographed, and the viewing area is first adjusted; then the working area picture is taken, that is, the area is determined; then the user defines the working area on the working area picture, that is, The area extraction, that is, the boundary line 320', and the extracted work area are as shown in FIG.
  • the monitoring device 600 such as SMARTPHONE or IPAD will monitor whether the snow blower is working in the extracted working area, that is, the limited area works. If it is not in the working area, it sends a signal to the wireless communication unit, and the wireless communication unit receives the signal. And passed to the control module, through which the snow blower 100 is controlled to change the path.
  • the snow blower further includes an image capturing/photographing device mounted on the main body thereof for obtaining an image of the environment and an image of the approaching moving object, the image capturing/photographing device It is preferably a camera.
  • the user can receive the image captured by the camera in real time through mobile devices, computers, and remote devices such as the remote control of the snow blower, and remotely control the snow blower to walk and remove snow.
  • the controller records the path of travel and automatically generates a map after the recording is completed.
  • a preferred third embodiment of the present invention is a boundary setting and path planning scheme through a three-dimensional polar coordinate scheme, that is, a method of machine identifier image tracking and laser ranging and angle measurement.
  • the snow removal system in this embodiment includes a snow remover 100 and a fixed station 800.
  • the fixed station has a detection module and a station wireless communication module, wherein the detection module includes a laser ranging module 820, a pan/tilt camera 840, and a sensor for measuring an angle (eg, The three-axis acceleration sensor) is provided with a significant identifier 191 and a machine wireless communication module on the corresponding snow blower.
  • the pan/tilt camera 840 can be rotated 360 degrees horizontally, and can be rotated up and down by 180 degrees, and the laser ranging module 820 is installed beside the camera.
  • Yuntai An angle sensor (not shown) is also mounted thereon, and the angle sensor and camera 840 and laser ranging module 820 are relatively stationary.
  • the site wireless communication module on the fixed site can communicate with the snow blower.
  • the top of the snow blower is provided with an identifier 191 (such as a specific color or a specific shape, or a partial illuminant) having a prominent mark.
  • the size of the identifier is small relative to the size of the snow remover, and image recognition can be easily performed.
  • the machine wireless communication module installed on the snow remover can communicate with the fixed site.
  • the work area is set as follows: Let the snow blower be at the fixed site, let the camera face straight ahead, as the origin of the three-dimensional polar coordinates; the remote control or hand push snow remover travels along the boundary to be cleaned, and cannot be allowed during the travel.
  • the fixed site pan/tilt adjusts the camera so that the snowplow identifier image and the laser ranging module spot are aligned with the central region of the identifier image - at this time, the laser ranging is recorded
  • the distance L and the plane of the camera are offset by an angle ⁇ and a vertical angle ⁇ , so that the three-dimensional polar coordinates of the snow blower are obtained, and a continuous boundary trajectory can be obtained by multi-point sampling to form a closed boundary.
  • GNSS Global Navigation Satellite System
  • GNSS Global Navigation Satellite System
  • DGPS Global Navigation Satellite System
  • RTK real-time kinematics
  • WARTK wide-area RTK
  • the snow remover can also use its own inertial navigation system for navigation, but according to the working principle of the inertial navigation system (the working principle of inertial navigation is based on Newton's laws of mechanics, by measuring the carrier in the inertial reference system The acceleration, which integrates it into time and transforms it into the navigation coordinate system, can get the information of speed, yaw angle and position in the navigation coordinate system.) It can be seen that the inertial navigation system belongs to the inferred navigation mode. As time goes by, the accuracy will inevitably decrease, which is not conducive to the long-term work of the snow blower.
  • the work area is borderless, such as using a positioning system (such as GNSS) to keep the position within the work area, work
  • GNSS positioning system
  • a position determining device such as a GNSS (Global Navigation Satellite System) device is installed on the snow blower.
  • the GNSS device is a GPS (Global Positioning System) device.
  • the GNSS device is coupled to the controller such that the controller can determine the current position of the snow blower and control the motion of the snow blower using the GNSS device based on the current location.
  • the position determining means includes light (e.g., laser) position detecting means, other radio frequency position detecting means and ultra wideband (UWB) signal stations, and receivers and the like.
  • the snow blower is also provided with at least one sensor for providing signals for dead reckoning navigation.
  • Such dead reckoning navigation sensors can be odometers, accelerometers, gyroscopes, electronic compasses, magnetometers, compasses, and the like.
  • a work area composed of boundary lines or coordinates the snow remover works in the work area.
  • the work area consists of two parts, the first part is the area covered by GNSS navigation, ie the GNSS navigation area; the second part is the area not covered by GNSS navigation, ie the satellite signal is blocked by buildings, roofs, awnings, trees or other plants. Or a weaker interrupt zone for satellite signals.
  • the snow blower 100 is configured to operate using a GNSS device. The following is a detailed description of one of the aforementioned snow removal modes.
  • the GNSS device of the snow blower is capable of receiving a reliable signal from sufficient satellites or sufficient signal stations, and the controller determines that the received signal is reliable and responsive to performing the determined mode of operation.
  • the controller performs an operation to continue using another navigation system, or determines an alternative snow removal mode, ie, a mode that does not require position detection.
  • the snow blower detects that a reliable position cannot be determined, switching to dead reckoning navigation, deriving the calculation work, using the last known position and direction as the current position and the assumed direction, for example by measuring the number of wheel rotations (or The rotation speed and time of the axle are determined to determine the current position.
  • the techniques used to derive the projections include other forms of relative navigation, such as visual/optical navigation systems, SLAM (instant positioning and map construction), and fingerprint fusion.
  • the generated operational mode B may be different from the GNSS based operational mode due to an error in the sensor device, such as a compass or odometer for dead reckoning navigation.
  • the controller calibrates the dead reckoning navigation sensor when the snow blower is able to reliably receive GNSS signals.
  • the controller detects the derived calculated navigation error and computes the navigation sensor derived in response to the error calibration.
  • the controller determines no navigation error based on the difference between the two by comparing the current position with the desired position.
  • Figure 54 is an example of a path along a parallel line of a snow blower in a work area.
  • the snow blower walks within the work area under the guidance of signals received by the GNSS device, and the parallel paths of the walk are equal in length.
  • the snow blower enters the interrupted area and the controller switches
  • the navigation path is estimated to the dead reckoning, and the resulting snow removal path B is almost parallel.
  • the snow blower will re-enter the GNSS navigation area, that is, when it is able to receive reliable signals again, compare its current position and expectations. position.
  • Point C is the position where the snow blower re-enters the GNSS navigation area, at which point the GNSS navigation area is re-entered to determine the distance ⁇ from the current position to the desired position.
  • the desired position is determined based on the time when the snow blower loses the GNSS navigation, the average speed of the walk, and the parameters (or mode of operation) of the snow removal operation.
  • the controller causes the dead reckoning to calibrate the navigation sensor.
  • the controller can also determine that the dead reckoning navigation sensor is based on calibration of another navigation parameter.
  • the navigation parameters are not limited to the above-described positions, but may be a traveling direction, a speed, an acceleration, an inclination angle, and the like. For example, if the snow blower returns to the GNSS navigation area, it may determine the current speed according to the position determining device, compare the current speed with the speed calculated by the dead reckoning navigation module, determine whether the error is negligible, and adjust accordingly. .
  • the sensor can be continually calibrated by the controller. In general, errors can not be considered negligible as long as they can be detected. If it is a negligible error, set the ratio of the adjustment accordingly. Adjustments can be performed by the user or the controller/operator or the designer of the snow blower.
  • the dead reckoning navigation sensor will calibrate and the resulting snow removal path, as shown by position D in the figure, more similar to the snow removal path under GNSS navigation. As the snow blower returns to the GNSS area again, position E in the figure, the snow blower will approach its desired position.
  • the snow blower is capable of correcting its position and/or orientation based on the detected error ⁇ .
  • the correction here may be that the snow blower travels toward the desired course of motion, such as the reference line EL in the figure, returning to the desired position in the snow removal path. Therefore, it is possible to minimize the influence of the dead reckoning navigation sensor on the dead reckoning navigation error.
  • the snow blower can perform and perform the required work even if some parts of the work area cannot receive reliable GNSS signals.
  • the satellite signal may be a navigation signal such as a GPS signal or a Beidou navigation signal.
  • the working module may further include one or more of the working head mechanism such as the snow removing mechanism 120, the snow pushing mechanism 160, and the working motor for driving the working, etc., and may also include a sweeping / Push snow height adjustment mechanism.
  • the head mechanism can be replaced as needed or automatically replaced.
  • the snow remover 300 includes a host 110 and one or more of the snow removing mechanism 120, the snow throwing mechanism 140, and the snow pushing mechanism 160 that are detachably engaged with the host 110, and the host 110 of the snow blower 200 is installed with different work.
  • the head mechanism performs the working mode correspondingly, that is, the host 110 installs the snow removing mechanism 120, and the corresponding snow removing machine 100 executes the snow sweeping mode; the host 110 installs the snow throwing mechanism 140, The snow blower 100 should perform the snow throwing mode; the main body 110 installs the snow pushing mechanism 160, and the corresponding snow blower 100 executes the snow pushing mode.
  • Different snow removal modes correspond to different working conditions. For example, snow sweeping corresponds to thin snow conditions, snow pushing corresponds to medium or thick snow conditions, and snow throwing is suitable for various thicknesses of snow, and the best is medium or thick snow.
  • the snow blower is taken as an example for description. Of course, those skilled in the art can perform simple replacement.
  • the foregoing embodiment may also be a snow blower or a snow blower, that is, only the corresponding work head is different, and other Modules are available for reference.
  • the specific working head is shown in FIG. 55.
  • the working head mechanism is a snow removing mechanism.
  • the snow removing mechanism 120 includes a roller brush 122, a protective cover 124 attached to the periphery of the roller brush 122, and a working motor for driving the rotating brush 122 to rotate.
  • the roller brush 122 rotates at a high speed as the snow blower 100 travels, thereby sweeping the snow to the front of the snow blower 100.
  • the working motor can drive the roller to rotate through some common transmission mechanisms, such as a bevel gear mechanism, a worm gear mechanism and the like.
  • the roller brush 122 has a rotational speed of less than 1000 rpm, preferably less than or equal to 300 rpm.
  • the material of the roller brush is mostly nylon, and it can also be non-metallic materials such as plastic, rubber, wool fabric, etc., to prevent accidental collision without hurting people.
  • the direction in which the roller brush 122 rotates may be a clockwise direction or a counterclockwise direction, and the direction of rotation may be different, and the direction and distance of the snow throwing may be different. As indicated by the direction of the arrow in Fig.
  • the high speed rotating roller brush 122 is thrown with snow from above the brush, and if it is in the opposite direction of the arrow, snow is thrown from below the roller brush 122.
  • the shield 124 extends a distance from the front portion of the roller brush in the tangential direction to form a shield 1242 that can guide the snow that is rotated as the roller 124 rotates downward.
  • the snowboarding angle ⁇ of the shield plate 1242 relative to the vertical direction is between 20° and 70°, which does not cause the snow to be blocked in the protective cover 124, and ensures the safety of the snow throwing, and does not affect the sweeping.
  • the vibration damping mechanism 126 may be disposed between the snow removal working head and the main body 110.
  • the vibration damping mechanism 126 may be a vibration damping spring, and one end of the vibration damping spring is connected. On the protective cover 124, the other end is connected to the host 110, and has a simple structure and convenient installation.
  • the snow pushing mechanism 160 includes a snow shovel 162 that is substantially concave and has one end that abuts against the ground and pushes the snow to a fixed location as the snow blower 100 travels. And depending on the situation, the height of the snow shovel 162 relative to the ground can be adjusted.
  • the foregoing three working head mechanisms can be detachably mounted on the main body 110 of the snow blower 100.
  • one side of the host 110 is provided with a connecting portion 112.
  • the connecting portion 112 has a power supply interface, and the corresponding snow removing mechanism 120 and the snow throwing mechanism 140 have corresponding power supply interfaces, and the snow pushing mechanism 160 does not need to supply power.
  • There is no need to provide a power supply interface so that the snow removal mechanism 120 and the snow throwing mechanism 140 are connected to the connection portion 112 to realize electrical connection with the host, and the working motor can be powered by the energy module in the host.
  • the three head mechanisms are pivotally connected to the main body 110, are connected by pins or bolts, and are pivotable relative to the main body 110.
  • the snow removing machine also has the function of automatically recognizing the working head.
  • the connecting portions of the three working head mechanisms and the main body are respectively equipped with identification devices at different positions, and the identification device can be configured as Magnet or trigger switch or communication interface, etc.
  • different working head mechanism is connected with the host to generate different signal feedback to the control module.
  • the control module determines the form of the working head according to the received signal and automatically executes the corresponding work head. Control methods, such as adjusting motor speed, walking speed, and so on.
  • the signal switch as an example, three signal switches 114 are disposed on the connecting portion 112 of the host, and the first signal switch can be triggered by the connection portion of the snow removing mechanism 120 connected to the host, and the snow throwing mechanism 140 can be connected to the connection portion of the host to be triggered.
  • the second signal switch, the snow pushing mechanism 160 connected to the connection portion of the host can trigger the third signal switch, and the control module executes the control mode corresponding to the received trigger signal according to the triggered switching signal.
  • the preferred snow remover of the present invention is provided with three working head mechanisms, and at least two signal switches can be set to realize the identification of three working heads. Of course, more work heads can be configured as needed, and corresponding multiple signal switches are provided to identify different work heads.
  • the communication mode can also be used, that is, there is a PCB in the working head, which can communicate with the main control part, and can tell the main control working head what module by communication.
  • the electric heating and heat insulating material 130 on the main body casing, such as a solid electric hot cake, and the filling is insulation cotton (such as; asbestos and the like), and the heating and heat preservation thereof
  • the working principle is: using a dual temperature-controlled electric heating energy storage structure, gradually releasing thermal energy.
  • PTC Built-in automatic overheat protection device and automatic heat preservation indicating device
  • a small electric furnace controlled by PTC thermistor switch, PTC is a positive temperature coefficient thermistor, when the current passes, it will heat itself (the heat of the electric furnace will also be transmitted to it)
  • the temperature reaches a certain value its resistance will increase sharply, which can be regarded as disconnection.
  • the power consumption is stopped, and then the heat of the insulation cotton is used to slowly release heat, and the heat preservation time is long. In this way, only the snow remover is heated while being charged, and then the main body is insulated by electrically heating the heat insulating material, thereby preventing the components such as the battery and the controller from operating at a low temperature.
  • the electric heating and heat insulating material 130 can also be liquid, adopting an electrode heating method, double temperature control insurance with high quality temperature control and thermal fuse. Under normal circumstances, when the liquid temperature reaches 65 degrees, the thermostat will automatically cut off the circuit, stop heating, and the heat generated by the contact of the chemical inside, the temperature is about 40 °C.
  • the electric heating and heat insulating material 130 is disposed on the main body casing, that is, may be wrapped on the outside of the main body casing, or may be located inside the main body casing, configured according to the shape of the main body casing, and installed together with the main body casing. .
  • the electrically heated insulating material 130' is disposed only adjacent to the battery and the controller, and the controller is the core component of the entire snow blower, and the battery should be prevented from being placed or charged at a low temperature. Therefore, at least the battery box controller needs to be insulated.
  • the electric heating and insulating material is preferably disposed at the bottom of the battery and the controller to facilitate the bottom-up retention of the temperature.
  • the first solution is to provide an obstacle sensing component such as an obstacle detecting device on the snow blower, and the control module controls the snow throwing component 144 to throw snow or stop snow throwing to the area of the unmanned object or the object according to the signal transmitted by the obstacle sensing component.
  • an obstacle sensing component such as an obstacle detecting device on the snow blower
  • the control module controls the snow throwing component 144 to throw snow or stop snow throwing to the area of the unmanned object or the object according to the signal transmitted by the obstacle sensing component.
  • the second option is to control the energy of the throwing object so that it is within the safe energy range, thus completely avoiding damage to people or objects located nearby.
  • the third option is to apply the first scheme and the second scheme to the snow blower at the same time. The following focuses on the second option.
  • the reason why the thrown object can cause harm to people or things near the snow blower is because it has a certain speed and a certain quality when it comes into contact with people or things, that is, it has a certain impulse. Combined with the study of humans and things, the impulse should be less than 0.041kg ⁇ m/s so as not to cause harm to people or things.
  • the following is an analysis of the quality M of the two factors affecting the impulse and the velocity V of the person or object.
  • means for changing V0 and V' will be described in conjunction with factors affecting V0 and V'.
  • V' it is related to the distance D that the ejected object needs to reach to reach the person or thing.
  • the larger the distance D the greater the velocity attenuation caused by overcoming the air resistance and the self-gravity, and the larger the V', the smaller the distance D is, the smaller the V' is.
  • the snow throwing mechanism includes a power component and a snow throwing guide assembly.
  • the power component collects snow on the ground and its inclusions into the snow throwing mechanism, and throws the snow guiding component into the direction guided by the snow throwing guiding component.
  • the snow throwing guide adjusts the direction in which the thrown object is thrown. It can be a guiding cylinder, such as a snow throwing cylinder; or a guiding component such as a guiding plate for guiding and changing the snow throwing direction.
  • the power assembly can include primary or multi-stage power.
  • the initial speed V0 is substantially equal to the working speed of the first stage power component, and in this case, the working speed of the first stage power component is V1 ⁇ 41 m/s.
  • the initial speed V0 is substantially equal to the working speed of the second-stage power component, and at this time, the working speed of the second-stage power component is V2 ⁇ 41 m/s, and accordingly, the first-stage power component The work speed is even smaller.
  • the power assembly can also include more stages of power, the initial speed of the thrown being approximately equal to the operating speed of the last stage power component of the power assembly.
  • the first stage power component is typically a snow scraper component. In this embodiment, the structural design of the snow scraping assembly is described in the case where the snow throwing mechanism includes only one stage of power.
  • the snow scraping component may be a cylindrical spiral snow collecting wheel, a cylindrical snow brush, or any other shape such as a spade shape.
  • the snow scraping assembly When the snow scraping assembly is cylindrical, it collects the snow on the ground into the snow throwing mechanism by rotating around the central axis and further throws it. When the snow scraping component has other shapes, it can be moved by a lever or a connecting rod. The snow on the surface is collected into the snow throwing mechanism and further thrown.
  • the automatic walking snow removal device automatically travels along the planned path and generates a walking trajectory.
  • a set of walking trajectories defined by the snow blower throughout the work area is defined as a set of walking trajectories, including a plurality of parallel or angled walking trajectories.
  • Substantially parallel means that the angle between the two tracks is less than or equal to 10°.
  • the first walking trajectory is adjacent to the second walking trajectory and overlaps each other with an overlapping width d to prevent the remaining snow between the adjacent two walking trajectories from being cleaned.
  • the maximum overlap width of the first walking trajectory and the second walking trajectory is dmax
  • the minimum overlapping width is dmin
  • the shortest one of the first walking trajectory and the second walking trajectory is L
  • the substantially parallel refers to The angle between the two tracks is less than or equal to (dmax-dmin) / (180 * ⁇ * L), dmin ⁇ 0.
  • FIG. A1 is a schematic diagram of a self-mobile device control method in an embodiment.
  • a steerable parabolic device and a plurality of obstacles corresponding to different detection positions may be disposed on the mobile device.
  • the object sensor for example, when the mobile device is a snow blower, the parabolic device may be a snow thrower, and the obstacle sensor may be an ultrasonic sensor.
  • the method can include:
  • AS102 Receives signals from several obstacle sensors.
  • a controller and a plurality of obstacle sensors can be disposed on the mobile device, and the controller can receive signals of the plurality of obstacle sensors in real time, for example, when the obstacle sensor detects an obstacle within the detection range thereof. At this time, a signal is sent to the controller.
  • AS104 Determine whether an obstacle sensor corresponding to the current parabolic direction detects an obstacle according to the received signal of the obstacle sensor.
  • FIG. A2 is a schematic diagram of a self-moving device in an embodiment.
  • the self-moving device is provided with seven obstacle sensors.
  • the mobile device can also be provided with five, eight, ten, and twelve obstacle sensors, and the seven obstacle sensors are respectively located around the self-mobile device to ensure that the self-moving can be detected. Obstacle around the device.
  • the controller may determine, based on the signal of the received obstacle sensor, whether the obstacle sensor corresponding to the current parabolic direction detects an obstacle.
  • AS 106 If an obstacle sensor corresponding to the current parabolic direction detects an obstacle, the parabolic device is controlled to be turned such that the parabolic direction is that no obstacle is detected and is the direction of the unprocessed area of the mobile device.
  • the obstacle sensor corresponding to the current parabolic direction detects an obstacle, it is necessary to change the parabolic direction of the parabolic device, but if the changed parabolic direction points to the area that has been processed by the mobile device, it will be caused by the previous mobile device.
  • the work is invalid, for example, when the mobile device is a snow blower, if the current snow throwing direction is the first direction, the second direction points to the area that has been processed by the mobile device, and when there is an obstacle in the first direction, if the object is parabolic at this time
  • the parabolic direction of the device is set to the second direction, which causes the snow blower to throw snow to the cleaned area, so that the previous cleaning work is invalid and needs to be cleaned again.
  • the snow throwing direction when the snow throwing direction is reset, it is first determined whether the direction corresponding to the obstacle sensor that does not detect the obstacle points to the area that has been processed by the mobile device, and if there is an obstacle not detected.
  • the corresponding direction of the obstacle sensor is not directed to the area that has been processed by the mobile device, and the parabolic direction is set to the direction of the corresponding obstacle sensor that does not point to the area that has been processed by the mobile device.
  • step AS108 If the obstacle sensor corresponding to the current parabolic direction does not detect the obstacle, keep the current parabolic direction unchanged, and continue to step AS102 to receive signals of several obstacle sensors.
  • the self-mobile device control method determines whether there is an obstacle in the current parabolic direction in real time by receiving signals of a plurality of obstacle sensors disposed on the mobile device, and if not, the parabolic direction is set to an undetected obstacle in time. It is the direction of the unprocessed area of the mobile device, so that intelligent control can be implemented to control the parabolic direction in time to throw the object onto other objects or throw it into the processed area, causing danger or repeated work.
  • the initial parabolic direction of the parabolic device is set to the first direction, that is, the seventh obstacle sensing.
  • the direction pointed by the device since the self-mobile device has not started working, there is no area that has been processed by the mobile device. Therefore, it is not necessary to determine in advance whether the direction corresponding to the obstacle sensor that does not detect the obstacle is pointed.
  • the area that has been processed by the mobile device may include receiving signals of a plurality of obstacle sensors prior to walking from the mobile device. Whether or not the obstacle sensor corresponding to the initial parabolic direction detects an obstacle is determined based on the received signal of the obstacle sensor.
  • the parabolic direction is set to a direction corresponding to the obstacle sensor in which the obstacle is not detected. Therefore, in the embodiment, it can be ensured that a parabolic direction can be preset according to the surrounding environment before the mobile device walks.
  • the step of setting the parabolic direction to the direction in which the obstacle is not detected and is from the unprocessed area of the mobile device may include determining whether the obstacle sensor other than the obstacle sensor corresponding to the current parabolic direction is An obstacle was detected. If an obstacle is not detected by the obstacle sensor, it is judged whether the direction corresponding to the obstacle sensor to which the obstacle is not detected points to the unprocessed area from the mobile device.
  • the direction corresponding to the obstacle sensor that does not detect the obstacle points to the area that has been processed by the mobile device, it is further determined whether the obstacle sensor other than the obstacle sensor corresponding to the current parabolic direction detects the obstacle until It is judged that one of the obstacle sensors does not detect the obstacle and the direction corresponding to the obstacle sensor points to the unprocessed area of the self-moving device, and sets the corresponding direction to the parabolic direction.
  • the obstacle sensor corresponding to the current parabolic direction is the seventh obstacle sensor.
  • the first obstacle may be first determined according to step AS302: Whether the sensor detects an obstacle, if the first obstacle sensor does not detect the obstacle, proceeding to step AS304: determining whether the direction corresponding to the first obstacle sensor points to an unprocessed area from the mobile device. If the first obstacle sensor also detects the obstacle, proceed to step AS306 to determine whether the second obstacle sensor detects an obstacle.
  • step AS308 determine and Whether the direction corresponding to the second obstacle sensor points to an unprocessed area of the mobile device, otherwise it continues to determine whether the third obstacle sensor detects an obstacle, and so on until the last obstacle sensor is determined, that is, step AS310: It is judged whether the Nth obstacle sensor detects an obstacle.
  • the judgment may be stopped, and the corresponding direction is set as a parabola. direction.
  • step AS314 or step AS316 or step AS3108 if the direction corresponding to the obstacle sensor that does not detect the obstacle points to the unprocessed area of the mobile device, The parabolic direction is set to a direction corresponding to the obstacle sensor to which the obstacle is not detected.
  • all the obstacle sensors are sequentially determined, and in other embodiments, all the obstacle sensors can be judged in parallel, and details are not described herein again.
  • FIG. A4 is another process flow diagram of step AS106 in the embodiment of FIG. A1.
  • Steps AS302 to AS318 are the same as those described above in this embodiment, and are not described herein again.
  • the preset time is controlled to stop from the mobile device, and after the obstacles around the mobile device are cleared, Work again.
  • step AS502 may be further continued to determine whether the first obstacle sensor detects an obstacle. If the first obstacle sensor detects an obstacle, proceed to step AS506 to determine if the second obstacle sensor detects an obstacle. If the second obstacle sensor also detects the obstacle, it is determined whether the third obstacle sensor detects the obstacle, and so on, until the last obstacle sensor is determined, that is, proceeding to step AS510: determining whether the Nth obstacle sensor is An obstacle was detected.
  • N is a positive integer, such as in the embodiment shown in Figure A2, N is 7, representing the number of obstacle sensors placed on the self-mobile device. If the obstacle is not detected by the first obstacle sensor, proceed to step AS504 to determine whether the direction corresponding to the first obstacle sensor points to an unprocessed area from the mobile device. If the direction corresponding to the first obstacle sensor is directed to the unprocessed area from the mobile device, then step AS514 is continued: the corresponding direction is set to the parabolic direction. If the second obstacle sensor does not detect the obstacle, proceed to step AS508 to determine whether the direction corresponding to the second obstacle sensor points to an unprocessed area from the mobile device.
  • step AS516 the corresponding direction is set to the parabolic direction.
  • step AS512 determines whether the direction corresponding to the Nth obstacle sensor points to an unprocessed area from the mobile device. If the direction corresponding to the Nth obstacle sensor is directed to the unprocessed area from the mobile device, then step AS518 is continued: the corresponding direction is set to the parabolic direction.
  • step AS520 is performed: after the preset distance is controlled by the self-mobile device, the self-moving device is re-planned. Walking path.
  • the walking path of the self-mobile device can be re-planned.
  • the method may include the following steps: if the obstacle sensor other than the obstacle sensor corresponding to the current parabolic direction detects an obstacle, the control is stopped after the preset time of the mobile device is stopped, and then continues according to The signal of the received obstacle sensor determines whether there is an obstacle sensor that does not detect an obstacle.
  • the control since all obstacle sensors detect obstacles, that is, there are obstacles around the mobile device, the self-mobile device cannot parabolic at this time, so the control is stopped from the mobile device, and generally can be set. After stopping the time period of 2 minutes, 3 minutes, 4 minutes, etc., it is judged whether the obstacle trigger still detects the obstacle.
  • the parabolic direction can be set to the direction. If the direction corresponding to the obstacle sensor that does not detect the obstacle still points to the area that has been processed by the mobile device, then after the preset distance is retreated from the mobile device, the walking path of the self-mobile device is re-planned.
  • the obstacle sensor does not detect the obstacle after the preset time, or the direction corresponding to the obstacle sensor that does not detect the obstacle still points to the area that has been processed by the mobile device, the current self The mobile device does not work properly, so you can re-plan the walking path of the self-mobile device. If there is a direction corresponding to the obstacle sensor that does not detect the obstacle at this time pointing to the unprocessed area from the mobile device, the parabolic direction is set to any obstacle corresponding to the area that is not processed from the mobile device. The direction of the sensor.
  • the method may further include the following steps: if the direction corresponding to the obstacle sensor that does not detect the obstacle points to the area that has been processed by the mobile device, then the control is stopped after the preset time of the mobile device And continuing to determine, based on the received signal of the obstacle sensor, whether there is an obstacle sensor that does not detect an obstacle.
  • the self-mobile device cannot parabolic at this time, so the control is stopped from the mobile device, and generally can be set. After stopping the time period of 2 minutes, 3 minutes, 4 minutes, etc., it is judged whether the obstacle trigger still detects the obstacle.
  • the parabolic direction can be set For that direction. If the direction corresponding to the obstacle sensor that does not detect the obstacle still points to the area that has been processed by the mobile device, then after the preset distance is retreated from the mobile device, the walking path of the self-mobile device is re-planned.
  • the obstacle sensor does not detect the obstacle after the preset time, or the direction corresponding to the obstacle sensor that does not detect the obstacle still points to the area that has been processed by the mobile device, the current self The mobile device does not work properly, so you can re-plan the walking path of the self-mobile device. If there is a direction corresponding to the obstacle sensor that does not detect the obstacle at this time pointing to the unprocessed area from the mobile device, the parabolic direction is set to any obstacle corresponding to the area that is not processed from the mobile device. The direction of the sensor.
  • the self-moving device may or may not work when the parabolic device is turned.
  • the mobile device is a snow blower
  • the snow blower can continue to walk on the road surface when the snow throwing device turns. Snow.
  • the system can calculate the appropriate direction to control the parabolic steering.
  • FIG. A6 is a schematic structural diagram of a self-mobile device control system in an embodiment.
  • a steerable parabolic device and a plurality of obstacle sensors are disposed on the mobile device, and the system can be
  • the signal receiving module A110, the signal processing module A120, and the signal output module A130 are included.
  • the input end of the signal processing module A120 is connected to the output end of the signal receiving module A110, and the input end of the signal output module A130 is connected to the output end of the signal processing module A120.
  • the signal receiving module A110 is configured to receive signals of a plurality of obstacle sensors, and the signal processing module A120 is configured to determine, according to the received signal of the obstacle sensor, whether an obstacle sensor corresponding to a current parabolic direction detects an obstacle,
  • the signal output module A130 is configured to steer the parabolic device when the obstacle sensor corresponding to the current parabolic direction detects the obstacle such that the parabolic direction is the direction in which the obstacle is not detected and is not the area that has been processed by the mobile device.
  • the signal processing module includes an obstacle sensor determining unit A121 and an area determining unit A122.
  • the input end of the obstacle sensor determining unit A121 is connected to the output end of the signal receiving module A110.
  • An input end of the A122 is connected to an output end of the obstacle sensor determining unit A121, and the obstacle sensor determining unit A121 is configured to determine whether an obstacle sensor other than the obstacle sensor corresponding to the current parabolic direction detects an obstacle
  • the area determining unit A122 is configured to determine, when the obstacle sensor does not detect the obstacle, whether the direction corresponding to the obstacle sensor that does not detect the obstacle points to the unprocessed area of the mobile device area.
  • the signal output module A130 is further configured to detect an obstacle at all obstacle sensors, or the direction corresponding to the obstacle sensor that does not detect the obstacle is that the self-mobile device has processed Controlling the self-mobile device to stop for a preset time, and then determining, based on the received signal of the obstacle sensor, whether the obstacle sensor corresponding to the current parabolic direction detects an obstacle; and when the self After the mobile device is stopped for a preset time, all the obstacle sensors detect the obstacle, or the direction corresponding to the obstacle sensor that does not detect the obstacle is the direction of the area that has been processed by the mobile device, then control After the preset distance is retracted from the mobile device, the walking path of the self-mobile device is re-planned.
  • the snow throwing method and the snow throwing system under the third design concept are described below in conjunction with Figures B1-B2.
  • the invention provides a snow throwing method, which can realize snow blowing in the wind, avoiding the wind blowing in the wind, or controlling the snow blowing effect within an acceptable level, thereby ensuring the snow throwing effect and improving the working efficiency.
  • a snow throwing method includes:
  • Step BS110 Obtain the wind direction of the wind when throwing snow.
  • the wind direction can be obtained using an existing wind speed and wind direction detector. Wind direction detection itself is a mature technology and there is not much expansion here. With this detector, the wind power can also be detected simultaneously.
  • the snow throwing direction control module After the wind direction is detected, it is sent to the snow throwing direction control module by wireless or wired communication as one of the basis for subsequent adjustment of the snow throwing direction.
  • the wind direction is basically fixed, the wind is basically unchanged, or the wind direction is basically fixed.
  • the wind direction can be directly detected and obtained by the detector, and then used as the wind direction of the wind when throwing snow, that is, As one of the basis for the subsequent adjustment of the direction of snow throwing.
  • the step BS110 specifically includes: acquiring the wind and wind direction of the wind of the plurality of wind directions in the predetermined time period; selecting the wind direction of the wind with the largest wind; and using the wind direction of the maximum wind as the snow throwing Wind direction.
  • the wind direction of the maximum wind is the main wind direction that affects the snow throwing, so it will also be the adjustment criterion for the main direction of snow throwing. With this as a basis for adjustment, it is guaranteed that snow will not be thrown against the wind when throwing snow, effectively achieving downwind and snow throwing.
  • the thrown snow has a certain initial velocity, and the initial velocity has a certain effect on maintaining the snow throwing direction. Therefore, when the wind is large, the snow thrown may be significantly affected. When the wind is only a breeze with constant wind direction or a breeze with variable wind direction, although the wind exists, it does not necessarily affect the snow throwing. In other words, at this time Even if it is snowing against the wind, it will not affect it. The snow removal effect.
  • the method further includes the steps of: determining whether the maximum wind exceeds a predetermined threshold; and if the determination is yes, using the wind direction of the maximum wind as the wind direction of the wind when throwing snow.
  • the judgment is no, one wind direction may be arbitrarily selected or no wind direction may be selected as the wind direction of the wind when throwing snow.
  • the predetermined threshold here is a suitable wind threshold based on the initial snow throwing speed. If the wind exceeds the threshold, the wind direction corresponding to the wind is used as the wind direction at the time of snow throwing, that is, as a reference for subsequent adjustment. If the winds of the winds of the plurality of wind directions are both small, one wind direction can be arbitrarily selected as the wind direction of the wind when the snow is thrown. Do not select any wind direction, at this time, the direction of snow throwing will remain unchanged.
  • Step BS120 Obtain a current snow throwing direction.
  • the angle of the thrown snow can be obtained by using a sensor that detects the angle of the snow throwing mechanism.
  • the rotating mechanism can be equipped with a detecting angle sensor (such as a rotary potentiometer), and the stepping motor controls the rotation to adjust the snow throwing direction.
  • Step BS130 Obtain an angle difference between the wind direction and the snow throwing direction.
  • the angle judgment sub-module is used to calculate the difference in angle between the direction and the snow throwing direction.
  • Step BS140 adjusting the snow throwing direction so that the difference in angle between the snow throwing direction and the wind direction is within a predetermined range.
  • the difference in the angle between the snow throwing direction and the wind direction includes: adjusting the snow throwing direction to be consistent with the wind direction, and at this time, there is no angular difference between the two, that is, the difference is zero.
  • the way to adjust the direction of snow throwing includes at least:
  • Rotate the snow throwing mechanism to change the direction of snow throwing For example, by turning the snow throwing mechanism, the angle at which the snow is thrown is changed.
  • the snow throwing method of the present invention may further comprise the following steps:
  • Step BS150 when the wind direction changes, acquires the wind force of the wind after the wind direction is changed.
  • the snow thrower can throw snow according to the determined snow throwing direction, which can realize the snow throwing downwind and avoid the wind and snow throwing. Even if there is snow in the headwind, it can be controlled within an acceptable level. .
  • the wind direction may still change. After the wind direction changes, the wind may change or remain unchanged, which may or may not affect the snow throwing. Therefore, in this step, the wind can be taken as the basis for the subsequent adjustment of the snow throwing direction.
  • Step BS160 determines whether the wind force exceeds a predetermined threshold.
  • the predetermined threshold here is a suitable wind threshold based on the initial snow throwing speed.
  • step BS170 the determination is yes, and the step of adjusting the snow throwing direction to make the difference between the snow throwing direction and the wind direction within a predetermined range is determined, and the determination is no, and the snow throwing direction is not adjusted.
  • step BS130 If the wind force after the change of the wind direction exceeds the predetermined threshold, the snow throwing direction is adjusted so that the difference in angle between the snow throwing direction and the wind direction is within a predetermined range, that is, step BS130 is performed.
  • the snow throwing direction is not adjusted, and the snow throwing direction will remain unchanged, and the snow throwing effect will not be affected at this time.
  • the snow throwing direction is not adjusted, and the snow throwing direction remains unchanged.
  • the initial speed when the snow is thrown can be increased.
  • the present invention also provides a snow throwing system B100, comprising:
  • the wind direction acquisition module B110 is configured to obtain the wind direction of the wind when throwing snow.
  • the snow throwing direction detecting module B120 is configured to obtain the current snow throwing direction.
  • the angle determining module B130 is configured to obtain an angular difference between the wind direction and the snow throwing direction.
  • the snow throwing direction control module B140 is configured to adjust the snow throwing direction so that the angle difference between the snow throwing direction and the wind direction is within a predetermined range.
  • the wind direction obtaining module B110 obtains the wind direction in the snow blower working environment, and then the snow throwing direction detecting module B120 detects the current snow throwing direction, and uses the angle determining module B130 to calculate the angle between the wind direction and the snow throwing direction. difference. Then, the snow throwing direction control module B140 controls the snow throwing direction so that the angle difference between the snow throwing direction and the wind direction is within a predetermined range. In this way, the snow blower can achieve snow blowing in the wind, or even if it is snowing against the wind, it can be controlled to an acceptable level.
  • the manner in which the snow throwing direction control module B140 adjusts the snow throwing direction is: rotating the snow throwing mechanism to change the snow throwing direction.
  • the wind direction obtaining module B110 is further configured to: acquire wind power after the wind direction is changed; and determine whether the wind power exceeds a predetermined threshold.
  • the snow throwing direction control module B140 adjusts the snow throwing direction so that the difference in angle between the snow throwing direction and the wind direction is within a predetermined range.
  • the snow throwing direction control module B140 maintains the snow throwing direction or adjusts the snow throwing direction according to the changed risk.
  • the snow throwing direction control module B140 maintains the snow throwing direction unchanged, and the snow throwing direction control module B140 is further used to: increase the initial speed when the snow is thrown, to ensure that the snow throwing is not affected by the headwind Impact.
  • wind direction acquisition module B110 is further configured to: acquire wind and wind direction of winds of multiple wind directions in a predetermined time period; select wind direction of wind with maximum wind power; use wind direction of the maximum wind power as wind direction of wind when throwing snow .
  • Wind direction acquisition module B110 is further configured to: determine whether the maximum wind exceeds a predetermined threshold; if the determination is yes, use the wind direction of the maximum wind as the wind direction of the wind when throwing snow, and if it is no, arbitrarily select a wind direction as the throw The wind direction of the snow.
  • the predetermined threshold here is a suitable wind threshold based on the initial snow throwing speed. If the wind exceeds the threshold, the wind direction corresponding to the wind is used as the wind direction at the time of snow throwing, that is, as a reference for subsequent adjustment. If the winds of the winds of the plurality of wind directions are both small, one wind direction can be arbitrarily selected as the wind direction of the wind when the snow is thrown. You can also choose not to choose any wind direction. At this time, the direction of snow throwing will remain unchanged. Thus, when the wind direction is erratic and the wind power is constant or changes, the wind direction acquisition module B110 can quickly determine the wind direction as the adjustment reference.

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Abstract

一种自动行走除雪设备，包括：行走模块，驱动除雪机移动；工作模块，包括工作马达和由工作马达驱动的抛雪机构，所述抛雪机构在工作马达的驱动下收集地面的积雪以及夹杂物并抛出抛雪机构；控制模块，配置为控制工作马达的转速使夹杂物离开抛雪机构时的速度不高于41m/s。本机器人设备能提供安全的抛雪能量，避免在无人看管的情况下砸伤人或物。

Description

自动行走除雪设备 技术领域
本发明涉及智能控制领域，特别是涉及一种自动行走除雪设备。
背景技术
冬天下雪后路面上堆积大量积雪，给人们出行带来很多麻烦。清除道路冰雪主要有人工除雪、融雪除雪和机械除雪等几种方法。人工清扫人工除雪劳动强度大、费时费力，清扫效率还不高。而利用热能或撒布化学药剂促使积雪融化的方法能耗大、成本高，对环境及路面易造成污染和腐蚀，仅适合一些特殊场合。而目前使用的机械除雪设备却又因使用体积庞大，结构复杂，成本较高、除雪效果差、对路面有一定破坏作用等原因，影响使用。
目前小型机械式清雪车主要由原动机、传动装置、集雪装置、抛雪装置、和操作系统组成。原动机可以采用电机或发动机，目前大多采用汽油机或柴油机；集雪装置用来收集积雪，主要采用推雪铲或螺旋状搅龙；抛雪装置是将收集的积雪抛到路的一侧或收集装置中。主要的方式有抛雪叶轮和鼓风机两种；操作装置主要控制设备的运转，通过手推来实现机器的前进和行驶方向。这样在人力推动下，除冰除雪机不断前进，就能实现连续的清除积冰和积雪。
为了降低了操作者的劳动强度，有一些自动行走式的清雪机，即清雪机的行走由原动机带动，通过各种机械传动装置来实现高效清雪的同时使清雪机不断前进，从而在很大程度上节省人力。
但是，无论何种清雪机器，都是需要操作者亲自操作，雪天环境比较恶劣，而且还需花费操作者大量的时间。基于此非常有必要开发一种自动化程度较高，使用费用低、使用者省力省时、除雪效果好的除雪设备，能在雪后迅速铲除积雪，从而方便人们出行。
发明内容
针对现有技术的不足，本发明的目的在于提供一种具有自动工作能力的除雪设备。
本发明解决其技术问题所采用的技术方案是：一种具有自动工作能力的除雪设备，包括：工作模块，用于执行自动除雪设备的具体工作；行走模块，用于带动自动除雪设备在地面上行走；能量模块，至少为自动除雪设备的行走模块提供能量，或至少为行走模块和工作模块两者都提供能量；检测模块，用于检测外部环境和/或内部参数；以及控制模块，所述控制模块存储有除雪设备自动工作的演算法，所述控制模块根据检测模块检测到的信息并且基于所述的演算法控制自动除雪设备的行走模块和/或工作模块，使所述自动除雪设备按照预设的路 径规则行走并工作。
优选的，所述能量模块包括可充电电池和/或光伏电池。
优选的，所述工作模块包括刮雪组件、抛雪组件以及驱动刮雪组件和抛雪组件工作的马达。
优选的，所述刮雪组件包括集雪轮，所述集雪轮的转速小于100转每分。
优选的，所述抛雪组件包括由所述马达驱动的抛雪轮，所述抛雪轮的转速在1000-5000转每分。
优选的，所述抛雪组件包括用于将刮雪组件收集的雪抛出的抛雪筒，所述检测模块包括障碍检测装置，所述障碍检测装置用于检测抛雪筒的出雪方向的预设范围内的障碍，所述控制模块根据障碍检测装置检测到的信号调整抛雪筒的位置从而改变出雪方向。
优选的，所述行走模块包括驱动轮、驱动驱动轮的行走马达、从动轮以及连接在驱动轮和从动轮上的履带。
优选的，所述检测模块包括方向检测装置，所述方向检测装置用于检测除雪设备的行走方向，所述除雪设备还包括输入模块，所述控制模块能够根据输入模块输入的规则的工作区域的信息以及将除雪设备开始工作的起点位置作为原点自动生成边界坐标地图，所述控制模块根据边界坐标地图以及利用方向检测装置控制自动除雪设备在工作区域的边界内规则行走并工作。
优选的，所述方向检测装置包括电子罗盘或者陀螺仪。
优选的，所述自动除雪设备还包括定位导航模块，所述控制模块存储有所述除雪设备工作区域的边界坐标地图，所述控制模块根据边界坐标地图以及所述定位导航模块检测到的自动除雪设备的实时位置的坐标控制自动除雪设备在工作区域的边界内规则行走并工作。
优选的，所述检测模块包括能量检测单元，所述能量检测单元用于检测能量模块的能量值，并将能量值信息反馈给控制模块，当检测模块检测到的能量值达到或者低于预设值，所述控制模块控制自动除雪设备行走到预设地点补充能量。
优选的，所述控制模块包括路径比较单元，所述路径比较单元能够将已完成除雪的路径与预设的路径相比较，两者相一致时，所述控制模块控制自动除雪设备行走到预设地点补充能量。
优选的，其特征在于，所述除雪设备具有至少三种状态，沿着预设的路径规则行走并工 作的工作状态，停留在预设地点的待机状态以及在停留在预设地点的补充能量状态，所述检测模块包括雪检测装置，所述雪检测装置检测到雪或者检测到雪量达到预设，所述控制模块控制除雪设备从预设地点出发并从待机状态转换为工作状态。
一种自动行走除雪设备，包括：
工作模块，用于执行自动行走除雪设备的具体工作；
行走模块，用于带动自动行走除雪设备在地面上行走；
能量模块，用于为自动行走除雪设备的工作模块和行走模块提供能量；
以及控制模块，控制模块用于控制自动行走除雪设备工作模块和行走模块；所述工作模块包括至少两种工作头机构，所述至少两种工作头机构择一的配接于自动行走除雪设备的主机，所述控制模块根据配接的工作头执行与该工作头机构相应的控制模式。
优选的，所述自动行走除雪设备的主机包括用于配接工作头机构的连接部，所述连接部上设置至少两个信号开关，所述至少两种工作头机构配接于所述主体能够触发不同的信号开关，所述控制模块根据不同的开关信号识别工作头机构的形式。
优选的，所述至少两种工作头机构分别包括用于除雪的工作部分以及驱动工作部分运动的工作马达，所述至少两种工作头机构对应的控制模式包括各自对应的工作马达的转速和/或转向。
优选的，所述行走模块包括至少一个驱动轮以及驱动所述驱动轮的行走马达，所述至少两种工作头机构对应的控制模式包括各自对应的行走马达的转速和/或转向。
优选的，所述至少两种工作头机构对应的控制模式包括各自对应的除雪路径。
一种自动行走除雪设备，包括：
工作模块，用于执行自动行走除雪设备的具体工作；
行走模块，用于带动自动行走除雪设备在地面上行走；
能量模块，用于为自动行走除雪设备的工作模块和行走模块提供能量；
以及控制模块，控制模块用于控制自动行走除雪设备工作模块和行走模块；所述自动行走除雪设备还包括用于检测雪的检测模块，所述检测模块将检测到的雪量的信息反馈给控制模块，当雪量达到预设值，所述控制模块控制行走模块行走以及工作模块工作。
优选的，所述雪的检测模块包括压力传感器和湿度传感器，所述压力传感器将检测到的压力的信号反馈给控制模块，所述湿度传感器将检测到湿度的信号反馈给控制模块，所述控 制模块根据湿度信号判断是否是下雪，如果下雪，则根据压力信号计算出雪的厚度，当雪的厚度达到预设值时即控制自动行走除雪设备开始工作。
优选的，所述雪的检测模块包括至少两个导电元件以及设置在两个导电元件之间的绝缘件，所述绝缘件的高度大于两个导电元件的高度，所述绝缘件的高度为雪的厚度的预设值。
优选的，所述雪的检测模块包括一个容器以及设置在所述容器内的光传感器和湿度传感器，所述光传感器将检测到的光的信号反馈给控制模块，所述湿度传感器将检测到湿度的信号反馈给控制模块，所述控制模块根据光的信号以及湿度信号判断为被雪覆盖即控制自动行走除雪设备开始工作。
优选的，所述雪的检测模块包括设置于自动行走除雪设备底部的至少两个导电零件，所述至少两个导电零件设置于相对地面的不同高度并将导通信号发送给控制模块，控制模块根据不同的导通信号以及导电零件的高度判断雪的厚度。
优选的，所述控制模块根据雪量的不同执行不同的除雪模式。
一种自动行走除雪设备，包括：
工作模块，用于执行自动行走除雪设备的具体工作；
行走模块，用于带动自动行走除雪设备在地面上行走；
能量模块，用于为自动行走除雪设备的工作模块和行走模块提供能量；
以及控制模块，控制模块用于控制自动行走除雪设备工作模块和行走模块；所述自动行走除雪设备还包括人机交互模块，所述人机交互模块包括用于输入/输出信息的操作面板，所述控制模块能够根据操作面板上输入的工作区域的尺寸信息自动生成除雪路径，并根据生成的除雪路径控制行走模块和工作模块。
优选的，所述自动行走除雪设备还包括检测模块，所述检测模块用于检测自动行走除雪设备的行走方向并将检测到的方向数据传递给控制模块，控制模块根据接收到的方向数据与预设路径的方向数据进行比较，当两个数据不一致时控制行走模块调整行走方向。
优选的，所述检测模块包括电子罗盘或陀螺仪。
优选的，所述自动行走除雪沿着除雪路径的起点位置设置为坐标原点，所述控制模块根据行走模块的行走速度和行走时间计算自动行走除雪设备的行走距离，当行走距离达到输入的工作区域的尺寸即控制行走模块转向。
优选的，一种如前所述的自动行走除雪设备的控制方法，其特征在于，所述控制方法包 括以下步骤：
1)在自动行走除雪设备的操作面板上输入的工作区域的尺寸信息；
2)控制模块根据输入的工作区域的尺寸信息生成除雪路径；
3)控制模块控制工作模块和行走模块沿着生成的除雪路径除雪。
优选的，所述控制方法还包括将所述自动行走除雪设备沿着除雪路径的起点位置设置为坐标原点。
优选的，所述控制方法还包括将在所述自动行走除雪设备走完除雪路径，所述控制模块控制行走模块使自动行走除雪设备回到起点位置。
优选的，所述生成的除雪路径包括多个，可通过用户选择或者系统默认的方式确定最终的除雪路径。
一种自动行走除雪设备，包括：
工作模块，用于执行自动行走除雪设备的具体工作；
行走模块，用于带动自动行走除雪设备在地面上行走；
能量模块，用于为自动行走除雪设备的工作模块和行走模块提供能量；
以及控制模块，控制模块用于控制自动行走除雪设备工作模块和行走模块；所述自动行走除雪设备还包括加热保温装置，所述加热保温装置能够通过电能重复加热并将至少部分能量模块和控制模块保持在预设的温度。
优选的，所述加热保温装置包括至少部分覆盖所述自动行走除雪设备的主机壳体的电加热保温材料。
优选的，所述电加热保温材料在所述自动行走除雪设备补充能量时通电加热，在所述自动行走除雪设备工作时进行保温。
优选的，所述加热保温装置包括至少部分覆盖所述自动行走除雪设备的能量模块和控制模块的电加热保温材料。
一种自动行走除雪设备，包括：
工作模块，用于执行自动行走除雪设备的具体工作；
行走模块，用于带动自动行走除雪设备在地面上行走；
能量模块，用于为自动行走除雪设备的工作模块和行走模块提供能量；
以及控制模块，控制模块用于控制自动行走除雪设备的工作模块和行走模块，使自动行 走设备在预设的边界内行走并工作；
所述自动行走除雪设备还包括定位导航模块，所述控制模块根据预设的边界的地图生成除雪路径以及定位导航模块提供的坐标数据控制自动行走除雪设备沿着除雪路径行走。
优选的，所述预设的边界的地图通过所述定位导航模块沿着工作区域的边界行走一圈形成的连续坐标构成。
优选的，所述预设的边界为沿着工作区域的边界设置的通电导线。
优选的，所述定位导航模块为GPS定位导航模块，所述自动行走除雪还包括检测模块，所述检测模块用于侦测自动行走除雪设备和所述通电导线的相对位置关系，所述控制模块根据检测模块检测到的信息航位推算出自动行走除雪设备的相对坐标，并根据GPS定位导航模块的坐标进行绝对定位和误差消除，得到自动行走除雪设备沿着通电导线的连续的坐标构成的所述预设的边界的地图。
优选的，定位导航模块构造为超宽带定位模块，预设的边界内或外设置至少两个超宽带标签，所述超宽带定位模块通过所述至少两个超宽带标签计算出所述自动行走除雪设备的两个位置的相对坐标，所述超宽带定位模块沿着工作区域的边界行走一圈形成的相对于两个超宽带标签的两个连续相对坐标，两个连续相对坐标构成所述预设的边界的地图。
优选的，所述预设的边界的地图通过在电子地图上人为圈定并导入控制模块后生成。
优选的，所述自动行走除雪设备还包括检测模块，所述检测模块用于自动行走除雪设备的倾角，所述定位导航模块能够在所述自动行走除雪设备沿着预设的区域行走时记录每个点的坐标值，所述检测模块记录每个点的倾角值，所述控制模块根据所述坐标值和所述倾角值生成3D形式的边界的地图。
优选的，所述除雪路径沿着平行于道路的延伸方向向一个方向除雪或者来回往复型除雪。
优选的，所述除雪路径沿着垂直于道路的延伸方向向一个方向除雪或者来回往复型除雪。
优选的，所述除雪路径包含至少一个堆雪点。
优选的，所述除雪路径包含固定的抛雪方向。
优选的，所述预设的边界的地图包括至少两种不同的区域，所述控制模块能够根据不同区域的标记执行不同的控制模式。
优选的，所述至少两种不同的区域包括至少一个除雪区域，以及路口区域、草地区域、孤岛区域、狭窄通道区域中的一个或多个。
优选的，所述控制模块默认除雪区域需要除雪，孤岛区域不需要除雪，其他区域可选择除雪。
优选的，所述至少两种不同的区域包括至少两个个除雪区域以及两个除雪区域之间的连接通道区域。
优选的，所述控制模块默认除雪区域需要除雪，连接通道区域可选择除雪。
优选的，所述自动行走除雪设备还包括工作报警装置，所述自动行走除雪设备进入设定区域和/或达到预设报警时间，所述控制模块控制工作报警装置发出警报。
一种自动行走除雪设备，包括：
工作模块，用于执行自动行走除雪设备的具体工作；
行走模块，用于带动自动行走除雪设备在地面上行走；
能量模块，用于为自动行走除雪设备的工作模块和行走模块提供能量；
以及控制模块，控制模块用于控制自动行走除雪设备的工作模块和行走模块，使自动行走设备在预设的区域内行走并工作；
所述自动行走除雪设备还包括检测模块，所述检测模块用于检测能量模块的能量值，并将能量值信息反馈给控制模块，当检测模块检测到的能量值达到或者低于预设值，所述控制模块控制自动行走除雪设备行走到预设地点补充能量。
优选的，所述能量模块包括可充电电池和充电连接结构，所述工作模块和充电连接结构分别设置于所述自动行走除雪设备的前后两侧，所述自动行走除雪设备除雪行走的方向为前进方向，所述自动行走除雪设备沿着与前进方向相反的后退方向行进到预设地点，并能够使充电连接结构与预设地点的充电结构对接。
优选的，所述能量模块包括可充电电池和无线充电接收装置，所述无线充电接收装置设置于所述自动行走除雪设备的底部，所述预设地点设置无线充电发射装置，所述可充电电池通过无线充电接收装置和无线充电发射装置的对接实现充电。
优选的，所述能量值的预设值包括至少两个，所述控制模块根据检测模块检测到的能量值达到或者低于的预设值的不同，控制自动行走除雪设备回归预设地点的路径方式不同。
优选的，所述预设值包括第一预设值和第二预设值，所述检测模块检测到的能量值达到或者低于第一预设值，所述控制模块控制自动行走除雪设备沿着预设的除雪路径行走回归并控制工作模块进行除雪，所述检测模块检测到的能量值达到或者低于第二预设值，所述控制 模块控制自动行走除雪设备沿着已完成除雪的路径行走回归。
一种自动行走除雪设备，包括：
工作模块，用于执行自动行走除雪设备的具体工作；
行走模块，用于带动自动行走除雪设备在地面上行走；
能量模块，用于为自动行走除雪设备的工作模块和行走模块提供能量；
以及控制模块，控制模块用于控制自动行走除雪设备的工作模块和行走模块，使自动行走除雪设备在预设的区域内行走并工作；
所述控制模块能够根据预设的区域生成除雪路径，并且在自动行走除雪设备行走完所有的除雪路径后控制自动行走除雪设备行走到预设地点。
一种自动行走除雪设备，包括：
工作模块，用于执行自动行走除雪设备的具体工作；
行走模块，用于带动自动行走除雪设备在地面上行走；
能量模块，用于为自动行走除雪设备的工作模块和行走模块提供能量；
以及控制模块，控制模块用于控制自动行走除雪设备工作模块和行走模块；所述工作模块包括活动配接于自动行走除雪设备的主机的工作头机构，所述工作头机构能够相对于自动行走除雪设备的主机运动以调整其相对于地面的距离。
优选的，所述工作头机构上设置滚轮装置，当支撑滚轮装置的地面与支撑主机的地面呈角度，所述滚轮装置能够被导向带动工作头机构相对于主机运动。
优选的，所述自动行走除雪设备还包括工作头机构高度调整机构，所述工作头机构高度调整机构包括驱动马达以及连接在驱动马达和工作头机构之间的传动机构，所述驱动马达能够被控制通过传动机构带动工作头机构相对于主机运动。
优选的，所述控制模块根据预设的控制模式控制驱动马达带动工作头机构相对于主体上升或者下降。
一种自动行走除雪设备，包括：
工作模块，用于执行自动行走除雪设备的具体工作；
行走模块，用于带动自动行走除雪设备在地面上行走；
能量模块，用于为自动行走除雪设备的工作模块和行走模块提供能量；
以及控制模块，控制模块用于控制自动行走除雪设备工作模块和行走模块；所述工作模 块包括用于收集地面上的雪并将雪朝一个方向抛出的工作头机构，所述自动行走除雪设备还包括用于调节抛雪方向的抛雪角度调节机构，所述抛雪角度调节机构与工作头机构连接，并根据控制模块的指令抛雪角度调节机构以调节抛雪方向。
优选的，所述控制模块根据自动行走除雪设备行进的方向改变指令抛雪角度调节机构调节抛雪方向。
优选的，所述自动行走除雪设备还包括障碍检测装置，所述障碍检测装置用于检测抛雪方向预设范围内的人、物，所述控制模块根据障碍检测装置检测到的信号指令抛雪角度调节机构调节抛雪方向。
优选的，所述工作头机构包括抛雪筒，所述抛雪角度调节机构包括转向马达以及连接在转向马达和抛雪筒之间的传动机构，所述转向马达能够被控制通过传动机构带动抛雪筒旋转以改变抛雪方向。
一种自动除雪系统，包括：
自动行走除雪设备以及控制自动行走除雪设备运行的遥控设备，所述自动行走除雪设备包括：
工作模块，用于执行自动行走除雪设备的具体工作；
行走模块，用于带动自动行走除雪设备在地面上行走；
能量模块，用于为自动行走除雪设备的工作模块和行走模块提供能量；
控制模块，控制模块用于控制自动行走除雪设备工作模块和行走模块；
所述自动行走除雪设备还包括监控模块以及通讯模块，
所述监控模块用于监测自动行走除雪设备周围的环境，所述通讯模块用于将所述监控模块监测到的信息传递给遥控设备，并且接收遥控设备发出的信号并将信号传递给控制模块，所述控制模块根据所述通讯模块接收到的信号控制行走模块和工作模块。
一种自动除雪系统，包括：
自动行走除雪设备以及控制自动行走除雪设备运行的遥控设备，所述自动行走除雪设备包括：
工作模块，用于执行自动行走除雪设备的具体工作；
行走模块，用于带动自动行走除雪设备在地面上行走；
能量模块，用于为自动行走除雪设备的工作模块和行走模块提供能量；
控制模块，控制模块用于控制自动行走除雪设备工作模块和行走模块；
以及通讯模块，用于接收遥控设备发出的信号并将信号传递给控制模块；所述遥控设备包括用于输入/输出信息的操作面板，所述控制模块能够根据所述通讯模块接收到的用户在遥控设备上输入的工作区域的尺寸信息自动生成除雪路径，并根据生成的除雪路径控制行走模块和工作模块。
优选的，所述自动行走除雪设备还包括检测模块，所述检测模块用于检测自动行走除雪设备的行走方向并将检测到的方向数据传递给控制模块，控制模块根据接收到的方向数据与预设路径的方向数据进行比较，当两个数据不一致时控制行走模块调整行走方向。
优选的，所述检测模块包括电子罗盘或陀螺仪。
优选的，所述自动行走除雪沿着除雪路径的起点位置设置为坐标原点，所述控制模块根据行走模块的行走速度和行走时间计算自动行走除雪设备的行走距离，当行走距离达到输入的工作区域的尺寸即控制行走模块转向。
优选的，所述遥控设备的操作面板上能够输入自动行走除雪设备行走信息，所述控制模块根据所述通讯模块接收到的遥控设备输出的行走信号控制行走模块。
一种如前所述的自动行走除雪设备的控制方法，其特征在于，所述控制方法包括以下步骤：
1)在遥控设备的操作面板上输入的工作区域的尺寸信息；
2)通过遥控设备让自动行走除雪设备行走到工作区域；
3)控制模块根据输入的工作区域的尺寸信息生成除雪路径；
4)控制模块控制工作模块和行走模块沿着生成的除雪路径除雪。
优选的，所述控制方法还包括将所述自动行走除雪设备沿着除雪路径的起点位置设置为坐标原点。
优选的，所述控制方法还包括将在所述自动行走除雪设备走完除雪路径，所述控制模块控制行走模块使自动行走除雪设备回到起点位置。
优选的，所述生成的除雪路径包括多个，可通过用户选择或者系统默认的方式确定最终的除雪路径。
一种自动除雪系统，包括：
自动行走除雪设备以及监控自动行走除雪设备运行的监控设备，所述自动行走除雪设备 包括：
工作模块，用于执行自动行走除雪设备的具体工作；
行走模块，用于带动自动行走除雪设备在地面上行走；
能量模块，用于为自动行走除雪设备的工作模块和行走模块提供能量；
控制模块，控制模块用于控制自动行走除雪设备工作模块和行走模块；
所述自动行走除雪设备还包括通讯模块，
所述确定所述自动行走除雪设备的工作区域的地图，并且监控所述自动行走除雪设备是否在工作区域内行走，所述通讯模块用于将所述监控模块监测到的信息传递给控制模块，所述控制模块根据所述通讯模块接收到的信号控制行走模块和工作模块。
一种自动除雪系统，包括：
自动行走除雪设备以及用于限制自动行走除雪设备的工作区域的界限，所述自动行走除雪设备包括：
工作模块，用于执行自动行走除雪设备的具体工作；
行走模块，用于带动自动行走除雪设备在地面上行走；
能量模块，用于为自动行走除雪设备的工作模块和行走模块提供能量；
控制模块，控制模块用于控制自动行走除雪设备工作模块和行走模块；
所述界限能够被设定为多种标记，所述控制模块界限的标记执行与该标记相应的控制模式。
优选的，所述多种标记对应的控制模式包括沿着预设路径行走并除雪模式、沿着预设路径行走模式、按照预设的高度除雪模式，无需除雪模式中的一个或多个。
一种自动除雪系统，包括：
自动行走除雪设备以及用于自动行走除雪设备停泊或者补充能量的停靠站，所述自动行走除雪设备包括：
工作模块，用于执行自动行走除雪设备的具体工作；
行走模块，用于带动自动行走除雪设备在地面上行走；
能量模块，用于为自动行走除雪设备的工作模块和行走模块提供能量；
控制模块，控制模块用于控制自动行走除雪设备工作模块和行走模块；
所述停靠站包括能够在打开和关闭两个状态之间转换的门，所述门能够随着自动行走除 雪设备进入停靠站而关闭以将自动行走除雪设备封闭在停靠站内。
优选的，所述门通过偏压机构保持在打开的状态，所述自动行走除雪设备进入停靠站的运动能够克服偏压机构的抵压力使门转换到关闭状态。
优选的，所述停靠站设置检测装置以及用于控制门打开和关闭的自动控制装置，所述检测装置检测到自动行走除雪设备向停靠站的方向运动，所述自动控制装置即控制门打开供自动行走除雪设备进入。
一种自动除雪系统，包括：
自动行走除雪设备以及用于自动行走除雪设备停泊或者补充能量的停靠站，所述自动行走除雪设备包括：
工作模块，用于执行自动行走除雪设备的具体工作；
行走模块，用于带动自动行走除雪设备在地面上行走；
能量模块，用于为自动行走除雪设备的工作模块和行走模块提供能量；
控制模块，控制模块用于控制自动行走除雪设备工作模块和行走模块；
所述停靠站包括基座以及连接在基座上的外盖，所述外盖上设置扫雪装置，所述扫雪装置能够在所述自动行走除雪设备进入停靠站而被触发以清除自动行走除雪设备顶部的积雪。
优选的，所述扫雪装置包括设置在外盖边缘的滚刷，所述滚刷能够围绕平行于地面的轴线旋转。
优选的，所述扫雪装置包括设置在外盖边缘的多个排刷，所述多个排刷能够围绕与地面呈角度的轴线旋转。
一种自动除雪系统，包括：
自动行走除雪设备以及用于自动行走除雪设备停泊或者补充能量的停靠站，所述自动行走除雪设备包括：
工作模块，用于执行自动行走除雪设备的具体工作；
行走模块，用于带动自动行走除雪设备在地面上行走；
能量模块，用于为自动行走除雪设备的工作模块和行走模块提供能量；
控制模块，控制模块用于控制自动行走除雪设备工作模块和行走模块；
所述停靠站包括基座以及连接在基座上的外盖，所述停靠站还包括加热保温装置，所述加热保温装置用于给进入所述停靠站的自动行走设备加热保温。
优选的，所述加热保温装置包括热风机、电炉、电暖气中的一种或者多种。
优选的，所述加热保温装置包括设置于停靠站的外侧壁或外盖或底部的电加热保温材料。
优选的，所述电加热保温材料构造碳晶地暖材料，所述碳晶地暖材料嵌入所述基座底部。
一种用于自动行走设备停泊或者补充能量的停靠站，包括：基座以及连接在基座上的外盖，所述外盖能够相对于基座在打开和关闭两个状态之间转换，所述外盖随着自动行走设备进入停靠站而关闭以将自动行走设备封闭在停靠站内。
优选的，所述外盖通过偏压机构保持在打开的状态，所述自动行走除雪设备进入停靠站的运动能够克服偏压机构的抵压力使外盖转换到关闭状态。
优选的，所述停靠站设置检测装置以及用于控制外盖打开和关闭的自动控制装置，所述检测装置检测到自动行走除雪设备向停靠站的方向运动，所述自动控制装置即控制外盖打开供自动行走除雪设备进入。
一种用于自动行走设备停泊或者补充能量的停靠站，包括：基座以及连接在基座上的外盖，所述停靠站还包括加热保温装置，所述加热保温装置用于给进入所述停靠站的自动行走设备加热保温。
优选的，所述加热保温装置包括热风机、电炉、电暖气中的一种或者多种。
优选的，所述加热保温装置包括设置于停靠站的外侧壁或外盖或底部的电加热保温材料。
优选的，所述电加热保温材料构造碳晶地暖材料，所述碳晶地暖材料嵌入所述基座底部。
一种用于自动行走设备停泊或者补充能量的停靠站，包括：基座以及连接在基座上的外盖，所述外盖上设置扫雪装置，所述扫雪装置能够在所述自动行走设备进入停靠站而被触发以清除自动行走除雪设备顶部的积雪。
优选的，所述扫雪装置包括设置在外盖边缘的滚刷，所述滚刷能够围绕平行于地面的轴线旋转。
优选的，所述扫雪装置包括设置在外盖边缘的多个排刷，所述多个排刷能够围绕与地面呈角度的轴线旋转。
一种自移动设备控制方法，自移动设备上设置有可转向的抛物装置以及数个各自对应不同探测位置的障碍物传感器，所述方法包括：接收所述数个障碍物传感器的信号；根据所接收的障碍物传感器的信号判断与当前抛物方向相对应的障碍物传感器是否探测到障碍物；当与当前抛物方向相对应的障碍物传感器探测到障碍物时，控制抛物装置转向，使得抛物方向 为未探测到障碍物且是所述自移动设备未处理的区域的方向。
优选的，所述将所述抛物方向设置为未探测到障碍物且是所述自移动设备未处理的区域的方向的步骤包括：
判断除与当前抛物方向相对应的障碍物传感器以外的障碍物传感器是否探测到障碍物；
如果有障碍物传感器未探测到障碍物，则判断与该未探测到障碍物的障碍物传感器相对应的方向是否指向所述自移动设备未处理的区域；
如果与该未探测到障碍物的障碍物传感器相对应的方向指向所述自移动设备已处理的区域，则继续判断直至判断出其中一个障碍物传感器未探测到障碍物且与该障碍物传感器相对应的方向指向所述自移动设备未处理的区域，并将相应方向设置为所述抛物方向。
优选的，所述方法还包括：如果所有的障碍物传感器均探测到障碍物，或者与未探测到障碍物的障碍物传感器相对应的方向均是所述自移动设备已处理的区域的方向，则控制所述自移动设备停机预设时间后，继续执行根据所接收的障碍物传感器的信号判断与当前抛物方向相对应的障碍物传感器是否探测到障碍物的步骤。
优选的，若所述自移动设备停机预设时间后，所有的障碍物传感器均探测到障碍物，或者与未探测到障碍物的障碍物传感器相对应的方向均是所述自移动设备已处理的区域的方向，则控制所述自移动设备后退预设距离后，重新规划该自移动设备的行走路径。
优选的，所述方法还包括：
在所述自移动设备行走前，设置所述抛物装置的初始抛物方向为第一方向；
接收所述数个障碍物传感器的信号；
根据所接收的障碍物传感器的信号判断与初始抛物方向相对应的障碍物传感器是否探测到障碍物；
如果与初始抛物方向相对应的障碍物传感器探测到障碍物，则将所述抛物方向设置为与未探测到障碍物的障碍物传感器相对应的方向。
优选的，所述自移动设备为扫雪机。
优选的，所述障碍物传感器为超声波传感器。
本发明还提供一种自移动设备控制系统，自移动设备上设置有可转向的抛物装置以及数个各自对应不同探测位置的障碍物传感器，所述系统包括：
信号接收模块，接收所述数个障碍物传感器的信号；
信号处理模块，该信号处理模块的输入端与所述信号接收模块的输出端相连接，该信号处理模块用于根据所接收的障碍物传感器的信号判断与当前抛物方向相对应的障碍物传感器是否探测到障碍物；
信号输出模块，该信号输出模块的输入端与所述信号处理模块的输出端相连接，该信号输出模块用于当与当前抛物方向相对应的障碍物传感器探测到障碍物时，使抛物装置转向，使得抛物方向为未探测到障碍物且是所述自移动设备未处理的区域的方向。
优选的，所述信号处理模块包括：障碍物传感器判断单元，该障碍物传感器判断单元的输入端与所述信号接收模块的输出端相连接，该障碍物传感器判断单元用于判断除与当前抛物方向相对应的障碍物传感器以外的障碍物传感器是否探测到障碍物；区域判断单元，该区域判断单元的输入端与所述障碍物传感器判断单元的输出端相连接，该区域判断单元用于在有障碍物传感器未探测到障碍物时，判断与该未探测到障碍物的障碍物传感器相对应的方向是否指向所述自移动设备未处理的区域。
优选的，所述信号输出模块还用于在所有的障碍物传感器均探测到障碍物，或者与未探测到障碍物的障碍物传感器相对应的方向均是所述自移动设备已处理的区域的方向时，控制所述自移动设备停机预设时间后，再根据所接收的障碍物传感器的信号判断与当前抛物方向相对应的障碍物传感器是否探测到障碍物。
优选的，当所述自移动设备停机预设时间后，所有的障碍物传感器均探测到障碍物，或者与未探测到障碍物的障碍物传感器相对应的方向均是所述自移动设备已处理的区域的方向，则控制所述自移动设备后退预设距离后，重新规划该自移动设备的行走路径。
优选的，所述障碍物传感器为超声波传感器。
优选的，所述自移动设备为扫雪机。
本发明还提供一种抛雪方法，包括步骤：
获取抛雪时风的风向；
获取当前的抛雪方向；
获取所述风向与抛雪方向之间的角度差异；
调整所述抛雪方向，使抛雪方向与风向之间的角度差异在预定范围内。
优选的，使抛雪方向与风向之间的角度差异在预定范围内的步骤包括：将所述抛雪方向调整为与风向一致。
优选的，所述调整所述抛雪方向为：旋转抛雪机构以改变抛雪方向。
优选的，所述抛雪方法进一步包括以下步骤：
当风向改变时获取风向改变后风的风力；
判断所述风力是否超过预定阀值；
判断为是，进入所述调整所述抛雪方向，使抛雪方向与风向之间的角度差异在预定范围内的步骤，判断为否，保持所述抛雪方向不变。
优选的，其中所述判断为否，保持所述抛雪方向不变包括：加大雪被抛出时的初速度，保持所述抛雪方向不变。
优选的，所述获取抛雪时风的风向的步骤包括：
获取预定时间段内的多个风向的风的风力及风向；
选取最大风力的风的风向；
将所述最大风力的风向作为抛雪时风的风向。
优选的，所述抛雪方法进一步包括步骤：
判断所述最大风力是否超过预定阀值；
判断为是，则将所述最大风力的风向作为抛雪时风的风向，判断为否时，任意选取一个风向或不选取任何风向作为所述抛雪时风的风向。
本发明还提供一种抛雪系统，包括：
风向获取模块，用以获取抛雪时风的风向；
抛雪方向检测模块，用以获取当前的抛雪方向；
角度判断模块，用以获取所述风向与抛雪方向之间的角度差异；
抛雪方向控制模块，用以调整所述抛雪方向，使抛雪方向与风向之间的角度差异在预定范围内。
优选的，所述调整所述抛雪方向，使抛雪方向与风向之间的角度差异在预定范围内包括：将所述抛雪方向调整为与风向一致。
优选的，所述调整所述抛雪方向为：旋转抛雪机构以改变抛雪方向。
优选的，所述风向获取模块还用于：获取风向改变后的风力；判断所述风力是否超过预定阀值。
优选的，所述抛雪方向控制模块还用以：加大雪被抛出时的初速度，保持所述抛雪方向 不变。
优选的，所述风向获取模块还用于：
获取预定时间段内的多个风向的风力及风向；
选取最大风力的风向；
将所述最大风力的风向作为抛雪时风的风向。
优选的，所述风向获取模块还用于：
判断所述最大风力是否超过预定阀值；
判断为是，则将所述最大风力的风向作为抛雪时风的风向，判断为否时，任意选取一个风向作为所述抛雪时风的风向。
本发明还提供一种抛出的雪或夹杂物不会对人或物造成伤害的自动行走除雪设备，即抛出物具有安全能量的自动行走除雪设备。具体的，一种自动行走除雪设备，包括：行走模块，驱动除雪设备移动；工作模块，包括工作马达和由工作马达驱动的抛雪机构，所述抛雪机构在工作马达的驱动下收集地面的积雪以及夹杂物并抛出抛雪机构；控制模块，配置为控制工作马达的转速使夹杂物离开抛雪机构时的速度不高于41m/s。
优选的，所述夹杂物离开抛雪机构时的速度不高于20m/s。
优选的，所述夹杂物离开抛雪机构时的速度为17.8m/s±1m/s。
优选的，所述夹杂物离开抛雪机构时的速度为16.8m/s±1m/s。
优选的，所述夹杂物离开抛雪机构时的速度为14.2m/s±1m/s。
优选的，所述夹杂物离开抛雪机构时的速度为12.5m/s±1m/s。
本发明还提供另外一种抛出的雪或夹杂物不会对人或物造成伤害的自动行走除雪设备，即抛出物具有安全能量的自动行走除雪设备。具体的，一种自动行走除雪设备，包括：行走模块，驱动除雪设备移动；工作模块，包括工作马达和由工作马达驱动的抛雪机构，所述抛雪机构在工作马达的驱动下收集地面的积雪以及夹杂物并抛出抛雪机构；控制模块，配置为控制工作马达的转速使夹杂物离开抛雪机构时的冲量不高于0.041Kg·m/s。
优选的，所述夹杂物离开抛雪机构时的冲量不高于0.02Kg·m/s。
优选的，所述夹杂物离开抛雪机构时的冲量为0.0178Kg·m/s±0.001Kg·m/s。
优选的，所述夹杂物离开抛雪机构时的冲量为0.0168Kg·m/s±0.001Kg·m/s。
优选的，所述夹杂物离开抛雪机构时的冲量为0.0142Kg·m/s±0.001Kg·m/s。
优选的，所述夹杂物离开抛雪机构时的冲量为0.0125Kg·m/s±0.001Kg·m/s。
优选的，所述抛雪机构包括绕中心轴线转动的刮雪组件，所述工作马达驱动所述组件转动从而将地面的积雪以及夹杂物收集到抛雪机构，所述刮雪组件的最大线速度不高于41m/s。
优选的，所述刮雪组件的半径不大于0.085m，所述刮雪组件的转速不大于2000r/min。
优选的，所述刮雪组件的转速为2000r/min至1400r/min。
优选的，所述刮雪组件的半径不大于0.1m，所述刮雪组件的转速不大于1600r/min。
本发明还提供能够自动避开障碍物进行抛雪的除雪设备，所述除雪设备包括：工作模块，配置为执行除雪设备的具体工作，包括抛雪导向组件，引导所述工作模块朝所述抛雪组件正对的方向抛雪；行走模块，配置为带动除雪设备在地面上移动；检测模块，包括障碍传感组件，检测所述除雪设备所处的外部环境是否存在障碍物；控制模块，配置为根据检测模块传递的信号控制工作模块和行走模块使得工作模块不向存在障碍物的方向抛雪。
优选的，所述抛雪导向组件的导向可以调节，所述障碍传感组件配置为检测抛雪导向组件正对方向上是否有障碍物，控制模块根据障碍传感组件传递的信号判断抛雪组件正对方向上有障碍物时，控制抛雪导向组件改变导向。
优选的，所述障碍传感组件还配置为检测所述除雪设备所处的外部环境中的其他数个方向上是否有障碍物，控制模块根据障碍传感组件传递的信号控制抛雪导向组件该变导向使其正对无障碍物的区域所在的方向。
优选的，所述检测模块还进一步包括地面状态识别组件，所述地面状态识别组件识别所述除雪设备所处的地面的除雪状态，控制模块根据地面状态识别组件和障碍传感组件传递的信号控制抛雪导向组件改变导向使其正对无障碍物且未除雪的区域所在的方向。
优选的，所述障碍传感组件配置为检测抛雪导向组件的正对方向上是否有障碍物，控制模块根据障碍传感组件传递的信号判断抛雪导向组件正对方向上有障碍物时，控制所述除雪设备停机预设时间，然后再次判断抛雪导向组件正对方向上是否有障碍物，当判断结果为否时，控制所述除雪设备继续工作。
优选的，所述控制模块再次判断抛雪导向组件正对方向上有障碍物时，重新规划所述除雪设备的行走路径。
本发明还提供一种能够智能调节抛雪方向的除雪设备，所述除雪设备包括：工作模块，配置为执行除雪设备的具体工作，包括抛雪导向组件，引导所述工作模块朝所述抛雪组件正 对的方向抛雪，所述抛雪导向组件的导向可调节；行走模块，配置为带动除雪设备在地面上移动；检测模块，配置为检测所述除雪设备所处的外部环境的环境参数和/或所述除雪设备的内部参数；控制模块，配置为根据检测模块传递的信号控制抛雪导向组件改变导向。
优选的，所述环境参数包括风向，所述控制模块根据检测模块传递的信号控制抛雪导向组件的正对方向与风向之间的角度差异在预定范围内。
优选的，所述环境参数包括抛雪导向组件正对方向上是否有障碍物，所述控制模块根据检测模块传递的信号判断抛雪导向组件正对方向上有障碍物时，控制抛雪导向组件改变导向。
本发明的自动行走除雪设备在进行工作的时候无需操作者亲自操作，也无需操作者一直监控，具有自动工作能力，节省人力，并且能够在雪后迅速铲除积雪，从而方便人们出行。
附图说明
图1是本发明优选的第一实施例中的自动行走除雪设备的主视图；
图2是图1中的自动行走除雪设备的俯视图；
图3是图1中的自动行走除雪设备的系统框架图；
图4是图1中的自动行走除雪设备的抛雪工作头浮动的示意图；
图5是图1中的自动行走除雪设备的抛雪工作头的抛雪管旋转的示意图；
图6是图5中的抛雪工作头的抛雪管旋转的俯视示意图；
图7是图1中的自动行走除雪设备实现自动工作的系统框架图；
图8是图7中的自动工作的除雪机的其中一种除雪路径图；
图9是图7中的自动工作的除雪机的另一种除雪路径图；
图10是图7中的自动工作的除雪机的再一种除雪路径图；
图11是本发明优选的第二实施例中的除雪机的系统框架图；
图12是图11中的除雪机与界限和停靠站构成的除雪系统的示意图；
图13是图12中的停靠站的示意图，此时除雪机未进入停靠站；
图14是图12中的停靠站的示意图，此时除雪机进入停靠站并通过电极对接充电；
图15是图12中的停靠站的示意图，此时除雪机进入停靠站并通过无线充电；
图16是图12中的停靠站设置扫雪装置的其中一种方案的示意图；
图17是图12中的停靠站设置扫雪装置的另一种方案的示意图；
图18是本发明优选的第二实施例中的除雪机设置雪检测装置的第一种方案的示意图；
图19是本发明优选的第二实施例中的除雪机设置雪检测装置的第二种方案的示意图；
图20是本发明优选的第二实施例中的除雪机设置雪检测装置的第三种方案的示意图；
图21是本发明优选的第二实施例中的除雪机设置雪检测装置的第四种方案的示意图；
图22是图12中的除雪机采用导航定位的方式来设定工作区域的示意图；
图23是图22中的除雪机的工作区域的示意图；
图24是图12中的除雪机采用可拆卸的定位导航装置的示意图；
图25是图24中的除雪机的定位导航装置的系统框架图；
图26是需要除雪的用户的房屋周围环境的示意图；
图27是根据图26的房屋周围环境生成的工作区域的示意图；
图28是图26中是房屋周围环境的特殊区域设定的示意图；
图29是根据图27中的工作区域设定的除雪路径的示意图；
图30是本发明优选的实施例中的除雪机的除雪模式为抛雪，抛雪的第一种路径的示意图；
图31是本发明优选的实施例中的除雪机的除雪模式为抛雪，抛雪的第二种路径的示意图；
图32是本发明优选的实施例中的除雪机的除雪模式为扫雪时，扫雪的第一种路径的示意图；
图33是本发明优选的实施例中的除雪机的除雪模式为扫雪，扫雪的第二种路径的示意图；
图34是本发明优选的实施例中的除雪机的除雪模式为扫雪，扫雪的第三种路径的示意图；
图35是本发明优选的实施例中的除雪机的除雪模式为推雪，推雪的第一种路径的示意图；
图36是本发明优选的实施例中的除雪机的除雪模式为推雪，推雪的第二种路径的示意图；
图37是本发明优选的实施例中的除雪机的除雪模式为推雪，推雪的第三种路径的示意图；
图38是本发明优选的实施例中的除雪机的坡道中的倾角状态变化的示意图；
图39是本发明优选的第二实施例中的除雪机的回归充电的第一种路径的示意图；
图40是本发明优选的第二施例中的除雪机的回归充电的第二种路径的示意图；
图41是图22中的除雪机采用采用闭环边界线的方式来生成工作区域的栅格地图示意图，将地图用栅格的形式表示；
图42是图41中除雪机沿边界运行图，通过该方式确定地图的大小与参数；
图43是图41中除雪机的存储单元地址映射图，表示地图数据与存储单元地址的映射关系；
图44是图22中的除雪机采用采用UWB超宽带的方式来生成工作区域的原理示意图；
图45是图22中的除雪机的UWB超宽带的定位系统中具有两个超宽带标签时的原理示意图；
图46是图22中的除雪机的UWB超宽带的定位系统中具有三个超宽带标签时的原理示意图；
图47为图22中的除雪机通过超宽带测距原理示意图；
图48图22中超宽带测距的Trilaterate算法定位原理示意图；
图49本发明优选的第三实施方式的除雪机采用采用远程图像提取的方式来生成工作区域地图的示意图；
图50是图49中的除雪机生成工作区域地图的示意图；
图51本发明优选的第四实施方式的除雪机采用三维极坐标方案的边界设定的示意图；
图52是图51中的除雪机通过三维极坐标方案的激光测距以及角度测量的原理图；
图53是图51中的除雪机通过三维极坐标方案追踪除雪机特征标志的一帧图像的示意图；
图54是本发明优选的实施例中的除雪机的卫星信号接收不良时的第一种解决方案的示意图；
图55是本发明优选的实施例中的除雪机安装扫雪工作头的主视图；
图56是本发明优选的实施例中的除雪机安装推雪工作头的主视图；
图57是图56中的除雪机的俯视图；
图58是本发明优选的实施例中的除雪机自动识别工作头的示意图；
图59是本发明优选的实施例中的除雪机主机保温方案的示意图；
图60是本发明优选的实施例中的除雪机主机中重要模块保温方案的示意图；
图A1为一实施例中自移动设备控制方法的示意图；
图A2为一实施例中自移动设备的示意图；
图A3为图A1的实施例中步骤S106的处理流程图；
图A4为图A1的实施例中步骤S106的另一处理流程图；
图A5为图A4中的所示的实施例中的控制自移动设备停机预设时间的步骤后的处理流程图；
图A6为一实施例中自移动设备控制系统的结构示意图；
图B1为一实施例的抛雪方法的流程示意图；
图B2为一实施例的抛雪系统的结构框图；
具体实施方式
本发明具体实施方式的自动行走除雪设备可以是自动扫雪机，自动抛/扬雪机、自动推/铲雪机以及它们之间的组合等，它们自动行走于工作区域的地面或表面上，进行扫雪、抛雪、或推雪等清除冰雪的工作，也可以认为是具有自动工作能力的除雪机，这里的自动工作能力 指的是除雪机在进行除雪工作的时候，无需用户亲自操作，无需用户一直遥控或者一直监控，用户只需完成相关的设定，就可以进行其他的工作，除雪机自动执行相关的程序。
如图1至图10所示，自动行走除雪设备优选的第一实施例为自动抛雪机，这里把自动抛雪机、自动扫雪机以及自动推雪机统称为除雪机。用于抛雪的除雪机包括工作模块、行走模块、能量模块、控制模块、检测模块等。
工作模块用于执行除雪机的具体工作任务，其包括抛雪机构140以及驱动抛雪机构140进行工作的工作马达等，这里的抛雪机构140即作为工作头机构，当然工作模块还包括抛雪角度调节机构等优化或调整除雪效果的部件。
如图4所示，抛雪机构140包括刮雪组件142、抛雪组件144以及驱动刮雪组件142和抛雪组件144工作的马达146，刮雪组件142可以是螺旋状的集雪轮，如搅龙，搅龙速度优选的小于100r/min,最优的是小于50r/min，能够更有效的集雪。抛雪组件144包括抛雪轮1442和抛雪筒1444，抛雪轮1442可以是离心式风扇，由集雪轮沿图示箭头方向旋转将雪收集到一个腔体内，腔体内的离心式风扇利用高速旋转时的离心力将积雪由抛雪筒1444抛出。抛雪轮的转速最好在1000-5000转/分钟，优选的在2500-3500转/分钟。其中刮雪组件142和抛雪组件144可以采用一个马达驱动，也可以通过不同的马达驱动。如图中一个马达146通过传动机构148带动前端刮雪组件142，同时带动离心式风扇转动。传动机构146可以是锥齿轮机构、涡轮蜗杆机构等。
除雪机100的检测模块可以包括两部分，一部分为用于侦测除雪机100的外部环境，具体可能包括距离、角度，方位中的一种或几种，或者是用于检测人、动物、移动的物体、障碍、天气状况(如雨、雪等)等除雪机100工作时其周围环境状况，包括各种环境传感器，如湿度传感器，温度传感器，加速度传感器，光线传感器等，这些传感器可以帮助除雪机100判断工作环境，以执行相应的程序。另一部分为用于检测抛雪机的内部参数，如能量多少的检测、行走距离的检测等等。
抛雪时，需要注意抛雪的安全，防止抛出的雪抛到人、动物等而造成伤害。因此，检测模块需要包括障碍检测装置。参考图5和图6，本实施例中，抛雪筒1444的出雪口位置设置障碍检测传感器1448，即障碍检测传感器1448用于实时检测抛雪方向的区域是否有人、动物或者其他障碍等，障碍检测传感器1448可以是超声波传感器、红外线传感器、激光传感器等等,当障碍检测传感器1448检测到抛雪方向一定的范围内有障碍物时，能够自动的改变抛 雪口的朝向，从而改变抛雪方向。具体的，抛雪筒1444可转动的套接在抛雪轮1442的出口管上，抛雪筒1444的一侧设置转向马达1449，转向马达1449和抛雪筒1444之间设置一对齿轮，转向马达1449通过一对齿轮带动抛雪筒1446旋转。其中，转向马达1449的转向和转速通过控制模块来控制，控制模块可以根据障碍检测传感器1448检测到的信号来控制转向马达1449，也可以基于其他条件来控制转向马达1449，比如除雪机行走方向改变但是抛雪方向不变的时候，需要控制模块来控制转向马达1449驱动抛雪筒1444旋转以保持原来的抛雪方向。
参考图1、2和图4所示，为了实现抛雪机构等工作头机构的稳定支撑，工作头机构上安装有滚轮装置162，优选的，滚轮装置162设置两个，位于工作头机构沿着除雪机100行进方向的两侧，在除雪机100在地面行走时，能够支撑工作头机构，并且由于滚动的支撑，减小了除雪机100的主机110带动工作头机构前进的阻力，节省能量。并且由于工作头机构与主机110之间为枢转连接，当除雪机100行走在上坡或者下坡的坡道时，工作头机构由于滚轮装置162的支撑，会相对于主机110提前上升或者下降一个角度，能够防止工作头机构抵住地面或者距离地面高而不能完全清除积雪。
参考图4，本实施例中工作头机构相对于地面的距离还可以是可调节的，即工作头机构可浮动。当除雪机100的行走路径中有一段不需要除雪，或者只需要除去表面一定厚度的雪而不是全部，也有可能除雪机100需要越过一些障碍等，这些情形中，需要将工作头机构抬起距离地面一定的距离。根据前述工作头机构与主机110为枢转连接，可以在主机110上设置一个驱动马达，通过驱动马达带动工作头机构相对主机110枢转，从而工作头机构相对于地面的距离就可以被调整。在其他一些可实施的方式中，可以将工作头设置成能够相对于主机上下移动的，同样可以通过一个驱动马达带动旋转-直线转换机构即可实现工作头的上下移动。驱动马达的控制可由控制模块来实现，即控制模块通过控制驱动马达的转速、转向以及旋转的时间等即可实现对工作头相对于地面的距离进行调整。
继续参照图1、图2和图4，行走模块用于带动除雪机在工作区域的地面或表面上行走，行走模块由履带行驶组件180以及驱动履带行驶组件的行走马达182组成。履带行驶组件180主要包括连接行走马达的驱动轮184、从动轮186以及连接在驱动轮和从动轮上的履带188，履带188及其对应的驱动轮184、从动轮186分别设置两个，位于除雪机的两侧。行走马达182设置两个，分别驱动对应两侧的驱动轮184，其中驱动轮184可以是前轮，也可以是后轮。 当然，也不一定是两个驱动轮，多个驱动轮每个轮子都有马达控制，这样在雨雪天行走能力更强，比如汽车的四驱。履带188优选为橡胶履带，其具有牵引力大、振动小、噪声低、湿地通过性能好、不损伤路面、速度快、质量小等特点，而且橡胶履带能改善机械的行驶性能,扩大机械作业范围，另外还具有转向灵活和在复杂地形上通过能力强等优点。当然，行走模块还可以由安装在除雪机上的轮组和驱动轮组的行走马达组成。轮组包括连接行走马达的驱动轮和主要起辅助支撑作用的辅助轮，驱动轮的数量为两个，位于除雪机的后部，至少一个驱动轮连接有一个行走马达，辅助轮的数量为一个或两个，位于除雪机的前部。履带行走相比轮式行走，其支撑面积大，接地比压小，适合在松软或泥泞场地进行作业，下陷度小，滚动阻力也小，通过性能较好。而且履带支撑面上有履齿，不易打滑，牵引附着性能好，有利于发挥较大的牵引力。而轮式行走相比履带行走，结构简单，重量轻，运动惯性小，缓冲性能好，而且耐磨损，成本低，寿命长，机动性能较好。当然，行走模块也可以是履带行驶系和轮式系的结合，即除雪机的前端为履带系，可以爬坡、下坡抓地、防打滑等，后端为轮系，可以减轻重量，提高机动性能等。为获得更好的清扫质量，行走模块的行走速度小于70米/分，优选为15-30米/分。
上述工作模块及行走模块分别由不同的马达驱动，这些马达由能源模块供电，行走模块两个驱动轮184各自独立连接一个行走马达，通过控制两个行走马达以同样速度同向转动或者以不同的速度转动或异向转动，从而使抛雪机沿直线行走或者转向。行走模块也可以是两个驱动轮由一个行走马达驱动，而通过另外一个转向马达控制支撑轮实现转向。通过使用多个马达，使得各个系统可以单独控制，简化了传动系统的结构。上述马达优选为电动马达，当然，根据提供能量的能源不同，气动马达、液动马达、发动机等可以交替地使用，也可以是与电动马达的组合。
能量模块用于为抛雪机的各项工作提供能量，如电能、液压动力、汽油、柴油、天然气等等，能量模块可以是只为行走模块提供能量，比如推雪的时候，工作头不需要被马达驱动，也可以是只为行走模块和工作模块两者提供能量，而控制模块由单独的电池提供能量等等。本发明优选的能量模块包括可充电电池170和充电连接结构，充电连接结构通常为可露出于除雪机外的充电电极片。可充电电池170优选为锂电池，当然，如果通过无线充电，这里的充电连接也可以是无线充电接收装置。另外，能量模块还可以是光伏电池，即通过太阳能来充电。因此，各个模块的能量供应具有多种选择，如耗能大的行走模块和/或工作模块由汽油、 柴油、天然气等能源提供能量，而控制模块采用电池(包括一次电池、可充电电池、光伏电池等)提供能量。根据抛雪机的工况及耗能，工作模块和模块所用的总功率在200瓦到3000瓦之间，当然工况复杂或者大区域的工作，总功率可以更高，比如5000瓦。
控制模块用于控制抛雪机的自动行走和工作，是抛雪机的核心部件，它执行的功能包括控制工作模块启动工作或停止，生成行走路径并控制行走模块依照行走，判断能量模块的电量并及时指令抛雪机返回充电等等。控制模块通常包括控制器和存储器以及其它外围电路。控制器可以执行硬件指令，例如，通过在一个通用或专用处理器执行存储在处理器可读的存储介质(磁盘，内存等)的程序指令。控制器从存储器中读取指令，并执行这些指令来控制除雪机的操作。控制器可以使用任何可用的处理器，常用的处理器如单片机、微处理器(DSP)、ARM处理器、可编程逻辑电路(PLC)等等。存储器可以使用任何常用的技术如计算机可读存储器ROM、RAM、SRAM、DRAM、FLASH、DDRSDRAM实现，或一些其他的存储技术。控制模块设置有根据各种信息、工况等如何执行工作的演算法，或者说是计算机程序，执行这些演算法或者程序来控制抛雪机的操作。
除了上述模块，除雪机还包括容纳和安装各个模块的壳体、供使用者输入一些设定的信息的输入模块，比如操作面板，或者远程输入设定信息的遥控设备(如手机、IPAD、笔记本电脑、遥控器等等)，即人机交互模块等。
本实施例的除雪机100可以自动的在工作区域内进行除雪工作，其工作路径不能是随机的，因此，除雪机的行走路径必须是有规划的，这种规划可以通过两种方式实现，一种为人机控制的方式，如遥控操作、操作面板上设定等等。图7所示，除雪机100的系统构成包括工作模块、行走模块、能量模块、控制模块、检测模块以及人机交互模块，其中人机交互模块具有通讯单元，可以接收如遥控器、SMARTPHONE、IPAD等智能设备发出的控制信号，这些控制信号被传送到除雪机的控制器，控制器可以控制除雪机前进后退转向等。另外，除雪机100上可以装有摄像头，这样用户可以在室内遥控。如果没有安装摄像头，用户可以通过直接观测遥控。上述遥控方式的除雪机不需要检测模块，此种方式比较简单，但是需要用户一直操作。
本实施例中优选的通过人机控制的方式是用户遥控使除雪机100行进到工作区域的起点，然后通过一些设定使除雪机100自动行走工作。这些设定可以是设定除雪机100行走方向、行走距离，行走方式等具体的数据，也可以是设定抛雪机按一个固定形状扫除雪，比如 设定一个矩形或者圆形或者其他形状，抛雪机按照设定的图形形状自动工作等等。这种自动工作方式的除雪机，其检测模块至少包括方向检测装置，如电子罗盘或陀螺仪等指示方向的传感器，这样用户可以设定抛雪机行进的方向以及抛雪机行走直线。控制模块能够根据输入模块输入的规则的工作区域的信息(如长、宽尺寸)以及将抛雪机开始工作的起点位置作为原点自动生成边界坐标地图，控制模块根据边界坐标地图以及利用方向检测装置控制抛雪机在工作区域的边界内规则行走并工作。具体的，如图8和9所示，用户通过输入模块，如远程的遥控设备或者抛雪机的自带的操作面板上手动输入除雪面积如4米*10米，将除雪机遥控行进到起点，或者手动推行除雪机到起点，设定除雪机的位置即为坐标原点，控制器根据用户输入的数据根据控制模块内存储的演算法或者程序至少生成两种除雪路径，一种如图8所示，沿着道路的长度方向往复行走的除雪路径，一种如图9所示，沿着道路的长度方向演一个方向的除雪路径。除雪行进的次数可以根据工作头的宽度自动生成，比如工作头宽0.5米，设定的除雪面积宽4米，则控制器计算为至少需要行进8次。用户可以选择其中一种除雪路径，也可以直接启动除雪机开始工作，即采用系统默认的除雪路径。通过指示方向的传感器，将检测到的方向数据传递给控制模块，控制模块根据接收到的方向数据与选择的除雪路径方向数据进行比较，当两个数据不一致时控制行走模块调整行走方向，从而抛雪机能够直线行走，控制器也可以根据行走模块的驱动轮的转速和行走的时间计算出抛雪机行走的距离，达到预设距离控制抛雪机转向，更优的是检测驱动轮行走的圈数N、以及驱动轮的周长L，N*L得到行走距离。记录抛雪机的行走距离也可以通过设置里程计来实现。除雪完毕可回到起点，用户可再设定另一个区域进行除雪。
上述人机控制的半自动除雪模式适合工作区域比较单一，并且道路比较规则的情况，半自动的路径可以设定，是往复或者同向，同向运动的目的是为了让雪堆到一侧，而往复运动则把雪堆到两侧，工作完毕后可以回到起点或者直接结束停止。另外，用户可以设定固定起点的方向，这样避免用户遥控到起点后，方向有偏斜导致行走偏向。设定好路径后，控制模块会根据检测方向的传感器控制除雪机的行进方向，并且计算行进的距离，如此，除雪机工作过程中无需人为操作。上述设定也可以无需遥控器、SMARTPHONE、IPAD等智能设备来实现，比如除雪机本身自带的有操作面板，在操作面板上即可完成相应的设定。
图10所示为一种较复杂的工况，工作区域包括朝三个方向延伸的三部分，在进行除雪区域的设定时，可以通过上述方法分别设定，即完成一个区域的工作后再设定另一个区域，当 然也可以有更优的方案。具体的，工作区域可划分为规则的三个区域：OABCDO、OCEFO、ODGHO，其中将三个区域的边界或者边界延伸方向的交点O点设置为基点，即原点，利用前述方法提到的规则区域利用方向传感器和规则的平行线方式的扫雪路径方案，可一次设置多个区域，清扫完一个区域后回到基点O，进行校准后再扫另一个区域。
上述两种方式都可以认为是惯性导向航行的直线路经方式，在该实施方式中，检测模块还包括能量检测单元，能量检测单元用于检测能量模块的能量值，并将能量值信息反馈给控制模块，当检测模块检测到的能量值达到或者低于预设值，控制模块即启动报警提示，报警提示的方式有多种，如抛雪机本身发出警报声、控制器将报警信号传递给遥控设备等等。
图11到图40示为本发明优选的第二种实施例，本实施例中还是以自动抛雪的除雪机为例进行说明。
自动抛雪的除雪机包括工作模块、行走模块、能量模块、控制模块、检测模块、定位导航模块等。其中工作模块、行走模块、能量模块、控制模块、检测模块与前述实施例相同的部分，这里不再赘述。与前述实施方式不同的是，本实施例通过定位导航的方式实现除雪机全自动模式的除雪工作。
除雪机并不是在任何地方都能够或者都需要工作，它的工作区域是有界限的，另外，当除雪机的能量模块电量不足的时候，需要有一个固定的地方给其提供电能，并且在其不工作时可以停泊，即停靠站。除雪机100、界限300和停靠站500构成了一种自动除雪工作系统，其中界限300用于限制除雪机的工作区域，除雪机在界限之中或之间行走并工作，停靠站500用于供除雪机停泊，尤其是在能源不足时返回补充能量。
界限是边界和障碍的统称。边界是整个工作区域的外围，通常首尾相连，将工作区域封闭，边界可以是实体的也可以是电子的，即可以由墙壁、篱笆，栏杆等形成实体边界，也可以由电子地图上划定的虚拟边界或者由N个坐标点的连线形成的边界，还可以由边界信号发生装置发出虚拟边界信号，如电磁信号或光信号。障碍是位于工作范围内的无法在其上行走的部分或区域，如室内的沙发、床柜，或室外的水塘、花台等，类似的，障碍也可以是实体的或者电子的，实体的障碍可以由前述的障碍物自身形成，电子的障碍可以由边界信号发生装置发出虚拟障碍信号形成。虚拟边界信号和虚拟障碍信号可以为同一种信号也可以为不同的信号，由具体需求选择。
因此，除雪机100的检测模块还包括用于侦测除雪机100和界限300的相对位置关系的 界限侦测单元，具体可能包括距离、角度，界限内外方位中的一种或几种。界限侦测单元的原理可以为多种，如可以为红外线式、超声波式、碰撞检测式，磁感应式等等，其传感器和对应的信号发生装置的设置位置和数量也是多样的，并且和路径规划方式相关，因此具体将在下文中结合具体实施例和路径规划方式讲述。
参照图12至图14，停靠站500通常位于工作范围边上，常常位于界限300旁边或界限300上，和市电或其它电能提供系统连接，供抛雪机返回充电。本实施例中优选的，停靠站500包括基座510以及活动设置于基座上的外盖530，停靠站500的基座510上设有充电电极550，用于和除雪机100的相应的电极对接。在除雪机100没有进入停靠站500时，外盖530是敞开的，当除雪机100进入停靠站500，外盖530即自动合拢，将除雪机100封闭在停靠站500内。通过外盖530的位置变换，可以在除雪机100进入停靠站500后形成一个封闭的空间，在无需除雪机100工作的时候方便除雪机的存储，同时，将除雪机100与外界的低温环境隔离，方便除雪机100在停靠站500内的充电和保温。为使外盖530能够实现自动的闭合，基座510上设置有抵压机构，用于向外盖530张开的位置抵压外盖530，外盖530上固定设置有凸筋532，抵压机构优选为扭簧512，扭簧512的一端固定在基座510上，另一端抵接在外盖530的凸筋532上，当除雪机100进入停靠站500，除雪机100会顶在凸筋532上，随着除雪机100的移动，其通过凸筋532带动外盖530克服扭簧512的力旋转到闭合位置。设置上述抵压机构能够实现外盖530随着除雪机的进入自动闭合，结构简单，成本低。当然，外盖530的自动打开和闭合也可以通过电气控制的方式来实现，如：感应自动门(红外感应，微波感应，触摸感应，脚踏感应)、由各种信号控制自动启闭的自动门等。
为了使停靠站500内能保持一个合理的温度，方便除雪机100的充电以及储存，停靠站500内可以设置加热系统，停靠站500的外侧壁、外盖530或底部可以设置加热保温材料，也可以是在停靠站500内设置热风机，或者电炉、电暖气等电加热装置。本实施例优选的，在停靠站500的基座底部嵌入碳晶地暖材料514，能够对物体起到迅速升温的作用，其100％的电能输入被有效的转换成了超过60％的传导热能和超过30％的红外辐射能。这种双重制热原理，使被加热物体：第一升温更快，第二吸收的热能更充足。另一种优选的方案，在停靠站底板上设置电热丝,或电热片和温控器，通过温控器使内部恒温，通过外盖上的保温材料使得热量能够有效的保持。
如图15所示，除雪机100的充电方式为无线充电，停靠站500上可以设置无线充电发射 装置560，对应的除雪机100上设置无线充电接收装置106。具体的，停靠站500的底板上设置无线充电发射板，对应的，除雪机100上设置无线充电接收板，两者之间以磁场传送能量，因为不用电线连接，停靠站500及除雪机100都可以做到无导电接点外露，即无通电接点设计，可以避免触电的危险，也因此不会有在连接与分离时的机械磨损及跳火等做成的损耗。另外，电力传送元件无外露，不会被空气中的水份、氧气等侵蚀。而且，如果是除雪机100自动进行充电对接，相对于有电极的对接容易的多。
如图16和图17所示，本实施例中优选的，停靠站500还设置有扫雪装置580，用于在除雪机100进入停靠站500时清除除雪机100上的积雪，具体的，在停靠站500的外盖530的边缘设置扫雪刷，扫雪刷可被控制旋转或者在外力的触发下旋转。扫雪刷构造为滚刷形式，滚刷的旋转轴大致平行于地面，滚刷的材质可以是塑料、尼龙、毛织物等柔性材料。滚刷的旋转可自动控制，如停靠站500接收到除雪机100回归充电的信号即启动滚刷旋转，或者外盖检测到除雪机打开供其进入的同时即启动滚刷旋转、或者在除雪机行进入停靠站的触碰下即启动滚刷旋转等等。另外，扫雪刷还可以构造为沿着外盖530的边缘布置的排刷形式，随着除雪机100移动进入停靠站500，排刷扫过除雪机100的顶盖从而将顶盖上的积雪清除。当然，扫雪刷也可以是分布在外盖530边缘的多个旋转的刷子，其旋转的轴线大致与地面呈角度，如此也可以实现除雪机100进入停靠站500时清除其顶盖上的积雪。另外，除雪机100本身也可以自带清除其顶部积雪的功能，比如顶盖本身倾斜的角度，顶盖可以设置成定期抖动或者检测到有积雪进行抖动，顶盖上面也可以设置刮雪器、毛刷等。
本实施例中的定位导航方式，即通过卫星定位方式的实时获得除雪机的坐标，根据坐标对除雪机路径进行导航。卫星定位方式相对人机控制的方式来控制除雪机进行工作，成本稍高，但是自动化程度更高，两者各有利弊。
因除雪机100需要在下雪或者有积雪的时候进行工作，要实现全自动模式的除雪工作，首先需要针对是否下雪以及雪量大小进行检测。
检测是否下雪以及雪的厚度的方案有很多种，优选的第一种方案，如图18所示，在除雪机的主机顶部设置雪检测器102，雪检测器102优选为压力和湿度传感器，传感器最好设置在主机110的最高位置，当有积雪时压力传感器会有变化，同时湿度传感器会检测到湿度的变化，传感器检测到的信号会反馈给控制模块，控制模块根据信号判断是否是下雪，如果下雪，则计算出雪的厚度，当雪的厚度达到预设值时即控制除雪机100开始工作。优选的第二 种方案，如图19所示，在除雪机100的主机顶部安装两个导电金属棒103，在两个导电金属棒103之间安装一个绝缘筋板104，绝缘筋板104的高度高于两个导电金属棒103的高度，当积雪的高度高于绝缘筋板104的高度时，根据雪导电的原理，两个导电金属棒103即导通，导通的信号传递给控制模块，控制模块即判断为有积雪，控制除雪机开始出发工作。绝缘筋板104的高度H即触发除雪机100开始工作的雪的最小厚度。优选的第三种方案，如图20所示，提供一个容器200，容器200底部设置光传感器202和湿度传感器204，容器200放置在除雪机100的主机顶部或停靠站500上，下雪到一定厚度，光传感器202检测不到光时，同时湿度变化时即判断为被雪覆盖，控制模块即控制除雪机100开始出发工作。如图所示，优选的第四种方案，用于检测雪的厚度，如图21所示，在除雪机100的主机下侧设置三个导电零件105，当位置最低的第一导电零件检测到信号，雪的厚度为H1，设定为薄雪；当位于中间的第二导电零件检测到信号，雪的厚度为H2，设定为中雪；当位于最上面的第三导电零件检测到信号，雪的厚度为H3，设定为大雪。以上所述的为通过传感器检测的方式，当然也可以通过其他方式获知是否下雪，比如除雪机上设置实时接收天气信息的天气通讯单元，天气通讯单元将接收到的天气信号传递给控制模块，控制模块根据接收到的信号判断是否下雪以及雪量大小，并且根据下雪的时间长短计算雪的厚度。还有一些其他的方式，比如当雪通过一个区间时，通过一个视镜、超声波、红外扫描等传感器可以检测，一定时间后控制模块控制除雪机开始出发工作。除此之外，用于检测是否下雪以及雪厚的方式还有很多，如还可以通过摄像头图像识别，用超声波测雪厚等等，这里不再赘述。
下面将详细说明除雪机通过定位导航方式进行除雪的全自动除雪模式。本实施例中，定位导航模块可以为DGPS(差分GPS)定位模块、GPS定位模块、北斗定位模块或差分北斗定位模块。为了保证定位的精确度，可以采用DGPS定位模块或差分北斗定位模块。其中DGPS是针对改善GPS利用码定位的精度而发展出来的系统，其采用相对定位的原理，对两不同测点利用差分方式消去大部分共同误差而获取较高的精度，从而获得更精准的路径导航，精度可达到厘米级。另外，定位导航模块还可以是通过其他方式获得除雪机行进过程中的位置，如超宽带技术。
除雪机的工作流程，包括设定界限、各种特殊场景的设定、路径规划、回归充电站以及充电的方式等，还包括在这些工作流程中遇到问题的解决方案等。
A：设定界限
在优选的实施方案中，通过DGPS的方式来设定除雪机的工作区域。
如图22至25所示，在生成除雪机的边界线320时，通常可以采用人工控制除雪机沿预定的边界线移动，通常除雪机与定位导航系统是安装为一体的，定位导航系统是不可拆卸的。定位导航系统接收基站的定位信号，可以获取除雪机沿边界线320移动时的连续坐标点，将这些坐标点连线即为边界线320。由于定位导航系统是不可拆卸的，因此，要想获取边界线坐标点，必须使除雪机本身移动，才可以获取边界线的坐标点，但其明显存在除雪机较重较大，移动不灵活，难以操控的技术问题。
定位导航模块构造为可以从除雪机中拆卸出来的定位导航装置130，同时，定位导航装置130也可以被重新安装至除雪机100，即定位导航装置130可拆卸式地安装于除雪机。通过本实施例，单独通过定位导航装置130即可获取预定边界线的坐标点，从而生成边界线。
定位导航装置130包括定位单元131、存储单元132和发送单元133。
定位单元131用于获得定位导航装置130按照预设的边界线移动时的坐标数据。从除雪机的主机110中拆卸出来的定位导航装置130体积小、重量轻，人工即可轻易携带移动。因此，可以人工携带定位导航装置130沿预定的边界线320移动，从而获取预定边界线的坐标点，坐标点为连续的坐标点，这些连续的坐标点连线即为最终除雪机的边界线，也就是工作区域的地图，如图23所示。
存储单元132用于存储定位单元定位的坐标数据。由定位单元131获取的坐标点需要及时存储，为此，需要在定位导航装置130上设置存储单元132，防止数据丢失。
发送单元133，用于向外部发送存储模块存储的坐标数据。发送单元133可以及时将边界线的坐标数据发送出去，如发送至除雪机。发送单元133可以是无线发送单元，也可以是能够与除雪机中的传输数据接口(包括USB接口等)连接的有线发送单元。
以上定位导航装置，可自由地拆卸或者安装于除雪机中，在需要生成除雪机工作的边界线时，只需要将定位导航装置从除雪机中拆卸出来，简单地通过定位导航装置即可生成边界线，有效地方便了边界线的生成。
由于定位导航装置130可以自由地拆卸出或安装入除雪机，而在安装入除雪机时，为了保证连接的稳固性，定位导航装置130可以设置接口单元，用于将定位导航装置固定安装于除雪机。其中，接口单元可以为插口或插槽，可以将其安装至除雪机中。
为方便供电，定位导航装置130还包括有电池，用于为定位导航装置提供电源。电池可 以单独充电，也可以在将定位导航装置130安装在除雪机内部后由除雪机充电。
本实施例中的除雪机100，包括以上的定位导航装置130，其控制模块还包括：接收单元，用于与发送单元133建立连接以接收发送单元133发送的坐标数据。接收单元可以是无线接收单元，也可以是与发送单元133对应的有线接收单元。
除雪机的存储器，用于存储接收模块接收的坐标数据。在将导航装置130安装入除雪机110时，通常导航装置130中的存储单元132已经存储了边界线的坐标数据，因为是已经存储的数据，因此，在将定位导航装置130安装入除雪机110后，接收单元可以直接将发送单元133从存储单元132中读取的边界线的坐标数据存入至除雪机110的存储器中，以方便除雪机110识别边界线。
除雪机在移动时，需要实时检测除雪机是否在边界线320内移动，为此，除雪机的控制模块还包括检测控制单元，用于检测存储器存储的边界线320的坐标数据是否与存储器存储的除雪机的坐标数据重合，并在重合时控制除雪机在边界线320内部移动。当除雪机的坐标数据与边界线320的坐标数据重合时，说明除雪机已经或即将超越边界线320，需要及时对除雪机的移动方向进行控制。为此，检测控制单元包括检测单元和移动控制单元，检测单元用于检测存储器存储的边界线320的坐标数据是否与存储器存储的除雪机的坐标数据重合；移动控制单元用于在存储器存储的边界线320的坐标数据与存储器存储的除雪机的坐标数据重合时，控制除雪机在边界线内部移动。
通过上述方案能够完成除雪机地图的创建与存储，从而实现除雪机的自主定位导航，控制器根据导航装置中存储的边界线的坐标数据计算出地图边界的数据，并生成地图数据，除雪机即可按照地图进行路径规划，在除雪机检测到电压不足或者完成一次除雪工作时，会自动存储当前坐标与航向并返回停靠站500充电，完成充电后读取上次记录的坐标和航向，并自动规划最优路径到达坐标位置，然后继续工作。
另外，上述可拆卸的定位导航装置130还可以和其他的自动行走设备通用，如自动割草机、自动清扫机等等，提高定位导航装置的利用率，减小用户的购买成本。
采用导航定位的方式来设定除雪机的工作区域并不仅限于上述方式，也可以是除雪机自带定位导航模块，定位导航模块实时定位的位置坐标数据存储在除雪机的存储器，控制器根据存储器中存储的边界线的坐标数据计算出地图边界的数据，并生成地图数据，除雪机即可按照地图进行路径规划。
在用户生成了工作地图后，用户可以通过手机、遥控器或者直接在机器上的操作面板上设定一些特殊场景，用以帮助除雪机可以进行工作路线、区域的划分及工作模式的选择，接下来进行详细说明。
B：路口的设定
这里的路口指的是人行道或者车道连通市政道路的路口，因工作边界自有的局限性、除雪机本身的尺寸以及导航的精度等原因，除雪机有可能行走到市政道路上，由此会产生一些危险，如被快速行驶的汽车撞倒，被撞坏或者导致汽车受损甚至汽车上的人员受伤等，为避免这些情况的发生，下面提出了几种方案。
图26所示为除雪的用户的房屋周围环境的示意图，用户在地图上将路口330设定标记，如图28阴影区域，此区域沿着人行道或者车道延伸方向的尺寸可以根据除雪机及除雪工作头尺寸预设，或者根据导航的误差预设，然后在工作区域的地图上把该部分区域填充完整，即该区域默认为无需清扫，可以由用户手动清扫，从而防止除雪机行走到市政道路上。
另外，还可以通过在设定边界的时候，人为的把该部分区域排除在除雪区域之外，即非工作区域，那么也可以防止除雪机行走到市政道路上。
除此之外，还可以通过摄像头扫描，在设定距离内没有汽车行驶再进行路口清扫，或者如果除雪机如果行走到市政道路上开启声光报警以提醒过往车辆等等。
C：草地设定
一般情况下，草地是不需要除雪的，用户通常会把清扫的雪堆到草地上。草地大多分布在道路之间，根据前述几种生成地图的方式，地图生成后，用户在地图上可以标记某区域为草地，在标记为草地的区域，用户可以选择该区域是否要除雪，如果不除雪，则机器可以直接通过，或者不行走到草地上，如果需要除雪，可以设定除雪的模式或者除雪的高度，避免草地损伤。
D：不连接多区域的通道设定
当需要除雪的区域有两片及两片以上，或者说最终生成的用户的地图存在两个除雪区域或者两个以上除雪区域时，用户可以设定从一个除雪区域到达另一个除雪区域之间的通道，一般情况下，建议用户将通道设置在草地上，如图27中虚线所示区域，为两片除雪区域的连接通道360，因已设定草地区域可选择是否除雪或者除雪的模式以及除雪的高度，此处无需额外设定。当然，如果之前用户没有设定，此处用户还可以再进行设定该路径是否需要除雪。 除雪机可以经过草地从一个除雪区域到达另一个除雪区域。当然，还可以选择市政道路作为通道，相应的，需要设定从一个路口到另一个路口的行走路径，比如沿着市政道路的边界行走，并且进行声光警报提醒行人以及过往车辆注意，相比将通道设置在草地来说，将市政道路作为通道为次选方式。
连接通道360的尺寸有一个预设的最小尺寸，用户设定通道大致路径后，除雪机会自动计算，并把该路径补完为通过的最小尺寸，这里的最小尺寸可以根据除雪机本身的尺寸或者其工作头的尺寸来设定。另外，也可以两点一线的方式设定通道，即设定从一个除雪区域到另一个除雪区域的出发点和进入点，控制器自动计算两点之间的直线路径(最短路径)。
E：孤岛设定
当用户除雪区域中有花坛、游泳池等封闭的区域，这部分区域是不需要除雪的，此处称之为孤岛，在用户的地图上，可以设定其为孤岛。具体方式为用户在地图上直接设定一个区域孤岛，这种方式的相对误差比较大，适合孤岛为高于地面的情形，可以结合一些碰撞传感器等(如超声波传感器、雷达检测、摄像头等)来探测孤岛的边界，从而防止除雪机受到损坏或者孤岛的设备被破坏。
优选的更为精确的方式是在设置工作区域时，用户拿着定位导航装置130沿着孤岛行走一圈，生成地图后把该区域定义为孤岛，即非除雪区域。
当然，生成地图的方式不同，设定孤岛的方式也有所不同，但是其基本的原理是相似的，或者通过设定工作区域时排除，或者在生成的地图上排除，无论何种方式，都可以在地图上进行区域定义，从而根据定义的区域，除雪机选择是否工作或者工作模式。
F：狭窄通道设定
用户的地图中，有一些路径比较狭窄，小于了除雪机的最小通过尺寸，我们把该路径定义为狭窄通道350。对于狭窄通道，在初次地图生成后，除雪机的控制器会自动计算出来并提示给用户，用户手动设定该狭窄通道是否要进行除雪，一般如果需要除雪，那用户需要保证通道边上有足够的尺寸让除雪机通过，如果不需要工作，则用户可以设定该区域不工作。
G：工作状态报警灯设定
除雪机上装有警报灯，可以通过全亮、闪烁等方式对行人、用户进行报警提醒。具体的，用户在地图上可以标注报警区域或者设置报警时间等，除雪机内的控制器可以根据用户的设定，达到设定区域后者到达到报警时间或者同时达到设定要求时进行报警。
H：特殊场景设定
除雪的方式通常有三种，扫雪、推雪和抛雪。这里的特殊场景设定，指的是如果除雪方式是扫雪或者推雪，那么需要针对堆雪点进行设定；如果除雪方式是抛雪，那么需要针对抛雪方向进行设定。
扫雪是通过旋转的滚刷将雪清扫到除雪机的前方，推雪是将雪向除雪机的前方推，因此推雪的时候，除雪机前方的雪会越级越厚，为了防止这种情况的发生，可以设定除雪机每推雪一段距离，就将雪推到一个设定的位置，即堆雪点。抛雪是通过搅龙等将雪卷入除雪机内再通过抛雪筒抛出，如果将雪抛到邻居家、邮筒等市政设施上，这种情况是不允许的，那么，就需要针对抛雪方向进行设定。
如图29所示，在设定的时候，如果除雪方式是扫雪或者推雪，系统会自动提示用户是否需要自行设置堆雪点，如果是，用户则需要设定一个或多个堆雪点，除雪机会根据扫雪或者推雪的面积大小计算路径，如果堆雪点过少会提醒用户增加。如果用户选择不需要，则控制器会自动的根据扫雪或者推雪的面积大小计算路径并自动规划堆雪点。
如果除雪方式是抛雪，用户需设定哪个方向可以抛雪，或者说设定那个区域可以抛雪，由控制器根据抛雪区域自动计算抛雪方向。设定了抛雪方向后，除雪机的路径会根据抛雪方向的设定而进行优化，使其朝向设定方向或者区域进行抛雪。如果用户没设定抛雪方向，则默认为任意方向都可以抛，除雪路径会重新优化。
I：工作模式设定
用户可以在地图上根据区域进行不同的标记，比如汽车道、人行道等，不同的标记可以有不同的工作模式，比如在标记为汽车道的路径上进行抛雪，在人行道上进行推雪或者扫雪；或者在汽车道的进行厚雪除雪模式，人行道进行薄雪除雪模式；或者用户可以设定抛雪或者推雪模式。
以上所有的设定可以在除雪机的操作面板上进行，或者通过手机、电脑等移动设备上远程操作，再或者通过除雪机自带的遥控器进行操作。遥控操作的控制端和终端之间的通信方式可以是WIFI通信、蓝牙通信、ZigBee通信、射频通信等等，或者也可以基于蜂窝网络实现控制端和终端之间的通信。
完成所有的设定后即可启动除雪机开始进行工作。接下来针对除雪机工作时的路径规划进行详细说明。
除雪的方式不同，除雪机执行的行走路径也相应的有所区别，具体的，除雪的方式为抛雪时，抛雪路径一般平行于道路的延伸方向，同样是S型路线行走，其通过抛雪筒把雪抛出。除雪机内的控制器可以控制抛雪筒旋转，其至少可以做360度旋转。在抛雪的路径中，如果定义了抛雪的方向，即图30中所示的抛雪面，则抛雪筒会根据除雪机行走的路径，进行转动，使其保持抛雪筒的抛雪口一直朝向抛雪面抛雪。当用户未定义抛雪面时，则认为道路两侧都可以抛雪，则抛雪方向一般是垂直于行走的路面。
如图31所示，抛雪路径也可以是沿着一个方向行走并抛雪，返回的时候在已经除雪的路径返回，即只行走，不抛雪，可以无需调节抛雪的方向。当然，控制模块需要根据除雪机距离抛雪面的距离来计算抛雪距离，可以通过调节抛雪轮的转速来改变抛雪距离。
抛雪筒是通过旋转来进行抛雪的，除雪机的控制器会识别电机旋转的电流、转速等，当电流超过设定阀值或转速低于阀值时，说明抛雪的量过大，除雪机会通过降低行走速度来避免抛雪电机过载；
除雪机识别到抛雪方向有障碍后，会进行调整抛雪方向，如果用户定义了只能往固定方向抛雪，则其会停止抛雪。
除雪的方式为扫雪时，扫雪路径包括至少3种，如图32所示为扫雪的第一种路径，扫雪路径可以垂直于道路的延伸方向，或者平行于道路的延伸方向，实线所示为扫雪路径，虚线所示为重复路径，或者说是返回路径，其特点是朝一个方向扫雪，适合道路两边都是雪地，但是只有一侧的草地能够抛雪，从而避免扫雪时将雪抛到另一侧的草地。因返回路径是已经清扫过的，可以不必重复清扫，从除雪机的行走路程来看，其行走了两段路，实际清扫的只有一段，清扫的效率一般，不适合需要快速除雪的场合。
如图33所示为扫雪的第二种路径，扫雪路径垂直于道路的延伸方向，雪往两边扫，即只要是除雪机行走的路线，都可以进行扫雪，也可以称之为S型路线扫雪，一般适合道路两边都是草地且两边的草地都可以进行抛雪的情况，另外因扫雪路径是垂直于道路的延伸方向的，单次清扫的距离短，除雪机的前面不会堆积太多的雪，故而无需扫到特定的堆雪点，而且没有重复的路径，其扫雪的效率比较高。
如图34所示为扫雪的第三种路径，扫雪路径平行于道路的延伸方向，同样是S型路线扫雪，这种扫雪方式转弯的次数最少，效率相对也比较高。
如图35到37所示，除雪的方式为推雪时，推雪路径包括至少3种，如图35所示为推雪 的第一种路径，推雪路径大致平行于道路的延伸方向，因推雪的距离较长，需要设置两个堆雪点，实线所示为推雪路径，虚线所示为重复路径，或者说是返回路径，其特点是从一个方向的第一个位置开始将雪推向推雪点，再返回，再从该方向的第二个位置开始将雪推向推雪点，以此类推，直至道路的整个宽度的雪都被清除，再继续向下一个堆雪点推雪。这种方式适合只有固定的地方才能够进行堆雪的情形。
如图36所示为推雪的第一种路径，推雪路径大致垂直于道路的延伸方向，从道路的中间分别推向两边，可以有两种选择，一种是从中间先推向一边，返回中间再推向另一边，以此类推；另一种是从中间先推向一边，返回中间后继续推向这一边，直至推到道路末端，然后从末端的中间推向另一边，即道路的一半从头到尾，道路的另一半从尾到头。此种路径适合道路较宽的情形，而且用户未设定堆雪点且道路的两侧都可以堆雪的情形。
如图36所示为推雪的第三种路径，推雪路径大致垂直于道路的延伸方向，从道路的一边呈S型行进推雪，此种方式适合沿道路宽度的一次最大推雪量小于推雪机的负载，其中最大推雪量可以根据雪的厚度、道路宽度以及推雪头的长度计算出来。
以上所述的推雪路径可以根据用户生成的地图自动生成，用户可以自主选择或者由控制器默认。控制器默认的方式如下：如果用户未设定堆雪点，则可以采用第一种或第二种推雪方式，除雪机识别路面的宽度，如果路面过宽，超过设定值时，则采用第一种的推雪路径，其可以使一次推雪不会过多导致载重过大，否则采用第二种推雪路径；如果用户设定了堆雪点，则采用第三种推雪路径。堆雪点的多少和用户的推雪路径长短有关，每个堆雪点要求行走的路径不能过长而导致推雪载重过大；除雪机的控制器会计算用户设定的堆雪点是否满足要求或提示用户设定足够多的堆雪点。
如果除雪机的工作区域中有坡道，在上坡时可能会导致工作头顶住道路而无法行走，或者下坡时因工作头距离地面有一定距离而导致不能够将雪清除干净。以下参照图38描述本发明的除雪机在典型的坡道中的状态变化。
本实施例中，除雪机的检测模块包括加速度传感器，加速度传感器安装在除雪机内，其用于检测除雪机的倾角。当然，也可以是压力传感器，可以测量海拔，都能够用以生成3D地图。除雪机的工作头安装有马达，用于驱动工作头相对于地面抬起或者放下。
除雪机在开始记录地图时，会同时记录每个点的倾角值，如图A1，B1..N1；当除雪机在按路径工作时，其会提前判断前面路径的倾角是否过大，即除雪机在A1点时会判断B1点的 倾角状态，如果B1点的倾角过大，会影响到工作头，即B1点的倾角大于预设值，控制器会提前启动马达把工作头抬起一定角度；抬起的角度和B1点的倾角有关，倾角越大，抬起的角度越大；当倾角恢复正常后，控制器再次启动马达把工作头放下。
本发明的除雪机的检测系统还包括有障碍传感器，障碍传感器可以是超声波传感器、红外线传感器、激光传感器、雷达、摄像头等。当障碍传感器检测到有障碍时，如果是推雪头或者扫雪头则会停止工作或者向没有障碍的地方工作；如果是抛雪头，则可以改变抛雪的方向。
本发明的除雪机能够根据自身状况自动的回归停靠站充电。具体的，除雪机内的控制器能计算电池的能量及工作时间，当电池的能量低于预设值或者工作时间大于预设值时，即控制除雪机回归停靠站。除雪机的回归路径分为两种方式，第一种方式如图39所示，实线路线为已扫过的路径，虚线为回归路径；回归路径在已扫过的路径内，因此回归的时候扫雪头是不工作的，这样可以节约回归的能源。第二种方式如图40所示，实线路线为已扫过的路径，虚线为回归路径，回归路径包含在扫雪路径里，即回归的时候也在扫雪。
除雪机的控制器会自动计算需要工作的面积及需要的能量，当能量足够支持一次性清扫需要的工作面积时，采用第二种方案，当能量不足够时，采用第一种方案。采用第二种方案的好处是会比第一种节约时间。
除雪机返回到停靠站进行充电的方式有多种，本实施例中优选无线充电的方式。具体的，停靠站设置有无线充电发射板，除雪机上设置有无线充电接收板，无线充电接收板连接除雪机中的电池，控制器通过定位导航模块的引导除雪机移动实现无线充电发射板和无线充电接收板的对接。
为精确的引导除雪机的无线充电接收板与无线充电发射板准确对齐，除雪机的检测系统还包括有信号检测电路，除雪机向停靠站移动时，无线充电发射板向无线充电接收板发射充电信号，信号检测电路检测无线充电接收板接收的充电信号的强弱大小是否达到预定值，并在检测的充电信号的强弱达到预定值时，定位出无线充接收板的位置并引导除雪机停止移动进行无线充电。充电信号可以是电流或电压信号，信号检测电路通过实时检测无线充电接收板接收的充电信号在充电回路上产生的电流或者电压是否达到预定值以判断充电信号的强弱大小是否达到预定值。
另外，为防止无线充电发射板上有积雪而导致无法充电的情况，本实施例中无线发射板 上设有检测雪及雪的重量的传感器和加热系统，当除雪机回归后，无线发射板和接收板对接后，其会检测发射板上的重量，如果重量超过阀值，其会启动加热系统，对积雪进行融化；当重量低于阀值后，停止融雪。
通过对雪的检测，除雪机可以在下雪的时候或者雪厚达到预设值的时候自动的从停靠站出去进行除雪工作，即完成一次的设定后无需用户监控。当然，除雪机也可以通过网络接收天气预报，实时天气等信息，制定工作计划。或者，除雪机可以发送用户家的工作区域、切割方案等到云端，云端可以根据用户及周围用户的情况、地形、气候等数据对扫雪机的清扫方案进行优化。另外，除雪机的数据可以和家里的智能家居通过云端互联，比如除雪机检测到下雪后，会发送数据到云端，云端再通过智能家居关闭用户窗户、打开空调，控制扫雪机出去工作等。也就是说，除雪机可以作为智能园艺系统的一部分，智能园艺系统用于监查及控制园艺区中的园艺装置，其控制中心基于传感器采集的园艺区的环境信息，生成控制指令，除雪机根据控制指令执行除雪工作。传感器、除雪机等园艺装置、控制中心相互通信而组成物联网。
上述全自动模式工作的除雪机，其边界地图的生成还可以有其他的方式，如采用闭环边界线和GPS结合的方式来设定除雪机的工作区域。
一种常见的做法是在工作区域上铺设边界线，边界线连接信号发生器，使边界线能够产生被除雪机探测到的信号。除雪机根据信号就能判断是否处于工作区域内，进而选择相应的工作模式。
当用户购买了除雪机后，厂家会上门根据用户的要求铺设好需除雪机需要除雪区域的边界线，通过一些可开槽埋线的大型机械来铺设，或者通过一些电动或者手动工具开槽，然后手动的将边界线置于槽内。
边界线为通电导线，导线内通有特定的边界线信号，边界线信号由停靠站发出，除雪机可以通过安装在其内部的感应线圈接收边界线发出的电磁信号来识别除雪机处于边界线内部还是外部。
在建立地图时，除雪机能够运用电子罗盘、里程计、GPS实现自主定位导航，通过电子罗盘测量航向角，然后结合里程计航位推算出除雪机的相对坐标，再根据GPS的坐标进行绝对定位和误差消除，最终得到除雪机任意时刻的坐标。
参照图41至43，具体的，本实施方式中优选的除雪机地图构建与存储方法，包括以下步骤：
1)将停靠站坐标设为除雪机的起始坐标(x0,y0)，并设定除雪机从停靠站出发时，工作区 域内x坐标的最大值xmax的初始值、最小值xmin的初始值，y坐标的最大值ymax的初始值、最小值ymin的初始值分别为xmax＝x0，xmin＝x0，ymax＝y0，ymax＝y0；
2)然后除雪机从停靠站出发，沿着工作区域的边界线运行一周后返回停靠站，运行过程中，按照如下方式不断更新x坐标的最大值xmax、最小值xmin，y坐标的最大值ymax、最小值ymin：在任意i时刻分别对比坐标(xi,yi)与上一次更新的xmax、xmin、ymax、ymin的大小关系，若xi＜xmin则xmin＝xi，否则xmin的值保持不变，若xi＞xmax则xmax＝xi，否则xmax的值保持不变，若yi＜ymin则ymin＝yi，否则ymin的值保持不变，若yi＞ymax则ymax＝yi，否则ymax的值保持不变，其中，(xi,yi)为i时刻时除雪机的坐标；
3)根据除雪机沿边界线运行一周后最终更新得到的xmax、xmin、ymax、ymin，确定表征边界线最大范围的四个坐标点分别为(xa,ymax)、(xb,ymin)、(xmax,ya)、(xmin,yb)，其中xa为ymax对应的横坐标、xb为ymin对应的横坐标，ya为xmax对应的横坐标，yb为xmin对应的横坐标；
然后根据这四个表征边界线最大范围的坐标计算出工作区域内x坐标最大差值Xmax＝xmax-xmin和y坐标最大差值Ymax＝ymax-ymin；
同时计算出工作区域的中心坐标(xc,yc)，其中，xc＝[(xmax+xmin)2]，yc＝[(ymax+ymin)/2]；
4)根据下式计算出表征地图大小的参数n：n＝[X/2Δ]+1；
其中Δ为正方形地图栅格的边长，X为工作区域最大范围内x坐标最大差值Xmax和y坐标最大差值Ymax的较大值，即当Xmax≥Ymax时，X＝Xmax,而Xmax＜Ymax时，X＝Ymax；
5)根据表征地图大小的参数n实现地图数据与存储单元地址的映射，具体方法为：将所有地图栅格的数据按照{xi，yi，地图栅格属性}的格式存储在存储单元中，其中每个地图栅格数据占用存储单元空间大小为m字节，地图中心坐标(xc,yc)存储在存储单元的起始地址，该起始地址在存储单元中与最小地址的偏移量为k，k≥0，其他坐标(xi,yi)的存储位置根据下式求得的该坐标与最小地址的偏移量来确定：
M(2n+1)m+Nm+k；
其中，M、N由以下方法确定：
L1＝(xi-xc)/Δ，L2＝(yi-yc)/Δ；
当L1>0时，M＝2|L1|，当L1<0时，M＝2|L1|-1；
当L2>0时，N＝2|L2|，当L2<0时，N＝2|L2|-1。
其中，步骤5)中的地图栅格属性由多种与除雪机地图相关的元素组成，包括用于表征地 图栅格内的环境的属性和表征除雪机是否经过此地图栅格的属性。
本系统的方法能够完成除雪机地图的创建与存储，从而实现除雪机的自主定位导航，在创建地图数据时除雪机首先围绕工作区域运行一圈，根据传感器计算出的坐标值计算出地图边界的数据，并生成地图数据与存储单元地址的映射关系，然后除雪机在边界区域内建立内部地图数据，并更新数据存储器中的地图属性；在地图坐标建立后，除雪机按照地图运行，除雪机通过定位后读取当前坐标以及相邻四个坐标的数据，根据前进方向以及相邻坐标的栅格特性来判断除雪机的下一步动作和运行方向，在除雪机工作电压不足时，自动存储当前坐标与航向并返回停靠站充电，完成充电后读取上次记录的坐标和航向，并自动规划最优路径到达坐标位置，然后继续工作。本发明方法中，除雪机通过定位导航传感器构建出地图数据，并将地图数据与存储单元地址一一映射，方便大量地图数据的存储与读取。
上述方法中除雪机地图数据为栅格形式，使用栅格地图的属性能够很好地描述地图环境，鉴于栅格地图的数据量较大的原因，在建立地图时，除雪机从停靠站出发，沿着绕边界线运行，运行过程中不断推算当前的坐标，在运行一周后获取表征地图大小的四个重要特征坐标点，分别为地图横坐标最大和最小的两个点，以及纵坐标最大和最小的两个点，然后根据这四个特征坐标点自主生成地图数据与存储单元地址映射关系，通过地址映射的建立将地图数据与存储单元紧密结合起来，不仅能够实现地图数据的快速读取与存储，同时采用参数调节的方式可以使该方法在不同的地图大小下均能适用，使除雪机能够在任何工作环境下运行。
通过该方法建立地图数据后，地图数据具有唯一性，即存储单元的内容与整个环境地图坐标一一对应，当除雪机运行过程中需要调用地图时，只需要计算出当前坐标对应于映射图中的参数即可快速读取地图数据，能够保证除雪机对环境地图有一个很清晰的认知。
另一种为采用UWB超宽带的方式来设定除雪机的工作区域，以生成边界地图。
参照图44至图48所示，除雪机的定位系统包括规定除雪机100工作区域的边界320，工作区域外部设置有超宽带标签410，工作区域外部包括边界线320及边界线320外，超宽带标签410具有两个，除雪机的定位导航模块为超带宽定位模块，超宽带定位模块通过两个超宽带标签410计算出除雪机的两个位置，并将边界线内的位置作为除雪机的位置。
以上除雪机的定位系统，在除雪机工作区域外部设置有超宽带标签，除雪机设置有超带宽定位模块，通过超宽带定位可精确的定位出除雪机在工作区域内的位置，方便进行路径规划，提高除雪机的工作效率。
超宽带定位模块发送超宽带信号至超宽带标签410以唤醒超宽带标签410，超宽带标签410被唤醒后反馈超宽带信号至超宽带定位模块，超宽带定位模块在接收到反馈的超宽带信 号后发出定位超宽带信号至超宽带标签410并开始计时，超宽带标签410在接收到定位超宽带信号后发出定位反馈信号至超宽带定位模块，超宽带定位模块接收到定位反馈信号后停止计时并计算除雪机100的位置。
超宽带标签410可以设置两个或三个。图45中具有两个超宽带标签410。工作区域外部包括边界线320上及边界线320外，两个超宽带标签可以设置在边界线320上，也可以设置在边界线320外，也可以是一个设置在边界线320上另一个设置在边界线320外。图45中所示的两个超宽带标签410设置在边界线320上。在进行路径规划时，需要先定位出除雪机100的准确位置。本实施例中，超宽带定位模块接收到定位反馈信号后停止计时并计算除雪机100的位置时，超宽带定位模块根据发出的定位超宽带信号及开始计时和停止计时之间的时间间隔分别计算除雪机100与两个超宽带标签410之间的距离r1和r2，分别以计算出的除雪机100与两个超宽带标签410之间的距离r1和r2为半径，以对应的超宽带标签410所在的位置点为圆心作对应的两个圆，计算两个圆的交点位置，并将判断出的在工作区域内的交点位置作为除雪机100的位置。两个圆的交点位置具有两个，由于工作区域是固定的，必须将非工作区域中的交点位置舍弃，具体的，可以在除雪机100中设置边界线接收器，超宽带定位模块可以根据边界线接收器接收的边界线信号判断交点位置是否在工作区域内。
如图46所示，图中具有三个不在同一直线上的超宽带标签410，三个超宽带标签410在设置时，其中的一个、两个或三个均可设置在边界线320外。图46中所示的三个超宽带标签410中，两个在边界线320上，一个在边界线320外。在进行路径规划时，需要先定位出除雪机100的准确位置。本实施例中，超宽带定位模块接收到定位反馈信号后停止计时并计算除雪机100的位置时，超宽带定位模块根据发出的定位超宽带信号及开始计时和停止计时之间的时间间隔分别计算除雪机100与三个超宽带标签410之间的距离r1、r2和r3，分别以计算出的除雪机100与三个超宽带标签410之间的距离r1、r2和r3为半径，以对应的超宽带标签410所在的位置点为圆心作对应的三个圆，并将计算出的三个圆的交点位置作为除雪机100的位置。如图46中所示，三个圆有且只有共同的一个交点位置，此交点位置即为除雪机100的位置。
各个超宽带标签分别设置于工作区域的边界上或者旁边的草地上的多个预设位置，更容易安装，并且距离超宽带定位模块更近，有利于超宽带定位模块快速找到自身位置。
至少在工作区域或者工作区域的附近安装三个或者三个以上的超宽带标签。除雪机本身 安装有超宽带定位模块。超宽带定位模块利用对三个或者三个以上的超宽带标签的唤醒以及测距，可以实现自身定位。优选的，超宽带标签为三个，其中一个可以设置在停靠站旁边并通过停靠站站获取电能，另外两个可通过太阳能或者其他方式获取电能。
本实施例中，为便于唤醒超宽带标签410，超宽带定位模块发送超宽带信号至超宽带标签410以唤醒超宽带标签410时，超宽带定位模块发送的超宽带信号为低电平信号。
上述除雪机自定位方法，包括以下步骤：
S101超宽带定位模块向各个超宽带标签发送唤醒信号；其中，超宽带定位模块设置于除雪机上，各个超宽带标签分别设置于多个预设位置；
S102各个超宽带标签被唤醒后，向超宽带定位模块发送唤醒反馈信号；
S103超宽带定位模块接收到唤醒反馈信号后，向各个超宽带标签发送定位信号并开始计时；
S104各个超宽带标签接收到定位信号后，分别向超宽带定位模块发送定位反馈信号；
S105超宽带定位模块接收到定位反馈信号后停止计时，并根据计时结果计算与各个超宽带标签之间的距离；
S106根据计算的超宽带定位模块与各个超宽带标签之间的距离，对除雪机的位置进行定位。
唤醒信号、唤醒反馈信号、定位信号和定位反馈信号均为超宽带信号，利用超宽带定位模块和超宽带标签实现快速测距。
在其中一个实施例中，超宽带定位模块向各个超宽带标签发送定位信号并开始计时的步骤，包括以下步骤：
超宽带定位模块向各个超宽带标签发送定位信号，并对各个超宽带标签分别开始计时；
超宽带定位模块根据计时结果计算与各个超宽带标签之间的距离的步骤，包括以下步骤：
超宽带定位模块接收到一个超宽带标签发送的定位反馈信号后停止对该超宽带标签的计时，并根据计时结果计算与该超宽带标签之间的距离。
超宽带定位模块向每个超宽带标签均发送定位信号，并对每个超宽带标签分别开始计时；超宽带定位模块接收到某一个超宽带标签发送的定位反馈信号后停止对这个超宽带标签的计时，超宽带定位模块根据针对于某一个超宽带标签的计时结果，可以计算自身与该超宽带标签之间的距离。因此，根据针对于各个超宽带标签的计时结果，超宽带定位模块与各个超宽 带标签之间的距离均可以计算出来。
在其中一个实施例中，根据计时结果计算与各个超宽带标签之间的距离的步骤，包括以下步骤：
按照如下公式计算超宽带定位模块与任意一个超宽带标签之间的距离：
Figure PCTCN2017072996-appb-000001
其中，D为超宽带定位模块与该超宽带标签之间的距离，TA为超宽带定位模块对该超宽带标签从开始计时至停止计时的总时间，TreplyB为该超宽带标签从接收到定位信号至发送定位反馈信号所延迟的时间，c为光传播速度。
超宽带技术(也即UMB技术)的具体测距方法包括TOA(Time of Arrival)、TDOA(Time Difference of Arrival)和RTOF(Roundtrip Time of Flight)等，以其中RTOF为例进行说明。
请参阅图47，为超宽带测距原理示意图。
当除雪机开始运行时，除雪机首先通过自身的超宽带定位模块A发射超宽带信号唤醒其他预先安装的超宽带定位标签，之后发出超宽带信号，同时开始计时。当其他标签B在收到超快带信号后则反馈超宽带信号，当除雪机上的定位模块A再次收到标签反馈回来的超宽带信号时停止计时，由此可以得出：
Figure PCTCN2017072996-appb-000002
其中TR为信号从A传播到B得时间，TA为超宽带定位模块对该超宽带标签从开始计时至停止计时的总时间，也即测量过程中的信号总时间，TreplyB为该超宽带标签从接收到定位信号至发送定位反馈信号所延迟的时间。那么两点之间距离为：
Figure PCTCN2017072996-appb-000003
其中c为光传播速度。
请参阅图48，为超宽带定位原理示意图。
除雪机通过自身的超宽带模块与各个超宽带标签之间通信，从而测算出与各个超宽带标签之间的距离，当至少测量与三个不同的超宽带标签之间的距离之后，便可以通过算法确定自身位置实现定位。
优选的，可采用Trilaterate算法进行定位。请参阅图5，为Trilaterate算法定位原理示意图。
在安装除雪机以及整套定位系统时，首先测量出三个辅助定位装置(对应于本发明中的三个超宽带标签)之间的距离，利用其中两个定位装置连线作为x轴，则可以简化为如图的数学模型，其中D(x,y)点代表除雪机上装配的超宽带定位装置，而A(0,0)，B(k,0),C(m,n)为三个辅助定位点(对应于本发明中的三个超宽带标签)的坐标，此三点的坐标可以通过A、B、C之间距离的测量获得。而三个定位装置到D点的距离分别为r1，r2，r3，可以通过超带宽定位装置测出。则除雪机的位置参数可以按照如下方式计算出：
r12＝x2+y2
r22＝(k-x)2+y2
r32＝(m-x)2+(n-y)2
然后可得出x和y的数值如下：
Figure PCTCN2017072996-appb-000004
Figure PCTCN2017072996-appb-000005
从而最终实现对除雪机的定位。
在其中一个实施例中，对除雪机的位置进行定位的步骤之后，包括以下步骤：
超宽带定位模块将定位的位置信息反馈至除雪机上的控制模块；
控制模块根据定位的位置信息控制除雪机执行相应操作。
超宽带定位模块唤醒各个超宽带标签之后，向各个超宽带标签发送定位信号并开始计时。各个超宽带标签分别向超宽带定位模块发送定位反馈信号，超宽带定位模块接收到定位反馈信号后停止计时。根据计时结果计算与各个超宽带标签之间的距离，从而对除雪机的位置进行定位。
超宽带定位模块将定位的位置信息反馈至除雪机上的控制模块，控制模块根据定位的位置信息进行相应动作，从而实现除雪机的自主定位并进一步进行路径规划。
通过设置于除雪机上的超宽带定位模块和分别设置于多个预设位置的各个超宽带标签，可以实现除雪机的自主定位并进一步进行路径规划。
再一种为采用在电子地图上圈定的方式来设定除雪机的工作区域，如Google地图。
用户通过手机、遥控器等其他方式,加载GOOGLE等电子地图；手机或电脑里有GPS或WIFI等定位模块，其可以在地图上快速找到自己家的位置；在自己家的GOOGLE地图上，用户圈定一个工作区域；手机或电脑把改工作区域导入到除雪机的控制器中，生成图41所示地图。工作时，根据生成的地图，在所需除雪的区域边界内经过路径规划处理规划出合理的除雪路径。
另外，还可以是不采用定位导航功能，通过远程图像提取的方式来设定除雪机的工作区域，基于视频的方式来识别工作区域。
如图49和图50所示，整个自动除雪系统包括除雪机以及用于监控除雪机工作状态的SMARTPHONE或IPAD等监控设备600，除雪机的人机交互模块包括无线通讯单元，无线通讯单元和控制模块连接，用于接收SMARTPHONE或IPAD等监控设备发出的信号并将信号传递给控制模块，控制模块根据不同的信号对除雪机100的行走方向、行走速度、工作状态等进行控制。SMARTPHONE或IPAD等监控设备600通过支架固定并设置在能够拍摄到整个工作区域的地方，先调整视域；再拍摄工作区域图片，即确定区域；然后用户在工作区域图片上划定工作区域，即区域提取，即边界线320’，提取的工作区域如图40所示。
除雪机工作时，SMARTPHONE或IPAD等监控设备600会实时监测除雪机是否在提取的工作区域内，即限定区域工作，如果不在工作区域内，则发出信号给无线通讯单元，无线通讯单元接收到信号并传递给控制模块，通过控制模块控制除雪机100改变路径。
通过远程图像设定工作区域不限于上述方式，另一个实施例中，除雪机还包括安装在其主体上的摄像/照相装置，用于获得环境图像以及接近的移动物体的图像，摄像/照相装置优选为摄像头。用户可以通过手机、电脑以及除雪机自带的遥控器等移动设备实时接收到摄像头拍摄的图像，并且遥控除雪机行走以及除雪，控制器记录行进的路径，完成记录后自动生成地图。
如图51至53所示，为本发明优选的第三种实施方式，通过三维极坐标方案的边界设定和路径规划方案，即机器辨识物图像跟踪和激光测距以及角度测量的方式。本实施例中的除雪系统包括除雪机100和固定站点800，固定站点具有检测模块和站点无线通讯模块，其中检测模块包括激光测距模块820、云台摄像头840以及用于测量角度的传感器(如三轴加速度传感器)，对应的除雪机上设置有显著辨识物191以及机器无线通讯模块。其中，云台摄像头840水平360度可旋转，上下180度可旋转，激光测距模块820装在摄像头的旁边。云台 上还装有角度传感器(图未视)，角度传感器和和摄像头840及激光测距模块820是相对静止的。固定站点上的站点无线通信模块可和除雪机通信。除雪机顶部装一具有一显著标志的辨识物191(如特定颜色或特定形状，或一局部发光体)，该辨识物面积相对除雪机的尺寸很小，且能很方便地做到图像识别。除雪机上装的机器无线通信模块，可和固定站点通信。工作区域的设定方式如下：让除雪机在固定站点，让摄像头朝向正前方，作为三维极坐标的原点；遥控或手推除雪机沿预定要清扫的边界行进一圈，在行进过程中不能让人或其它物体遮挡扫雪车辨识物；在这过程中固定站点云台调节摄像头，使除雪机辨识物图像和激光测距模块光斑对准辨识物图像的中心区域——此时记录激光测距距离L和摄像头的平面偏置角度α和竖直角度β，这样便获得了除雪机在该处的三维极坐标，通过多点采样便可得到连续的边界轨迹，形成一个封闭的边界。
GNSS(全球导航卫星系统)的使用需要卫星信号接收良好从而能够可靠地进行工作。但是，卫星信号有时会被建筑物、屋顶、遮阳篷、树叶或树遮挡。为了提高GNSS系统的接收器或信号站的准确性，从目标接收器在短距离内就可以使用。这就是所谓的差分GNSS。有几个差分技术，如经典的DGPS(或GPS)，实时运动学(RTK)和广域RTK(WARTK)。然而，从一个信号站的信号也可能被阻止，例如花园或其他工作区刚好在房子的周围。
另外，其他位置确定设备也存在类似的问题，如使用光学信标在视线可能在某些地区阻挡。如果除雪机无法正确接收来自位置确定系统的信号，除雪机将面临挑战，无法在工作区域内正确的导航以及工作区域的覆盖范围可能无法达到预期。
在这种情况下，除雪机也可以采用自身携带的惯性导航系统进行导航工作，但根据惯性导航系统的工作原理(惯性导航的工作原理是以牛顿力学定律为基础，通过测量载体在惯性参考系的加速度，将它对时间进行积分，且把它变换到导航坐标系中，就能够得到在导航坐标系中的速度、偏航角和位置等信息。)可知，惯性导航系统属于推算导航方式，随着时间的延长，精度必然降低，并不利于除雪机长时间的工作。
因此，针对上述除雪机可能无法接收到可靠和准确的信号的情形，以及惯性导航系统中的一些问题，下面提出了一些解决措施，使得即使在信号弱的时候，除雪机仍然可以长时间可靠的工作。
以下提供一种可以解决上述问题的技术方案：
工作区域是无边界线的，如使用定位系统(如GNSS)保持在工作区域内的位置，工作 区域是由坐标定义的。
除雪机上安装了位置确定装置，如GNSS(全球导航卫星系统)装置。在一个实施例中，GNSS装置是GPS(全球定位系统)装置。GNSS装置连接到控制器，从而控制器能够确定除雪机的当前位置，并且基于当前位置使用GNSS装置控制除雪机的运动。其他可实施的方式中，位置确定装置包括光(如激光)位置检测装置，其他无线电频率位置检测装置和超宽带(UWB)信号站以及接收器等等。该除雪机还设置有至少一个传感器，用于为航位推算导航提供信号。这种航位推算导航传感器可以是是里程表、加速度计、陀螺仪、电子罗盘、磁力计和指南针等等。
如图54所示，边界线或者坐标构成的一个工作区域，除雪机在工作区域进行工作。工作区域包括两部分，第一部分是被GNSS导航覆盖的区域，即GNSS导航区域；而第二部分是GNSS导航没有覆盖的区域，即被建筑物、屋顶、遮阳篷、树木或其他植物遮挡卫星信号或卫星信号比较弱的中断区域。除雪机100配置利用GNSS装置进行工作。下面以前述的其中一种除雪模式为例进行详细说明。
除雪机的GNSS装置只要能够接收到足够的卫星或足够的信号站的可靠的信号，控制器确定接收到的信号是可靠的并响应执行确定的工作模式。当除雪机的GNSS装置不能够接收可靠的卫星信号，控制器执行继续使用另一个导航系统的操作，或确定一个替代的除雪模式，即不需要定位检测的模式。
当除雪机检测到不能够确定一个可靠地位置，切换成航位推算导航，推导出计算工作,采用最后的已知位置和方向为当前的位置和假定方向,例如通过测量车轮转动的数量(或者说轮轴的转动速度和时间)确定当前位置。当然,推导出推算的技术还包括其他形式的相对导航,如视觉/光学导航系统,SLAM(即时定位与地图构建)和指纹融合等等。
如图54中可以看到生成的操作模式B可能不同于基于GNSS的操作模式，由于传感器设备的一个误差,如罗盘或里程表用于航位推算导航。为避免或至少减少这些错误，控制器在除雪机能够可靠地接收GNSS信号时校准航位推算导航传感器。控制器检测推导出的计算导航误差和响应该误差校准推导出的计算导航传感器。控制器通过比较当前位置和期望位置，基于两者的不同来确定无导航误差。
图54以除雪机在工作区域内沿着平行线的路径为示例，除雪机在GNSS装置接收的信号的导引下在工作区域内行走，行走的平行路线长度相等。除雪机进入中断区域，控制器切换 到航位推算导航，由此产生的除雪路径B几乎为平行线。然而,根据运动路线之间的角度和已经行驶的距离(即在中断区域的大小)，除雪机将重新进入GNSS导航区域，也就是说,当它再次能够接收可靠信号,比较其当前位置和期望位置。C点为除雪机重新进入GNSS导航区域的位置，此时重新进入GNSS导航区域确定当前位置到期望位置的距离Δ。期望位置根据除雪机失去GNSS导航的时间、行走的平均速度来确定以及除雪工作的参数(或操作模式)来确定。
如果控制器计算出误差Δ是可以忽略的,控制器使航位推算导航传感器校准。当然，控制器也可以确定航位推算导航传感器基于另一个导航参数的校准。导航参数不限于上述的位置,还可以是行驶方向,速度,加速度和倾斜角度等等。例如,除雪机重新回到GNSS导航区域,它可能根据位置确定装置确定当前速度，将当前速度和由航位推算导航模块计算出的速度进行比较，确定误差是否可以忽略不计,并相应地进行调整。
通过控制器可以不断的校准传感器。一般情况下，误差只要能够被检测到，就不能视为可忽略的。如果是可忽略的误差，相应的设置调整的比率。调整可以由用户或控制器/运营商或除雪机的设计师来执行。
如果除雪机后续再次进入中断区域,航位推算导航传感器将校准和由此产生的除雪路径,如图中位置D,更类似于GNSS导航下的除雪路径。随着除雪机再次重返GNSS区域,如图中位置E,除雪机将接近其期望位置。
在另一个实施方式中,除雪机能够根据检测到的误差Δ来修正其位置和/或方向。这里的修正可以是除雪机朝向期望的运动路线行驶，如图中的参考线EL,在除雪路径中返回到期望的位置。从而能够将除雪机的航位推算导航传感器在航位推算导航的误差的影响降到最低。
由上，即使工作区域内的有些部分不能接收到可靠地GNSS信号，除雪机也能够执行和完成符合要求的工作。
本实施例中，卫星信号可以为GPS信号或北斗导航信号等导航定位信号。
前述的两种优选的实施例中，工作模块还可以包括扫雪机构120、推雪机构160等工作头机构中的一种或者多种以及驱动这些机构进行工作的工作马达等，也可能包括扫/推雪高度调节机构。工作头机构可以根据需要来更换，或者是自动更换。以手动更换为例，除雪机300包括主机110以及与主机110可拆卸配合的除雪机构120、抛雪机构140、推雪机构160中的一个或多个，除雪机200的主机110安装不同的工作头机构便相应的执行该工作模式，即主机110安装除雪机构120，相应的除雪机100执行扫雪模式；主机110安装抛雪机构140，相 应的除雪机100执行抛雪模式；主机110安装推雪机构160，相应的除雪机100执行推雪模式。不同的除雪模式对应不同的工况，比如扫雪对应薄雪情况，推雪对应中或厚雪情况，抛雪则适合各种厚度的雪，最优是中或厚雪情况。
前述实施方式里以抛雪机为例进行说明，当然本领域技术人员可以进行简单的替换，如前述的实施方式也可以是扫雪机或者推雪机，即只是对应的工作头不同，其它的模块都可以参考。具体的工作头如图55所示，工作头机构为扫雪机构，扫雪机构120包括滚刷122、安装于滚刷122外围的防护罩124以及驱动滚刷122旋转的工作马达(图未视)，滚刷122随着除雪机100的行进而高速旋转，从而将雪清扫到除雪机100的前方。其中，工作马达可以通过一些常见的传动机构驱动滚刷旋转，如锥齿轮机构、涡轮蜗杆机构等。滚刷122转速小于1000转/分钟，优选的小于等于300转/分钟。滚刷的材质大多为尼龙，也可以是塑料、橡胶、毛织物等非金属材料，以防止误碰的时候不会伤人。滚刷122旋转的方向可以是顺时针方向也可以是逆时针方向，旋转方向不同，抛雪的方向和距离会有不同。如沿图55示箭头方向，高速旋转的滚刷122带着雪自滚刷的上方抛出，若沿着箭头的反方向，则雪会由滚刷122的下方抛出。为了使抛雪更加安全，防护罩124沿着切线方向向滚刷的前部延伸一段距离，形成防护板1242，能够引导随着滚刷124旋转的雪向下方抛出。优选的，防护板1242相对于竖直方向的抛雪角度α在20°至70°之间，既不会导致雪堵在防护罩124内，又能保证抛雪的安全，还不会影响扫雪的效率，当然，为了使得扫雪效率最优，抛雪角度最好在45°至65°之间。另外，为了防止除雪机行进中振动大，可以在除雪机构类的除雪工作头和主机110之间设置减振机构126，具体的，减振机构126可以是减振弹簧，减振弹簧的一端连接在防护罩124上，另一端连接在主机110上，结构简单，安装方便。
如图56和图57所示，推雪机构160包括推雪铲162，推雪铲162大致内凹，其一端抵在地面上，随着除雪机100的行进而将雪推到固定的地点，并且根据不同的状况，可以调节推雪铲162相对于地面的高度。
前述的三种工作头机构都可以实现可拆卸的安装于除雪机100的主机110上。具体的，参考图57，主机110的一侧设置连接部112，连接部112上具有供电接口，相应的除雪机构120和抛雪机构140具有对应的供电接口，而推雪机构160不需要供电，不需要设置供电接口，因此将除雪机构120和抛雪机构140连接到连接部112即实现了与主机的电连接，其工作马达即可由主机内的能量模块供电。优选的，除雪机构120、抛雪机构140以及推雪机构 160这三个工作头机构与主机110之间为枢转连接，通过销钉或者螺栓连接并且能够相对于主机110枢转。
根据工作头机构的不同，除雪机还具有自动识别工作头的功能，如图58所示，三个工作头机构与主机的连接部上分别在不同的位置上装有识别装置，识别装置可以构造为磁铁或者触发开关或者通讯接口等，不同的工作头机构与主机连接产生不同的信号反馈给控制模块，控制模块根据接收到的信号的不同判断出工作头的形式并自动执行与该工作头对应的控制方式，比如调整马达转速、行走速度等等。以信号开关为例，主机的连接部112上设置三个信号开关114，除雪机构120连接到主机的连接部上能够触发第一个信号开关，抛雪机构140连接到主机的连接部上能够触发第二个信号开关，推雪机构160连接到主机的连接部上能够触发第三个信号开关，根据触发的开关信号不同，控制模块即执行与接收到的触发信号相对应的控制模式。本发明中优选的除雪机配置三个工作头机构，最少可设置两个信号开关即可实现三个工作头的识别。当然，可以根据需要配置更多的工作头，对应的设置多个信号开关来识别不同的工作头。另外，也可用通信模式的方式，也就是工作头内有PCB，其可和主控部分通信，可通过通信方式告诉主控工作头是什么模块。
为了使主机内的各个模块以及相关的零部件在冰雪的低温环境下不受温度的影响，保持较高的运行效率，需要将主机内的一些模块以及相关的零部件保持在一个理想的温度范围。如图59所示，本实施方式中优选的，在主机壳体上全部或部分覆盖电加热保温材料130，如固体电热饼，其填充是保温棉(如；石棉等其他的)，其加热保温的工作原理是：用双控温电热储能式结构,逐渐释放热能。内设自动过热保护装置及自动保温指示装置,一个由PTC热敏电阻开关控制的小电炉，PTC是正温度系数的热敏电阻，当电流通过时自身会发热(电炉的热量也会传导给它的)，当温度到达一定值时，它的电阻会急剧增大，可以视为断开，此时停止消耗电能，之后靠保温棉的保温来缓慢放热，保温时间长。如此，只需除雪机在充电时即进行加热，之后通过电加热保温材料对主机进行保温，从而防止电池以及控制器等元部件在低温状态下工作。
电加热保温材料130也可以是液体的，采用电极式加热方法，优质控温与热熔断器双重温控保险。正常情况下液体温度达到65度时温控器会自动切断电路，停止加热，通过里面化学物质的接触，产生的热量，温度大约40℃左右。使用液体储能发热剂，加热升温迅速，一次性加入液体，永久使用，具有使用寿命长，保温持久等优势。另外，还可以使用锂电池功 能，内部发热片发热，温度能达到50℃左右。
上述电加热保温材料130设置在主机壳体上，即可以包覆在主机壳体的外部，也可以位于主机壳体的内部，根据主机壳体的形状来构造，并随着主机壳体一起安装。在另一种实施方式中，如图60所示，电加热保温材料130’仅临近电池以及控制器设置，控制器为整个除雪机的核心部件，而电池应当避免其在低温下放点或者充电，因此至少需要对电池盒控制器进行保温。电加热保温材料最好设置于电池和控制器的底部，以利于温度自下而上的保持。
如前所述，除雪机为自动抛雪机时，地面的雪由刮雪组件收集到抛雪机构中然后向外抛出。在刮雪组件收集地面积雪的过程中，会收集到雪以及雪中的夹杂物。在将雪向外抛出的过程中，雪以及夹杂物一同被向外抛出。当抛出物(包括雪以及夹杂物)的能量过高，则会砸伤其附近的人或物。为避免此类事件的发生，本发明提供了三种解决方案。第一种方案为在抛雪机上设置障碍检测装置等障碍传感组件，控制模块根据障碍传感组件传递的信号控制抛雪组件144向无人或物的区域抛雪或停止抛雪。第二种方案为控制抛出物的能量，使得其在安全能量范围内，从而彻底避免对位于其附近的人或物的伤害。第三种方案为将第一种方案和第二种方案同时应用于抛雪机。以下重点介绍第二种方案。
被抛出物之所以能够对在除雪机附近的人或物造成伤害，是因为其在接触到人或物时，具有一定的速度和一定的质量，即具有一定的冲量。结合对人和物的研究，该冲量要低于0.041kg·m/s才不会对人或物造成伤害。以下分别对影响冲量的两个因素质量M和接触到人或物时具有的速度V进行分析。
针对质量M，当雪中夹杂着石子、钢球等高密度的夹杂物时，这些夹杂物具有较大的质量，相应地，冲量较大，对人或物造成的伤害较大。因此，需要重点研究可能夹杂在积雪中且可能被除雪机收集并抛出的质量大的物体是多大重量的夹杂物。根据对地面情况的研究和除雪机结构的研究，能被积雪夹杂进入除雪机并被抛出的可能情形为夹杂物约重0.001kg。其中，典型的情形是直径为6.35mm左右的钢球。根据冲量公式：I＝M×V，该夹杂物的速度V不能高于41m/s。
针对速度V，被抛出物在接触到附近的人或物时其速度V取决于以下因素：1)被抛出物离开抛雪机构时具有的初始速度V0；2)被抛出物在离开抛雪机构后要到达附近的人或物需要跨越的距离D；3)被抛出物在跨越距离D的过程中，克服自身重力和空气阻力而产生的速度衰减V’。基于此，被抛出物接触到附近的人或物时的速度V＝V0-V’。因此，为避免砸 伤人或物V0-V’≦41m/s。为满足该需求，可以采取的手段包括改变V0或V’中的至少任意一个。以下，结合影响V0和V’的因素，对改变V0和V’的手段进行介绍。
针对V’，其与被抛出物到达人或物所需跨越的距离D相关。距离D越大，克服空气阻力和自身重力产生的速度衰减越大，V’越大；反之，距离D越小，V’越小。根据本实施例的研究，在近距离内，人或物出现的频率最高的位置为距离除雪机机身外沿750mm±50mm。若能保证在距离D＝750mm±50mm位置上，人或物不被砸伤，则基本能保证除雪机附近的人或物不会被抛出物砸伤。因为，更近的距离出现的概率小，且有其他保护人或物不被抛出物砸伤的方式。更远的距离则速度衰减V’更大，被抛出物到达人或物时的速度更小，也不会出现被抛出物砸伤的情形。由于距离D为700mm至800mm之间，该数值非常的小，可以忽略在这段距离内重力和空气阻力对被抛出物的速度产生的衰减V’。即认为V’≌0。基于此，V0≦41m/s，即被抛出物离开抛雪机构的速度小于或等于41m/s。
针对V0，其与抛雪机构的工作速度相关。在抛雪机构的动力不足的情况下，V0小于抛雪机构的工作速度；在抛雪机构的动力足够大的情况下，初始速度V0与抛雪机构的工作速度相同。抛雪机构包括动力组件和抛雪导向组件，动力组件将地面的积雪及其夹杂物收集到抛雪机构中，经抛雪导向组件后抛向抛雪导向组件所引导的方向。抛雪导向组件对被抛出物的抛出方向进行调节。可以为导向筒，如抛雪筒；也可以为导向板等各种对抛雪方向进行引导和改变的导向组件。由于被抛出物在抛雪导向组件的行程短，其对被抛出物速度的衰减忽略。因此，被抛出物的初始速度V0约等于动力组件的工作速度。动力组件可以包括一级动力或多级动力。在抛雪机构仅包括一级动力的情况下，初始速度V0基本等于第一级动力部件的工作速度，此种情形下，第一级动力部件的工作速度V1≦41m/s。在抛雪机构包括两级动力的情况下，初始速度V0基本等于第二级动力部件的工作速度，此时第二级动力部件的工作速度V2≦41m/s，相应地，第一级动力部件的工作速度更小。动力组件还可以包括更多级动力，被抛出物的初始速度约等于动力组件的最后一级动力部件的工作速度。无论动力组件包括几级动力部件，第一级动力部件通常为刮雪组件。本实施例中，以抛雪机构仅包括一级动力的情况对刮雪组件的结构设计进行说明。
刮雪组件可以为类圆柱形的螺旋状集雪轮，也可以为类圆柱形的扫雪滚刷，还可以为任意其他形状，如铲形等。当刮雪组件为类圆柱形时，其通过绕中心轴线转动将地面的积雪收集到抛雪机构中并进一步抛出。当刮雪组件为其他形状时，其可通过杠杆或连杆等运动将地 面的积雪收集到抛雪机构中并进一步抛出。本实施例中，刮雪组件为类圆柱形，其工作速度为刮雪组件的最大线速度，即V1＝ω×r。其中ω＝2πn。即V1＝2πn×r。因此，2πn×r≦41m/s为刮雪组件的设计目标。在此设计目标下，本实施例提供以下几种组合的可能性，本发明并不限于以下几种可能性。
Figure PCTCN2017072996-appb-000006
Figure PCTCN2017072996-appb-000007
在上述设计的结果下，被抛出物在接触到人或物时的冲量大小如下表。
Figure PCTCN2017072996-appb-000008
Figure PCTCN2017072996-appb-000009
以下对自动行走除雪设备的行走路径进行说明。自动行走除雪设备自动沿规划的路径行走，并产生行走轨迹。定义除雪机在整个工作区域内产生的行走轨迹的集合为行走轨迹集，包括多条相互平行或成角度的行走轨迹。在第一种情况下，在除雪机的行走轨迹集中，至少有两条相互基本平行的第一行走轨迹和第二行走轨迹。基本平行指的是两条轨迹之间的夹角小于或等于10°。在第二种情况下，第一行走轨迹与第二行走轨迹相邻，且相互重叠，重叠宽度为d，以避免相邻的两条行走轨迹之间还有余雪没有被扫净。第三种情况下，第一行走轨迹和第二行走轨迹的最大重叠宽度为dmax，最小重叠宽度为dmin，第一行走轨迹和第二行走轨迹中最短者的长度为L，基本平行指的是两条轨迹之间的夹角小于或等于(dmax-dmin)/(180*π*L)，dmin≧0。
以下结合图A1-A6介绍另外一种设计思路下的除雪机、除雪机系统、以及除雪机的控制方法。
请参阅图A1所示，图A1为一实施例中自移动设备控制方法的示意图，在该实施例中，自移动设备上可以设置有可转向的抛物装置以及数个各自对应不同探测位置的障碍物传感器，例如当自移动设备为抛雪机时，抛物装置可以为抛雪筒，障碍物传感器可以为超声波传感器。该方法可以包括：
AS102：接收数个障碍物传感器的信号。
具体地，可以在自移动设备上设置一控制器以及数个障碍物传感器，该控制器可以实时接收数个障碍物传感器的信号，例如当障碍物传感器在其侦测范围内侦测到障碍物时，则向该控制器发送信号。
AS104：根据所接收的障碍物传感器的信号判断与当前抛物方向相对应的障碍物传感器是否探测到障碍物。
具体地，可以对数个障碍物传感器进行编号，例如图A2所示，图A2为一实施例中自移动设备的示意图，该自移动设备上设置有7个障碍物传感器，在其他实施例中，该自移动设备上还可以设置有5个、8个、10个、12个障碍物传感器等，该7个障碍物传感器分别位于该自移动设备的四周，以保证可以侦测到该自移动设备周围的障碍物。控制器可以根据接收的障碍物传感器的信号判断与当前抛物方向相对应的障碍物传感器是否探测到障碍物。
AS106：如果与当前抛物方向相对应的障碍物传感器探测到障碍物，则控制抛物装置转向，使得抛物方向为未探测到障碍物且是所述自移动设备未处理的区域的方向。
当与当前抛物方向相对应的障碍物传感器探测到障碍物时，则需要改变抛物装置的抛物方向，但是如果改变后的抛物方向指向自移动设备已处理的区域，则会造成自移动设备先前的工作无效，例如当自移动设备为抛雪机时，如果当前抛雪方向为第一方向，第二方向指向自移动设备已处理的区域，当第一方向上存在障碍物时，如果此时抛物装置的抛物方向设置为第二方向，则会导致抛雪机向已清扫区域抛雪，从而以前清扫的工作无效，还需重新清扫。本实施例为了解决该问题，在重新设置抛雪方向时，首先判断与未探测到障碍物的障碍物传感器相对应的方向是否指向自移动设备已处理的区域，如果有与未探测到障碍物的障碍物传感器相对应的方向不是指向自移动设备已处理的区域，则将抛物方向设置为与未指向自移动设备已处理的区域的相对应的障碍物传感器的方向。
AS108：如果与当前抛物方向相对应的障碍物传感器未探测到障碍物，则保持当前抛物方向不变，并继续步骤AS102，接收数个障碍物传感器的信号。
上述自移动设备控制方法，通过接收设置在自移动设备上的数个障碍物传感器的信号，实时判断出当前抛物方向是否存在障碍物，如果不存在则及时将抛物方向设置为未探测到障碍物且是所述自移动设备未处理的区域的方向，从而可以实现智能控制，及时地控制抛物方向，以将物体抛到其他物体上或者抛到已处理的区域，造成危险或重复工作。
请再次参阅图A2所示，设置抛物装置的初始抛物方向为第一方向，即第七障碍物传感 器所指向的方向，此时由于该自移动设备还未开始工作，因此不存在自移动设备已处理的区域，所以不需要预先判断与未探测到障碍物的障碍物传感器相对应的方向是否指向自移动设备已处理的区域，因此在该实施例中，可以包括：在自移动设备行走前，接收数个障碍物传感器的信号。根据所接收的障碍物传感器的信号判断与初始抛物方向相对应的障碍物传感器是否探测到障碍物。如果与初始抛物方向相对应的障碍物传感器探测到障碍物，则将抛物方向设置为与未探测到障碍物的障碍物传感器相对应的方向。因此，在本实施例中，可以保证在自移动设备行走前，可以根据周围环境预先设置一抛物方向。
请参与图A3所示，图A3为图A1的实施例中步骤AS106的处理流程图。在该实施例中，将抛物方向设置为未探测到障碍物且是自移动设备未处理的区域的方向的步骤可以包括：判断除与当前抛物方向相对应的障碍物传感器以外的障碍物传感器是否探测到障碍物。如果有障碍物传感器未探测到障碍物，则判断与该未探测到障碍物的障碍物传感器相对应的方向是否指向自移动设备未处理的区域。如果与该未探测到障碍物的障碍物传感器相对应的方向指向自移动设备已处理的区域，则继续判断除与当前抛物方向相对应的障碍物传感器以外的障碍物传感器是否探测到障碍物直至判断出其中一个障碍物传感器器未探测到障碍物且与该障碍物传感器相对应的方向指向所述自移动设备未处理的区域，并将相应方向设置为所述抛物方向。
例如，可以参见图A3所示，假设与当前抛物方向相对应的障碍物传感器为第七障碍物传感器，当第七障碍物传感器探测到障碍物时，可以首先按照步骤AS302：判断第一障碍物传感器是否探测到障碍物，如果第一障碍物传感器没有探测到障碍物，则继续步骤AS304：判断与第一障碍物传感器相对应的方向是否指向自移动设备未处理的区域。如果第一障碍物传感器也探测到障碍物，则继续步骤AS306：判断第二障碍物传感器是否探测到障碍物，如果此时第二障碍物传感器未探测到障碍物，则继续步骤AS308：判断与第二障碍物传感器相对应的方向是否指向自移动设备未处理的区域，否则继续判断第三障碍物传感器是否探测到障碍物，依此类推，直到判断至最后一个障碍物传感器，即步骤AS310：判断第N障碍物传感器是否探测到障碍物。在上述的判断过程中当存在一个障碍物传感器未探测到障碍物且与该障碍物传感器相对应的方向未指向自移动设备已处理的区域时，则可以停止判断，并将相应方向设置为抛物方向。例如图A3中，步骤AS314或者步骤AS316或者步骤AS318所示，如果与该未探测到障碍物的障碍物传感器相对应的方向指向自移动设备未处理的区域，则将 抛物方向设置为与该未探测到障碍物的障碍物传感器相对应的方向。
上述的方法中是串行进行的，即依次判断所有的障碍物传感器，在其他的实施例中，还可以并行判断所有的障碍物传感器，在此不再赘述。
在其中一个实施例中，请参阅图A4所示，图A4为图A1的实施例中步骤AS106的另一处理流程图。在该实施例中步骤AS302至步骤AS318与上文所述一致，在此不再赘述。在该实施例中，如果所有的障碍物传感器均探测到障碍物，或者与未探测到障碍物的障碍物传感器相对应的方向均是所述自移动设备未处理的区域的方向，则继续步骤AS320：控制自移动设备停机预设时间后，继续执行根据所接收的障碍物传感器的信号判断与当前抛物方向相对应的障碍物传感器是否探测到障碍物的步骤。这样当自移动设备四周均存在障碍物或者自移动设备未处理的区域所对应的方向均存在障碍物时，控制自移动设备停机预设时间，待自移动设备的四周的障碍物被清除后，再进行工作。
在其中一个实施例中，请参阅图A5所示，图A5为图A4中的所示的实施例中的控制自移动设备停机预设时间的步骤后的处理流程图。例如在步骤AS320：控制自移动设备停机预设时间之后，还可以继续步骤AS502：判断第一障碍物传感器是否探测到障碍物。如果第一障碍物传感器探测到障碍物，则继续步骤AS506：判断第二障碍物传感器是否探测到障碍物。如果第二障碍物传感器也探测到障碍物，则判断第三障碍物传感器是否探测到障碍物，依此类推，直到判断至最后一个障碍物传感器，即继续步骤AS510：判断第N障碍物传感器是否探测到障碍物。其中N为正整数，例如在图A2中所示的实施例中，N为7，代表设置在自移动设备上的障碍物传感器的个数。如果第一障碍物传感器没有探测到障碍物，则继续步骤AS504：判断与第一障碍物传感器相对应的方向是否指向自移动设备未处理的区域。如果与第一障碍物传感器相对应的方向指向自移动设备未处理的区域，则继续步骤AS514：将相应方向设置为抛物方向。如果第二障碍物传感器没有探测到障碍物，则继续步骤AS508：判断与第二障碍物传感器相对应的方向是否指向自移动设备未处理的区域。如果与第二障碍物传感器相对应的方向指向自移动设备未处理的区域，则继续步骤AS516：将相应方向设置为抛物方向。同理，如果第N障碍物传感器没有探测到障碍物，则继续步骤AS512：判断与第N障碍物传感器相对应的方向是否指向自移动设备未处理的区域。如果与第N障碍物传感器相对应的方向指向自移动设备未处理的区域，则继续步骤AS518：将相应方向设置为抛物方向。但是若所述自移动设备停机预设时间后，所有的障碍物传感器均探测到障碍物，或者与未探 测到障碍物的障碍物传感器相对应的方向均是所述自移动设备已处理的区域的方向，则执行步骤AS520：控制所述自移动设备后退预设距离后，重新规划该自移动设备的行走路径。
在该情况下如果经过停机后所有的障碍物传感器均探测到障碍物，或者与未探测到障碍物的障碍物传感器相对应的方向均是所述自移动设备已处理的区域的方向，则当前自移动设备是无法正常工作的，因此可以重新规划该自移动设备的行走路径。
其中，在实际应用中，该方法可以包括以下步骤：如果除与当前抛物方向相对应的障碍物传感器以外的障碍物传感器均探测到障碍物，则控制自移动设备停机预设时间后，继续根据所接收的障碍物传感器的信号判断是否存在未探测到障碍物的障碍物传感器。在该实施例中，由于所有的障碍物传感器均探测到障碍物，即该自移动设备的周围均存在障碍物，则该自移动设备此时不能抛物，因此控制自移动设备停机，一般可以设置停机2分钟、3分钟、4分钟等时间段后再判断障碍物触发器是否仍探测到障碍物。如果有未探测到障碍物的障碍物传感器，则继续判断与未探测到障碍物的障碍物传感器相对应的方向是否指向自移动设备未处理的区域。此时，如果存在未探测到障碍物的障碍物传感器且与未探测到障碍物的障碍物传感器相对应的方向指向自移动设备未处理的区域，则可以将抛物方向设置为该方向。如果与未探测到障碍物的障碍物传感器相对应的方向仍均指向自移动设备已处理的区域，则控制自移动设备后退预设距离后，重新规划该自移动设备的行走路径。具体地，如果停机预设时间后，所有的障碍物传感器不是探测到障碍物，就是与未探测到障碍物的障碍物传感器相对应的方向仍均指向自移动设备已处理的区域，则当前自移动设备时无法正常工作的，因此可以重新规划该自移动设备的行走路径。如果此时有与未探测到障碍物的障碍物传感器相对应的方向指向自移动设备未处理的区域，则将抛物方向设置为任一与指向自移动设备未处理的区域的相对应的障碍物传感器的方向。
另外，在实际应用中，该方法还可以包括以下步骤：如果与未探测到障碍物的障碍物传感器相对应的方向均指向自移动设备已处理的区域，则控制自移动设备停机预设时间后，继续根据所接收的障碍物传感器的信号判断是否存在未探测到障碍物的障碍物传感器。在该实施例中，由于所有的障碍物传感器均探测到障碍物，即该自移动设备的周围均存在障碍物，则该自移动设备此时不能抛物，因此控制自移动设备停机，一般可以设置停机2分钟、3分钟、4分钟等时间段后再判断障碍物触发器是否仍探测到障碍物。如果有未探测到障碍物的障碍物传感器，则继续判断与未探测到障碍物的障碍物传感器相对应的方向是否指向自移动 设备未处理的区域；此时，如果存在未探测到障碍物的障碍物传感器且与未探测到障碍物的障碍物传感器相对应的方向指向自移动设备未处理的区域，则可以将抛物方向设置为该方向。如果与未探测到障碍物的障碍物传感器相对应的方向仍均指向自移动设备已处理的区域，则控制自移动设备后退预设距离后，重新规划该自移动设备的行走路径。具体地，如果停机预设时间后，所有的障碍物传感器不是探测到障碍物，就是与未探测到障碍物的障碍物传感器相对应的方向仍均指向自移动设备已处理的区域，则当前自移动设备时无法正常工作的，因此可以重新规划该自移动设备的行走路径。如果此时有与未探测到障碍物的障碍物传感器相对应的方向指向自移动设备未处理的区域，则将抛物方向设置为任一与指向自移动设备未处理的区域的相对应的障碍物传感器的方向。
另外，需要说明的是在抛物装置转向时，该自移动设备可以工作也可以不工作，例如当自移动设备为抛雪机时，在抛雪筒转向时，抛雪机可以继续行走清扫路面上的雪。此外，当两个或两个以上障碍物传感器探测到障碍物时，系统可以计算合适的方向来控制抛物装置转向。
请参阅图A6所示，图A6为一实施例中自移动设备控制系统的结构示意图，在该实施例中，自移动设备上设置有可转向的抛物装置以及数个障碍物传感器，该系统可以包括信号接收模块A110、信号处理模块A120以及信号输出模块A130。该信号处理模块A120的输入端与信号接收模块A110的输出端相连接，该信号输出模块A130的输入端与信号处理模块A120的输出端相连接。该信号接收模块A110用于接收数个障碍物传感器的信号，该信号处理模块A120用于根据所接收的障碍物传感器的信号判断与当前抛物方向相对应的障碍物传感器是否探测到障碍物，该信号输出模块A130用于当与当前抛物方向相对应的障碍物传感器探测到障碍物时，使抛物装置转向，使得抛物方向为未探测到障碍物且不是自移动设备已处理的区域的方向。该三个模块的具体的工作方式和处理流程可以参见上文所述，在此不再赘述。
在其中一个实施例中，所述信号处理模块包括障碍物传感器判断单元A121和区域判断单元A122，该障碍物传感器判断单元A121的输入端与信号接收模块A110的输出端相连接，该区域判断单元A122的输入端与所述障碍物传感器判断单元A121的输出端相连接，该障碍物传感器判断单元A121用于判断除与当前抛物方向相对应的障碍物传感器以外的障碍物传感器是否探测到障碍物，该区域判断单元A122用于在有障碍物传感器未探测到障碍物时，判断与该未探测到障碍物的障碍物传感器相对应的方向是否指向所述自移动设备未处理的区 域。
在其中一个实施例中，信号输出模块A130还用于在所有的障碍物传感器均探测到障碍物，或者与未探测到障碍物的障碍物传感器相对应的方向均是所述自移动设备已处理的区域的方向时，控制所述自移动设备停机预设时间后，再根据所接收的障碍物传感器的信号判断与当前抛物方向相对应的障碍物传感器是否探测到障碍物；且当所述自移动设备停机预设时间后，所有的障碍物传感器均探测到障碍物，或者与未探测到障碍物的障碍物传感器相对应的方向均是所述自移动设备已处理的区域的方向，则控制所述自移动设备后退预设距离后，重新规划该自移动设备的行走路径。
以下结合图B1-B2介绍在第三种设计思路下的抛雪方法和抛雪系统。本发明提供一种抛雪方法，可以实现顺风抛雪，避免出现逆风抛雪，或将逆风抛雪效果控制在可接受程度之内，从而保证抛雪效果，提高工作效率。
如图B1所示，一种抛雪方法，包括：
步骤BS110、获取抛雪时风的风向。
抛雪机启动作业后，需要及时确定当前作业环境下的风向。具体地，可利用已有的风速、风向检测仪获取风向。风向检测本身是成熟的技术，此处不作过多展开。利用该检测仪，还可以同时检测到风力大小。
风向检测到之后，通过无线或有线通信的方式发送给抛雪方向控制模块，作为后续调整抛雪方向的依据之一。
抛雪机启动作业后，若风向基本固定，风力基本不变，或者风向基本固定，仅风力大小发生时：利用检测仪可以直接检测并获取到该风向，然后作为抛雪时风的风向，即作为后续调整抛雪方向的依据之一。
当风向飘忽不定，风力不变或变化时：步骤BS110具体包括：获取预定时间段内的多个风向的风的风力及风向；选取最大风力的风的风向；将最大风力的风向作为抛雪时风的风向。
最大风力的风向是影响抛雪的主风向，因此也将是抛雪的主方向的调整基准。以此作为调整基准，才能够保证抛雪时不会逆风抛雪，有效地实现顺风抛雪。
由于抛雪时，抛出的雪具有一定的初速度，而该初速度对保持抛雪方向有一定的作用。因此，风力较大时才可能明显影响抛出的雪；而当风仅仅是风向不变的微风或者风向多变的微风时，该风虽然存在，但不一定会影响抛雪，换言之，此时即便是逆风抛雪，也并不会影 响除雪效果。
因此，进一步地，当风向飘忽不定，风力不变或变化时，还包括步骤：判断最大风力是否超过预定阀值；判断为是，则将所述最大风力的风向作为抛雪时风的风向，判断为否时，可任意选取一个风向或不选取任何风向作为所述抛雪时风的风向。
此处的预定阀值是根据抛雪初速度而定的适合的风力阀值。如果风力超过该阀值，则将该风力所对应的风向作为抛雪时的风向，即作为后续调整的基准。如果多个风向的风的风力均较小，则可以任意选取一个风向作为所述抛雪时风的风向。不选取任何风向，此时，抛雪方向将维持不变。
步骤BS120、获取当前的抛雪方向。
具体地，可以利用安装在抛雪机构上的检测角度的传感器来获取抛出的雪的抛出角度。如抛雪机构为抛雪头旋转机构时，旋转机构里可装有检测角度的传感器(如旋转电位器)，由步进电机控制旋转，以调整抛雪方向。
步骤BS130、获取所述风向与抛雪方向之间的角度差异。
利用角度判断子模块计算出向与抛雪方向之间的角度差异。
步骤BS140、调整所述抛雪方向，使抛雪方向与风向之间的角度差异在预定范围内。
具体地，抛雪方向与风向之间的角度差异在预定范围内包括：将所述抛雪方向调整为与风向一致，此时，二者之间无角度差异，即差异为零。
调整抛雪方向的方式至少包括：
旋转抛雪机构以改变抛雪方向。如通过转动抛雪机构，改变雪被抛出时的角度。
本发明的抛雪方法，还可以包括以下步骤:
步骤BS150、当风向改变时获取风向改变后风的风力。
抛雪机在正常抛雪过程中，依照已经确定好的抛雪方向进行抛雪，能够实现顺风抛雪，避免出现逆风抛雪，即便出现逆风抛雪，也能够控制在可以接受的程度之内。
但正常抛雪过程中，风向仍可能会发生变化。而风向改变后，风力可能发生变化或不变，对抛雪可能有影响，也可能无影响。因此，本步骤中，获取风力之后可以作为后续调整抛雪方向的基础。
步骤BS160、判断所述风力是否超过预定阀值。具体地，此处的预定阀值是根据抛雪初速度而定的适合的风力阀值。
步骤BS170、判断为是，进入所述调整所述抛雪方向，使抛雪方向与风向之间的角度差异在预定范围内的步骤，判断为否，不调整所述抛雪方向。
如果风向改变后的风力超过预定阀值，则调整抛雪方向，使抛雪方向与风向之间的角度差异在预定范围内，即执行步骤BS130。
而当风向改变后的风力小于预定阀值，则不调整抛雪方向，抛雪方向将维持不变，此时也不会影响抛雪效果。当然，也可以根据依据改变后的风向调整抛雪方向。
当风向改变后的风力小于预定阀值，不调整抛雪方向，抛雪方向维持不变时，为了避免由于设备误差影响抛雪效果，此时，可以加大雪被抛出时的初速度。
参图B2，本发明还提出一种抛雪系统B100，包括：
风向获取模块B110，用以获取抛雪时风的风向。
抛雪方向检测模块B120，用以获取当前的抛雪方向。
角度判断模块B130，用以获取所述风向与抛雪方向之间的角度差异。抛雪方向控制模块B140，用以调整所述抛雪方向，使抛雪方向与风向之间的角度差异在预定范围内。
上述抛雪系统，风向获取模块B110获取抛雪机作业环境下的风向，然后抛雪方向检测模块B120检测到当前的抛雪方向，利用角度判断模块B130计算出风向与抛雪方向之间的角度差异。然后抛雪方向控制模块B140则控制抛雪方向，使抛雪方向与风向之间的角度差异在预定范围内。这样，使抛雪机能够实现顺风抛雪，或者即便是逆风抛雪，但可控制在可接受程度之内。
进一步地，抛雪方向控制模块B140调整所述抛雪方向的方式为：旋转抛雪机构以改变抛雪方向。
进一步地，风向获取模块B110还用于：获取风向改变后的风力；判断所述风力是否超过预定阀值。当风力超过预定阀值时，抛雪方向控制模块B140调整所述抛雪方向，使抛雪方向与风向之间的角度差异在预定范围内。当风力未超过预定阀值时，抛雪方向控制模块B140维持抛雪方向不变或者依据改变后的风险调整抛雪方向。
当风力未超过预定阀值时，抛雪方向控制模块B140维持抛雪方向不变时，抛雪方向控制模块B140还用以：加大雪被抛出时的初速度，以保证抛雪不受逆风的影响。
进一步地，风向获取模块B110还被用于：获取预定时间段内的多个风向的风的风力及风向；选取最大风力的风的风向；将所述最大风力的风向作为抛雪时风的风向。风向获取模块 B110还被用于：判断所述最大风力是否超过预定阀值；判断为是，则将所述最大风力的风向作为抛雪时风的风向，判断为否时，任意选取一个风向作为所述抛雪时风的风向。
此处的预定阀值是根据抛雪初速度而定的适合的风力阀值。如果风力超过该阀值，则将该风力所对应的风向作为抛雪时的风向，即作为后续调整的基准。如果多个风向的风的风力均较小，则可以任意选取一个风向作为所述抛雪时风的风向。也可以不选取任何风向，此时，抛雪方向将维持不变。如此，在风向飘忽不定，风力不变或变化时，风向获取模块B110可以快速确定作为调整基准的风向。
以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是在本说明书记载的范围。
以上实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (16)

  1. 一种自动行走除雪设备，其特征在于，包括：
    行走模块，驱动除雪机移动；
    工作模块，包括工作马达和由工作马达驱动的抛雪机构，所述抛雪机构在工作马达的驱动下收集地面的积雪以及夹杂物并抛出抛雪机构；
    控制模块，配置为控制工作马达的转速使夹杂物离开抛雪机构时的速度不高于41m/s。
  2. 根据权利要求1所述的自动行走除雪设备，其特征在于，所述夹杂物离开抛雪机构时的速度不高于20m/s。
  3. 根据权利要求2所述的自动行走除雪设备，其特征在于，所述夹杂物离开抛雪机构时的速度为17.8m/s±1m/s。
  4. 根据权利要求2所述的自动行走除雪设备，其特征在于，所述夹杂物离开抛雪机构时的速度为16.8m/s±1m/s。
  5. 根据权利要求2所述的自动行走除雪设备，其特征在于，所述夹杂物离开抛雪机构时的速度为14.2m/s±1m/s。
  6. 根据权利要求2所述的自动行走除雪设备，其特征在于，所述夹杂物离开抛雪机构时的速度为12.5m/s±1m/s。
  7. 一种自动行走除雪设备，其特征在于，包括：
    行走模块，驱动除雪设备移动；
    工作模块，包括工作马达和由工作马达驱动的抛雪机构，所述抛雪机构在工作马达的驱动下收集地面的积雪以及夹杂物并抛出抛雪机构；
    控制模块，配置为控制工作马达的转速使夹杂物离开抛雪机构时的冲量不高于0.041Kg·m/s。
  8. 根据权利要求7所述的自动行走除雪设备，其特征在于，所述夹杂物离开抛雪机构时的冲量不高于0.02Kg·m/s。
  9. 根据权利要求8所述的自动行走除雪设备，其特征在于，所述夹杂物离开抛雪机构时的冲量为0.0178Kg·m/s±0.001Kg·m/s。
  10. 根据权利要求8所述的自动行走除雪设备，其特征在于，所述夹杂物离开抛雪机构时的冲量为0.0168Kg·m/s±0.001Kg·m/s。
  11. 根据权利要求8所述的自动行走除雪设备，其特征在于，所述夹杂物离开抛雪机构时的 冲量为0.0142Kg·m/s±0.001Kg·m/s。
  12. 根据权利要求8所述的自动行走除雪设备，其特征在于，所述夹杂物离开抛雪机构时的冲量为0.0125Kg·m/s±0.001Kg·m/s。
  13. 根据权利要求1或7所述的自动行走除雪设备，其特征在于，所述抛雪机构包括绕中心轴线转动的刮雪组件，所述工作马达驱动所述组件转动从而将地面的积雪以及夹杂物收集到抛雪机构，所述刮雪组件的最大线速度不高于41m/s。
  14. 根据权利要求13所述的自动行走除雪设备，其特征在于，所述刮雪组件的半径不大于0.085m，所述刮雪组件的转速不大于2000r/min。
  15. 根据权利要求14所述的自动行走除雪设备，其特征在于，所述刮雪组件的转速为2000r/min至1400r/min。
  16. 根据权利要求13所述的自动行走除雪设备，其特征在于，所述刮雪组件的半径不大于0.1m，所述刮雪组件的转速不大于1600r/min。
PCT/CN2017/072996 2016-02-06 2017-02-06 自动行走除雪设备 Ceased WO2017133708A1 (zh)

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