Snow removing equipment, control method and device thereof and storage medium

Abstract

The invention relates to the technical field of cleaning equipment, and particularly discloses snow removing equipment, a control method and device thereof and a storage medium, and the control method of the snow removing equipment comprises the steps that the actual rotating speed and the target rotating speed of a rolling brush in a brush head assembly are obtained; when the difference value between the target rotating speed and the actual rotating speed is larger than a first threshold value and lasts for a first preset duration, the brush head assembly is controlled to ascend by a first preset height through a posture adjusting mechanism; the actual rotating speed of the rolling brush is obtained again; when the difference value between the target rotating speed and the re-obtained actual rotating speed is smaller than or equal to a second threshold value, the posture adjusting mechanism controls the brush head assembly to descend by the first preset height, and the second threshold value is smaller than the first threshold value, so that the flameout phenomenon of the snow removing equipment can be prevented, and the snow removing equipment is suitable for uneven road surfaces; and meanwhile, the environment compatibility and the snow removal efficiency of the snow removal equipment are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and in particular to a snow removal equipment and a control method and device thereof, and a storage medium. Background Art

[0002] If the snow is not cleared in time, it will cause great safety hazards to vehicles and pedestrians on the road, and will also reduce traffic efficiency.

[0003] In the related art, the snow removal equipment used can often only clear the snow on relatively flat roads. If the road surface is bumpy, the snow removal equipment will not be able to work normally and will easily be in a blocked state, which can easily cause the snow removal equipment to stall and affect the snow removal efficiency. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems in the related art to a certain extent. To this end, the first object of the present invention is to provide a control method for snow removal equipment, which can prevent the snow removal equipment from stalling, so that the snow removal equipment can be used on uneven roads, and at the same time improve the environmental compatibility and snow removal efficiency of the snow removal equipment.

[0005] A second object of the present invention is to provide a computer-readable storage medium.

[0006] The third object of the present invention is to provide a control device for snow removal equipment.

[0007] A fourth object of the present invention is to provide a snow removal device.

[0008] To achieve the above-mentioned purpose, an embodiment of the first aspect of the present invention proposes a control method for snow removal equipment, wherein the snow removal equipment includes a brush head assembly and a posture adjustment mechanism, wherein the posture adjustment mechanism is connected to the brush head assembly and is used to adjust the posture of the brush head assembly, and the control method includes: obtaining the actual rotation speed and target rotation speed of the roller brush in the brush head assembly; when the difference between the target rotation speed and the actual rotation speed is greater than a first threshold and lasts for a first preset time, controlling the brush head assembly to rise to a first preset height through the posture adjustment mechanism; re-obtaining the actual rotation speed of the roller brush; when the difference between the target rotation speed and the re-obtained actual rotation speed is less than or equal to a second threshold, controlling the brush head assembly to descend to the first preset height through the posture adjustment mechanism, and the second threshold is less than the first threshold.

[0009] The snow removal equipment of the embodiment of the present invention includes a brush head assembly and a posture adjustment mechanism that are interconnected, wherein the posture adjustment mechanism is used to adjust the posture of the brush head assembly. In the control method of the snow removal equipment, the actual rotation speed and the target rotation speed of the roller brush in the brush head assembly are first continuously obtained, and then whether the brush head assembly needs to be raised is judged according to the target rotation speed and the actual rotation speed. When the difference between the target rotation speed and the actual rotation speed is greater than a first threshold value and lasts for a first preset time, the posture adjustment mechanism is used to adjust the brush head assembly to rise to a first preset height, and the actual rotation speed of the roller brush is continuously obtained. When the difference between the target rotation speed and the actual rotation speed is less than or equal to a second threshold value, the posture adjustment mechanism is used to control the brush head assembly to descend to a first preset height, thereby preventing the snow removal equipment from stalling, so that the snow removal equipment is suitable for uneven roads, and at the same time improving the environmental compatibility and snow removal efficiency of the snow removal equipment.

[0010] In some embodiments of the present invention, after controlling the brush head assembly to rise to a first preset height through the posture adjustment mechanism, the control method further includes: controlling the brush head assembly to continue running for a second preset time period.

[0011] In some embodiments of the present invention, the control method also includes: when the difference between the target speed and the actual speed is less than or equal to the first threshold, or the difference between the target speed and the actual speed is greater than the first threshold but does not last for the first preset time period, controlling the brush head assembly to maintain the current height to work.

[0012] In some embodiments of the present invention, the control method further includes: when the difference between the target rotation speed and the actual rotation speed retrieved is greater than the second threshold, continuing to control the brush head assembly to rise to the first preset height through the posture adjustment mechanism.

[0013] In some embodiments of the present invention, the snow removal equipment further includes a power assembly, and the power assembly is fixedly disposed between the brush head assembly and the posture adjustment mechanism.

[0014] In some embodiments of the present invention, the power assembly includes an engine, a transmission shaft, a clutch, a gearbox and a starting motor, the transmission shaft is used to connect the engine and the brush head assembly, the engine provides power to the brush head assembly through the transmission shaft, the clutch is used to separate or couple the engine and the gearbox, and the starting motor is used to assist in starting the engine.

[0015] In some embodiments of the present invention, when the engine is started, the clutch is used to control the engine and the gearbox to be separated, and the starter motor is turned on after a third preset time period; when the speed of the engine is greater than the preset speed, the starter motor is turned off, and the clutch is used to control the engine and the gearbox to be coupled to output power.

[0016] To achieve the above objectives, a second aspect of the present invention provides a computer-readable storage medium on which a control program for a snow removal device is stored. When the control program is executed by a processor, the control method for the snow removal device described in any one of the above embodiments is implemented.

[0017] The computer-readable storage medium of an embodiment of the present invention can prevent the snow removal equipment from stalling by executing the control program of the snow removal equipment stored thereon through a processor, so that the snow removal equipment can be adapted to uneven roads, while improving the environmental compatibility and snow removal efficiency of the snow removal equipment.

[0018] To achieve the above-mentioned purpose, a third aspect of the present invention proposes a control device for snow removal equipment, wherein the snow removal equipment includes a brush head assembly and a posture adjustment mechanism, wherein the posture adjustment mechanism is connected to the brush head assembly and is used to adjust the posture of the brush head assembly, and the control device includes: an acquisition module, used to acquire the actual rotation speed and target rotation speed of the roller brush in the brush head assembly; a control module, used to control the brush head assembly to rise to a first preset height through the posture adjustment mechanism when the difference between the target rotation speed and the actual rotation speed is greater than a first threshold and lasts for a first preset time; the acquisition module is also used to re-acquire the actual rotation speed of the roller brush; the control module is also used to control the brush head assembly to descend to the first preset height through the posture adjustment mechanism when the difference between the target rotation speed and the re-acquired actual rotation speed is less than or equal to a second threshold, and the second threshold is less than the first threshold.

[0019] The snow removal equipment of the embodiment of the present invention includes a brush head assembly and a posture adjustment mechanism that are interconnected, wherein the posture adjustment mechanism is used to adjust the posture of the brush head assembly. In the control device of the snow removal equipment, first, an acquisition module continuously acquires the actual rotation speed and target rotation speed of the roller brush in the brush head assembly, and then the control module determines whether the brush head assembly needs to rise according to the target rotation speed and the actual rotation speed. When the difference between the target rotation speed and the actual rotation speed is greater than a first threshold value and lasts for a first preset time, the control module uses the posture adjustment mechanism to adjust the brush head assembly to rise to a first preset height, and the acquisition module continuously acquires the actual rotation speed of the roller brush, and when the difference between the target rotation speed and the actual rotation speed is less than or equal to a second threshold value, the control module uses the posture adjustment mechanism to control the brush head assembly to descend to a first preset height, thereby preventing the snow removal equipment from stalling, so that the snow removal equipment is suitable for uneven roads, and at the same time improves the environmental compatibility and snow removal efficiency of the snow removal equipment.

[0020] To achieve the above-mentioned purpose, a fourth embodiment of the present invention provides a snow removal device, which includes the control device of the snow removal device in the above-mentioned embodiment.

[0021] The snow removal equipment of the embodiment of the present invention can prevent the snow removal equipment from stalling through the control device of the snow removal equipment in the above embodiment, so that the snow removal equipment is suitable for uneven roads, while improving the environmental compatibility and snow removal efficiency of the snow removal equipment.

[0022] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic structural diagram of a snow removal device in one embodiment of the present invention;

[0024] Figure 2 is a schematic structural diagram of a brush head assembly in one embodiment of the present invention;

[0025] Figure 3 is a schematic structural diagram of a posture adjustment mechanism in one embodiment of the present invention;

[0026] Figure 4 is a schematic structural diagram of a power assembly in one embodiment of the present invention;

[0027] Figure 5 is a flow chart of a control method for snow removal equipment in one embodiment of the present invention;

[0028] Figure 6 is a flow chart of a control method for snow removal equipment in a specific embodiment of the present invention;

[0029] Figure 7It is a schematic diagram of the process of starting an engine in a specific embodiment of the present invention;

[0030] Figure 8 is a block diagram of a control device for snow removal equipment in an embodiment of the present invention;

[0031] Fig. 9 Schematic diagram of snow removal equipment according to an embodiment of the present invention. DETAILED DESCRIPTION

[0032] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0033] The following describes the snow removal equipment and its control method and device, and storage medium according to the embodiments of the present invention with reference to the accompanying drawings.

[0034] The snow removal equipment used in the control method of the present invention includes a brush head assembly 6 and a posture adjustment mechanism 4, wherein the posture adjustment mechanism 4 is connected to the brush head assembly 6, and the posture adjustment mechanism 4 can be used to adjust the posture of the brush head assembly 6. Figure 1 As shown, the snow removal equipment is installed on the automobile chassis 1, and the snow removal equipment is driven by the movement of the automobile to clear the snow on the road. The snow removal equipment also includes a chassis connecting bracket 3 and a power assembly 5. The control system 2 arranged on the automobile can send control instructions to the power assembly 5 to control the posture adjustment mechanism 4, the brush head assembly 6, etc. through the power assembly 5.

[0035] More specifically, if Figure 2As shown, the brush head assembly 6 includes: a roller brush 61, a fixed support 62, a brush head cover 63, a snow control panel 64, a brush head pressing cylinder 65, a brush head cylinder fixing device 66, a power mounting bracket 67, a support wheel assembly 68 and a yaw transmission mechanism 69. Among them, when the brush head assembly 6 is stored separately, two sets of support wheel assemblies 68 and the fixed support 62 form a four-point support. When the snow removal operation device is working, the fixed support 62 swings upward around the installation, and the two sets of support wheel assemblies 68 are retained to touch the ground and rotate with the vehicle chassis 1 for walking operation. The power assembly 5 is installed on the power mounting bracket 67 and connected to the yaw transmission mechanism 69, transmitting power to the roller brush 61 so that the roller brush 61 can work; the support of the roller brush 61 is connected to the brush head cover 63, and the yaw transmission mechanism 69 is connected to the power mounting bracket 67 through a rotating shaft. The rotation of the brush head cover 63 is controlled by the extension and retraction of the brush head pressing cylinder 65. The other end of the brush head pressing cylinder 65 is connected to the brush head cylinder fixing device 66; when the roller brush 61 needs to be pressed down to work, the brush head pressing cylinder 65 is extended, and the brush head pressing cylinder 65 is retracted. The head cover 63, the roller brush 61 and the yaw transmission mechanism 69 rotate around the rotating shaft on the power mounting bracket 67, and the roller brush 61 increases its ground contact area; the yaw transmission mechanism 69 is a sprocket drive, one end of which is connected to the sprocket of the roller brush 61, and the other end is connected to the drive shaft 55 assembly through the sprocket and the bearing seat. The rotation axis point of the yaw transmission mechanism 69 is located at the center point of the yaw transmission mechanism 69. When rotating, it telescopically cooperates with the drive shaft 55 assembly in the power assembly 5 to complete the swinging action and power transmission of the yaw transmission mechanism 69.

[0036] like Figure 3As shown, the posture adjustment mechanism 4 includes: a lifting cylinder 41, an upper fork arm 42, a sway cylinder 43, a connecting panel 44, a hanging plate device 45, a locking bolt 46, a lower fork arm 47, a hinge mechanism 48, and a return spring 49. One end of the posture adjustment mechanism 4 is fixed to the automobile chassis 1 through the chassis connecting bracket 3, and the chassis connecting bracket 3 is connected to the automobile chassis 1 in a bolt-fixed manner. The hanging plate device 45 provided at the rear of the connecting panel 44 is attached to the chassis connecting bracket 3, and the locking bolts 46 are provided on both sides of the connecting panel 44 to realize the rapid disassembly and assembly of the posture adjustment mechanism 4. The front part of the connection panel 44 is equipped with an upper fork arm 42, a lower fork arm 47, a lifting cylinder 41 and a sway cylinder 43 connected by a cross hinge. The other ends of the upper fork arm 42 and the lower fork arm 47 are connected to the brush head assembly 6 through a hinge mechanism 48. The other end of the lifting cylinder 41 is connected to the upper fork arm 42 through a hinge in the upper and lower directions, which is used to control the rise and fall of the brush head assembly 6. The sway cylinder 43 is divided into left and right sides, and its other end is connected to the brush head assembly 6 through a cross hinge, which is used to control the left and right sway of the brush head assembly 6. In order to ensure that the brush head assembly 6 is in a centered state when walking, a return spring 49 is installed on the left and right sides of the hinge device. The action control of the posture adjustment mechanism 4 is controlled by the operation control system 2 installed in the car cab. Specifically, the roller brush up and down valve, the roller brush swing hydraulic valve and the brush head lifting hydraulic valve can be controlled by the operation box switch, and then the power unit relay is driven to start the power unit. It should be noted that the power unit in this embodiment may refer to a power device that does not rely on the engine 52 to provide power, and is used alone to control the hydraulic valve in the posture adjustment mechanism 4.

[0037] It should be noted that the sprocket drive in the present embodiment can be replaced by a belt drive, which can be determined according to the actual application environment and is not specifically limited here.

[0038] In the embodiment of the present invention, Figure 1 As shown, the power assembly 5 is fixedly arranged between the brush head assembly 6 and the posture adjustment mechanism 4. Figure 4It can be seen that the power assembly 5 includes an engine 52, a transmission shaft 55, a clutch 53, a gearbox 54 and a starter motor (not shown in the figure). The transmission shaft 55 is used to connect the engine 52 and the brush head assembly 6. The engine 52 provides power to the brush head assembly 6 through the transmission shaft 55. The clutch 53 is used to separate or couple the engine 52 and the gearbox 54. The starter motor is used to assist the engine 52 in starting. In addition, the power assembly 5 can also include a cover 51 and a mounting base 56. The power generated by the engine 52 is transmitted and output through the clutch 53, the gearbox 54 and the transmission shaft 55. The overall structure is installed on the mounting base 56, and the mounting base 56 is connected to the brush head assembly 6; the clutch 53 is used for the power output of the engine 52 and the cut-off no-load start-up, and the gearbox 54 is used for the deceleration, torque increase and reversing of the power generated by the engine 52; the cover 51 is used to protect the engine 52.

[0039] The control system 2 includes a controller 21, which can also be installed in a cover 51 and protected by the cover 51. The controller 21 is respectively connected to a control switch in the cab and a control valve of the engine 52 to control the control valve according to the status information of the control switch, thereby achieving control of the engine 52.

[0040] Specifically, the bristles of the roller brush 61 in the brush head assembly 6 are in contact with the ground, and the roller drives the roller brush 61 to rotate through the sprocket transmission mechanism to make the bristles rotate to remove the snow on the ground. The snow thrown by the bristles is controlled in direction by the cover 51 of the brush head assembly 6, so that the snow is thrown to the designated position. The power assembly 5 provides the roller with the power source required for the operation through deceleration, torque increase, and reversing. The posture adjustment mechanism 4 is composed of a lifting cylinder 41, a left and right sway cylinder 43, and a brush head pressing cylinder 65. The lifting cylinder 41 controls the operation of the snow removal equipment in accordance with the driving state of the vehicle, and the left and right sway cylinder 43 controls the operating direction of the snow removal equipment, so that the snow removal equipment is deflected as a whole. The brush head pressing cylinder 65 controls the height of the bristles touching the ground, and is adjusted in real time according to the snow accumulation and the degree of wear of the bristles. The mounting device connected to the automobile chassis 1 is connected to the automobile and the posture adjustment mechanism 4 respectively, and the connection method with the automobile is bolt fixing, and the posture adjustment mechanism 4 is connected through a simple disassembly fixing mechanism to achieve quick disassembly and assembly.

[0041] Figure 5 It is a flow chart of a control method of snow removal equipment in one embodiment of the present invention.

[0042] like Figure 5 As shown, based on the snow removal equipment in the above embodiment, the control method of the snow removal equipment in the embodiment of the present invention includes the following steps:

[0043] S10, obtaining the actual rotation speed and target rotation speed of the roller brush 61 in the brush head assembly 6.

[0044] Specifically, due to the diversity of snow-covered roads, such as different degrees of roughness of the roads, the roller brush 61 is subjected to different resistances during use, and the different resistances will cause the rotation speed of the roller brush 61 to be different. In the process of controlling the operation of the roller brush 61, a target current will be provided to the engine 52, and the rotation speed corresponding to the target current is the target rotation speed. However, the rotation speed of the roller brush 61 will change during use, so the actual rotation speed of the roller brush 61 is taken as the actual rotation speed. In this embodiment, the actual rotation speed can be obtained by setting a rotation speed sensor, or by converting and calculating other parameters, which is not limited in this embodiment.

[0045] S20, when the difference between the target rotation speed and the actual rotation speed is greater than a first threshold value and lasts for a first preset time period, the posture adjustment mechanism 4 controls the brush head assembly 6 to rise to a first preset height.

[0046] Specifically, this embodiment determines whether the roller brush 61 is blocked by the difference between the target speed and the actual speed. If blocked, in order to prevent the snow removal equipment from stalling, the height of the brush head assembly 6 needs to be controlled. Specifically, the posture adjustment mechanism 4 can be used to control the brush head assembly 6 to rise to a first preset height, wherein the first preset height can be 5 cm, 10 cm, 15 cm, 20 cm, etc. When the difference obtained by subtracting the actual speed from the target speed is greater than the first threshold value and lasts for a first preset time, it can be determined that the roller brush 61 is blocked, wherein the first threshold value can be 100 rpm, and the first preset time can be 1.5 seconds. It should be noted that the specific values ​​of the first preset height, the first threshold value, and the first preset time in this embodiment can be determined according to the actual application environment and are not specifically limited here.

[0047] S30, reacquiring the actual rotation speed of the roller brush 61.

[0048] S40, when the difference between the target rotation speed and the actual rotation speed retrieved is less than or equal to a second threshold, the posture adjustment mechanism 4 is used to control the brush head assembly 6 to descend to a first preset height, and the second threshold is less than the first threshold.

[0049] Specifically, after completing the control of the brush head assembly 6, continue to obtain the actual rotation speed of the roller brush 61. If the rotation speed of the roller brush 61 is restored, the brush head assembly 6 can be controlled to return to its original position, that is, the brush head assembly 6 is controlled to descend to a first preset height through the posture adjustment mechanism 4. In this embodiment, whether the rotation speed of the roller brush 61 is restored is determined by judging the difference between the target rotation speed and the actual rotation speed. When the difference is less than or equal to the second threshold, it can be determined that the roller brush 61 has been restored and there is no blockage. In this embodiment, the second threshold is limited to be less than the first threshold, which can ensure that when the difference between the target rotation speed and the actual rotation speed is less than or equal to the second threshold, the roller brush 61 is no longer in a blocked state. Optionally, the value of the second threshold can be 50rpm.

[0050] In this embodiment, after the brush head assembly 6 is controlled to rise to a first preset height by the posture adjustment mechanism 4, the brush head assembly 6 is also controlled to continue running for a second preset time period.

[0051] Specifically, after controlling the brush head assembly 6 to rise to the first preset height, in order to improve the accuracy of obtaining the actual rotation speed of the subsequent roller brush 61, the present embodiment can also control the brush head assembly 6 to continue running for a second preset time to avoid detection errors and improve control accuracy. Optionally, the first preset time in the present embodiment is 3 seconds.

[0052] In some embodiments of the present invention, the control method also includes: when the difference between the target speed and the actual speed is less than or equal to a first threshold, or the difference between the target speed and the actual speed is greater than the first threshold but does not last for a first preset time period, controlling the brush head assembly 6 to maintain the current height for operation.

[0053] Specifically, if the roller brush 61 is not blocked, the brush head assembly 6 can be controlled to maintain the current height and continue to work without raising the height of the brush head assembly 6. When the condition that the difference between the target speed and the actual speed is greater than the first threshold and lasts for the first preset time is not met, it can be determined that the roller brush 61 is not blocked, which can be specifically determined as the difference between the target speed and the actual speed is less than or equal to the first threshold, or the difference between the target speed and the actual speed is greater than the first threshold but does not last for the first preset time.

[0054] In some embodiments of the present invention, the control method further includes: when the difference between the target rotation speed and the actual rotation speed retrieved is greater than a second threshold, continuing to control the brush head assembly 6 to rise to a first preset height through the posture adjustment mechanism 4.

[0055] Specifically, after the brush head assembly 6 is controlled to rise to the first preset height, the roller brush 61 is controlled to run continuously for 3 seconds, and then the actual rotation speed of the roller brush 61 is re-acquired. If it is determined that the roller brush 61 has not escaped the blocking condition through the target rotation speed and the re-acquired actual rotation speed, the posture adjustment mechanism 4 can be used to control the brush head assembly 6 to rise to the first preset height. When the difference between the target rotation speed and the re-acquired actual rotation speed is greater than the second threshold, it can be determined that the roller brush 61 has not escaped the blocking condition.

[0056] In a specific embodiment of the present invention, see Figure 6 As shown, first, the roller brush 61 is controlled to start working with the target speed N, and then the actual speed n of the roller brush 61 is obtained, and the difference between the target speed N and the actual speed n is compared. If the difference between the target speed N and the actual speed n is less than or equal to 100rpm, the actual speed n of the roller brush 61 is continued to be obtained and updated; if the difference between the target speed N and the actual speed n is greater than 100rpm, it is further determined whether it lasts for 1.5 seconds. If so, the roller brush rising valve can be controlled to work to increase the first preset height of the brush head assembly 6; if it does not last for 1.5 seconds, the actual speed of the roller brush 61 is obtained again. After controlling the roller brush ascending valve to operate so that the brush head assembly 6 rises to the first preset height, determine whether the brush head assembly 6 has been working continuously for 3 seconds at the height. If so, further compare the target speed and the actual speed of the roller brush 61. If the difference between the target speed and the actual speed is less than or equal to 50rpm, control the roller brush descending valve to operate so that the brush head assembly 6 descends to the first preset height so that the roller brush 61 can work normally; if the difference between the target speed and the actual speed is greater than 50rpm, continue to control the roller brush 61 to rise to the first preset height, and repeat the above steps to determine whether the brush head assembly 6 has been working continuously for 3 seconds at the new height.

[0057] In another embodiment, Figure 7 As shown, when the engine 52 is started, the clutch 53 is used to control the engine 52 and the gearbox 54 to be separated, and the starter motor is turned on after a third preset time period; when the speed of the engine 52 is greater than the preset speed, the starter motor is turned off, and the clutch 53 is used to control the engine 52 and the gearbox 54 to be coupled to output power.

[0058] Specifically, the engine 52 needs to be turned on when the snow removal equipment is working. The specific turning-on steps defined in this embodiment are as follows: first, the engine 52 start switch is triggered. After receiving the trigger signal, the controller 21 controls the clutch 53 to disengage the valve to work so that the engine 52 and the gearbox 54 are separated, and the starter motor is turned on after 3 seconds. Specifically, the corresponding relay is controlled to close. If the engine 52 and the gearbox 54 are not in a separation state for 3 seconds, the clutch 53 can be re-controlled to disengage the valve. After the starter motor is turned on, the speed of the engine 52 can be obtained, and then the speed of the engine 52 is compared with the preset speed, which can be 300rpm. If the speed of the engine 52 is greater than 300rpm, the speed of the engine 52 has reached the starting requirement, so the starter motor can be turned off, and the clutch 53 is controlled to engage the valve to make the gearbox 54 work; if the speed of the engine 52 is less than or equal to 300rpm, the starter motor is continued to be controlled to start, and the speed of the engine 52 is obtained and updated.

[0059] In summary, the control method of the snow removal equipment in the embodiment of the present invention can prevent the snow removal equipment from stalling, so that the snow removal equipment is suitable for uneven roads, while improving the environmental compatibility and snow removal efficiency of the snow removal equipment.

[0060] Furthermore, the present invention proposes a computer-readable storage medium on which a control program for a snow removal device is stored. When the control program is executed by a processor, any method for controlling a snow removal device in the above-mentioned embodiments is implemented.

[0061] The computer-readable storage medium of an embodiment of the present invention can prevent the snow removal equipment from stalling by executing the control program of the snow removal equipment stored thereon through a processor, so that the snow removal equipment can be adapted to uneven roads, while improving the environmental compatibility and snow removal efficiency of the snow removal equipment.

[0062] Figure 8 1 is a block diagram of a control device for snow removal equipment in an embodiment of the present invention.

[0063] Furthermore, if Figure 8 As shown, the present invention proposes a control device 1000 for snow removal equipment, the snow removal equipment includes a brush head assembly 6 and a posture adjustment mechanism 4, the posture adjustment mechanism 4 is connected to the brush head assembly 6, and is used to adjust the posture of the brush head assembly 6, the control device 1000 includes an acquisition module 100 and a control module 200.

[0064] Among them, the acquisition module 100 is used to obtain the actual rotational speed and target rotational speed of the roller brush 61 in the brush head assembly 6; the control module 200 is used to control the brush head assembly 6 to rise to a first preset height through the posture adjustment mechanism 4 when the difference between the target rotational speed and the actual rotational speed is greater than a first threshold and lasts for a first preset time; the acquisition module 100 is also used to re-acquire the actual rotational speed of the roller brush 61; the control module 200 is also used to control the brush head assembly 6 to descend to a first preset height through the posture adjustment mechanism 4 when the difference between the target rotational speed and the re-acquired actual rotational speed is less than or equal to a second threshold, and the second threshold is less than the first threshold.

[0065] In some embodiments of the present invention, the control module 200 is further used to: after the brush head assembly 6 is controlled to rise to a first preset height through the posture adjustment mechanism 4, control the brush head assembly 6 to continue running for a second preset time period.

[0066] In some embodiments of the present invention, the control module 200 is also used to control the brush head assembly 6 to maintain the current height for operation when the difference between the target speed and the actual speed is less than or equal to a first threshold, or the difference between the target speed and the actual speed is greater than the first threshold but does not last for a first preset time period.

[0067] In some embodiments of the present invention, the control module 200 is further configured to: when the difference between the target rotation speed and the actual rotation speed retrieved is greater than a second threshold, continue to control the brush head assembly 6 to rise to a first preset height through the posture adjustment mechanism 4.

[0068] In some embodiments of the present invention, the snow removal device further includes a power assembly 5 , which is fixedly disposed between the brush head assembly 6 and the posture adjustment mechanism 4 .

[0069] In some embodiments of the present invention, the power assembly 5 includes an engine 52, a transmission shaft 55, a clutch 53, a gearbox 54 and a starting motor. The transmission shaft 55 is used to connect the engine 52 and the brush head assembly 6. The engine 52 provides power to the brush head assembly 6 through the transmission shaft 55. The clutch 53 is used to separate or couple the engine 52 and the gearbox 54. The starting motor is used to assist in starting the engine 52.

[0070] In some embodiments of the present invention, the control module 200 is also used to: when the engine 52 is started, control the engine 52 and the gearbox 54 to separate through the clutch 53, and turn on the starter motor after a third preset time; when the speed of the engine 52 is greater than the preset speed, turn off the starter motor, and control the engine 52 and the gearbox 54 to couple through the clutch 53 to output power.

[0071] It should be noted that the specific implementation of the control device of the snow removal equipment in the embodiment of the present invention can refer to the specific implementation of the control method of the snow removal equipment in the above embodiment, and will not be described again here to avoid redundancy.

[0072] In summary, the control device of the snow removal equipment in the embodiment of the present invention can prevent the snow removal equipment from stalling, so that the snow removal equipment is suitable for uneven roads, while improving the environmental compatibility and snow removal efficiency of the snow removal equipment.

[0073] Fig. 9 Schematic diagram of snow removal equipment according to an embodiment of the present invention.

[0074] Furthermore, the present invention proposes a snow removal device 2000, which includes the control device 1000 of the snow removal device in the above embodiment.

[0075] The snow removal equipment of the embodiment of the present invention can prevent the snow removal equipment from stalling through the control device of the snow removal equipment in the above embodiment, so that the snow removal equipment is suitable for uneven roads, while improving the environmental compatibility and snow removal efficiency of the snow removal equipment.

[0076] In addition, other structures and functions of the snow removal equipment in the embodiment of the present invention are known to those skilled in the art and will not be described in detail here to reduce redundancy.

[0077] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0078] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0079] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0080] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0081] In addition, the terms "first", "second", etc. used in the embodiments of the present invention are only used for descriptive purposes and should not be understood as indicating or implying relative importance, or implicitly indicating the number of technical features indicated in the present embodiment. Therefore, the features defined by the terms "first", "second", etc. in the embodiments of the present invention can explicitly or implicitly indicate that the embodiment includes at least one of the features. In the description of the present invention, the word "multiple" means at least two or two or more, such as two, three, four, etc., unless otherwise clearly and specifically defined in the embodiments.

[0082] In the present invention, unless otherwise clearly specified or limited in the embodiments, the terms "installed", "connected", "connected" and "fixed" etc. in the embodiments should be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or an integrated connection. It can be understood that it can also be a mechanical connection, an electrical connection, etc.; of course, it can also be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal connection of two elements, or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific implementation situation.

[0083] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0084] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A method for controlling snow removal equipment, characterized in that: The snow removal device includes a brush head assembly and a posture adjustment mechanism, wherein the posture adjustment mechanism is connected to the brush head assembly and is used to adjust the posture of the brush head assembly. The control method includes: Obtaining an actual rotation speed and a target rotation speed of a roller brush in the brush head assembly; When the difference between the target rotation speed and the actual rotation speed is greater than a first threshold value and lasts for a first preset time, the posture adjustment mechanism is used to control the brush head assembly to rise to a first preset height; Re-obtaining the actual rotation speed of the roller brush; When the difference between the target rotation speed and the retrieved actual rotation speed is less than or equal to a second threshold, the brush head assembly is controlled to descend to the first preset height through the posture adjustment mechanism, and the second threshold is less than the first threshold.

2. The control method of snow removal equipment according to claim 1, characterized in that: After the brush head assembly is controlled to rise to a first preset height by the posture adjustment mechanism, the control method further includes: The brush head assembly is controlled to continuously run for a second preset time period.

3. The control method of snow removal equipment according to claim 1, characterized in that: The control method further comprises: When the difference between the target speed and the actual speed is less than or equal to the first threshold, or the difference between the target speed and the actual speed is greater than the first threshold but does not last for the first preset time, the brush head assembly is controlled to maintain the current height for operation.

4. The control method of snow removal equipment according to claim 1, characterized in that: The control method further comprises: When the difference between the target rotation speed and the actual rotation speed retrieved is greater than the second threshold, the posture adjustment mechanism continues to control the brush head assembly to rise to the first preset height.

5. The control method of snow removal equipment according to claim 1, characterized in that: The snow removal equipment also includes a power assembly, which is fixedly arranged between the brush head assembly and the posture adjustment mechanism.

6. The control method of snow removal equipment according to claim 5, characterized in that: The power assembly includes an engine, a transmission shaft, a clutch, a gearbox and a starter motor. The transmission shaft is used to connect the engine and the brush head assembly. The engine provides power to the brush head assembly through the transmission shaft. The clutch is used to separate or couple the engine and the gearbox. The starter motor is used to assist in starting the engine.

7. The control method of snow removal equipment according to claim 6, characterized in that: When the engine is started, the clutch is used to control the engine and the gearbox to be separated, and the starter motor is turned on after a third preset time period; when the speed of the engine is greater than the preset speed, the starter motor is turned off, and the clutch is used to control the engine and the gearbox to be coupled to output power.

8. A computer-readable storage medium, characterized in that: A control program for snow removal equipment is stored thereon, and when the control program is executed by a processor, the control method for snow removal equipment described in any one of claims 1-7 is implemented.

9. A control device for snow removal equipment, characterized in that: The snow removal equipment includes a brush head assembly and a posture adjustment mechanism, wherein the posture adjustment mechanism is connected to the brush head assembly and is used to adjust the posture of the brush head assembly. The control device includes: An acquisition module, used to acquire an actual rotation speed and a target rotation speed of the roller brush in the brush head assembly; A control module, configured to control the brush head assembly to rise to a first preset height through the posture adjustment mechanism when the difference between the target rotation speed and the actual rotation speed is greater than a first threshold value and lasts for a first preset time period; The acquisition module is also used to re-acquire the actual rotation speed of the roller brush; The control module is further configured to control the brush head assembly to descend to the first preset height through the posture adjustment mechanism when the difference between the target rotation speed and the actual rotation speed retrieved is less than or equal to a second threshold, and the second threshold is less than the first threshold.

10. A snow removal device, characterized in that: A control device comprising the snow removal equipment as claimed in claim 9.

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