Road surface ice and snow removal control system, control method and electronic equipment

Abstract

The invention provides a road surface ice and snow removal control system and method and electronic equipment, and belongs to the technical field of road surface ice and snow removal devices. Aiming at the problems of low automation degree and low ice and snow removal efficiency of the existing ice and snow removal equipment, the snow and ice removal equipment disclosed by the invention realizes high-efficiency removal of accumulated snow and accumulated ice by collecting accumulated snow and accumulated ice monitoring data and respectively adjusting a snow removal shovel head and each ice grinding wheel to the corresponding height, and the running speed is adjusted in the removal process, so that the snow and ice removal efficiency is improved. And meanwhile, the compression processing speed is determined according to the calculated target vehicle speed corresponding to the complete compression process, and the speed of conveying the accumulated snow to the compressor is adjusted according to the relation between the ice and snow feeding speed and the compression processing speed, so that the working load of the compressor is balanced. According to the method, on the premise that accumulated snow and accumulated ice are synchronously and thoroughly removed, it is ensured that the ice and snow removing work is efficiently conducted.

Description

Technical Field

[0001] The present invention relates to the technical field of road deicing devices, and in particular to a road deicing and snow removal control system, a control method and an electronic device. Background Art

[0002] In winter, parts of my country will experience heavy snowfall, and coupled with relatively low temperatures, many roads will accumulate snow and ice of varying thicknesses, which will have an adverse effect on road smoothness and driving safety, seriously affecting the driving of motor vehicles, non-motor vehicles and pedestrians, affecting normal life and production operations, and even causing major traffic accidents, resulting in significant property losses and casualties.

[0003] The existing snow and ice removal methods are mostly manual removal, and a small number of them use ice removal vehicles to quickly clear ice and snow on the road. However, the existing ice removal vehicles are all manually driven and controlled to perform ice and snow removal operations. When manually driving to remove ice and snow, the vehicle speed and the intensity of ice and snow removal are changed according to the driver's judgment of the road conditions, which will result in low ice removal efficiency and poor ice removal effect due to the deviation of human subjective judgment. Some existing ice and snow removal vehicles with automatic control methods can often only perform ice removal operations according to preset routes and ice removal intensity, and cannot change the working state of the ice removal vehicle according to changes in road conditions. The degree of automation is low, and the ice removal vehicle cannot improve the ice removal efficiency while ensuring the ice removal effect.

[0004] Therefore, in response to the different distribution of snow and ice on the road, developing an ice and snow removal method that can adjust the working status of the de-icing vehicle in real time according to the ice and snow conditions on the road surface is of great practical significance for achieving high-efficiency and high-quality automated ice and snow removal by de-icing vehicles. Summary of the invention

[0005] In order to solve the problems existing in the above-mentioned background technology, such as the low degree of automation of the existing ice and snow removal equipment, the inability to adaptively adjust the working state of the ice and snow removal vehicle according to changes in road conditions, and the low efficiency of ice and snow removal, the purpose of the present invention is to provide a road ice and snow removal control system, control method and electronic equipment, which can ensure that the cleared snow and ice are removed synchronously and efficiently, collect and compress the cleared snow and ice, and can balance the workload of the compressor by adjusting the snow feeding speed, thereby ensuring the efficient operation of the ice and snow removal vehicle.

[0006] The present invention achieves the above technical objectives through the following technical solutions:

[0007] In one aspect, the present invention provides a road surface snow and ice removal control method, comprising the following steps:

[0008] Step 1: When the snow and ice removal vehicle reaches the road section to be cleared, the automatic driving snow and ice removal mode is activated, and the real-time driving trajectory of the snow and ice removal vehicle is corrected in time in combination with the global positioning system;

[0009] Step 2: Obtain monitoring data of snow thickness, snow density, and ice thickness per unit length of the road surface through the snow and ice sensor, and adjust the height of the snow removal shovel head and each ice crushing wheel according to the monitoring data to complete the operations of collecting snow and crushing ice respectively;

[0010] Step 3: The monitoring data obtained in step 2 is transmitted to the controller for processing, and the average thickness of the snow layer D1, the average density of the snow layer ρ1, and the average thickness of the ice layer D2 are obtained respectively. The snow accumulation time and ice accumulation time per unit length of the transfer road are calculated and compared to determine the driving speed of the snow and ice removal vehicle;

[0011] Step 4: Calculate a target vehicle speed corresponding to a complete compression process, and further calculate the compression processing speed of the compressor based on the target vehicle speed;

[0012] Step 5: According to the relationship between the ice and snow feeding speed and the compression processing speed, the speed of conveying the accumulated snow to the compressor is adjusted to balance the ice and snow feeding speed and the compression processing speed, thereby realizing the compression processing of the collected ice and snow.

[0013] As a further preferred solution of the above technical solution: in step 2, when collecting snow by adjusting the height of the snow removal shovel head according to the monitoring data, the maximum thickness d1 of the ice layer within the operating width range of the snow removal shovel head is obtained by the ice and snow sensor, and the height of the snow removal shovel head is adjusted to d1 to collect snow on the road, as follows:

[0014] (1) When the height of the snowplow shovel head is lower than d1, the telescopic rod connected to the snowplow shovel head is retracted. When the snowplow shovel head is raised to d1, the telescopic rod stops retracting;

[0015] (2) When the height of the snowplow shovel head is higher than d1, the telescopic rod is extended. When the snowplow shovel head is lowered to d1, the telescopic rod stops extending.

[0016] As a further preferred solution: in step 2, when the height of each ice crushing wheel is adjusted according to the monitoring data to crush the accumulated ice, the ice thickness d of each ice crushing wheel corresponding to the width is obtained through the ice and snow sensor. i , so that each ice-crushing wheel is in contact with the ice layer to perform ice-crushing operation, as follows:

[0017] (1) When the height of a certain ice-crushing wheel is lower than the corresponding d i , retract the corresponding telescopic shaft to raise the ice-crushing wheel and the corresponding arc-shaped cover plate, and the height of the ice-crushing wheel reaches d i When , the telescopic shaft stops contracting;

[0018] (2) When the height of a certain ice-crushing wheel is higher than the corresponding d i , extend the corresponding telescopic shaft to lower the ice-crushing wheel and the corresponding arc-shaped cover plate, and the height of the ice-crushing wheel reaches d i The telescopic shaft stops extending.

[0019] A further preferred solution is: in step 3, the step of determining the driving speed of the ice and snow removal vehicle includes:

[0020] Step 31: Calculate the snow accumulation time and ice accumulation time per unit length of the transfer road surface, and the expressions are as follows:

[0021]

[0022]

[0023] Where: t1 is the time for snow accumulation per unit length of the transport road surface, P1 is the amount of snow collected per unit length of the road surface, m1 is the snow transport speed, t2 is the time for ice accumulation per unit length of the transport road surface, P2 is the amount of ice collected per unit length of the road surface, and m2 is the ice transport speed.

[0024] Step 32: Compare t1 and t2, and determine the driving speed of the snow and ice removal vehicle according to the larger one of the two;

[0025] (1) When t1>t2, the speed of the snow and ice removal vehicle per unit length of road surface is:

[0026]

[0027] (2) When t1≤t2, the speed of the snow and ice removal vehicle per unit length of road surface is:

[0028]

[0029] Where: l is the unit length of the road surface.

[0030] A further preferred solution is: in step 31, the expressions for the amount of snow collected and the amount of ice collected when traveling a unit length of the road surface are as follows:

[0031] P1=h×D1×l×ρ1

[0032] P2=h×D2×l×ρ2

[0033] Wherein: h is the width of the snow removal shovel head, and the width of the snow removal shovel head is equal to the width of the spiral collecting blade 9 for collecting crushed ice.

[0034] A further preferred solution is: in step 4, the step of calculating the compression processing speed of the compressor includes:

[0035] Step 41: In a complete compression process, compare v1 and v2 calculated each time, and take the smaller value as V min , a total of n are obtained, which are recorded as V min1 , V min2 …V minn ;

[0036] Step 42: When a complete compression process is completed, the target vehicle speed in this complete compression process is obtained Its expression is:

[0037]

[0038] Step 43: Calculate the compression processing speed c according to the target vehicle speed, and the calculation formula is as follows:

[0039]

[0040] A further preferred solution is: in step 5, when adjusting the speed of snow delivery to the compressor, by comparing the snow feeding speed Q with the compression processing speed c, the pushing speed of the horizontal push rod and the vertical push rod in the pre-storage box is adjusted to balance Q and c, wherein:

[0041]

[0042] Δ=Q–c

[0043] Where: S1 is the horizontal push plate area, M1 is the horizontal push rod pushing rate, S2 is the vertical push plate area, M2 is the vertical push rod pushing rate, ρ1 is the average snow density, and Δ represents the difference between the ice and snow feeding speed and the compression processing speed.

[0044] On the other hand, the present invention also provides a road snow and ice removal control system, including a controller installed on an ice and snow removal vehicle, the control system is used to implement any of the above-mentioned road snow and ice removal control methods, and also includes:

[0045] A global positioning system module, integrated into the controller, is used to obtain the real-time location of the snow and ice removal vehicle;

[0046] The path control module is integrated in the controller. When the snow and ice removal vehicle does not follow the preset path, the path control module is used to correct its path.

[0047] A data acquisition module is installed on the snow and ice removal vehicle and is in communication connection with the controller, and is used to collect the thickness and density data of snow and ice on the road surface, and send the collected data to the controller for processing through the transmission module;

[0048] A snow removal shovel head control module adjusts the height of the snow removal shovel head according to the collected ice thickness;

[0049] The ice crushing wheel control module independently adjusts the height of each ice crushing wheel according to the collected ice accumulation thickness at the corresponding width of the ice crushing wheel;

[0050] A calculation module, integrated in the controller, for calculating the average thickness and average density of snow and ice accumulation, the driving speed and target speed of the snow and ice removal vehicle, and the compression processing speed of the compressor;

[0051] The comparison module is integrated on the controller and includes a time comparison submodule and a speed comparison submodule. It compares the snow accumulation time and ice accumulation time per unit length of the transfer road surface, and feeds the result back to the calculation module to calculate the driving speed. By comparing the ice and snow feeding speed with the compression processing speed, the pushing rate in the pre-storage box is adjusted to balance the workload of the compressor.

[0052] Based on the above technical solution, further, the calculation module includes:

[0053] The driving speed calculation submodule calculates the driving speed of the snow and ice removal vehicle per unit length of the road surface by combining the comparison results of the snow accumulation time and the ice accumulation time;

[0054] The target vehicle speed calculation submodule calculates the target vehicle speed in this complete compression process according to the vehicle speed per unit length of the road surface in a complete compression process;

[0055] The compression speed calculation submodule calculates the compression processing speed of the compressor according to the target vehicle speed and the amount of snow and ice collected per unit length of the road surface.

[0056] On the other hand, the present invention also provides an electronic device, comprising at least one processor and a memory communicatively connected to the processor; wherein the memory stores instructions executable by the processor, and the instructions are executed by the processor so that the processor can execute any of the methods described above.

[0057] Compared with the prior art, the present invention has the following technical effects:

[0058] 1. The present invention monitors the snow and ice accumulation on the road and determines the driving speed of the snow and ice removal vehicle according to the larger of the snow clearing time and the ice clearing time during the driving process. This can effectively avoid the situation where the ice layer is completely cleared but the snow layer cannot be completely cleared, or the snow layer is completely cleared but the ice layer cannot be completely cleared, and ensures that the snow and ice are cleared synchronously and thoroughly.

[0059] 2. The present invention calculates multiple driving speeds of the ice and snow removal vehicle corresponding to a complete compression process, calculates an average value (i.e., a target speed) from the multiple driving speeds, and obtains the compression processing speed of the compressor in a complete compression process based on the target speed, so that the process of clearing ice and snow is consistent with the process of compressing the ice and snow after collection.

[0060] 3. The present invention adjusts the snow pushing rate in the pre-storage box to eliminate the difference between the ice and snow feed amount and the compression processing amount of the compressor to balance the workload of the compressor, so that the ice and snow removal vehicle can maintain high-efficiency operation under the condition that the snow and ice accumulation on the road are constantly changing, while ensuring that the snow and ice are completely cleared. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0062] Figure 1 It is an overall flow chart of a road surface snow and ice removal control method of the present invention;

[0063] Figure 2 It is a flowchart of the autonomous control of vehicle speed and compression speed of the de-icing and snow-removing vehicle of the present invention;

[0064] Figure 3 It is a schematic diagram of the overall structure of the ice and snow removal vehicle of the present invention;

[0065] Figure 4 It is a structural schematic diagram of the snow removal shovel head, telescopic rod and pre-storage box of the present invention;

[0066] Figure 5 This is a schematic diagram of the structure of the vertical snow transmission channel of the present invention.

[0067] Figure 6 It is a schematic diagram of the structure of multiple ice crushing wheels of the present invention;

[0068] Figure 7 It is a schematic structural diagram of a single ice crushing wheel of the present invention;

[0069] Figure 8 It is a schematic diagram of the structure of the spiral collecting blade 9 of the present invention;

[0070] Fig. 9 The schematic diagram of the structure of the vertical ice accretion transmission channel of the present invention is

[0071] In the figure: 1. Ice and snow removal vehicle; 2. Snow removal shovel head; 3. Telescopic rod; 4. Ice-crushing wheel; 5. Telescopic shaft; 6. Arc cover plate; 7. Pre-storage box; 8. Compressor; 9. Spiral collection blade; 10. Vertical snow transmission channel; 11. Vertical ice transmission channel. DETAILED DESCRIPTION

[0072] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0073] Embodiment 1:

[0074] Reference Figure 1-9 The present invention provides a road ice and snow removal control method. When an ice and snow removal vehicle 1 travels along a predetermined route, the ice and snow conditions on the road are monitored, and the driving speed of the ice and snow removal vehicle 1 is adjusted based on the ice and snow conditions and the unit length of the road surface, so as to improve the efficiency of ice and snow removal while ensuring the ice and snow removal effect. The method specifically includes the following steps:

[0075] Step 1: When the de-icing and snow removal vehicle 1 reaches the road section to be de-iced and snow removed, the automatic driving de-icing and snow removal mode is started, and the real-time driving trajectory of the de-icing and snow removal vehicle 1 is corrected in time in combination with the global positioning system (the global positioning system can be a GPS system, or a Beidou system or other positioning systems);

[0076] In this step, the de-icing and snow removal vehicle 1 will move forward according to the preset trajectory in conjunction with the global positioning system. When the real-time driving trajectory of the de-icing and snow removal vehicle 1 does not conform to the preset driving trajectory, the real-time driving trajectory will be corrected in time to make the de-icing and snow removal vehicle 1 travel according to the preset trajectory.

[0077] The de-icing and snow removal vehicle 1 identifies the road surface information through the global positioning system combined with the route conditions, and determines the route and direction of travel according to the global positioning system. The route conditions include vehicle information, traffic signal information, and road lines around the de-icing and snow removal vehicle 1. During the clearing process, the de-icing and snow removal vehicle 1 identifies other vehicles and determines the corresponding driving trajectory of the de-icing and snow removal vehicle 1, so that the de-icing and snow removal vehicle 1 can stay on the preset clearing route.

[0078] At the same time, the de-icing and snow removal vehicle 1 corrects the driving track of the de-icing and snow removal vehicle 1 by identifying the road line of the cleared road surface. That is, when the de-icing and snow removal vehicle 1 is driving on the road section to be cleared, it first determines its own driving track by identifying the driving tracks of other vehicles. At the same time, it identifies the road line on the road section cleared by the de-icing and snow removal vehicle 1 to determine whether the driving track of the de-icing and snow removal vehicle 1 conforms to the predetermined driving track, that is, it determines whether the de-icing and snow removal vehicle 1 is driving in one lane, whether it is crossing the line, etc., and corrects the driving track of the de-icing and snow removal vehicle 1 in time when deviation occurs.

[0079] Step 2: Obtain monitoring data of snow thickness, snow density, and ice thickness per unit length of the road surface through the ice and snow sensor, and adjust the height of the snow removal shovel head 2 and each ice crushing wheel 4 according to the monitoring data to complete the operations of collecting snow and crushing ice respectively;

[0080] In this step, the ice and snow sensors used are RR-SPA snow characteristics analyzer and ITSV-01 ice layer detector. RR-SPA snow characteristics analyzer is a revolutionary snow water characteristics monitoring system that can continuously monitor snow water equivalent, snow density, snow depth, and ice and water content in snow. RR-SPA consists of SPA sensor (or SWS, Snow water sensor), impedance analysis box and snow depth sensor. It uses microwave perturbation technology to form different feedback signals for different substances such as ice, snow, and air based on microwave perturbation signals, so as to realize continuous monitoring of snow thickness and snow density on the road surface. The technical parameters of RR-SPA snow characteristics analyzer are shown in Table 1. ITSV-01 ice layer detector can detect ice layer quickly, continuously, safely and non-destructively, and can automatically calculate ice layer thickness, store the obtained ice layer thickness or transmit it to the controller through wireless communication. The variation range of ice density is small, so 917kg / m can be directly taken in the calculation. 3 .

[0081] Table 1 Technical parameters of RR-SPA snow characteristics analyzer

[0082] Measurement parameters Snow characteristics such as snow depth, snow density, snow water equivalent, liquid water content, ice content, etc. must be measured continuously and automatically Depth of measurement area 4cm Number of measurement and control unit channels 2 Output signal RS-485 / SDI-12 Power Requirements 9~15VDC, with reverse voltage protection and overvoltage protection Data Format ASCII format Snow depth range 0～2.5m Snow density range <![CDATA[0~1000kg / m 3 ]]> Snow water equivalent range <![CDATA[0~1000mm H2O]]> Liquid water content 0～100％ Ice content 0～100％； Power consumption Active state: 65mA; Inactive state (sleep state): 1mA Operating temperature -35～60℃ Frame size 6360mm×1100cm×3700mm(L×W×H)

[0083] In this embodiment, the RR-SPA snow accumulation characteristic analyzer and the ITSV-01 ice layer detector are both installed at the front end of the snow removal shovel head 2, and are respectively communicated with the controller; specifically, the monitoring data of snow layer thickness and snow layer density are collected by the RR-SPA snow accumulation characteristic analyzer, and the change curve of ice layer thickness over the working width h is collected by the ITSV-01 ice layer detector. There are five ice-crushing wheels 4 in the present invention, and the corresponding curve segment of ice layer thickness is intercepted according to the corresponding width range of each ice-crushing wheel 4, that is, the first ice-crushing wheel corresponds to 0 to h / 5, the second ice-crushing wheel corresponds to h / 5 to 2h / 5... and so on, and the average value of the current curve segment is obtained respectively, and the average value is used as the adjustment height of each ice-crushing wheel 4.

[0084] More specifically, when collecting snow by adjusting the height of the snow removal shovel head 2 according to the monitoring data, the maximum thickness d1 of the ice layer within the operating width of the snow removal shovel head 2 is obtained through the ice and snow sensor, and the height of the snow removal shovel head 2 is adjusted after the maximum thickness d1 of the ice layer is sent to the controller for analysis and processing; when the actual height of the snow removal shovel head 2 is lower than d1, the telescopic rod 3 connected to the snow removal shovel head 2 is retracted, and when the snow removal shovel head 2 is raised to d1, the telescopic rod 3 stops retracting; when the actual height of the snow removal shovel head 2 is higher than d1, the telescopic rod 3 is extended, and when the snow removal shovel head 2 is lowered to d1, the telescopic rod 3 stops extending; the action of controlling the extension or shortening of the telescopic rod 3 by the obtained monitoring data is realized by the following computer program:

[0085]

[0086]

[0087] The snowplow at the front end of the ice and snow removal vehicle in the prior art is often damaged due to collision with hard ice during operation. The present invention can ensure that most of the snow is effectively collected by the snowplow head 2 by adjusting the height of the snowplow head 2 from the ground, and at the same time, it can avoid the problem that most of the loose snow is not collected and is crushed to become a hard ice layer due to the snowplow head 2 being too high, and it can also avoid the problem that the snowplow head 2 is too low and collided with the ice layer and caused damage.

[0088] Specifically, when the height of each ice-crushing wheel 4 is adjusted to crush the accumulated ice according to the monitoring data, the ice thickness d of each ice-crushing wheel 4 corresponding to the width is obtained. i After being sent to the controller for analysis and processing, the height of each ice-crushing wheel 4 is independently adjusted so that each ice-crushing wheel 4 is in contact with the ice layer to perform ice-crushing operation; when the height of a certain ice-crushing wheel 4 is lower than the corresponding d i , retract the corresponding telescopic shaft 5 to raise the ice-crushing wheel 4 and the corresponding arc-shaped cover plate 6. When the height of the ice-crushing wheel 4 reaches d i When the height of a certain ice-grinding wheel 4 is higher than the corresponding d i , extend the corresponding telescopic shaft 5 to lower the ice-crushing wheel 4 and the corresponding arc-shaped cover plate 6, and when the height of the ice-crushing wheel 4 reaches d i When the telescopic shaft 5 stops extending, the extension or shortening of each telescopic shaft 5 is controlled by the obtained monitoring data through the following computer program:

[0089]

[0090]

[0091] The ice-crushing shaft on a traditional de-icing vehicle is usually an integral shaft wheel. The ice-crushing shaft cannot fully contact the surface of the ice layer due to the unevenness of the ice layer, resulting in incomplete cleaning. The present invention independently adjusts the height of each ice-crushing wheel 4 from the ground, so that each ice-crushing wheel 4 is in full contact with the surface of the ice layer according to the actual situation of the ice layer, thereby avoiding the situation of incomplete cleaning due to the lack of full contact caused by the uneven ice layer.

[0092] Step 3: The monitoring data obtained above is transmitted to the controller for processing, and the average thickness of the snow layer D1, the average density of the snow layer ρ1, and the average thickness of the ice layer D2 are obtained after calculation, and the snow accumulation time and ice accumulation time per unit length of the transfer road surface are calculated and compared to determine the driving speed of the snow and ice removal vehicle 1;

[0093] In this step, according to the average snow layer thickness D1, the average snow layer density ρ1, and the average ice layer thickness D2, the snow accumulation amount and ice accumulation amount per unit length of the road surface are obtained, and their expressions are as follows:

[0094] P1=h×D1×l×ρ1

[0095] P2=h×D2×l×ρ2

[0096] Wherein: P1 and P2 represent the amount of snow collected and the amount of ice collected, respectively; h represents the width of the snowplow shovel head (i.e., the operating width), and the width of the snowplow shovel head 2 is equal to the width of the spiral collecting blade 9 for collecting crushed ice; l represents the unit length of the road surface, and ρ2 is the average density of the ice layer.

[0097] The time required for transporting the calculated snow and ice collection amounts is obtained by the following expressions:

[0098]

[0099]

[0100] Where: t1 is the snow accumulation time per unit length of the transfer road, m1 is the snow transfer speed, t2 is the ice accumulation time per unit length of the transfer road, m2 is the ice transfer speed.

[0101] Where: m1 = 4 × π × R1 × R1 × S1 × ρ1

[0102] m2=π×R2×R2×S2×ρ2

[0103] Wherein: π is pi, R1 is the radius of a single vertical snow transmission channel 10 (four in total), S1 represents the maximum vertical transmission speed of snow, R2 is the radius of the vertical ice transmission channel 11, and S2 represents the maximum vertical transmission speed of ice.

[0104] During the operation of the snow and ice removal vehicle 1, the comparison between t1 and t2 is realized by the following computer program:

[0105]

[0106]

[0107] In order to fully collect the accumulated snow or crushed ice, the driving speed of the snow and ice removal vehicle 1 is determined by the larger of t1 and t2. Within a unit length of the road surface, the snow and ice removal vehicle 1 moves forward at the driving speed determined above to remove the accumulated snow and ice, that is:

[0108] When t1>t2, the driving speed v1 of the snow and ice removal vehicle 1 per unit length of the road surface is:

[0109]

[0110] When t1≤t2, the driving speed v2 of the de-icing vehicle 1 per unit length of the road is:

[0111]

[0112] Step 4: Calculate a target vehicle speed corresponding to a complete compression process, and further calculate the compression processing speed of the compressor 8 based on the target vehicle speed;

[0113] In this step, in a complete compression process, there are multiple driving speeds corresponding to the unit length of the road surface. Compare v1 and v2 calculated each time, and take the smaller value as V min , a total of n are obtained, which are recorded as V min1 , V min2 …V minn When a complete compression process is completed, the target vehicle speed in this complete compression process is obtained. Its expression is:

[0114]

[0115] Since the compression amount in a complete compression process is collected in the previous complete compression process, the target vehicle speed calculated in the current complete compression process is used as a basis to calculate the time required for a complete compression process of the compressor 8 in the next stage, and then the compression processing speed c is calculated in combination with the snow collection amount and ice collection amount. The calculation formula is as follows:

[0116]

[0117] The comparison of t1 and t2 and the calculation of the compression processing speed c are realized by the following computer program:

[0118]

[0119]

[0120] Step 5: According to the relationship between the ice and snow feeding speed and the compression processing speed, the speed of conveying the accumulated snow to the compressor is adjusted to balance the ice and snow feeding speed and the compression processing speed, thereby realizing the compression processing of the collected ice and snow.

[0121] In this step, since the ice layer on the road accounts for a relatively small proportion of the ice and snow, and has a high density and a small volume compared to the accumulated snow, the collected ice is directly fed into the compression system. The accumulated snow has a low density and a large volume, so the accumulated snow is collected into the pre-storage box 7, and the feeding speed of the accumulated snow is adjusted according to the compression process of the compressor 8 to balance the workload of the compressor 8; specifically, when adjusting the speed at which the accumulated snow is transported to the compressor 8, by comparing the ice and snow feeding speed Q with the compression processing speed c, the pushing speeds of the horizontal push rod and the vertical push rod in the pre-storage box 7 are adjusted to balance Q and c, wherein:

[0122]

[0123] Δ=Q–c

[0124] Where: (S1·M1+S2·M2)·ρ1 represents the snow feeding speed, Indicates the ice accretion feeding speed, S1 is the horizontal push plate area (cm 2 ), M1 is the pushing speed of the horizontal push rod (cm / s); S2 is the area of ​​the vertical push plate (cm 2 ), M2 is the vertical push rod pushing speed (cm / s), ρ1 is the average density of snow (g / cm 3 ), Δ represents the difference between the ice and snow feeding speed and the compression processing speed.

[0125] The pushing speed of the horizontal push rod and the vertical push rod in the pre-storage box 7 is achieved by the following computer program:

[0126]

[0127]

[0128] The ice and snow removal equipment in the prior art is usually difficult to adjust to minor changes in ice and snow conditions on the road surface. The present invention adopts a method of collecting road snow and ice removal separately, and adjusts the driving speed according to the monitored snow and ice conditions per unit length of the road surface. This reasonably improves the traditional method of adjusting according to the total thickness of the ice and snow layer on the road surface, which exists in the phenomenon that the ice layer is completely removed but the snow layer is not completely removed, or the snow layer is completely removed but the ice layer cannot be completely removed. At the same time, by adjusting the snow feeding speed of the pre-storage box 7, the ice and snow feeding amount and the compression processing amount are kept balanced, eliminating the influence of the difference between the two on the working efficiency of the ice and snow removal vehicle 1, and balancing the workload of the compressor 8, so that the ice and snow removal vehicle 1 can improve the efficiency of ice and snow removal on the premise of ensuring that the snow and ice layers are completely removed.

[0129] Embodiment 2:

[0130] The present invention also provides a road snow and ice removal control system, including a controller installed on an ice and snow removal vehicle 1, wherein the controller may be any conventional controller in the prior art, such as a commercially available CPU, and may also include a field programmable gate array (FPGA), a system on chip (SoC), an application specific integrated circuit (ASIC), or a combination thereof. The control system is used to implement the above-mentioned road snow and ice removal control method, and further includes:

[0131] A global positioning system module, integrated in the controller, for obtaining the real-time position of the snow and ice removal vehicle 1;

[0132] A path control module is integrated in the controller. When the snow and ice removal vehicle 1 does not travel along the preset path, the path control module is used to correct the travel path of the vehicle.

[0133] A data acquisition module is installed on the snow and ice removal vehicle 1 and is in communication connection with the controller, and is used to collect the thickness and density data of snow and ice on the road surface, and send the collected data to the controller for processing through the transmission module;

[0134] A snow removal shovel head control module adjusts the height of the snow removal shovel head 2 according to the collected ice accumulation thickness;

[0135] The ice-crushing wheel control module independently adjusts the height of each ice-crushing wheel 4 according to the collected ice accumulation thickness at the corresponding width of the ice-crushing wheel 4;

[0136] The calculation module is integrated in the controller and is used to calculate the average thickness and average density of snow and ice accumulation, the driving speed and target speed of the snow and ice removal vehicle 1, and the compression processing speed of the compressor 8, which includes:

[0137] The driving speed calculation submodule calculates the driving speed of the snow and ice removal vehicle 1 per unit length of the road surface by combining the comparison results of the snow accumulation time and the ice accumulation time;

[0138] The target vehicle speed calculation submodule calculates the target vehicle speed in this complete compression process according to the vehicle speed per unit length of the road surface in a complete compression process;

[0139] The compression speed calculation submodule calculates the compression processing speed of the compressor according to the target vehicle speed and the amount of snow and ice collected per unit length of the road surface.

[0140] The comparison module is integrated on the controller and includes a time comparison submodule and a speed comparison submodule. It compares the snow accumulation time and ice accumulation time per unit length of the transfer road surface, and feeds the result back to the calculation module to calculate the driving speed. By comparing the ice and snow feeding speed with the compression processing speed, the pushing rate in the pre-storage box 7 is adjusted to balance the workload of the compressor 8.

[0141] Application examples:

[0142] A road ice and snow removal control system, control method and electronic equipment provided by the present invention are used to perform ice and snow removal operations in actual scenarios. Taking Harbin Longbai Road as an example, Longbai Road is located in Daoli District, with a total length of 481.528 meters and a width of 40 meters.

[0143] The average thickness of the snow layer on Longbai Road is D1, which is 3.5 cm, the average thickness of the ice layer is D2, which is 0.4 cm, and the average density of the snow layer is ρ1, which is 0.16 g / cm 3 , the ice layer density ρ2 is 0.917g / cm 3 , the shovel head width h is 260 cm, the radius R1 of the vertical snow transmission channel 10 is 21 cm, the radius R2 of the vertical ice transmission channel 11 is 26 cm, the maximum vertical transmission speed of snow O1 is 25 cm / s, the maximum vertical transmission speed of ice O2 is 16.7 cm / s, and the horizontal push plate area S1 is 3400 cm 2 , the vertical push plate area S2 is 26860cm 2 , the horizontal push rod speed is 10cm / s, and the vertical push rod speed is 4cm / s.

[0144] Therefore, the calculated snow transport speed m1, ice transport speed m2, snow collection amount P1, and ice collection amount P2 are as follows:

[0145] m1=4×π×R1×R1×O1×ρ1=22155.84g

[0146] m2=n×R2×R2×O2×ρ2=32505.89g

[0147] P1=h×D1×l×ρ1=14560g

[0148] P2=h×D2×l×ρ2=9536.8g

[0149] The snow accumulation time t1, ice accumulation time t2, snow transportation speed v1, and ice transportation speed v2 per unit length of the transportation road are further obtained as follows:

[0150]

[0151]

[0152]

[0153]

[0154] After comparing v1 and v2, to simplify the calculation, take The compression processing speed of the compressor in the next stage of the complete compression process is obtained as:

[0155]

[0156] The ice and snow feeding speed Q is obtained as:

[0157]

[0158] It has been calculated that if a single snow-clearing vehicle is working, to complete the snow-clearing work on the entire Longbai Road, the vehicle needs to make 8 round trips, a total of 7704.448 meters, taking 1.4063 hours, and the average operating speed is 5.478km / h.

[0159] The embodiments described above are merely exemplary, wherein the components shown as units may or may not be physical units, i.e., they may be located in one place, or they may be distributed on multiple network units, and some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art may understand and implement the solution without creative effort.

[0160] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0161] Finally, it should be noted that the above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A road snow and ice removal control method, characterized in that: The following steps are involved: Step 1: When the snow and ice removal vehicle reaches the road section to be cleared, the automatic driving snow and ice removal mode is activated, and the real-time driving trajectory of the snow and ice removal vehicle is corrected in time in combination with the global positioning system; Step 2: Obtain monitoring data of snow thickness, snow density, and ice thickness per unit length of the road surface through the snow and ice sensor, and adjust the height of the snow removal shovel head and each ice crushing wheel according to the monitoring data to complete the operations of collecting snow and crushing ice respectively; Step 3: The monitoring data obtained in step 2 is transmitted to the controller for processing, and the average thickness of the snow layer D1, the average density of the snow layer ρ1, and the average thickness of the ice layer D2 are obtained respectively. The snow accumulation time and ice accumulation time per unit length of the transfer road are calculated and compared to determine the driving speed of the snow and ice removal vehicle; Step 4: Calculate a target vehicle speed corresponding to a complete compression process, and further calculate the compression processing speed of the compressor based on the target vehicle speed; Step 5: According to the relationship between the ice and snow feeding speed and the compression processing speed, the speed of conveying the accumulated snow to the compressor is adjusted to balance the ice and snow feeding speed and the compression processing speed, thereby realizing the compression processing of the collected ice and snow.

2. A road ice and snow removal control method according to claim 1, characterized in that: In step 2, when the height of the snow removal shovel is adjusted according to the monitoring data to collect snow, the maximum thickness d1 of the ice layer within the operating width of the snow removal shovel is obtained through the ice and snow sensor, and the height of the snow removal shovel is adjusted to d1 to collect snow on the road, as follows: (1) When the height of the snowplow shovel head is lower than d1, the telescopic rod connected to the snowplow shovel head is retracted. When the snowplow shovel head is raised to d1, the telescopic rod stops retracting; (2) When the height of the snowplow shovel head is higher than d1, the telescopic rod is extended. When the snowplow shovel head is lowered to d1, the telescopic rod stops extending.

3. A road snow and ice removal control method according to claim 2, characterized in that: In step 2, when the height of each ice crushing wheel is adjusted according to the monitoring data to crush the accumulated ice, the ice thickness d of each ice crushing wheel corresponding to the width is obtained through the ice and snow sensor. i , so that each ice-crushing wheel is in contact with the ice layer to perform ice-crushing operation, as follows: (1) When the height of a certain ice-crushing wheel is lower than the corresponding d i , retract the corresponding telescopic shaft to raise the ice-crushing wheel and the corresponding arc-shaped cover plate, and the height of the ice-crushing wheel reaches d i When , the telescopic shaft stops contracting; (2) When the height of a certain ice-crushing wheel is higher than the corresponding d i , extend the corresponding telescopic shaft to lower the ice-crushing wheel and the corresponding arc-shaped cover plate, and the height of the ice-crushing wheel reaches d i The telescopic shaft stops extending.

4. A road snow and ice removal control method according to claim 3, characterized in that: In step 3, the step of determining the driving speed of the ice and snow removal vehicle includes: Step 31: Calculate the snow accumulation time and ice accumulation time per unit length of the transfer road surface, and the expressions are as follows: Where: t1 is the time for snow accumulation per unit length of the transport road surface, P1 is the amount of snow collected per unit length of the road surface, m1 is the snow transport speed, t2 is the time for ice accumulation per unit length of the transport road surface, P2 is the amount of ice collected per unit length of the road surface, and m2 is the ice transport speed. Step 32: Compare t1 and t2, and determine the driving speed of the snow and ice removal vehicle according to the larger one of the two; (1) When t1>t2, the speed of the snow and ice removal vehicle per unit length of road surface is: (2) When t1≤t2, the speed of the snow and ice removal vehicle per unit length of road surface is: Where: l is the unit length of the road surface.

5. A road snow and ice removal control method according to claim 4, characterized in that: In step 31, the expressions for the amount of snow collected and the amount of ice collected when a unit length of road surface is traveled are as follows: P1=h×D1×l×ρ1 P2=h×D2×l×ρ2 Wherein: h is the width of the snow removal shovel head, and the width of the snow removal shovel head is equal to the width of the spiral collecting blade 9 for collecting crushed ice, and ρ2 is the average density of the ice layer.

6. A road snow and ice removal control method according to claim 5, characterized in that: In step 4, the step of calculating the compression processing speed of the compressor includes: Step 41: In a complete compression process, compare v1 and v2 calculated each time, and take the smaller value as V min , a total of n are obtained, which are recorded as V min1 , V min2 …V minn ; Step 42: When a complete compression process is completed, the target vehicle speed in this complete compression process is obtained Its expression is: Step 43: Calculate the compression processing speed c according to the target vehicle speed, and the calculation formula is as follows:

7. A road snow and ice removal control method according to claim 6, characterized in that: In step 5, when adjusting the speed of snow delivery to the compressor, by comparing the snow feeding speed Q with the compression processing speed c, the pushing speed of the horizontal push rod and the vertical push rod in the pre-storage box is adjusted to balance Q and c, where: Δ=Q–c Where: S1 is the horizontal push plate area, M1 is the horizontal push rod pushing rate, S2 is the vertical push plate area, M2 is the vertical push rod pushing rate, and Δ represents the difference between the ice and snow feeding speed and the compression processing speed.

8. A road snow and ice removal control system, comprising a controller installed on a snow and ice removal vehicle, characterized in that: The control system is used to implement a road ice and snow removal control method as claimed in any one of claims 1 to 7, and further includes: A global positioning system module, integrated into the controller, is used to obtain the real-time location of the snow and ice removal vehicle; The path control module is integrated in the controller. When the snow and ice removal vehicle does not follow the preset path, the path control module is used to correct its path. A data acquisition module is installed on the snow and ice removal vehicle and is in communication connection with the controller, and is used to collect the thickness and density data of snow and ice on the road surface, and send the collected data to the controller for processing through the transmission module; A snow removal shovel head control module adjusts the height of the snow removal shovel head according to the collected ice thickness; The ice-crushing wheel control module independently adjusts the height of each ice-crushing wheel according to the collected ice thickness at the corresponding width of the ice-crushing wheel; A calculation module, integrated in the controller, for calculating the average thickness and average density of snow and ice accumulation, the driving speed and target speed of the snow and ice removal vehicle, and the compression processing speed of the compressor; The comparison module is integrated on the controller and includes a time comparison submodule and a speed comparison submodule. It compares the snow accumulation time and ice accumulation time per unit length of the transfer road surface, and feeds the result back to the calculation module to calculate the driving speed. By comparing the ice and snow feeding speed with the compression processing speed, the pushing rate in the pre-storage box is adjusted to balance the workload of the compressor.

9. A road snow and ice removal control system according to claim 8, characterized in that: The computing module includes: The driving speed calculation submodule calculates the driving speed of the snow and ice removal vehicle per unit length of the road surface by combining the comparison results of the snow accumulation time and the ice accumulation time; The target vehicle speed calculation submodule calculates the target vehicle speed in this complete compression process according to the vehicle speed per unit length of the road surface in a complete compression process; The compression speed calculation submodule calculates the compression processing speed of the compressor according to the target vehicle speed and the amount of snow and ice collected per unit length of the road surface.

10. An electronic device, characterized in that: The electronic device includes at least one processor and a memory communicatively connected to the processor; wherein the memory stores instructions executable by the processor, and the instructions are executed by the processor so that the processor can execute the method described in any one of claims 1 to 7.

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