Hydraulic control system of rolling brush snow removing device and control method thereof

Abstract

The application discloses a kind of hydraulic control system and control method of roll brush type snow removing equipment, including control support component and roll brush component;The control support component includes vehicle body connecting frame, lower triangular frame, steering hydraulic cylinder, support wheel, pitch hydraulic cylinder, sub girder assembly, upper triangular frame, lifting hydraulic cylinder;Lifting hydraulic cylinder is installed in the middle of upper triangular frame and vehicle body connecting frame, controls the lifting of entire roll brush component in vertical direction;The deflection of roll brush component is controlled by the extension and retraction of steering hydraulic cylinder;The pitch of roll brush component is controlled by the extension and retraction of pitch hydraulic cylinder;Through the information such as collected vehicle speed, snow thickness, the best roll brush rotating speed, outlet pressure, pitch cylinder extension and retraction amount are obtained after calculation, and the rotating speed is collected simultaneously, so that the rotating speed meets the requirements by adjusting the size of variable pump working current;The pitch and lifting of roll brush component are adjusted by collecting outlet pressure, adjusting the contact area with ground, to realize self-adaptive control of snow removing equipment hydraulic system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of snow removal equipment, in particular to a hydraulic control system of a rolling brush type snow removal equipment and a control method thereof. BACKGROUND

[0002] Winter snow removal is the focus of winter maintenance work of northern highways and municipal administration, and the efficiency of road snow removal work directly affects the road traffic safety, and also affects certain economic and social benefits. Snow removal spreaders mainly use mechanical snow removal, supplemented by chemical snow removal. The snow removal brush is a mechanical snow removal device on the snow removal spreader, and the effective contact of the brush of the snow removal brush with the ground is an effective guarantee for high-quality snow removal. At present, the brush-to-ground clearance of the snow removal brush is mainly adjusted manually by manpower, which has low adjustment accuracy and low automation degree, and is not conducive to efficient snow removal efficiency and ideal snow removal effect. The existing snow removal brush is mainly a low-speed brush rolling (rotation speed ≤ 250 r / min) and the rotation speed cannot be adjusted, the diameter of the snow removal brush is small, the length of the brush is not enough, and the snow removal brush cannot clean the entire lane, so the applicability is poor.

[0003] The existing patent documents mainly focus on improving the cleaning efficiency and the range of use by changing the size and design of the snow removal brush. For example, Chinese patent application CN202210562148.9 changes the length of the snow removal brush to adapt to the cleaning of roads of different widths; and Chinese patent application CN201911314066.7 controls the snow removal brush to fit the ground by intelligently adjusting the brush-to-ground clearance, but the intelligent adjustment range of the entire device is small, and manual operation is still needed for road cleaning, which may cause insufficient cleaning of the edge of the road. With the development of automation and intelligence, the limitations of traditional passive adjustment methods are becoming more and more obvious, it is difficult to accurately determine the height between the cleaning device and the road surface, and it is impossible to realize self-adaptive control of the hydraulic system of the cleaning equipment. SUMMARY

[0004] In order to solve the problem of inaccurate manual adjustment of the brush-to-ground clearance of the snow removal brush of the existing road snow removal vehicle, low automation degree, and being not conducive to efficient and accurate snow removal, the present application provides a hydraulic control system of a rolling brush type snow removal equipment and a control method thereof, which has high automation and intelligence degree, high efficiency, and can accurately and automatically adjust the brush-to-ground clearance, and realizes intelligent control of the snow removal process of the snow removal brush.

[0005] To achieve the above object, the present application provides the following technical scheme:

[0006] A kind of hydraulic control system of roll brush type snow removing equipment, the snow removing equipment is hung in engineering vehicle head, including control support component and roll brush component;The control support component includes vehicle body connecting frame, upper triangular frame, lifting hydraulic cylinder, lower triangular frame, steering hydraulic cylinder, auxiliary beam assembly, support wheel, pitch hydraulic cylinder;The vehicle body connecting frame is installed in engineering vehicle front end, upper triangular frame, lower triangular frame one end is hinged to vehicle body connecting frame, lifting hydraulic cylinder is installed in the middle of upper triangular frame and vehicle body connecting frame and controls the lifting of entire roll brush component in vertical direction;The rear end of upper triangular frame and lower triangular frame is hinged with vehicle body connecting frame, and the front end is hinged auxiliary beam assembly;The outer side of one end of steering hydraulic cylinder is installed in vehicle body connecting frame, and the outer side of one end is installed in auxiliary beam assembly, and the deflection of roll brush component is controlled by the extension and contraction of steering hydraulic cylinder;The one end of pitch hydraulic cylinder is installed in roll brush component, and the other end is installed in auxiliary beam assembly, and the pitch of roll brush component is controlled by the extension and contraction of pitch hydraulic cylinder.

[0007] As a further scheme of the application, the roll brush component includes roll brush frame, roll brush, roll brush hydraulic motor, snow pressing plate, snow pressing plate hydraulic cylinder;The roll brush is installed in the middle of roll brush frame, and hydraulic motor is installed on both sides of roll brush;The roll brush is driven by the roll brush hydraulic motor on both sides.

[0008] A further technical scheme of the application provides a control method of the hydraulic system of the roll brush type snow removing equipment driven by hydraulic pressure, the optimal rotating speed of roll brush, outlet pressure and extension and contraction amount of pitch cylinder are calculated according to collected vehicle speed, snow thickness and other information, the rotating speed of roll brush is collected, and the input current size of variable pump is adjusted to make the rotating speed meet the requirements;The roll brush is adjusted in pitch and lifting according to the collected hydraulic oil outlet pressure to ensure the contact width of roll brush hair and ground, so that the pressure of roll brush on ground meets the requirements.

[0009] As a further scheme of the application, the walking and power system of vehicle carries out power output to hydraulic pump, and then power conversion to variable pump, the displacement of electric control variable pump is directly controlled by single-chip microcomputer, the rotating speed control of roll brush hydraulic motor is realized, overflow valve is arranged between variable pump and roll brush hydraulic motor to protect oil circuit, and the signals of rotating speed sensor and pressure sensor are collected by single-chip microcomputer for adaptive feedback control.

[0010] As a further scheme of the application, communication is carried out between single-chip microcomputer and special controller through bus, the displacement of electric control variable pump is controlled by current signal by special controller, and intelligent control of rotating speed of roll brush hydraulic motor is realized.

[0011] As a further scheme of the present application, the 24v hydraulic power source drives the motor, which drives the hydraulic pump through power conversion, and further provides power for the steering, pitching and lifting hydraulic cylinders of the rolling brush, the single-chip microcomputer controls the two-way switch valve group through electromagnetic valve control signals to realize the extension and retraction control of the steering, pitching and lifting hydraulic cylinders, and the single-chip microcomputer collects the signals of the displacement sensor for feedback control.

[0012] As a further scheme of the present application, the single-chip microcomputer collects the data signals of the distance h between the center of the rolling brush and the ground in real time, and the set value h1 of the extension and retraction amount L of the pitching hydraulic cylinder is obtained through feedback control, and the formula is used to control the ground contact width of the rolling brush, wherein r is the radius of the rolling brush.

[0013] As a further scheme of the present application, the relationship between the force and torque of the rolling brush and the hydraulic system is created, and the snow removal resistance μ1 is the resistance coefficient of the bristles and dry snow, B is the width of the rolling brush, H is the snow removal thickness, ρ is the snow density, is the relative motion speed of the bristles and dry snow, D is the diameter of the rolling brush, and n is the working speed of the rolling brush; the rolling brush overcomes the friction resistance F μ = μ2N, N is the normal pressure of the bristles acting on the ground, μ2 is the friction coefficient of the bristles and the road surface, wherein E is the elastic modulus of the bristle material, J is the polar moment of inertia of the bristle section, Z is the number of bristles in contact with the ground, S is the free length of the bristles, and δ is the deformation amount of the bristles in contact with the ground; the rolling brush torque required to overcome the snow removal resistance and the friction resistance wherein k2 = 0.085 μ2DEJZ; the driving torque of the rolling brush hydraulic motor p is the hydraulic system pressure, v q is the motor displacement, η m is the motor mechanical efficiency, the driving torque of the motor is equal to the rolling brush torque, and the hydraulic system pressure is wherein the set pressure is the target value, the working pressure of the system is detected in real time and compared with the target value, the opening of the electric proportional valve is processed and controlled through the PID controller, so as to control the stroke of the pitching hydraulic cylinder.

[0014] As a further scheme of the present application, laser emitters and laser receivers are respectively installed on the baffles at the two ends of the rolling brush, so that the wear degree of the bristles of the rolling brush can be checked. When the wear amount of the bristles of the rolling brush is greater than a set value, the laser emitted by the laser emitter can be received by the laser receiver to realize the early warning of the replacement of the rolling brush.

[0015] As a further scheme of the present application, through remote monitoring, the weather information, road condition information and position information are collected, and through the data collection of mechanics, pressure and laser sensors, the hydraulic intelligent control based on edge computing is performed on the vehicle body and the snow removal equipment.

[0016] Compared with the prior art, the present application has the following beneficial effects:

[0017] 1、The snow removing equipment in the present application is suspended on the front of the engineering vehicle, comprising a control support component and a rolling brush component; the control support component comprises a vehicle body connecting frame, an upper triangular frame, a lifting hydraulic cylinder, a lower triangular frame, a steering hydraulic cylinder, a sub-beam assembly, a supporting wheel and a pitch hydraulic cylinder; the lifting hydraulic cylinder is installed in the middle of the upper triangular frame and the vehicle body connecting frame to control the lifting of the entire rolling brush component in the vertical direction; the deflection of the rolling brush component is controlled by the extension and retraction of the steering hydraulic cylinder; the pitch of the rolling brush component is controlled by the extension and retraction of the pitch hydraulic cylinder; compared with the existing snow removing equipment, the structure is complete and the functionality is superior;

[0018] 2、The present application calculates the optimal rolling brush rotating speed, outlet pressure and pitch cylinder extension and retraction amount through the collected vehicle speed, snow thickness and other information, simultaneously collects the rolling brush rotating speed, adjusts the input current size of the variable pump to make the rotating speed meet the requirements; adjusts the pitch and lifting to adjust the contact width of the rolling brush hair with the ground through the outlet pressure collection information, so that the rolling brush ground pressure meets the requirements, and the self-adaptive control of the snow removing equipment hydraulic system can be realized;

[0019] 3、The present application collects the data signal of the distance h of the rolling brush center from the ground in real time through the single-chip microcomputer, feeds back the extension and retraction amount L of the pitch hydraulic cylinder to obtain the set value h1, and controls the rolling brush ground contact width through the formula wherein r is the rolling brush radius. The wear degree of the rolling brush hair is checked by respectively installing a laser emitter and a laser receiver on the two side baffles. When the length of the rolling brush hair is lower than the set minimum value, the laser receiver receives the laser, and a warning is given to replace the rolling brush;

[0020] 4、The present application collects the weather information, road condition information and position information through remote monitoring, and collects the data of the mechanics, pressure and laser sensors, to perform the hydraulic intelligent control of the vehicle body and the snow removing equipment based on edge computing. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a schematic diagram of the hydraulic control system scheme one of the rolling brush type snow removing equipment.

[0022] Figure 2 It is a schematic diagram of the hydraulic control system scheme two of the rolling brush type snow removing equipment.

[0023] Figure 3 It is a schematic diagram of the hydraulic control logic scheme of the rolling brush type snow removing equipment.

[0024] Figure 4 It is a schematic diagram of the overall structure of the rolling brush type snow removing equipment.

[0025] Figure 5It is a structure overall explosion schematic diagram of the rolling brush type snow removing equipment.

[0026] Figure 6 It is a rolling brush type snow removing equipment rolling brush ground contact width measurement schematic diagram.

[0027] Figure 7 It is a rolling brush type snow removing equipment edge computing based hydraulic intelligent control schematic diagram.

[0028] The marks involved in the above-mentioned figures are explained as follows:

[0029] 100, control support part; 101, vehicle body connecting frame; 102, lower triangular frame; 103, steering hydraulic cylinder; 104, supporting wheel; 105, pitch hydraulic cylinder; 106, sub-beam assembly; 107, upper triangular frame; 108, lifting hydraulic cylinder; 200, rolling brush part; 201, rolling brush frame; 202, rolling brush hydraulic motor; 203, rolling brush; 204, snow pressing plate; 205, snow pressing plate hydraulic cylinder. DETAILED DESCRIPTION

[0030] The technical solutions of the present application will be further described in detail in combination with specific embodiments.

[0031] In order to enable the persons skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by the persons skilled in the art without making creative efforts should belong to the protection scope of the present application.

[0032] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to the clearly listed steps or units, but can include other steps or units not clearly listed or inherent to the process, method, product or device.

[0033] Figure 1 , Figure 2The diagram shows the principle block diagrams of two schemes for the hydraulic control system and control methods of the roller brush snow removal equipment. The engine on the vehicle is the power system for the vehicle's movement and the operation of the roller brush snow removal equipment installed at the front of the vehicle. The engine outputs power to the hydraulic pump through a power take-off, and then drives the variable pump through a power converter. The microcontroller controls the flow rate of the variable pump through the output signals of the speed sensor and pressure sensor to provide the required driving force for the roller brush hydraulic motor. An overflow valve is installed between the variable pump and the roller brush hydraulic motor to protect the high-pressure oil circuit. In addition to storing hydraulic oil, the oil tank also plays a role in heat dissipation, separating air bubbles in the hydraulic oil, and settling impurities. Figure 1 The variable pump shown is directly controlled by a signal output from a microcontroller, while Figure 2 The variable pump shown is directly controlled by a microcontroller. The microcontroller and the microcontroller communicate via a bus. The microcontroller controls the displacement of the variable pump through a current signal, thereby achieving adaptive speed control of the roller brush hydraulic motor.

[0034] A 24V power-driven motor drives a hydraulic pump via power conversion, which in turn powers the hydraulic cylinders for the roller brush's steering, pitching, and lifting functions. A microcontroller outputs solenoid valve control signals to control the bidirectional switching valve assembly, enabling the extension and retraction control of the roller brush's steering, pitching, and lifting hydraulic cylinders. Simultaneously, the microcontroller collects signals from displacement sensors mounted on the roller brush components for adaptive feedback control. Based on collected vehicle speed and snow thickness information, the microcontroller calculates the optimal roller brush speed, variable pump outlet pressure, and pitch cylinder extension / retraction amount, and then adjusts the roller brush speed by regulating the variable pump's input current to change the roller brush hydraulic motor's speed to meet requirements. Finally, the microcontroller adjusts the roller brush's pitching and lifting to regulate the contact area between the brush bristles and the ground, ensuring the required cleaning width.

[0035] like Figure 3 As shown, after the snow removal equipment starts operating, it automatically collects information such as vehicle speed and snow thickness, and then calculates the optimal roller brush speed, variable pump outlet pressure, and the extension and retraction of the pitch and lifting hydraulic cylinders. It then collects the roller brush speed and determines if it meets the requirements. If the speed does not meet the requirements, the input current of the variable pump needs to be adjusted, and the optimal roller brush speed, outlet pressure, and extension and retraction of the pitch and lifting hydraulic cylinders are recalculated. The roller brush speed is collected again to determine if it meets the requirements. If the speed meets the requirements, the outlet pressure of the variable pump is collected to determine if the pressure meets the requirements. If the pressure does not meet the requirements, the pitch and lifting mechanisms need to be adjusted to adjust the contact surface. The optimal roller brush speed, variable pump outlet pressure, and extension and retraction of the pitch and lifting hydraulic cylinders are recalculated, and the roller brush speed is collected again to determine if the pressure meets the requirements. If the pressure meets the requirements, the process ends.

[0036] like Figures 4-5As shown, the roller brush snow removal equipment is suspended from the front of the engineering vehicle and includes a control bracket component 100 and a roller brush component 200. The control bracket component 100 includes a body connecting frame 101, a lower triangular frame 102, a steering hydraulic cylinder 103, a support wheel 104, a pitch hydraulic cylinder 105, a sub-beam assembly 106, an upper triangular frame 107, and a lifting hydraulic cylinder 108. The body connecting frame 101 is installed at the front of the engineering vehicle, and one end of the upper triangular frame 107 and the lower triangular frame 102 are hinged to the body connecting frame 101. The lifting hydraulic cylinder 108 is installed between the upper triangular frame 107 and the body connecting frame 101. The middle section controls the vertical lifting and lowering of the entire roller brush assembly 200; the rear ends of the upper triangular frame 107 and lower triangular frame 102 are hinged to the vehicle body connecting frame 101, and the front ends are hinged to the sub-beam assembly 106; one end of the steering hydraulic cylinder 103 is installed on the outside of the vehicle body connecting frame 101, and the other end is installed on the outside of the sub-beam assembly 106, and the extension and retraction of the steering hydraulic cylinder 103 controls the deflection of the roller brush assembly 200; one end of the pitch hydraulic cylinder 105 is installed on the roller brush assembly 200, and the other end is installed on the sub-beam assembly 106, and the extension and retraction of the pitch hydraulic cylinder 105 controls the pitch of the roller brush assembly 200.

[0037] In an exemplary embodiment, the roller brush component 200 includes a roller brush frame 201, a roller brush hydraulic motor 202, a roller brush 203, a snow grooming plate 204, and a snow grooming plate hydraulic cylinder 205; the roller brush 203 is installed in the middle of the roller brush frame 201, and hydraulic motors 202 are installed on both sides of the roller brush 203; the roller brush 203 is driven by the roller brush hydraulic motors 202 on both sides.

[0038] like Figures 1-3 As shown, the present invention provides a control method for the hydraulic control system of a roller brush snow removal device. Based on the collected information such as vehicle speed and snow thickness, the optimal roller brush speed, outlet pressure, and pitch cylinder extension / retraction amount are calculated. At the same time, the roller brush 203 speed is collected, and the input current of the variable pump is adjusted to ensure that the speed meets the requirements. Based on the information collected from the outlet pressure, the pitch and lifting are adjusted to adjust the contact surface so that the roller brush 203 has the required ground pressure.

[0039] In one exemplary embodiment, the vehicle's walking and power system outputs power to a hydraulic pump, and then the power is switched to a variable pump. A microcontroller directly controls the displacement of the electronically controlled variable pump to achieve speed control of the roller brush hydraulic motor 202. An overflow valve is installed between the variable pump and the roller brush hydraulic motor 202 to protect the oil circuit. At the same time, the microcontroller collects signals from the speed sensor and pressure sensor for intelligent feedback control.

[0040] In one exemplary embodiment, a microcontroller communicates with a dedicated controller via a bus. The dedicated controller controls the displacement of the electronically controlled variable pump through a current signal, thereby controlling the rotational speed of the roller brush hydraulic motor 202.

[0041] In one exemplary embodiment, a 24V hydraulic power source drives a motor, which in turn drives a hydraulic pump via power conversion, thereby providing power to the steering, pitch, and lifting hydraulic cylinders. The microcontroller controls the bidirectional switching valve group through solenoid valve control signals to realize the extension and retraction control of the steering, pitch, and lifting hydraulic cylinders. At the same time, the microcontroller collects signals from displacement sensors for feedback control.

[0042] In one exemplary embodiment, a laser emitter and a receiver are respectively mounted on the baffles at both ends of the roller brush 203 along the central axis to check the integrity of the roller brush core. When the diameter of the roller brush core is lower than a set minimum value, the laser receiver receives a laser beam, triggering a warning to replace the roller brush 203.

[0043] like Figure 4 As shown in the schematic diagram, the overall structure of the roller brush snow removal equipment mainly consists of two parts: the control support component 100 and the roller brush component 200.

[0044] like Figure 6 As shown, the microcontroller collects the real-time data signal of the distance h from the center of the roller brush 203 to the ground, and uses this data to control the extension and retraction L of the pitch hydraulic cylinder 105 to obtain the set value h1. This is then calculated using the formula... Control the grounding width of the roller brush 203, where r is the radius of the roller brush 203.

[0045] Establish the relationship between the force and torque on the roller brush and the hydraulic system, snow removal resistance. μ1 is the resistance coefficient between the brush bristles and dry snow, B is the width of the roller brush, H is the snow removal thickness, and ρ is the snow density. The relative speed between the bristles and the dry snow is denoted by D, where D is the diameter of the roller brush and n is the operating speed of the roller brush.

[0046] The roller brush overcomes the frictional resistance F μ =μ2N, where N is the normal force exerted by the brush bristles on the ground, and μ2 is the coefficient of friction between the brush bristles and the road surface. E is the elastic modulus of the bristle material, J is the polar moment of inertia of the bristle cross section, Z is the number of bristles in contact with the ground, S is the free length of the bristles, and δ is the ground deformation of the roller bristles.

[0047] The roller brush torque required to overcome snow removal resistance and frictional resistance in k2 = 0.085μ2DEJZ;

[0048] Drive torque of the hydraulic motor for the roller brush p represents the hydraulic system pressure, v q η is the motor displacement. m For the motor's mechanical efficiency, according to the law of conservation of energy, the motor's driving torque is equal to the brush torque, and the hydraulic system pressure is... wherein The set pressure is a target value, the working pressure of the system is detected in real time and compared with the target value, the opening of the electric proportional valve is controlled through the PID controller, so as to control the stroke of the pitch hydraulic cylinder 105.

[0049] As Figure 7 As shown, through remote monitoring, weather information, road condition information and position information are collected, and data of the power and wear of the rolling brush are collected through mechanical, pressure and laser sensors, and then edge computing is performed on the platform composed of storage, calculation, network and application based on the vehicle body and snow removal equipment. The edge computing of the present application is on the side close to the snow removal data source of the vehicle body and snow removal equipment, and the control system performs adaptive control on the next step of the snow removal equipment based on the collected data. The intelligent control information of the snow removal equipment based on edge computing mainly consists of two parts. One is to configure a high-definition camera for remote real-time monitoring, and the weather information, road condition information and position information of the vehicle carrying the snow removal equipment during driving are shot by the high-definition camera, and then the shot image information is accurately transmitted to the control system and the next step of accurate calculation is performed. The second part is to detect the power and wear of the rolling brush by mechanical, pressure and laser sensors, and then the data is transmitted to the hydraulic control system for adaptive control by adjusting the opening and closing proportion of the switch valve group, the rolling brush speed and the input power. The mechanical, pressure and laser sensors mainly monitor and check the power and wear of the rolling brush to ensure the working capacity of the rolling brush and prevent damage. The working information such as the rolling brush speed and snow removal power is adjusted to ensure the accuracy of the control after edge computing.

[0050] Finally: the above only for the preferred embodiments of the present application, and not for limiting the present application, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application, should be included in the protection scope of the present application.

Claims

1. A control method of a hydraulic control system of a rolling brush snow removing apparatus, characterized by, The best rolling brush rotating speed, outlet pressure, and pitch cylinder extension amount are calculated based on the collected vehicle speed and snow thickness information, and the rolling brush rotating speed is collected to adjust the variable pump input current to meet the requirements; the pitch and lift are adjusted based on the outlet pressure to adjust the contact area between the rolling brush and the ground, so that the rolling brush cleaning width meets the requirements; The vehicle's walking and power system outputs power to the hydraulic pump, and then the power is converted to the variable pump. The single-chip microcomputer directly controls the variable pump displacement to realize the rotating speed control of the rolling brush hydraulic motor. An overflow valve is arranged between the variable pump and the rolling brush hydraulic motor to protect the oil circuit. The single-chip microcomputer collects the output signals of the rotating speed sensor and the pressure sensor for feedback control. The single-chip microcomputer communicates with the special controller through the bus. The special controller controls the displacement of the electric variable pump through the current signal to realize the self-adaptive control of the rotating speed of the rolling brush hydraulic motor. A 24V hydraulic power source is used to drive the motor, which drives the hydraulic pump through power conversion, and then provides power for the steering, pitch, and lift hydraulic cylinders. The single-chip microcomputer controls the two-way on-off valve group through the electromagnetic valve control signal to realize the extension and retraction control of the steering, pitch, and lift hydraulic cylinders. The single-chip microcomputer collects the signals of the displacement sensor for self-adaptive feedback control. The distance h between the center of the rolling brush and the ground is collected by the single-chip microcomputer in real time, and the feedback control of the extension length L of the pitch hydraulic cylinder is obtained The ground contact width of the rolling brush is controlled by the formula , wherein r is the radius of the rolling brush. Laser emitters and laser receivers are installed on the same center axis of the baffles at both ends of the rolling brush to check the wear degree of the rolling brush hair. When the rolling brush hair is worn out and cannot block the laser from reaching the laser receiver, an early warning is given to replace the rolling brush.

2. The control method according to claim 1, characterized by, The relationship between the force, torque and the hydraulic system of the rolling brush is created, and the snow removal resistance , The resistance coefficient of the rolling brush hair and dry snow is The rolling brush width is The snow removal thickness is The snow density is The relative speed of the rolling brush hair and dry snow is The rolling brush diameter is The rolling brush working speed is Rolling brush overcomes frictional resistance N is the normal force of the rolling brush bristles acting on the ground, μ is the coefficient of friction between the rolling brush bristles and the road surface, wherein E is the modulus of elasticity of the rolling brush bristles material, I is the polar moment of inertia of the cross section of the rolling brush bristles, N is the number of rolling brush bristles in contact with the ground, L is the free length of the rolling brush bristles, δ is the deformation of the rolling brush bristles in contact with the ground; Rolling brush torque required to overcome snow removal resistance and frictional resistance wherein , ; Drive torque of a rolling brush hydraulic motor , P is the hydraulic system pressure, V is the motor displacement, η is the motor mechanical efficiency, the drive torque of the motor is equal to the rolling brush torque, the hydraulic system pressure is wherein , The set pressure is a target value, the working pressure of the system is detected in real time and compared with the target value, the opening of the electric proportional valve is processed and controlled through the PID controller, so as to control the stroke of the pitch hydraulic cylinder.

3. The control method according to claim 2, characterized by, Through remote monitoring, weather information, road condition information, and location information are collected, and data from mechanics, pressure, and laser sensors are collected. The vehicle and snow removal equipment realize self-adaptive intelligent control of the hydraulic system through edge computing.

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