Snow removal device, control method and snow removal machine

Abstract

The embodiments of the present invention disclose a snowplow device, a control method, and a snowplow. The snowplow device can solve the problems of existing snowplow devices, such as a relatively large operating current that can easily damage tools or devices and a relatively poor user experience. During operation, the snowplow device uses a first detection unit to detect and obtain a first electrical parameter during motor operation in real time. A controller determines the motor's load state based on the first electrical parameter and controls the motion state of each snowplow execution unit based on the motor's load state. By controlling the motion state of each snowplow execution unit, the operating current of the snowplow device is reduced while ensuring that a large amount of snow can be absorbed, thereby ensuring the safety of tools or devices. The device can also adapt to snowplowing operations under various working conditions, expand its scope of application, and enhance the user experience.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of electric tool control, and in particular to a snowplow device, a control method, and a snowplow. Background Art

[0002] With the development of power tools, intelligent control technology of power tools has been more and more widely used. For example, snow removal devices are used to replace manual snow removal.

[0003] To cope with heavy snow accumulation, existing snowplows typically increase the size or number of paddles to increase snow removal capacity and improve efficiency. However, these larger or more paddles also draw a higher operating current, which can easily damage the tool or components and compromise the user experience. Summary of the Invention

[0004] The present invention provides a snow sweeping device, a control method and a snow sweeper, which are adapted to snow sweeping work under various working conditions and expand the scope of application.

[0005] In a first aspect, an embodiment of the present invention provides a snow-clearing device, comprising:

[0006] At least n snow-clearing execution units; wherein n is a natural number greater than or equal to 2;

[0007] at least one motor, electrically connected to the snow-clearing execution unit, for driving the movement of the snow-clearing execution unit;

[0008] at least one first detection unit, electrically connected to the motor, and configured to detect and obtain a first electrical parameter during operation of the motor;

[0009] a controller, electrically connected to at least the motor and the first detection unit;

[0010] The controller is configured to:

[0011] obtaining the first electrical parameter;

[0012] determining a load state of the motor according to the first electrical parameter;

[0013] The motion state of each snow-clearing execution unit is controlled according to the load state of the motor.

[0014] Optionally, controlling the motion state of each snow-clearing execution unit according to the load state of the motor includes:

[0015] When the load state of the motor meets the preset load condition, the motion state of each snow-clearing execution unit is cyclically switched and controlled according to a preset working mode.

[0016] Optionally, the preset working mode includes: at least one of the snow-clearing execution units is in a rotating state, and at the same time at least one of the snow-clearing execution units is in a stopped state.

[0017] Optionally, the snow-clearing device includes n motors, each motor is connected to a corresponding snow-clearing execution unit, and each motor drives the movement of the corresponding snow-clearing execution unit.

[0018] Optionally, the snow-clearing device includes n first detection units, each first detection unit is connected to a corresponding motor, and each first detection unit detects and obtains a first electrical parameter during the operation of the corresponding motor;

[0019] The controller is configured to:

[0020] obtaining each first electrical parameter;

[0021] Determining a load state of the corresponding motor according to each first electrical parameter;

[0022] The motion state of the corresponding snow-clearing execution unit is controlled according to the load state of each motor.

[0023] Optionally, the first electrical parameter includes at least current information and / or speed information of the motor.

[0024] In a second aspect, an embodiment of the present invention further provides a control method for a snow-clearing device, the control method for the snow-clearing device being executed by the snow-clearing device, the snow-clearing device comprising: at least n snow-clearing execution units; wherein n is a natural number greater than or equal to 2; at least one motor electrically connected to the snow-clearing execution unit, for driving the movement of the snow-clearing execution unit; at least one first detection unit electrically connected to the motor, for detecting and obtaining a first electrical parameter during the operation of the motor; and a controller electrically connected to at least the motor and the first detection unit.

[0025] The control method includes:

[0026] obtaining the first electrical parameter;

[0027] determining a load state of the motor according to the first electrical parameter;

[0028] The motion state of each snow-clearing execution unit is controlled according to the load state of the motor.

[0029] Optionally, controlling the motion state of each snow-clearing execution unit according to the load state of the motor includes:

[0030] When the load state of the motor meets the preset load condition, the motion state of each snow-clearing execution unit is cyclically switched and controlled according to a preset working mode.

[0031] Optionally, the preset working mode includes: at least one of the snow-clearing execution units is in a rotating state, and at the same time at least one of the snow-clearing execution units is in a stopped state.

[0032] In a third aspect, an embodiment of the present invention further provides a snowplow, which includes the snowplow device as described in the first aspect.

[0033] The present invention provides a snowplow, a control method and a snowplow. The snowplow can solve the problems of existing snowplows, such as a large working current that can easily cause damage to tools or devices, and a poor user experience. The snowplow can detect in real time through a first detection unit the first electrical parameter of the motor during operation; the controller determines the load state of the motor according to the first electrical parameter, and controls the motion state of each snowplow execution unit according to the load state of the motor. By controlling the motion state of each snowplow execution unit, the working current of the snowplow can be reduced while ensuring that a large amount of snow can be eaten, thereby ensuring the safety of tools or devices. At the same time, the snowplow can adapt to snowplowing work under various working conditions, expand the scope of application, and improve the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 1 is a schematic structural diagram of a snowplow according to an embodiment of the present invention;

[0035] Figure 2 This is a circuit structure block diagram of a snow sweeping device according to an embodiment of the present invention;

[0036] Figure 3 1 is a schematic structural diagram of a snowplow paddle according to an embodiment of the present invention;

[0037] Figure 4 is a circuit structure block diagram of another snow-clearing device in an embodiment of the present invention;

[0038] Figure 5 is a circuit structure block diagram of another snow-clearing device in an embodiment of the present invention;

[0039] Figure 6 is a circuit structure block diagram of another snow-clearing device in an embodiment of the present invention;

[0040] Figure 7 4 is a flow chart of a control method for a snow removal device in an embodiment of the present invention. DETAILED DESCRIPTION

[0041] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0042] Figure 1 Schematic diagram of a snowplow provided in an embodiment of the present invention. The snowplow device in the embodiment of the present application can be used for a snowplow. Specifically, the snowplow can be a hand-push snowplow. For example, refer to Figure 1 The snowplow includes a self-propelled device 11, an operating device 12, a housing assembly 13, a snow throwing device 14 and a snow sweeping device 15. However, existing snowplows cannot cope with working conditions with a large amount of snow. In order to solve this problem, the structural size or number of snowplow paddles is usually increased to increase the amount of snow eaten and improve the snow clearing efficiency. However, the operation of such a larger size or a larger number of snowplow paddles will also result in a relatively large working current. A large working current can easily cause damage to the tool or device, and the user experience will also be relatively poor.

[0043] To this end, an embodiment of the present invention provides a snow-clearing device, which can improve the problem of excessive operating current during the operation of the snow-clearing machine.

[0044] Figure 2 This is a circuit structure block diagram of a snow sweeper provided in an embodiment of the present invention. Figure 3 Schematic diagram of a snow plow provided in an embodiment of the present invention. Figure 2 The snow-clearing device includes: at least n snow-clearing execution units; wherein n is a natural number greater than or equal to 2; at least one motor 20, electrically connected to the snow-clearing execution unit, for driving the movement of the snow-clearing execution unit; at least one first detection unit 30, electrically connected to the motor 20, for detecting and obtaining a first electrical parameter during the operation of the motor 20; a controller 40, electrically connected to at least the motor 20 and the first detection unit 30; the controller 40 is configured to: obtain the first electrical parameter; determine the load state of the motor 20 according to the first electrical parameter; and control the movement state of each snow-clearing execution unit according to the load state of the motor 20.

[0045] The snow-clearing device includes at least two snow-clearing execution units and at least one motor. For example, Figure 2 The embodiment including two snow removal execution units and one motor is shown. Figure 2The snow-clearing device includes a first snow-clearing execution unit 101 and a second snow-clearing execution unit 102. The first snow-clearing execution unit 101 is electrically connected to the motor 20, and the second snow-clearing execution unit 102 is also electrically connected to the motor 20. The first snow-clearing execution unit 101 and the second snow-clearing execution unit 102 are both driven by the motor 20. The first snow-clearing execution unit 101 and the second snow-clearing execution unit 102 can both be snow-clearing paddles, which can be regarded as two structurally detachable parts of a snow-clearing paddle. The motor 20 can be a DC motor, electrically connected to the controller 40, and used to drive the movement of the first snow-clearing execution unit 101 and / or the second snow-clearing execution unit 102 according to the control signal output by the controller 40. The first detection unit 30 is electrically connected to the motor 20 and the controller 40 respectively, and is used to detect and obtain the first electrical parameter of the motor 20 in real time and send it to the controller 40. The controller 40 obtains the first electrical parameter of the motor 20 , determines the load state of the motor 20 according to the first electrical parameter, and then flexibly controls the motion state of the first snow-clearing execution unit 101 and the second snow-clearing execution unit 102 according to the load state of the motor 20 .

[0046] The controller may control the motion state of each snow-clearing execution unit by outputting a PWM control signal to control the drive motor corresponding to each snow-clearing execution unit to rotate or stop, or to change its rotation speed.

[0047] The snow-clearing execution unit may be a snow-clearing paddle; the number of snow-clearing execution units may be considered as the number of parts that the snow-clearing paddle comprises in structure. Assuming that the snow-clearing device comprises three snow-clearing execution units, it may be considered that the structure of a snow-clearing paddle has three sections or three parts. For example, Figure 3 The snowplow paddle is shown to have three parts: a first part L1, a second part L2, and a third part L3. Each snowplow paddle clears snow through a snowplow bracket. The first part L1 includes a first snowplow bracket L11, a second snowplow bracket L12, a third snowplow bracket L13, and a fourth snowplow bracket L14; the second part L2 includes a fifth snowplow bracket L21, a sixth snowplow bracket L22, a seventh snowplow bracket L23, and an eighth snowplow bracket L24; and the third part L3 includes a ninth snowplow bracket L31, a tenth snowplow bracket L32, an eleventh snowplow bracket L33, and a twelfth snowplow bracket L34.

[0048] Figure 3 The various components of the snowplow paddle shown are structurally detachably connected and independently controllable. Independent controllability means that each component can be independently controlled using an independent motor, or each component can be driven by the same motor and independently controlled by using a gear, rack, speed reduction mechanism, or clutch to achieve speed and / or direction conversion.

[0049] In the technical solution of this embodiment, the snow-clearing device can be applied to a snow-clearing machine for snow-clearing work. Usually, when using a snow-clearing machine for snow-clearing, in order to cope with the situation of large snow accumulation, the structural size or number of the snow-clearing paddles is usually increased to increase the amount of snow eaten and improve the snow-clearing efficiency. However, the operation of such a larger size or a larger number of snow-clearing paddles will also correspond to a relatively large working current, and too large a working current can easily cause damage to the tool or device, and the user experience is also relatively poor. To this end, the snow-clearing device provided by the present invention can be implemented as follows: illustratively, taking the implementation of the snow-clearing device including two snow-clearing execution units and one motor as an example, during the operation of the snow-clearing device, the first detection unit 30 detects in real time the first electrical parameter of the motor 20 during operation and sends it to the controller 40. The controller 40 receives the first electrical parameter, determines the load state of the motor 20 according to the first electrical parameter, and flexibly controls the motion state of the first snow-clearing execution unit 101 and the second snow-clearing execution unit 102 according to the load state of the motor 20. By controlling the motion state of each snow-clearing execution unit, while ensuring that a large amount of snow can be eaten, the working current of the snow-clearing device is reduced, thereby ensuring the safety of the tool or device. At the same time, it can adapt to snow-clearing work under various working conditions, expand the scope of application, and improve the user experience.

[0050] The technical solution of this embodiment is to provide a snow-clearing device, which includes: at least n snow-clearing execution units; wherein n is a natural number greater than or equal to 2; at least one motor, electrically connected to the snow-clearing execution unit, for driving the movement of the snow-clearing execution unit; at least one first detection unit, electrically connected to the motor, for detecting and obtaining a first electrical parameter during the operation of the motor; a controller, electrically connected to at least the motor and the first detection unit; the controller is configured to: obtain the first electrical parameter; determine the load state of the motor according to the first electrical parameter; and control the movement state of each snow-clearing execution unit according to the load state of the motor. The snow-clearing device can solve the problems of existing snow-clearing devices, such as large working current that can easily cause damage to tools or devices, and poor user experience. The snow-clearing device can obtain the first electrical parameter of the motor operation process in real time through the first detection unit during operation; the controller determines the load state of the motor according to the first electrical parameter, and controls the motion state of each snow-clearing execution unit according to the load state of the motor. By controlling the motion state of each snow-clearing execution unit, the working current of the snow-clearing device is reduced while ensuring that a large amount of snow can be eaten, thereby ensuring the safety of tools or devices. At the same time, it can adapt to snow-clearing work under various working conditions, expand the scope of application, and improve the user experience.

[0051] On the basis of the above technical solution, optionally, the motion state of each snow-clearing execution unit is controlled according to the load state of the motor, including:

[0052] When the load state of the motor meets the preset load condition, the motion state of each snow-clearing execution unit is cyclically switched and controlled according to the preset working mode.

[0053] Among them, the preset load conditions can be preset current, preset speed, etc. Among them, the specific values ​​of the preset current and preset speed can be set according to actual conditions, and no specific restrictions are made here. When the load state of the motor meets the preset load conditions, it means that the current working current of the snow-clearing device has reached the preset working current. At this time, it is necessary to control the motion state of each snow-clearing execution unit to adjust the working current of the snow-clearing device, that is, to cyclically switch and control the motion state of each snow-clearing execution unit according to the preset working mode to prevent the working current from being too large. Among them, the preset working current refers to the maximum working current that the snow-clearing device can allow. Its specific value can be set according to actual conditions, and no specific restrictions are made here.

[0054] Optionally, the preset working mode includes: at least one snow-clearing execution unit is in a rotating state, and at the same time at least one snow-clearing execution unit is in a stopped state.

[0055] For example, assuming that the snow-clearing device includes two snow-clearing execution units, namely the first snow-clearing execution unit and the second snow-clearing execution unit, the preset working modes include: the first snow-clearing execution unit is in a rotating state, and the second snow-clearing execution unit is in a stopped state at the same time; or, the first snow-clearing execution unit is in a stopped state, and the second snow-clearing execution unit is in a rotating state at the same time. Assuming that the snow-clearing device includes three snow-clearing execution units, namely the first snow-clearing execution unit, the second snow-clearing execution unit, and the third snow-clearing execution unit, the preset working modes include: the first snow-clearing execution unit is in a rotating state, and the second snow-clearing execution unit and / or the third snow-clearing execution unit are in a stopped state at the same time; or, the second snow-clearing execution unit is in a rotating state, and the first snow-clearing execution unit and / or the third snow-clearing execution unit are in a stopped state at the same time; or, the third snow-clearing execution unit is in a rotating state, and the first snow-clearing execution unit and / or the second snow-clearing execution unit are in a stopped state at the same time. It should be noted that the snow-clearing device includes at least two snow-clearing actuator units. Regardless of the number of snow-clearing actuator units, the preset operating mode always includes: at least one snow-clearing actuator unit is in a rotating state, and at least one snow-clearing actuator unit is in a stopped state. The specific preset operating mode can be set according to actual circumstances and is not specifically limited here.

[0056] For example, assuming that the snow-clearing device includes two snow-clearing execution units, namely a first snow-clearing execution unit and a second snow-clearing execution unit, when the load state of the motor meets the preset load condition, the first snow-clearing execution unit can be controlled to be in a rotating state in the first cycle, and the second snow-clearing execution unit can be controlled to be in a stopped state at the same time. When switching to the second cycle, the first snow-clearing execution unit is controlled to be in a stopped state, and the second snow-clearing execution unit is controlled to be in a rotating state at the same time. In this way, the motion states of the two snow-clearing execution units are switched and controlled according to the cycle. Since when the load state of the motor meets the preset load condition, no matter which cycle, there is always at least one snow-clearing execution unit performing snow-clearing work, and at the same time, there is at least one snow-clearing execution unit that is stopped and not working, it is possible to reduce the operating current while ensuring that the snow-clearing work is not affected, thereby ensuring the safety of the tool or device, and at the same time being able to adapt to snow-clearing work under various working conditions, expand the scope of application, and improve the user experience.

[0057] Optionally, the first electrical parameter includes at least current information and / or speed information of the motor.

[0058] Wherein, the first electrical parameter can be the current information and / or speed information of the motor, etc., and the load state of the motor can be judged according to the current information and / or speed information of the motor, and whether the load state of the motor satisfies the preset load regulation can be judged. For example, assuming that the speed of the motor is greater than the preset speed and / or the current is greater than the preset current, the controller can judge that the load state of the motor meets the preset load condition; assuming that the speed of the motor is less than the preset speed and / or the current is less than the preset current, the controller can judge that the load state of the motor does not meet the preset load condition. The judgment method can also be other situations, which can be set according to actual conditions, and no specific limitation is made here. Wherein, the first detection unit can be a current transformer and / or a speed sensor.

[0059] Figure 4 This is a circuit block diagram of another snow-clearing device provided by an embodiment of the present invention. As an implementation method, optionally, Figure 4 The snow-clearing device includes three snow-clearing execution units, and the three snow-clearing execution units are driven by the same motor. Figure 4, three snow-clearing executive units are respectively a first snow-clearing executive unit 101, a second snow-clearing executive unit 102 and a third snow-clearing executive unit 103, and the first snow-clearing executive unit 101, the second snow-clearing executive unit 102 and the third snow-clearing executive unit 103 are all electrically connected to the motor 20, that is, the first snow-clearing executive unit 101, the second snow-clearing executive unit 102 and the third snow-clearing executive unit 103 are all driven by the motor 20. Among them, the first snow-clearing executive unit 101, the second snow-clearing executive unit 102 and the third snow-clearing executive unit 103 can all be snow-clearing paddles, which can be regarded as three parts of a snow-clearing paddle that are structurally detachable. Among them, the motor 20 is electrically connected to the controller 40, and is used to drive the movement of the first snow-clearing executive unit 101, the second snow-clearing executive unit 102 and the third snow-clearing executive unit 103 according to the control signal output by the controller 40. The first detection unit 30 is electrically connected to the motor 20 and the controller 40 respectively, and is used to detect and obtain a first electrical parameter of the motor 20 in real time and send it to the controller 40. The controller 40 obtains a first electrical parameter of the motor 20 and determines the load state of the motor 20 based on the first electrical parameter. Then, the controller 40 flexibly controls the motion state of the first snow-clearing execution unit 101 and the second snow-clearing execution unit 102 according to the load state of the motor 20. When the load state of the motor 20 meets the preset load condition, the motion state of each snow-clearing execution unit is cyclically switched and controlled according to the preset working mode. For example, the first snow-clearing execution unit 101 is controlled to be in a rotating state, and at the same time, the second snow-clearing execution unit 102 and / or the third snow-clearing execution unit 103 are in a stopped state. Then, according to this working mode, the motion state of the three snow-clearing execution units is cyclically switched and controlled in a certain cycle. Because when the load state of the motor meets the preset load condition, no matter which cycle, there is always at least one snow-clearing execution device performing snow-clearing work, and at the same time, there is at least one snow-clearing execution device that is shut down and not working, thereby ensuring that the snow-clearing work is not affected while reducing the operating current, thereby ensuring the safety of the tool or device, and being able to adapt to snow-clearing work under various working conditions, expanding the scope of application, and improving the user experience.

[0060] As an embodiment, optionally, the snow-clearing device includes n motors, each motor is connected to a corresponding snow-clearing execution unit, and each motor drives the movement of the corresponding snow-clearing execution unit.

[0061] The number of motors included in the snow-clearing device is the same as the number of snow-clearing execution units included, and the motors correspond to the snow-clearing execution units one-to-one, that is, each snow-clearing execution unit is driven by a separate motor.

[0062] Optionally, the snow-clearing device includes n first detection units, each first detection unit is connected to a corresponding motor, and each first detection unit detects and obtains a first electrical parameter during the operation of the corresponding motor;

[0063] The controller is configured as:

[0064] obtaining each first electrical parameter;

[0065] Determining a load state of the corresponding motor according to each first electrical parameter;

[0066] The motion state of the corresponding snow-clearing execution unit is controlled according to the load state of each motor.

[0067] Each snow-clearing actuator is driven by a separate motor, each corresponding to a first detection unit. Each first detection unit detects and obtains first electrical parameters of the corresponding motor in real time and transmits them to a controller. The controller receives the first electrical parameters of each motor, determines the load status of the corresponding motor based on the first electrical parameters, and flexibly controls the motion state of each corresponding snow-clearing actuator based on the determined load status of each motor.

[0068] Figure 5 This is a circuit block diagram of another snow-clearing device provided by an embodiment of the present invention. As an implementation method, optionally, Figure 5 The snow-clearing device includes two snow-clearing execution units, and each snow-clearing execution unit is driven by a motor. Figure 5The snow-clearing device includes a first snow-clearing execution unit 101 and a second snow-clearing execution unit 102. The first snow-clearing execution unit 101 is electrically connected to the first motor 21, and the second snow-clearing execution unit 102 is electrically connected to the second motor 22. The first motor 21 and the second motor 22 can be DC motors. The first motor 21 is electrically connected to the controller 40, and is used to drive the movement of the first snow-clearing execution unit 101 according to the control signal output by the controller 40. The second motor 22 is electrically connected to the controller 40, and is used to drive the movement of the second snow-clearing execution unit 102 according to the control signal output by the controller 40. The first detection unit A 31 is electrically connected to the first motor 21 and the controller 40 respectively, and is used to detect and obtain the first electrical parameters of the first motor 21 in real time and send them to the controller 40; the first detection unit B 32 is electrically connected to the second motor 22 and the controller 40 respectively, and is used to detect and obtain the first electrical parameters of the second motor 22 in real time and send them to the controller 40. The controller 40 obtains the first electrical parameters of the first motor 21 and the first electrical parameters of the second motor 22, determines the load state of the first motor 21 according to the first electrical parameters of the first motor 21, determines the load state of the second motor 22 according to the first electrical parameters of the second motor 22, and controls the motion state of the first snow-clearing execution unit 101 according to the load state of the first motor 21, and controls the motion state of the second snow-clearing execution unit 102 according to the load state of the second motor 22. When the load state of the first motor 21 and / or the second motor 22 meets the preset load condition, the motion state of each snow-clearing execution unit is cyclically switched and controlled according to the preset working mode. For example, the first snow-clearing execution unit 101 is controlled to be in a rotating state, and at the same time, the second snow-clearing execution unit 102 is in a stopped state, and then the motion state of the two snow-clearing execution units is cyclically switched and controlled in a certain cycle according to this working mode. Because when the load state of any motor meets the preset load condition, no matter in which cycle, there is always at least one snow-clearing execution device to perform snow-clearing work, and at the same time at least one snow-clearing execution device is shut down and not working, it can reduce the working current while ensuring that the snow-clearing work is not affected, thereby ensuring the safety of the tool or device, and at the same time being able to adapt to snow-clearing work under various working conditions, expand the scope of application, and improve the user experience.

[0069] Figure 6 This is a circuit block diagram of another snow-clearing device provided by an embodiment of the present invention. As an implementation method, optionally, Figure 6 The snow-clearing device includes three snow-clearing execution units, and each snow-clearing execution unit is driven by a motor. Figure 6The snow-clearing device includes a first snow-clearing execution unit 101, a second snow-clearing execution unit 102, and a third snow-clearing execution unit 103. The first snow-clearing execution unit 101 is electrically connected to the first motor 21, the second snow-clearing execution unit 102 is electrically connected to the second motor 22, and the third snow-clearing execution unit 103 is electrically connected to the third motor 23. The first motor 21, the second motor 22, and the third motor 23 can be DC motors. The first motor 21 is electrically connected to the controller 40 and is used to drive the movement of the first snow-clearing execution unit 101 according to the control signal output by the controller 40; the second motor 22 is electrically connected to the controller 40 and is used to drive the movement of the second snow-clearing execution unit 102 according to the control signal output by the controller 40; and the third motor 23 is electrically connected to the controller 40 and is used to drive the movement of the third snow-clearing execution unit 103 according to the control signal output by the controller 40. The first detection unit A 31 is electrically connected to the first motor 21 and the controller 40 respectively, and is used to detect and obtain the first electrical parameters of the first motor 21 in real time and send them to the controller 40; the first detection unit B 32 is electrically connected to the second motor 22 and the controller 40 respectively, and is used to detect and obtain the first electrical parameters of the second motor 22 in real time and send them to the controller 40; the first detection unit C 33 is electrically connected to the third motor 23 and the controller 40 respectively, and is used to detect and obtain the first electrical parameters of the third motor 23 in real time and send them to the controller 40. The controller 40 obtains the first electrical parameters of the first motor 21, the first electrical parameters of the second motor 22, and the first electrical parameters of the third motor 23, determines the load state of the first motor 21 based on the first electrical parameters of the first motor 21, determines the load state of the second motor 22 based on the first electrical parameters of the second motor 22, and determines the load state of the third motor 23 based on the first electrical parameters of the third motor 23. The controller 40 controls the motion state of the first snow-clearing execution unit 101 based on the load state of the first motor 21, controls the motion state of the second snow-clearing execution unit 102 based on the load state of the second motor 22, and controls the motion state of the third snow-clearing execution unit 103 based on the load state of the third motor 23. When the load state of any one of the first motor 21, the second motor 22, and the third motor 23 meets a preset load condition, the motion state of each snow-clearing execution unit is cyclically switched and controlled according to a preset working mode. For example, the second snow-clearing execution unit 102 is controlled to be in a rotating state, and the first snow-clearing execution unit 101 and / or the third snow-clearing execution unit 103 are simultaneously in a stopped state. Then, according to this working mode, the motion states of the three snow-clearing execution units are switched and controlled in a certain cycle. Since when the load state of any motor meets the preset load condition, no matter in which cycle, there is always at least one snow-clearing execution device performing snow-clearing work, and at the same time, at least one snow-clearing execution device is stopped and not working, it is possible to reduce the operating current while ensuring that the snow-clearing work is not affected, thereby ensuring the safety of the tool or device, and at the same time being able to adapt to snow-clearing work under various working conditions, expand the scope of application, and improve the user experience.

[0070] Figure 7 This is a flow chart of a control method for a snow-clearing device provided in an embodiment of the present invention. This embodiment is applicable to the implementation process of the control method for a snow-clearing device. The method can be performed by the snow-clearing device provided in an embodiment of the present invention. The snow-clearing device includes: at least n snow-clearing execution units; wherein n is a natural number greater than or equal to 2; at least one motor electrically connected to the snow-clearing execution unit, for driving the movement of the snow-clearing execution unit; at least one first detection unit electrically connected to the motor, for detecting and obtaining a first electrical parameter during the operation of the motor; and a controller electrically connected to at least the motor and the first detection unit.

[0071] refer to Figure 7 The control method of the snow sweeping device specifically includes the following steps:

[0072] Step 110: Obtain a first electrical parameter;

[0073] Specifically, the snow-clearing device includes at least a controller, at least one motor, at least two snow-clearing execution units, and at least one first detection unit. The motor is electrically connected to the snow-clearing execution unit to drive the snow-clearing execution unit. The first detection unit is electrically connected to the motor and the controller, respectively, to detect and obtain a first electrical parameter of the motor in real time and transmit it to the controller.

[0074] Step 120: determining a load state of the motor according to the first electrical parameter;

[0075] Specifically, the controller receives a first electrical parameter of the motor and determines a load state of the motor according to the first electrical parameter of the motor.

[0076] Step 130: Control the motion state of each snow-clearing execution unit according to the load state of the motor.

[0077] Specifically, the controller determines whether the preset load regulation is met based on the motor's load status. If so, it flexibly controls the motion of each snow-clearing actuator according to the preset operating mode. By controlling the motion of each snow-clearing actuator, the operating current of the snow-clearing device is reduced while ensuring that it can handle a large amount of snow, thereby ensuring the safety of the tool or device. It can also adapt to snow-clearing operations in various working conditions, expanding its scope of application and improving the user experience.

[0078] The technical solution of this embodiment provides a control method for a snow-clearing device, which is executed by the snow-clearing device. The snow-clearing device includes: at least n snow-clearing execution units; wherein n is a natural number greater than or equal to 2; at least one motor, electrically connected to the snow-clearing execution unit, for driving the movement of the snow-clearing execution unit; at least one first detection unit, electrically connected to the motor, for detecting and obtaining a first electrical parameter during the operation of the motor; a controller, electrically connected to at least the motor and the first detection unit; the control method includes: obtaining the first electrical parameter; determining the load state of the motor according to the first electrical parameter; and controlling the movement state of each snow-clearing execution unit according to the load state of the motor. The control method of the snow-clearing device can solve the problems of existing snow-clearing devices, such as the large working current that can easily cause damage to tools or devices, and the poor user experience. The snow-clearing device can obtain the first electrical parameter of the motor operation process in real time through the first detection unit during operation; the controller determines the load state of the motor according to the first electrical parameter, and controls the motion state of each snow-clearing execution unit according to the load state of the motor. By controlling the motion state of each snow-clearing execution unit, the working current of the snow-clearing device is reduced while ensuring that a large amount of snow can be eaten, thereby ensuring the safety of tools or devices. At the same time, it can adapt to snow-clearing work under various working conditions, expand the scope of application, and improve the user experience.

[0079] Optionally, controlling the motion state of each snow-clearing execution unit according to the load state of the motor includes:

[0080] When the load state of the motor meets the preset load condition, the motion state of each snow-clearing execution unit is cyclically switched and controlled according to the preset working mode.

[0081] Optionally, the preset working mode includes: at least one snow-clearing execution unit is in a rotating state, and at the same time at least one snow-clearing execution unit is in a stopped state.

[0082] An embodiment of the present invention provides a snowplow, which includes the snowplow device provided by any embodiment of the present invention.

[0083] The snowplow may be a hand-push snowplow.

[0084] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A snow sweeping device, characterized in that: include: At least n snow-clearing execution units; wherein n is a natural number greater than or equal to 2; at least one motor, electrically connected to the snow-clearing execution unit, for driving the movement of the snow-clearing execution unit; at least one first detection unit, electrically connected to the motor, and configured to detect and obtain a first electrical parameter during operation of the motor; a controller, electrically connected to at least the motor and the first detection unit; The controller is configured to: obtaining the first electrical parameter; determining a load state of the motor according to the first electrical parameter; controlling the motion state of each of the snow-clearing execution units according to the load state of the motor; The controlling of the motion state of each snow-clearing execution unit according to the load state of the motor includes: When the load state of the motor meets the preset load condition, the motion state of each snow-clearing execution unit is cyclically switched and controlled according to the preset working mode; The preset working mode includes: at least one of the snow-clearing execution units is in a rotating state, and at the same time at least one of the snow-clearing execution units is in a stopped state.

2. The snow sweeper according to claim 1, wherein: It comprises n motors, each motor is connected to a corresponding snow-clearing execution unit, and each motor drives the movement of the corresponding snow-clearing execution unit.

3. The snow sweeper according to claim 2, characterized in that: It comprises n first detection units, each first detection unit is connected to a corresponding motor, and each first detection unit respectively detects and obtains a first electrical parameter of the corresponding motor during operation; The controller is configured to: obtaining each first electrical parameter; Determining a load state of the corresponding motor according to each first electrical parameter; The motion state of the corresponding snow-clearing execution unit is controlled according to the load state of each motor.

4. The snow sweeper according to claim 1, wherein: The first electrical parameter includes at least current information and / or speed information of the motor.

5. A method for controlling a snow-clearing device, characterized in that: The snow-clearing device comprises: at least n snow-clearing execution units; wherein n is a natural number greater than or equal to 2; at least one motor electrically connected to the snow-clearing execution units, for driving the movement of the snow-clearing execution units; at least one first detection unit electrically connected to the motor, for detecting and obtaining a first electrical parameter during the operation of the motor; and a controller electrically connected to at least the motor and the first detection unit. The control method includes: obtaining the first electrical parameter; determining a load state of the motor according to the first electrical parameter; controlling the motion state of each of the snow-clearing execution units according to the load state of the motor; The controlling of the motion state of each snow-clearing execution unit according to the load state of the motor includes: When the load state of the motor meets the preset load condition, the motion state of each snow-clearing execution unit is cyclically switched and controlled according to the preset working mode; The preset working mode includes: at least one of the snow-clearing execution units is in a rotating state, and at the same time at least one of the snow-clearing execution units is in a stopped state.

6. A snow sweeper, characterized in that: The snow removal device comprises the snow removal device according to any one of claims 1 to 4.

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