Snow pressing vehicle and control method thereof

Abstract

The invention provides a snow pressing vehicle and a control method thereof, and relates to the technical field of snow pressing vehicles. The snow pressing vehicle comprises a main controller; the closed hydrostatic transmission loop group is integrally controlled by the main controller, oil is supplied to the loop group through a unified hydraulic pump station, and the loop group comprises a walking hydraulic loop which comprises a left walking pump, a right walking pump, a left walking motor and a right walking motor, and the left walking motor and the right walking motor are connected with the left walking pump and the right walking pump respectively and used for independently driving tracks on the two sides to achieve running and steering of the vehicle; the working device hydraulic circuit comprises a snow plough pump and a snow plough motor driven by the snow plough pump, and is used for driving a snow roller of a snow plough to perform snow beating operation; the auxiliary action hydraulic circuit comprises an action oil cylinder used for controlling multiple degrees of freedom of the snow shovel and a posture oil cylinder used for controlling the posture of the snow plough. By adopting the closed hydrostatic transmission loop group and the main controller for centralized control, the problem of coupling interference easily occurring when each hydraulic loop of the traditional snow pressing vehicle works independently is solved, and the snow pressing vehicle has stronger anti-interference capability and better controllability.

Description

Technical Field

[0001] This invention relates to the field of snow grooming technology, and in particular to a snow grooming vehicle and its control method. Background Technology

[0002] Snow groomers are specialized engineering vehicles used for trimming, compacting, and leveling ski slopes in ski resorts. Their performance directly affects the quality and safety of the slopes. Snow groomers operate in extremely unique and harsh environments, typically requiring prolonged low-speed, high-torque operation under complex conditions of low temperatures, steep slopes, and drastic changes in snow density. This places extremely high demands on the snow groomer's power transmission and control systems.

[0003] Existing large and medium-sized snow groomers mostly employ traditional open systems or multiple independent hydraulic circuits. These systems suffer from poor anti-interference capabilities and inadequate maneuverability. Specifically, there is strong pressure and flow coupling interference between the hydraulic circuits of the driving, steering, and working devices (snowplow, snow shovel). For example, when the load on the snowplow suddenly increases during snow removal operations, it causes pressure fluctuations in the hydraulic system, directly leading to changes in the speed of the driving motor, resulting in unstable vehicle speed and severely affecting the finishing effect of high-quality snow runs such as "snail snow." This interconnectedness between circuits necessitates frequent adjustments by the operator to compensate for speed changes, increasing operational difficulty and fatigue. Summary of the Invention

[0004] To address the technical problems of poor anti-interference capability and unsatisfactory operability in existing technologies, this invention provides a snow groomer and its control method. The technical solution is as follows:

[0005] On the one hand, a snow groomer is provided, the snow groomer comprising:

[0006] Main controller;

[0007] A closed-loop hydrostatic transmission circuit group, integrated and controlled by the main controller, is supplied with oil through a unified hydraulic pump station. The circuit group includes:

[0008] The travel hydraulic circuit includes a left travel pump, a right travel pump, and left and right travel motors connected to them respectively, which are used to independently drive the tracks on both sides to achieve vehicle travel and steering.

[0009] The hydraulic circuit of the working device includes a snowplow pump and a snowplow motor driven by the snowplow pump, which is used to drive the snow rollers of the snowplow to perform snow removal operations.

[0010] The auxiliary hydraulic circuit includes a motion cylinder for controlling multiple degrees of freedom of the snowplow and a posture cylinder for controlling the attitude of the snowplow.

[0011] The main controller is configured as follows:

[0012] Receive load feedback signals from each hydraulic circuit;

[0013] Based on the load feedback signal, the hydraulic power output by the hydraulic pump station is dynamically distributed in real time to the walking hydraulic circuit, the working device hydraulic circuit and the auxiliary action hydraulic circuit through the electro-hydraulic proportional control valve and dedicated hydraulic interface integrated in the circuit group.

[0014] This allows the main controller to prioritize maintaining the flow and pressure stability of the travel hydraulic circuit when the hydraulic circuit of the working device or the auxiliary action hydraulic circuit encounters a sudden change in load, thereby suppressing pressure and flow coupling interference between circuits and ensuring a constant speed for the snow groomer.

[0015] Optionally, the left and right travel pumps are variable pumps, and the main controller controls the travel pumps and the right travel pump through a servo control cylinder, thereby controlling the snow groomer's speed and its forward and backward movement.

[0016] Optionally, the load feedback signal includes one or more of the following: a speed signal from the travel motor, an output pressure signal from the hydraulic pump station, and a load pressure signal from the hydraulic circuit of the working device.

[0017] Optionally, the hydraulic circuit of the working device also includes a snowplow control sub-circuit. The snowplow control sub-circuit independently controls multiple cylinders through multiple electro-hydraulic proportional valves to realize multiple degrees of freedom of snowplow movement, including raising and lowering, tilting forward and backward, tilting left and right, rotating horizontally, and deploying and retracting the left and right wing blades.

[0018] Optionally, the attitude cylinders in the auxiliary action hydraulic circuit include a snowplow lifting cylinder, a snowplow turning cylinder, and a snowplow translation cylinder, which are used to control the height of the snowplow, the snow-plowing depth, and the left and right swing, respectively.

[0019] Optionally, the main controller is further configured to: based on a preset priority strategy, when the hydraulic power supply is insufficient, allocate hydraulic power to each circuit according to a preset ratio.

[0020] Optionally, the electro-hydraulic proportional control valve is integrated at the outlet of the hydraulic pump station, and the valve opening is adjusted by the current signal output by the main controller to achieve precise distribution of hydraulic power.

[0021] Optionally, the snow groomer also includes a cooling system controller, which is communicatively connected to the main controller. The main controller sends the load status signal of the hydraulic circuit to the cooling system controller to dynamically adjust the speed of the cooling fan.

[0022] Optionally, the snowplow motor in the hydraulic circuit of the working device is a bidirectional fixed-displacement motor, and its rotation direction is controlled by an electromagnetic reversing valve to realize the forward and reverse operation of the snow roller.

[0023] On the other hand, a snow groomer control method is also provided, applied to any of the snow groomers described above, characterized in that the method includes:

[0024] The main controller receives load feedback signals from each hydraulic circuit in real time;

[0025] Based on the load feedback signal, the main controller determines whether the hydraulic circuit of the working device or the hydraulic circuit of the auxiliary action has encountered a sudden load change.

[0026] When a sudden load change is detected, the main controller dynamically adjusts the hydraulic power distribution ratio from the hydraulic pump station to each circuit through the electro-hydraulic proportional control valve and the dedicated hydraulic interface.

[0027] Ensure stable flow and pressure in the travel hydraulic circuit, and adaptively adjust the power supply to the hydraulic circuits of the working device and auxiliary actions until the load returns to stability.

[0028] The beneficial effects of the technical solutions provided in the embodiments of the present invention include at least the following:

[0029] The snow groomer provided in this invention, by employing a closed-loop hydrostatic transmission circuit and centralized control by a main controller, solves the coupling interference problem that easily occurs when the hydraulic circuits of traditional snow groomers operate independently. This results in strong anti-interference capabilities and superior maneuverability. When the snowplow encounters hard snow or ice, causing a sudden change in load, the main controller prioritizes power supply to the travel circuit, ensuring a constant travel speed, improving operational stability and safety, and significantly increasing operational efficiency. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the structure of a snow groomer provided in an embodiment of the present invention;

[0032] Figure 2 This is a flowchart of a snow groomer control method provided in an embodiment of the present invention.

[0033] Figure label:

[0034] 1. Main controller;

[0035] 2. Closed-loop hydrostatic transmission circuit assembly; 21. Traveling hydraulic circuit;

[0036] 3. Hydraulic circuit of the working device;

[0037] 4. Auxiliary action hydraulic circuit. Detailed Implementation

[0038] The technical solution of the present invention will now be described with reference to the accompanying drawings.

[0039] In embodiments of the present invention, words such as "exemplarily," "for example," etc., are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" in the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present the concept in a concrete manner. Furthermore, in embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one.

[0040] In this embodiment of the invention, sometimes a subscript such as W1 may be mistakenly written as a non-subscript form such as W1. When the difference is not emphasized, the meaning they express is the same.

[0041] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0042] Figure 1 This is a schematic diagram of a snow groomer provided in an embodiment of the present invention; please refer to [link / reference]. Figure 1 This invention provides a snow groomer, which includes:

[0043] Main controller 1;

[0044] The closed-loop hydrostatic transmission circuit group 2, integrated and controlled by the main controller 1, is supplied with oil through a unified hydraulic pump station. The circuit group includes:

[0045] The travel hydraulic circuit 21 includes a left travel pump, a right travel pump, and a left travel motor and a right travel motor connected to them respectively, for independently driving the tracks on both sides to achieve vehicle travel and steering.

[0046] The hydraulic circuit 3 of the working device includes a snowplow pump and a snowplow motor driven by the snowplow pump, which is used to drive the snow rollers of the snowplow to perform snow removal operations.

[0047] The auxiliary hydraulic circuit 4 includes an action cylinder for controlling multiple degrees of freedom of the snowplow and an attitude cylinder for controlling the attitude of the snowplow.

[0048] Among them, main controller 1 is configured as follows:

[0049] Receive load feedback signals from each hydraulic circuit;

[0050] Based on the load feedback signal, the hydraulic power output from the hydraulic pump station is dynamically allocated in real time to the walking hydraulic circuit 21, the working device hydraulic circuit 3 and the auxiliary action hydraulic circuit 4 through the electro-hydraulic proportional control valve and dedicated hydraulic interface integrated in the circuit group.

[0051] This allows the main controller 1 to prioritize maintaining the flow and pressure stability of the travel hydraulic circuit 21 when the hydraulic circuit 3 of the working device or the hydraulic circuit 4 of the auxiliary action encounters a sudden change in load, thereby suppressing pressure and flow coupling interference between circuits and ensuring a constant speed of the snow groomer.

[0052] For details, please refer to Figure 1 The snow groomer provided in this embodiment of the invention is based on a closed-loop hydrostatic transmission system centrally managed by a main controller 1. This system supplies oil through a unified hydraulic pump station and intelligently distributes hydraulic power to three major functional circuits, thereby achieving efficient coordination of driving, operation, and auxiliary actions.

[0053] The snow groomer mainly includes: main controller 1, hydraulic pump station, walking hydraulic circuit 21, working device hydraulic circuit 3, and auxiliary action hydraulic circuit 4.

[0054] The main controller 1 communicates at high speed with all sensors and actuators in the vehicle via a CAN bus. This main controller 1 runs a preset control program, which includes modules for power distribution strategies, fault diagnosis, and safety protection. The main controller 1 provides standard digital and analog input / output interfaces and can directly drive components such as electro-hydraulic proportional valves.

[0055] The hydraulic pump station is the source of hydraulic power for the entire vehicle, and it includes the following components:

[0056] Power source: For example, it could be a diesel engine with a rated power of 290kW to meet the needs of high-power operation.

[0057] Transfer case: Adopts high-strength alloy aluminum housing, realizes one-to-two power output, and drives two tandem hydraulic pumps respectively.

[0058] Hydraulic pump unit: includes two main pumps (travel pump and snowplow pump) and two auxiliary gear pumps, all of which are high-pressure fixed displacement pumps or variable displacement pumps.

[0059] The hydraulic pump station has an output pressure range of 21-35MPa and a maximum flow rate of 200L / min, which can provide sufficient and stable power for all hydraulic circuits of the vehicle.

[0060] The aforementioned walking hydraulic circuit 21 is used to drive the snow groomer's movement and steering. Specifically, its components may include:

[0061] Walking pump: It adopts an electro-hydraulic proportional variable pump, which can realize stepless adjustment of displacement.

[0062] Travel motor: A high-speed hydraulic motor is used, which is connected to the track drive wheel through a reducer.

[0063] Servo control mechanism: including servo control cylinder and three-position four-way solenoid directional valve, used to control the displacement and direction of the travel pump.

[0064] The main controller 1 outputs electrical signals to control the servo control cylinders based on the operating commands from the cab. The servo control cylinders push the swashplate of the travel pump, changing the pump's output flow rate, thereby controlling the speed of the travel motor and achieving vehicle speed regulation. Steering of the snow groomer can be achieved by independently controlling the displacement difference between the left and right travel pumps.

[0065] The hydraulic circuit 3 of the working device is responsible for driving the snowplow to perform snow removal operations. Specifically, it may include:

[0066] Snowplow pump: A high-pressure, fixed-displacement pump that provides a constant flow of hydraulic oil to the snowplow motor.

[0067] Snowplow motor: A bidirectional fixed-displacement motor is used, which directly drives the snow roller shaft through a coupling.

[0068] Electromagnetic reversing valve: Specifically, it can be a two-position four-way valve, used to control the rotation direction of the snowplow motor and realize the forward and reverse rotation of the snow roller.

[0069] The snowplow pump delivers high-pressure oil to the snowplow motor via an oil distributor, driving the snow rollers to rotate at high speed. The roller teeth cut and break up accumulated snow and thin ice. When it is necessary to clear debris from the snow rollers, the main controller 1 can switch the oil circuit via a solenoid reversing valve to reverse the snow rollers.

[0070] The auxiliary hydraulic circuit 4 is used to control the attitude adjustment of the snowplow and snowplow, and may specifically include:

[0071] Snowplow control sub-circuit: includes 12 actuating cylinders such as lifting cylinder, front and rear tilting cylinder, side tilting cylinder, translation cylinder and two-wing cylinder, each cylinder is controlled by an independent electro-hydraulic proportional valve.

[0072] Snowplow attitude control sub-circuit: includes snowplow lifting cylinder, turning cylinder and translation cylinder, which respectively control the snowplow height, snow-spraying depth and left and right swing.

[0073] Based on operational requirements, the main controller 1 outputs control signals to the corresponding electro-hydraulic proportional valves, precisely controlling the extension and retraction speed of each cylinder. This enables the snowplow to perform complex movements such as raising and lowering, tilting forward and backward, tilting left and right, rotating horizontally, and deploying and retracting its wings, while the snowplow can achieve flexible adjustments in height, depth, and oscillation.

[0074] In this embodiment, the main controller 1 is used to execute the intelligent power distribution strategy, and the specific working process is as follows:

[0075] 1. Signal Acquisition: The main controller 1 acquires the load feedback signals of each loop in real time through sensors. These signals include:

[0076] Rotational speed signal from the travel motor (reflecting travel speed).

[0077] Pressure signal from the hydraulic pump station outlet (reflecting the total load).

[0078] Load pressure signals from the snowplow circuit and snow shovel circuit (reflecting operating resistance).

[0079] 2. Status Judgment: The main controller 1 compares the collected real-time signals with preset thresholds. For example, when the pressure change rate of the snowplow circuit exceeds 5 MPa / s, it is determined to be a sudden load change.

[0080] 3. Power Distribution: When a sudden load change is detected, the main controller 1 immediately initiates a dynamic distribution program. It adjusts the hydraulic power distribution ratio of each circuit through the electro-hydraulic proportional control valve integrated in the circuit group. The priority strategy is: travel hydraulic circuit 21 (70%) > working device hydraulic circuit 3 (20%) > auxiliary action hydraulic circuit 4 (10%).

[0081] 4. Stable Output: Through the above allocation, the flow and pressure of the walking hydraulic circuit 21 are prioritized. This ensures a constant speed for the snow groomer and effectively suppresses coupling interference between circuits. For example, when the snowplow suddenly hits hard ice, causing a surge in load, the main controller 1 will prioritize cutting off some of the power to the snowplow and snow shovel, ensuring that the snow groomer does not stall or lose power due to the power being "taken away".

[0082] 5. Restore balance: After the load returns to normal, the main controller 1 gradually restores the power distribution ratio to the normal state to ensure that the operation efficiency is not affected.

[0083] The snow groomer's main controller 1 uses a PLC controller, and the hydraulic pump station is equipped with a series pump driven by a Dongfeng Cummins QSL8.9 electronically controlled engine. The left and right travel pumps in the travel hydraulic circuit 21 are variable pumps, while the snowplow pump and gear pump are fixed displacement pumps. By integrating and controlling each circuit through the main controller 1, centralized management and dynamic distribution of hydraulic power are achieved.

[0084] The snow groomer provided in this embodiment of the invention solves the coupling interference problem that easily occurs when the hydraulic circuits of traditional snow groomers work independently by adopting a closed-loop hydrostatic transmission circuit group 2 and a main controller 1 for centralized control. It has strong anti-interference ability and better maneuverability. When the snowplow encounters hard snow or ice, causing a sudden change in load, the main controller 1 prioritizes the power supply to the walking circuit to ensure a constant driving speed, improves operational stability and safety, and significantly improves operational efficiency.

[0085] The main controller 1 integrates and controls the closed hydrostatic transmission circuit group 2, and dynamically distributes the hydraulic power in real time based on the load feedback signal, achieving significant technical effects in many aspects.

[0086] First, this invention significantly improves the driving stability and operational safety of snow groomers. When the working device encounters sudden load changes such as hard snow or ice, the system prioritizes ensuring the stability of the flow and pressure in the travel hydraulic circuit 21. This effectively suppresses coupling interference between circuits, ensuring a constant driving speed for the snow groomer and avoiding the risk of stalling or engine failure.

[0087] Secondly, this invention optimizes the overall operating efficiency of the machine. The intelligent power distribution strategy avoids energy waste in traditional systems, while the application of electro-hydraulic proportional control technology enables the hydraulic system to respond quickly. The snowplow's action response time is ≤0.5s, and the overall operating efficiency is improved by more than 30% compared to traditional equipment.

[0088] Furthermore, this invention enhances the reliability and durability of the equipment. By suppressing pressure and flow coupling interference between loops, system impact is significantly reduced. This results in a mean time between failures (MTBF) ≥ 220 hours and availability ≥ 92%, effectively reducing maintenance costs and downtime.

[0089] Finally, this invention ensures the quality of ski slope finishing. The 12-DOF motion design of the snow shovel and the precise posture control of the snowplow ensure operational adaptability in complex terrain. The finished ski slope has a high degree of smoothness, and the resulting "noodle-like snow" has excellent snow quality, fully meeting the standards of high-end international ski resorts.

[0090] In one embodiment of the present invention, the left travel pump and the right travel pump are variable pumps. The main controller 1 controls the travel pump and the right travel pump through a servo control cylinder, thereby controlling the speed of the snow groomer and its forward and backward movement.

[0091] The left and right travel pumps are electro-hydraulic proportional variable pumps, and the servo control cylinder is a double-acting hydraulic cylinder, whose movement is controlled by a three-position three-way solenoid directional valve. The main controller 1 outputs electrical signals according to the cab operation commands to drive the servo control cylinder to adjust the displacement of the travel pump, thereby controlling the speed of the travel motor.

[0092] The snow groomer achieves stepless speed regulation from 0-20 km / h by precisely controlling the displacement of the variable pump through a servo control cylinder, meeting the speed requirements of different operating scenarios. At the same time, independent control of the left and right travel pumps enables differential steering, with a small turning radius, strong adaptability to snow tracks, and a maximum climbing ability of 100% (45°).

[0093] In one embodiment of the present invention, the load feedback signal includes one or more of the following: a speed signal from the travel motor, an output pressure signal from the hydraulic pump station, and a load pressure signal from the hydraulic circuit 3 of the working device.

[0094] In one embodiment of the present invention, a Hall effect speed sensor is installed at the walking motor, and pressure sensors are installed at the hydraulic pump station outlet and the snowplow circuit, respectively. The sensor signals are transmitted to the main controller 1 via a CAN bus. The main controller 1 collects and analyzes these signals in real time to determine the load status of each circuit.

[0095] The acquisition and analysis of multi-dimensional load feedback signals enable the main controller 1 to accurately grasp the working status of each circuit. When the pressure in the snowplow circuit exceeds a preset threshold (such as 15MPa), the power distribution strategy is immediately triggered to avoid system shutdown due to excessive load.

[0096] In one embodiment of the present invention, the hydraulic circuit 3 of the working device further includes a snowplow control sub-circuit. The snowplow control sub-circuit independently controls multiple cylinders through multiple electro-hydraulic proportional valves to realize multiple degrees of freedom of snowplow movement, including raising and lowering, tilting forward and backward, tilting left and right, rotating horizontally, and unfolding and retracting the left and right wing blades.

[0097] In one embodiment of the present invention, the snowplow control sub-circuit includes 12 actuating cylinders such as lifting cylinder, tilting cylinder, parallel cylinder, translation cylinder, and two-wing cylinder. Each cylinder corresponds to an independent electro-hydraulic proportional directional valve, which is coordinated and controlled by the main controller 1 according to the operation program.

[0098] The snow shovel has 12 degrees of freedom of movement, which can adapt to the needs of snow track preparation in complex terrain. For example, the left and right wing shovels have an unfolded width of 4-6 meters, and the main shovel can achieve ±15° lateral tilt and 30° horizontal rotation, which can efficiently complete snow spreading, shoveling and preliminary snow track preparation, and expand the working range compared with traditional snow shovels.

[0099] In one embodiment of the present invention, the posture cylinder in the walking assistance hydraulic circuit 4 includes a snowplow lifting cylinder, a snowplow turning cylinder, and a snowplow translation cylinder, which are used to control the height of the snowplow, the snow-spraying depth, and the left and right swing, respectively.

[0100] In one embodiment of the present invention, the snowplow lifting cylinder has a stroke of 200mm, the cornering cylinder has a stroke of 100mm, and the translation cylinder has a stroke of 150mm, all of which are connected to the rear bracket and the vehicle body via ball joints. The extension and retraction of the cylinders are controlled by the pulse signal output by the main controller 1, achieving precise attitude adjustment.

[0101] The multi-dimensional adjustment of the snowplow's posture makes snow removal operations more flexible. The lifting cylinder can quickly clear residual snow from the snow bin, the turning cylinder allows for stepless adjustment of the snow removal depth within 0-100mm, and the translation cylinder protects the trimmed snow track from damage when turning, with a snow track smoothness error of ≤5mm.

[0102] In one embodiment of the present invention, the walking main controller 1 is further configured to: based on a preset priority strategy, when the hydraulic power supply is insufficient, allocate hydraulic power to each circuit according to a preset ratio.

[0103] In one embodiment of the present invention, the preset priority strategy is: walking circuit (priority 1) > snowplow operation circuit (priority 2) > snow shovel operation circuit (priority 3) > auxiliary circuit (priority 4). When the engine output power is insufficient, the main controller 1 distributes power to each priority circuit in a ratio of 7:2:1.

[0104] Prioritization strategies ensure the priority implementation of critical functions. Even under complex operating conditions with insufficient power supply, driving safety and core operational actions are still guaranteed, avoiding operational interruptions caused by power imbalances and improving the equipment's adaptability to extreme operating conditions.

[0105] In one embodiment of the present invention, the walking electro-hydraulic proportional control valve is integrated at the outlet of the hydraulic pump station. The valve opening is adjusted by the current signal output by the main controller 1 to achieve precise distribution of hydraulic power.

[0106] In one embodiment of the present invention, the electro-hydraulic proportional control valve is a three-way flow control valve with a control current range of 4-20mA, corresponding to a valve opening degree of 0-100%. The main controller 1 dynamically adjusts the output current according to the load feedback signal to precisely control the flow and pressure of each circuit.

[0107] Integrated electro-hydraulic proportional control valves reduce piping connections and lower the risk of system leakage. For example, the 4-20mA current signal control provides high precision with a flow regulation error of ≤2%, ensuring accurate hydraulic power distribution and improving the response speed of each circuit, with a snowplow action response time of ≤0.5s.

[0108] In one embodiment of the present invention, the walking snow groomer further includes a cooling system controller, which is communicatively connected to the main controller 1. The main controller 1 sends the load status signal of the hydraulic circuit to the cooling system controller to dynamically adjust the speed of the cooling fan.

[0109] In one embodiment of the present invention, the heat dissipation system controller is an independent microcontroller controller. It collects water, intercooler and hydraulic oil temperature signals through temperature sensors. The main controller 1 synchronously transmits hydraulic circuit load signals (such as pump output pressure and motor speed) to the heat dissipation system controller.

[0110] Dynamic heat dissipation control based on load status enables the cooling system to operate on demand. When the hydraulic circuit is under heavy load and generates a lot of heat, the cooling fan automatically increases its speed, improving heat dissipation efficiency by 40%; when the load is low, the speed is reduced, saving fuel consumption and improving fuel economy by 15% compared to traditional equipment.

[0111] In one embodiment of the present invention, the snowplow motor in the hydraulic circuit 3 of the walking operation device is a bidirectional quantitative motor, and its rotation direction is controlled by an electromagnetic reversing valve to realize the forward and reverse operation of the snow roller.

[0112] In one embodiment of the present invention, the snowplow motor is a high-speed fixed-displacement motor with a rated speed of 3000 r / min, and the electromagnetic reversing valve is a two-position four-way valve. The main controller 1 outputs an electrical signal to control the reversing valve according to the operation requirements, so as to realize the clockwise or counterclockwise rotation of the snow roller.

[0113] The snow roller's forward and reverse rotation function can handle different snow conditions. Forward rotation is used to break up hard snow and thin ice, while reverse rotation is used to remove tangled objects (such as branches and ropes) from the snow roller. The bidirectional quantitative motor has a simple and reliable structure, low maintenance costs, uniform snow-breaking depth, high-quality snow breaking, and a high degree of standardization in the "noodle snow" snow run.

[0114] Figure 2 This is a flowchart of a snow groomer control method provided in an embodiment of the present invention. Please refer to [link / reference]. Figure 2 This invention also provides a snow groomer control method, applied to the snow groomer provided in any of the above embodiments, the control method comprising:

[0115] 100. The main controller 1 receives load feedback signals from each hydraulic circuit in real time;

[0116] 200. The main controller 1 determines whether the hydraulic circuit 3 of the working device or the hydraulic circuit 4 of the auxiliary action has encountered a sudden change in load based on the load feedback signal.

[0117] 300. When a sudden load change is detected, the main controller 1 dynamically adjusts the hydraulic power distribution ratio from the hydraulic pump station to each circuit through the electro-hydraulic proportional control valve and the dedicated hydraulic interface.

[0118] 400. Ensure the flow and pressure of the walking hydraulic circuit 21 are stable, and adaptively adjust the power supply of the working device hydraulic circuit 3 and the auxiliary action hydraulic circuit 4 until the load is restored to stability.

[0119] The main controller 1 presets a load change threshold (such as a pressure change rate exceeding 5MPa / s). When the snowplow circuit pressure sensor detects a pressure change, the main controller 1 immediately increases the hydraulic power distribution ratio of the walking circuit from the normal 50% to 70%, while reducing the power distribution ratio of the snowplow circuit to 20%. After the load recovers, it gradually returns to the balanced ratio.

[0120] This control method enables intelligent dynamic distribution of hydraulic power, effectively suppressing coupling interference between circuits. Under complex ski resort conditions, even with frequent load fluctuations, the snow groomer can maintain a constant speed, stable operation quality, reduced equipment failure rate, and significantly improved ski resort operational efficiency.

[0121] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. A and B can be singular or plural. Additionally, the character " / " in this article generally indicates an "or" relationship between the preceding and following related objects, but it can also represent an "and / or" relationship. Please refer to the context for a more accurate understanding.

[0122] In this invention, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of a single item or a plurality of items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be a single item or multiple items.

[0123] It should be understood that, in various embodiments of the present invention, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0124] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A snow groomer, characterized in that, The snow groomer includes: Main controller; A closed-loop hydrostatic transmission circuit group, integrated and controlled by the main controller, is supplied with oil through a unified hydraulic pump station. The circuit group includes: The travel hydraulic circuit includes a left travel pump, a right travel pump, and left and right travel motors connected to them respectively, which are used to independently drive the tracks on both sides to achieve vehicle travel and steering. The hydraulic circuit of the working device includes a snowplow pump and a snowplow motor driven by the snowplow pump, which is used to drive the snow rollers of the snowplow to perform snow removal operations. The auxiliary hydraulic circuit includes a motion cylinder for controlling multiple degrees of freedom of the snowplow and a posture cylinder for controlling the attitude of the snowplow. The main controller is configured as follows: Receive load feedback signals from each hydraulic circuit; Based on the load feedback signal, the hydraulic power output by the hydraulic pump station is dynamically distributed in real time to the walking hydraulic circuit, the working device hydraulic circuit and the auxiliary action hydraulic circuit through the electro-hydraulic proportional control valve and dedicated hydraulic interface integrated in the circuit group. This allows the main controller to prioritize maintaining the flow and pressure stability of the travel hydraulic circuit when the hydraulic circuit of the working device or the auxiliary action hydraulic circuit encounters a sudden change in load, thereby suppressing pressure and flow coupling interference between circuits and ensuring a constant speed for the snow groomer.

2. The snow groomer according to claim 1, characterized in that, The left and right travel pumps are variable pumps. The main controller controls the travel pumps and the right travel pump through a servo control cylinder, thereby controlling the snow groomer's speed and its forward and backward movement.

3. The snow groomer according to claim 1, characterized in that, The load feedback signal includes one or more of the following: a speed signal from the travel motor, an output pressure signal from the hydraulic pump station, and a load pressure signal from the hydraulic circuit of the working device.

4. The snow groomer according to claim 1, characterized in that, The hydraulic circuit of the working device also includes a snowplow control sub-circuit. The snowplow control sub-circuit independently controls multiple cylinders through multiple electro-hydraulic proportional valves to realize multiple degrees of freedom of snowplow movement, including raising and lowering, tilting forward and backward, tilting left and right, rotating horizontally, and deploying and retracting the left and right wing blades.

5. The snow groomer according to claim 1, characterized in that, The attitude cylinders in the auxiliary action hydraulic circuit include a snowplow lifting cylinder, a snowplow turning cylinder, and a snowplow translation cylinder, which are used to control the snowplow's height, snow-plowing depth, and left and right swing, respectively.

6. The snow groomer according to claim 1, characterized in that, The main controller is also configured to: based on a preset priority strategy, when the hydraulic power supply is insufficient, allocate hydraulic power to each circuit according to a preset ratio.

7. The snow groomer according to claim 1, characterized in that, The electro-hydraulic proportional control valve is integrated at the outlet of the hydraulic pump station. The valve opening is adjusted by the current signal output by the main controller to achieve precise distribution of hydraulic power.

8. The snow groomer according to claim 1, characterized in that, The snow groomer also includes a cooling system controller, which is communicatively connected to the main controller. The main controller sends the load status signal of the hydraulic circuit to the cooling system controller to dynamically adjust the speed of the cooling fan.

9. The snow groomer according to claim 1, characterized in that, The snowplow motor in the hydraulic circuit of the working device is a bidirectional fixed-displacement motor, and its rotation direction is controlled by an electromagnetic reversing valve to achieve forward and reverse operation of the snow roller.

10. A snow groomer control method, applied to the snow groomer according to any one of claims 1-9, characterized in that, The method includes: The main controller receives load feedback signals from each hydraulic circuit in real time; Based on the load feedback signal, the main controller determines whether the hydraulic circuit of the working device or the hydraulic circuit of the auxiliary action has encountered a sudden load change. When a sudden load change is detected, the main controller dynamically adjusts the hydraulic power distribution ratio from the hydraulic pump station to each circuit through the electro-hydraulic proportional control valve and the dedicated hydraulic interface. Ensure stable flow and pressure in the travel hydraulic circuit, and adaptively adjust the power supply to the hydraulic circuits of the working device and auxiliary actions until the load returns to stability.

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