Ice breaking control method of snow sweeping equipment, snow sweeping equipment and storage medium

Abstract

The invention relates to the technical field of automatic control, and discloses an ice breaking control method of snow sweeping equipment, the snow sweeping equipment and a storage medium. According to the ice breaking control method for the snow sweeping equipment, a snow throwing assembly movement request of the snow sweeping equipment is received, and whether a snow throwing assembly meets a preset ice breaking condition or not is judged; if the preset ice breaking condition is met, a target motor is controlled to drive a snow throwing assembly to execute ice breaking operation; and after the snow throwing assembly completes the ice breaking operation, if it is determined that ice breaking succeeds, a target position in the snow throwing assembly movement request is obtained, and a target motor is controlled to drive the snow throwing assembly to move towards the target position. According to the snow sweeping equipment, after it is autonomously judged that the snow throwing assembly meets the preset ice breaking condition, the snow throwing assembly is driven by the target motor to automatically execute the ice breaking operation, in this way, normal operation of the snow throwing assembly is guaranteed through automatic ice breaking, meanwhile, the intelligence and automation degree of ice breaking is improved, and the snow sweeping efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of automation control technology, and in particular to an ice-breaking control method for snow-clearing equipment, snow-clearing equipment and a storage medium. Background Art

[0002] A snowplow is a machine that clears snow from the snow, providing convenience for life and travel on snowy days. The snowplow is equipped with a snow throwing component, which is used to throw the snow in the snow roller to a specified direction and position. Snow throwing is the core function of the snowplow. Control of the snow throwing direction is extremely important in the snowplowing process and directly affects the product performance of the snowplow.

[0003] In the prior art, since the operating environment of the snowplow is characterized by high humidity and low temperature, the snow throwing assembly is prone to freezing. At this time, it is often necessary to manually control the joystick to control the movement of the snow throwing assembly or the operator to use additional tools to remove the frozen ice and snow, which will affect the normal operation of the snowplow. In addition, the above-mentioned de-icing process is completely manually operated, the degree of intelligence is not high enough, and the de-icing efficiency is low, which is bound to affect the efficiency of the snow throwing operation of the snowplow. Summary of the invention

[0004] Based on this, it is necessary to provide a snow-clearing equipment ice-breaking control method, snow-clearing equipment and storage medium to address the above-mentioned technical problems, so as to solve the problems of insufficient intelligence and low ice removal efficiency caused by the existing snow-clearing machines manually removing frozen ice and snow.

[0005] A snow-clearing equipment ice-breaking control method, comprising:

[0006] Receive a motion request from a snow throwing component of a snow sweeping device, and determine whether the snow throwing component meets a preset ice breaking condition;

[0007] If the preset ice-breaking conditions are met, the target motor is controlled to drive the snow-throwing assembly to perform an ice-breaking operation;

[0008] After the snow throwing assembly completes the ice breaking operation, if it is determined that the ice breaking is successful, the target position in the movement request of the snow throwing assembly is obtained, and the target motor is controlled to drive the snow throwing assembly to move toward the target position.

[0009] A snow-clearing device comprises a vehicle front, a vehicle body, a snow-throwing assembly, a target motor, a traveling assembly, a processor and a memory. The snow-throwing assembly and the target motor are arranged on the vehicle front, the traveling assembly is arranged on the vehicle body and is used to drive the snow-clearing device to move, the memory stores computer-readable instructions that can be run on the processor, and the processor is used to implement the above-mentioned snow-clearing device ice-breaking control method when executing the computer-readable instructions.

[0010] A computer-readable storage medium stores computer-readable instructions. When the computer-readable instructions are executed by one or more processors, the one or more processors execute the above-mentioned snow-clearing equipment ice-breaking control method.

[0011] In the above-mentioned snow-clearing equipment ice-breaking control method, snow-clearing equipment and storage medium, the snow-clearing equipment ice-breaking control method receives a motion request of a snow-throwing component of the snow-clearing equipment to determine whether the snow-throwing component meets the preset ice-breaking conditions; if the preset ice-breaking conditions are met, the target motor is controlled to drive the snow-throwing component to perform the ice-breaking operation; after the snow-throwing component completes the ice-breaking operation, if it is determined that the ice-breaking is successful, the target position in the motion request of the snow-throwing component is obtained, and the target motor is controlled to drive the snow-throwing component to move toward the target position.

[0012] After receiving the motion request of the snow throwing component of the snow sweeping device, the present invention will drive the snow throwing component to automatically perform the ice breaking operation through the target motor only after determining that the snow throwing component meets the preset ice breaking conditions. In this way, while the normal operation of the snow throwing component is ensured by the above-mentioned automatic ice breaking (thereby ensuring the normal snow sweeping operation of the snow sweeping device and improving the snow sweeping efficiency), it also ensures that the snow throwing device will not arbitrarily start the ice breaking operation when the preset ice breaking conditions are not met, thereby improving the intelligence and automation of ice breaking. After completing the ice breaking operation, the present invention also adjusts the snow throwing component to move toward the target position by controlling the target motor to respond to the motion request of the snow throwing component, so that the control of the snow throwing component is more accurate and the snow sweeping efficiency is further improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0014] Figure 1 1 is a schematic diagram of a structure of a snow throwing assembly of a snow sweeping device according to an embodiment of the present invention;

[0015] Figure 2 It is a flow chart of a method for controlling ice breaking of snow sweeping equipment according to an embodiment of the present invention;

[0016] Figure 3 Schematic diagram of a snow sweeping device according to an embodiment of the present invention.

[0017] The reference numerals in the specification are as follows:

[0018] 100, guide cover; 110, pull rope; 200, slide groove; 210, rotating seat. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] It should be understood that the directions or positional relationships indicated by terms such as "upper", "lower", "left", "right", "front", "back", and "middle" are based on the directions or positional relationships shown in the accompanying drawings and are only used to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation of the present invention.

[0021] In one embodiment, if Figure 1 As shown, a snow-clearing device is provided, the snow-clearing device includes a vehicle head, a vehicle body, a snow-throwing assembly, a target motor and a walking assembly, the snow-throwing assembly and the target motor are arranged on the vehicle head, the walking assembly is arranged on the vehicle body and is used to drive the snow-clearing device to walk. The snow-throwing assembly includes a guide cover 100, a pull rope 110, a slide 200 and a rotating seat 210. Among them, the guide cover 100 can be a half-cover that covers the slide 200 and the degree of coverage can be adjusted, and the guide cover 100 can rotate relative to the slide 200 within a preset pitch angle range; further, the target motor includes a first target motor (not shown in the figure) connected to the guide cover, a magnet is installed on the motor connector, and a first unidirectional photoelectric encoding sensor (not shown in the figure) corresponding to the first target motor is also provided, and the first unidirectional photoelectric encoding sensor is arranged at a preset zero point position of the guide cover 100 and connected to the first target motor. The first target motor is used to drive the guide cover to pitch and rotate; one end of the pull rope 110 is connected to the guide cover 100, and the other end of the pull rope 110 is connected to the first target motor used to control the pull rope 110. The first target motor can drive the guide cover 100 to form a guide angle relative to the chute 200 by controlling the extension and contraction of the pull rope 110, so as to change the coverage degree of the chute 200 and adjust the snow throwing direction of the snow throwing assembly.

[0022] Further, the rotating seat 210 is rotatably mounted on the front of the vehicle, and the target motor includes a second target motor (not shown in the figure) connected to the chute 200, a magnet is installed on the motor connector, and a second unidirectional photoelectric encoding sensor (not shown in the figure) corresponding to the second target motor is also provided, and the second unidirectional photoelectric encoding sensor is provided at the preset zero position of the chute 200 and connected to the second target motor. The second target motor is used to drive the chute 200 to rotate in a circumferential direction; the chute 200 can be a semi-enclosed long groove, the chute 200 is provided on the rotating seat 210 and can rotate with the rotating seat 210 within a preset rotation angle range, and a second target motor for controlling the rotation of the rotating seat 210 is provided below the rotating seat 210. The second target motor can drive the chute 200 to rotate within a preset rotation angle range and form a steering angle by controlling the rotation of the rotating seat 210, so as to adjust the snow throwing direction of the snow throwing assembly.

[0023] It is understandable that the guide angle corresponding to the guide cover 100 (varies within a preset pitch angle range) can be used to determine the direction in which the snow throwing assembly throws snow in the vertical direction. The preset pitch angle range can be set according to demand. For example, the minimum value of the preset pitch angle range is set to the 0° direction parallel to the ground (at this time, the position of the guide cover 100 is the preset zero point position of the guide cover 100), and the maximum value of the preset pitch angle range is the maximum pitch angle to which the guide cover 100 can be rotated in the direction away from the ground. In this embodiment, if the above-mentioned maximum pitch angle is 45°, the preset pitch angle range corresponding to the guide angle corresponding to the guide cover 100 in the plane perpendicular to the horizontal plane is 0° to 45°, that is, when the above-mentioned guide cover 100 performs a pitch motion relative to the slide 200 in the plane perpendicular to the horizontal plane, the guide angle of the guide cover 100 can change within an adjustable range of 0° to 45°.

[0024] The steering angle corresponding to the chute 200 (which varies within a preset rotation angle range) can be used to determine the direction in which the snow-throwing component throws snow in the horizontal direction. The preset rotation angle range can be set according to demand. For example, a mechanical origin (the preset zero point position of the chute 200) is pre-set in the length direction of the snow-clearing equipment. The steering angle corresponding to the chute 200 may refer to the angle between the projection of the chute 200 in the horizontal direction and the length direction of the snow-clearing equipment. In this embodiment, it can be set that when the projection of the slide 200 in the horizontal direction is located at the leftmost side in the length direction of the snow-clearing equipment, it corresponds to the minimum angle value of the preset rotation angle range, that is, 0° (at this time, the position of the slide 200 is the preset zero point position of the slide 200), and when the projection of the slide 200 in the horizontal direction is located at the rightmost side in the length direction of the snow-clearing equipment, it corresponds to the maximum angle of the preset rotation angle range, that is, 180°; at this time, the slide 200 can move from 0° to 180° in the clockwise direction, or from 180° to 0° in the counterclockwise direction, that is, when the slide 200 rotates with the rotating seat 210 in the horizontal direction, the preset pitch angle range corresponding to the steering angle of the slide 200 can vary within an adjustable range of 0° to 180°.

[0025] In one embodiment, if Figure 1 and Figure 2 As shown, a snow-clearing equipment ice-breaking control method is provided, comprising the following steps S10-S30:

[0026] S10, receiving a motion request of a snow throwing component of a snow sweeping device, and determining whether the snow throwing component meets a preset ice breaking condition.

[0027] Understandably, the snow throwing assembly movement request refers to a request for position adjustment of the snow throwing assembly, and the snow throwing assembly movement request can be used to request that the guide cover 100 be driven by the pull rope 110 to adjust the guide angle, or / and, can be used to request that the rotating seat 210 drive the chute 200 to adjust the steering angle. When the snow sweeping device is powered on, the snow throwing assembly can be adjusted to reset to the corresponding preset zero position, for example, by adjusting the guide angle corresponding to the guide cover 100 on the snow throwing assembly to reset the guide cover 100 to the preset zero position of the guide cover 100 or adjusting the steering angle corresponding to the chute 200 to reset the chute 200 to the preset zero position of the chute 200. When the snow sweeping device is performing a snow sweeping operation, the snow throwing direction can be changed by adjusting the guide angle corresponding to the guide cover 100 on the snow throwing assembly or the steering angle corresponding to the chute 200. For example, when the snow sweeping device is located at a fixed position to perform snow sweeping operations, the snow sweeping device needs to roll up and throw out the snow under the snow sweeping device. At this time, the snow throwing device can adjust the steering angle of the chute 200 according to the use requirements to throw the snow to the side position of the snow sweeping device. For another example, when the snow sweeping device moves according to a preset path, the snow sweeping device needs to roll up and throw out the snow under the moving snow sweeping device. The guide angle of the guide cover 100 can be adjusted according to the use requirements, and then the snow can be thrown to the outer position parallel to the path. In addition, in the present invention, the steering angle of the chute 200 and the guide angle of the guide cover can also be adjusted at the same time as needed.

[0028] Understandably, since the operating environment of the snowplow is characterized by high humidity and low temperature, and the snowplow equipment adjusts the snow throwing component intermittently when performing snowplowing operations, the snow throwing component may be frozen when it has not been in action for a long time. At this time, the snow throwing component needs to be de-iced and thawed. The preset ice-breaking conditions refer to the pre-set environmental conditions, working state conditions, duration conditions, and action triggering conditions for each snow throwing from stop to start of the snow throwing component. The preset ice-breaking conditions can be set to default values ​​based on experience, or adjusted according to actual needs. When receiving a movement request for the snow throwing component of the snowplow equipment, since the snow throwing component may be currently frozen, the snow throwing component will be in an inability to move. Therefore, it is necessary to first determine whether the snow throwing component needs to be de-iced, that is, whether the snow throwing component meets the preset ice-breaking conditions, and then proceed to subsequent steps.

[0029] S20: If the preset ice-breaking conditions are met, the target motor is controlled to drive the snow-throwing assembly to perform an ice-breaking operation.

[0030] Understandably, the target motor refers to the motor corresponding to the snow throwing component that needs to be adjusted, and the target motor includes a first target motor connected to the guide cover 100 and a second target motor connected to the chute 200; the first target motor is used to drive the guide cover 100 to pitch and rotate; the second target motor is used to drive the chute 200 to rotate circumferentially (specifically, the second target motor drives the chute 200 to rotate through the rotating seat 210); in this embodiment, according to the motion request of the snow throwing component, it can be known that the snow throwing component that needs to be requested for motion adjustment is the guide cover 100 or / and the chute 200, and then the target motor corresponding to the snow throwing component that needs to be adjusted is determined to be the first target motor or / and the second target motor. Therefore, when the preset ice-breaking condition is met, indicating that the snow throwing component that needs to be adjusted is frozen, the above-determined target motor (the first target motor or / and the second target motor) is controlled to drive the snow throwing component that needs to be adjusted to perform the ice-breaking operation.

[0031] Among them, when the snow throwing component is frozen, it is generally thin ice. The ice breaking operation is completed based on the target motor forcibly driving the snow throwing component to move at high power in a short time (such as 10ms). Since the target motor will not damage the machine when it runs at the maximum design power for a short time, the above characteristics are used to make the target motor drive the snow throwing component to move and break the thin ice from the inside, which can avoid the phenomenon of damaging the machine when breaking ice from the outside manually. In this embodiment, if only the guide cover 100 needs to be adjusted and the guide cover 100 meets the preset ice breaking conditions, the first target motor connected to the pull rope drives the guide cover 100 to perform the ice breaking operation; if only the chute 200 needs to be adjusted and the chute 200 meets the preset ice breaking conditions, the second target motor under the rotating seat drives the chute 200 to perform the ice breaking operation; if the guide cover 100 and the chute 200 need to be adjusted at the same time, and both the guide cover 100 and the chute 200 meet the preset ice breaking conditions, the first target motor connected to the pull rope drives the guide cover 100 and the second target motor drives the chute 200 to perform the ice breaking operation. For other situations, please refer to the above description and will not be repeated here.

[0032] S30. After the snow throwing component completes the ice breaking operation, if it is determined that the ice breaking is successful, the target position in the movement request of the snow throwing component is obtained, and the target motor is controlled to drive the snow throwing component to move toward the target position.

[0033] Understandably, when the snow-clearing device is performing snow-clearing operations, the user can set the steering angle of the chute 200 in the snow-throwing assembly and the guiding angle of the guide cover 100 according to the snow-throwing direction in the snow-throwing operation, and the snow-clearing device can also automatically calculate the steering angle of the chute 200 in the snow-throwing assembly and the guiding angle of the guide cover 100 according to the current position of the device and the snow-throwing falling point. The target position refers to the position that the snow-throwing assembly needs to reach after adjustment, for example, it can be the stop position of the chute 200's circumferential rotation, or it can be the stop position of the guide cover 100's pitch rotation. When the snow-clearing device is powered on, it is necessary to adjust the snow-throwing assembly to reset to the corresponding preset zero position, and the target position at this time is the preset zero position. When the snow-clearing device is performing snow-clearing operations, and it is necessary to adjust the guiding angle corresponding to the guide cover 100 on the snow-throwing assembly or the steering angle corresponding to the chute 200 to make the snow-throwing assembly at the target snow-throwing position to change the snow-throwing direction, the target position is the target snow-throwing position. Each target position corresponds to a steering angle of a chute 200 and a guide angle of a guide cover 100, and each target position also corresponds to a snow throwing landing point. After the snow throwing component completes the ice breaking operation, if the snow throwing component is in an actionable state (the target motor will not be blocked when rotating), it is determined that the ice breaking is successful. If the snow throwing component is still in an inaction state (the target motor will be blocked when rotating), it is determined that the ice breaking has failed. After determining that the ice breaking is successful, the target position in the snow throwing component motion request is obtained.

[0034] Among them, since each target position may correspond to a steering angle of a chute 200 and a steering angle of a guide cover 100, therefore, if only the steering angle of the guide cover 100 needs to be changed relative to the current position of the target position of the snow throwing assembly, the guide cover 100 is driven by the first target motor to perform a pitch rotation to the steering angle corresponding to the target position; if only the steering angle of the chute 200 needs to be changed relative to the current position of the target position of the snow throwing assembly, the chute 200 is driven by the second target motor to perform a circumferential rotation to the steering angle corresponding to the target position. When both the steering angle of the guide cover 100 and the steering angle of the chute 200 need to be changed relative to the current position of the target position of the snow throwing assembly, the guide cover 100 is driven by the first target motor to perform a pitch motion to the steering angle corresponding to the target position, and the chute 200 is driven by the second target motor to perform a circumferential rotation to the steering angle corresponding to the target position.

[0035] After receiving the motion request of the snow throwing component of the snow sweeping device, this embodiment will only drive the snow throwing component to automatically perform the ice breaking operation through the target motor after determining that the snow throwing component meets the preset ice breaking conditions. In this way, while the normal operation of the snow throwing component is ensured by the above-mentioned automatic ice breaking (thereby ensuring the normal snow sweeping operation of the snow sweeping device and improving the snow sweeping efficiency), it also ensures that the snow throwing device will not arbitrarily start the ice breaking operation when the preset ice breaking conditions are not met, thereby improving the intelligence and automation of ice breaking. Moreover, after completing the ice breaking operation, the present invention also adjusts the snow throwing component to move toward the target position by controlling the target motor to respond to the motion request of the snow throwing component, so that the control of the snow throwing component is more accurate and the snow sweeping efficiency is further improved.

[0036] In one embodiment, step S10, i.e., determining whether the snow throwing assembly meets the preset ice breaking condition, includes:

[0037] S101, if the snow throwing component motion request is a snow throwing motion request, determining the target snow throwing position in the snow throwing motion request as the target position, and determining whether the current environment information meets the preset ice and snow environment;

[0038] S102, when the current environmental information meets the preset ice and snow environment, determining whether the current working state of the target motor is a motor standby state;

[0039] S103. When the working state is the motor standby state, if it is confirmed that the duration of the motor standby state is greater than the preset freezing duration, it is determined that the snow throwing component meets the preset ice breaking condition.

[0040] Understandably, the snow throwing motion request is a request for controlling the snow throwing component to move to the target snow throwing position, and then throwing the snow to the snow throwing landing point corresponding to the target snow throwing position. The target snow throwing position refers to the position of the snow throwing component during the snow throwing operation. The preset ice and snow environment refers to the pre-set environmental conditions for judging whether ice will form. Whether the preset ice and snow environment is met can be judged by the current environmental information corresponding to the current environment in which the snow throwing component is located obtained in real time (such as weather factors such as temperature and sunshine). The control signal of the motor is initiated by the microcontroller unit (MCU), and the MCU can monitor the control state of the motor in combination with the current information to judge the state of the motor, wherein the motor standby state refers to the state in which the motor is not rotating. The preset freezing time is a pre-set time condition for judging whether ice will form. For example, in an environment of minus 5°C, as long as the target motor corresponding to the snow throwing component is in the standby state for 10 minutes, it indicates that the snow throwing component has not been adjusted within 10 minutes and is likely to freeze. Therefore, the preset ice and snow environment can be set to a temperature below minus 5°C, and the preset freezing time can be set to a time greater than 10 minutes. When the motion request of the snow-throwing component is a snow-throwing motion request, it indicates that the snow-clearing equipment is in a snow-clearing operation. Therefore, it is necessary to simultaneously meet the conditions that the current environmental information conforms to the preset ice and snow environment, the current working state of the target motor is the motor standby state, and the duration of the target motor in the motor standby state is greater than the preset freezing time. Only then can it be determined that the snow-throwing component needs to break the ice, that is, to determine that the snow-throwing component meets the preset ice-breaking conditions.

[0041] In this embodiment, when the movement request of the snow-throwing component is a snow-throwing movement request, multiple conditions such as the setting of the preset ice and snow environment, the working state of the motor and the standby time of the motor are combined to determine whether the snow-throwing component needs to break ice, thereby improving the rigor of the ice-breaking preconditions and ensuring the necessity of the ice-breaking operation.

[0042] In one embodiment, step S10, i.e., determining whether the snow throwing assembly meets the preset ice breaking condition, includes:

[0043] S104, if the snow throwing component motion request is a power-on reset motion request, determining the preset zero point position in the power-on reset motion request as the target position, and determining whether the current environmental information meets the preset ice and snow environment;

[0044] S105, when the current environmental information meets the preset ice and snow environment, controlling the target motor to drive the snow throwing assembly to move toward the target position in the snow throwing assembly movement request according to the preset test power, and obtaining the first motor movement information;

[0045] S106. Determine whether the snow throwing assembly meets a preset ice breaking condition according to the first motor movement information.

[0046] Understandably, the power-on reset motion request is a request for controlling the snow throwing assembly of the snow-clearing device to rotate to a preset zero position when the snow-clearing device is powered on. At this time, the target position refers to the preset zero position of the snow-clearing assembly. When the snow-clearing device is shut down after use or a fault occurs, the snow-clearing assembly may still remain at the position before the shutdown. In order to ensure the accuracy of the snow-clearing control, the snow-clearing assembly needs to be powered on and reset every time the snow-clearing device is powered on. At this time, the snow-clearing assembly needs to be rotated and reset to the preset zero position (the preset zero position refers to the position where the guide angle corresponding to the guide cover 100 is 0° and the steering angle corresponding to the chute 200 is 0°), the first target motor needs to drive the guide cover 100 to pitch and rotate to the position where the guide angle is 0°, and the second target motor needs to drive the chute 200 to rotate circumferentially to the position where the steering angle is 0° at the same time, so as to facilitate zero point calibration. Understandably, when the power-on signal of the snow-clearing device is monitored, it can be first determined whether the snow-clearing assembly is at the preset zero position. If it is not at the preset zero position, a power-on reset motion request is generated.

[0047] Understandably, if the snow throwing component is frozen and in an inoperable state, it cannot respond to the power-on reset motion request, so it is necessary to determine whether the snow throwing component meets the preset ice-breaking condition, that is, whether the ice-breaking operation needs to be performed. When the snow throwing component motion request is a power-on reset motion request, and the current environmental information meets the preset ice and snow environment, it is impossible to determine whether the snow throwing component needs to break ice based on the standby time of the target motor. Therefore, in this embodiment, the target motor is tested to successfully drive the snow throwing component to move to test whether the snow throwing component meets the preset ice-breaking condition (satisfying the preset ice-breaking condition means that the ice-breaking operation needs to be performed). Among them, the preset test power is the output power of the target motor that is preset to test whether the snow throwing component corresponding to the target motor meets the preset ice breaking condition. For example, it can be set to 20% of the maximum output power of the target motor. At this time, the preset test power is relatively small, which can avoid excessive wear on the target motor (if the snow throwing component is rotated in advance by a larger preset test power and tested whether it meets the preset ice breaking condition, after the test is completed, if the snow throwing component meets the preset ice breaking condition, it is necessary to perform ice breaking operation with a large power, which will cause the target motor to run at high power for a relatively long time, and the wear on the target motor will be relatively large). The first motor motion information is the rotation state information corresponding to the target motor under the preset test power, including whether the target motor rotates normally and the current information in the motor. When it is determined that the target motor rotates normally according to the first motor motion information, it is determined that the snow throwing component does not meet the preset ice breaking condition (normal rotation, no ice, no ice breaking operation), and the snow throwing component is directly driven to power on and reset. When it is determined that the target motor is blocked or rotates abnormally or the current information is abnormal according to the first motor motion information, it is determined that the snow throwing component meets the preset ice breaking condition.

[0048] In this embodiment, when the motion request of the snow throwing component is a power-on reset motion request, a smaller preset test power is used to control the target motor to test whether the snow throwing component needs to break ice (whether the preset ice breaking conditions are met), thereby avoiding the inability to reset the snow throwing component due to ice formation, ensuring the success rate of power-on reset, facilitating accurate snow throwing control, and avoiding excessive wear of the target motor.

[0049] In one embodiment, in step S20, that is, controlling the target motor to drive the snow throwing assembly to perform an ice breaking operation, includes:

[0050] S201, controlling the target motor to drive the snow throwing assembly to move in a preset direction of movement with the maximum output power of the target motor;

[0051] S202: After the target motor drives the snow throwing assembly to move for a preset ice-breaking time, confirming that the snow throwing assembly completes the ice-breaking operation.

[0052] It is understandable that the preset movement direction is a preset angular direction for realizing the movement of the snow throwing assembly. The preset movement direction can be a direction of reciprocating movement within a specific angle range, or a movement direction from the current position of the snow throwing assembly to the target position. Figure 1 In the illustrated embodiment, the preset movement direction may refer to the pitch movement direction of the guiding cover 100 first obliquely upward and then obliquely downward, or may refer to the circumferential rotation direction of the slide 200 first clockwise and then counterclockwise, etc. The preset ice-breaking time is the time for the target motor to drive the snow-throwing assembly to move at the maximum output power. Since the maximum output power will wear the motor, the preset ice-breaking time is set to a smaller value, such as 0.5s, to avoid excessive wear of the target motor. In addition, since the current sampling rate of the motor is high enough, there is no need to worry that the initial start-up operation of the maximum output power will cause continuous loss to the motor when the motor is completely blocked, and the current protection strategy will perform a forced rest lock operation for the continuous instantaneous overcurrent behavior to ensure that the motor will not be continuously worn or the damaged motor will be isolated. In order to ensure the success rate of ice-breaking, the target motor can be driven to move in the preset direction of movement at the maximum output power for a preset ice-breaking time, and then the snow-throwing assembly is confirmed to have completed the ice-breaking operation.

[0053] This embodiment enables the target motor to drive the snow throwing assembly to move in a specific motion mode for a specific duration at maximum output power to complete the ice breaking operation of the snow throwing assembly, thereby protecting the service life of the target motor while ensuring the success rate of ice breaking.

[0054] In one embodiment, the snow throwing assembly includes a guide cover 100 and a slide 200; the target motor includes a first target motor connected to the guide cover 100 and a second target motor connected to the slide 200; the maximum output power includes a first maximum output power corresponding to the first target motor and a second maximum output power corresponding to the second target motor; in step S201, the target motor is controlled to drive the snow throwing assembly to move in a preset direction of movement with the maximum output power of the target motor, including:

[0055] S2011, controlling the first target motor to drive the guide cover 100 to perform a reciprocating pitch rotation action at a preset pitch swing angle with a first maximum output power; and / or

[0056] S2012, controlling the second target motor to drive the slide slot 200 to perform a reciprocating circumferential rotation action at a preset reciprocating rotation angle with a second maximum output power.

[0057] Understandably, the preset pitch swing angle is a preset angle range for realizing the pitch rotation of the guide cover 100, and the default setting is the preset pitch angle range, that is, the guide cover 100 pitches and rotates back and forth between the maximum value and the minimum value of the preset pitch angle range when it pitches and rotates. When the guide cover 100 in the snow throwing assembly needs to break ice, and the preset pitch angle range corresponding to the guide cover 100 is 0° to 45°, the reciprocating pitch rotation action refers to the first target motor driving the guide cover 100 with the maximum output power to realize a back and forth swinging action from 0° to 45° and then from 45° to 0°.

[0058] The preset reciprocating rotation angle is a preset angle range for realizing the reciprocating rotation of the chute 200, and the default setting is the preset rotation angle range, that is, when the chute 200 rotates, it reciprocates and rotates circumferentially between the maximum value and the minimum value of the preset rotation angle range. Of course, the preset pitch swing angle and the preset reciprocating rotation angle can also be set to other values ​​according to needs. When the chute 200 in the snow throwing assembly needs to break ice, and the preset rotation angle range corresponding to the chute 200 is 0° to 180°, the reciprocating circumferential rotation action refers to the second target motor driving the chute 200 to realize a back and forth rotation action from 0° to 180° and then from 180° to 0°.

[0059] This embodiment controls the target motor to drive the guide cover 100 and / or the slide groove 200 to reciprocate between their respective corresponding maximum movement angles and minimum movement angles with maximum output power, which can achieve effective ice breaking and help clean up ice debris after ice breaking to avoid affecting the subsequent snow throwing component adjustment movement.

[0060] In one embodiment, in step S30, that is, after the snow throwing assembly completes the ice breaking operation, the step further includes:

[0061] S301, obtaining the second motor movement information of the snow throwing component within a preset time period; the preset time period refers to a preset time range that is before the completion time point of the ice breaking operation and adjacent to the completion time point;

[0062] S302: When it is determined according to the second motor movement information that ice breaking fails, snow throwing component freezing information is sent to a preset processing party.

[0063] Understandably, the second motor motion information is the rotation state corresponding to the preset duration during the process in which the target motor drives the snow throwing component to perform the ice breaking operation, including whether the target motor rotates normally or the current information in the motor. The preset processing party is the preset recipient of the snow throwing component freezing information, which can be the current operating user of the snow sweeping device. The snow throwing component freezing information is information used to prompt that the snow throwing component is frozen. The second motor motion information of the snow throwing component within the preset duration is obtained, that is, the motor motion state of the last short period of time when the target motor runs at the maximum output power for the preset ice breaking duration, and the preset duration is less than or equal to the preset ice breaking duration. When it is determined that the target motor is blocked according to the second motor motion information, it indicates that the snow throwing component is still in an inoperable state, then the ice breaking failure is confirmed and the snow throwing component freezing information is sent to the snow sweeping device user. When it is determined that the target motor is not blocked according to the second motor motion information, it indicates that the snow throwing component is in an operable state, then the ice breaking is confirmed to be successful.

[0064] In another embodiment, when it is determined that the target motor is blocked according to the second motor motion information, indicating that the snow throwing component is still in an inoperable state, the target motor is controlled to drive the snow throwing component to re-execute the ice breaking operation, and the number of retries of re-executing the ice breaking operation is recorded. When the number of retries reaches a preset retry number threshold (such as 5 times) and the snow throwing component is still in an inoperable state, ice breaking failure is confirmed and a snow throwing component freezing information is sent to the snow sweeping device user.

[0065] After the snow throwing component completes the ice breaking operation, this embodiment determines whether the ice breaking is successful by judging the rotation status of the target motor, thereby ensuring the accuracy of the ice breaking result, and sending notification information in time when the ice breaking fails, so as to quickly and effectively feedback the ice breaking result.

[0066] In one embodiment, in step S30, that is, controlling the target motor to drive the snow throwing assembly to move toward the target position, includes:

[0067] S303, controlling the target motor to drive the snow throwing assembly to continue moving toward the target position at the maximum output power;

[0068] S304. When it is determined that the snow throwing assembly and the target position satisfy a preset position relationship, the target motor is controlled to gradually reduce the output power so that when the snow throwing assembly reaches the target position, the output power of the target motor is reduced to less than or equal to a preset power threshold.

[0069] Understandably, after determining that the ice is broken successfully, the target motor is in a moving state with maximum output power. In order to quickly adjust the position of the snow throwing assembly, the target motor is controlled to drive the snow throwing assembly to continue to move toward the target position with maximum output power. At this time, it is necessary to redetermine the movement direction of the snow throwing assembly based on the current position of the snow throwing assembly when the ice is broken and the target position.

[0070] The snow throwing assembly needs to stop moving when it reaches the target position, that is, the target motor needs to be braked. If emergency braking is performed at the maximum output power, it will cause wear on the target motor. Therefore, measures can be taken to reduce the motor output power in advance when the snow throwing assembly approaches the target position. The position change of the snow throwing assembly is achieved through angle change (the elevation angle of the guide cover or the steering angle of the chute), and an angle displacement value will be generated as the angle changes (such as the angle displacement value when the elevation angle of the guide cover increases from 30° to 35° is +5°). The motor drives the snow throwing assembly to move. When the snow throwing assembly changes position, each angle displacement value of the snow throwing assembly will correspond to a rotation angle of the target motor. There is a fixed conversion relationship between the rotation angle of the target motor and the angle displacement value of the snow throwing assembly. This conversion relationship is determined when the snow sweeping equipment leaves the factory, that is, the angle displacement value of the snow throwing assembly can be determined based on the rotation angle and rotation direction of the target motor. The preset position relationship is a pre-set critical relationship between the angle displacement value corresponding to the real-time position of the snow throwing assembly and the angle displacement value corresponding to the target position when the output power of the target motor is reduced. The preset power threshold can be set according to demand, which can be a preset maximum value of the output power that the target motor needs to reduce to when the snow throwing component reaches the target position; specifically, when it is determined that the preset position relationship is satisfied between the snow throwing component and the target position, the target motor is controlled to gradually reduce the output power. When the preset power threshold is set to 0, the output power of the snow throwing component needs to be reduced to 0 when it reaches the target position, that is, the snow throwing component just stops moving, and the target motor does not need to be braked at this time. Understandably, when the preset power threshold is set to N (N is greater than 0), the output power of the snow throwing component needs to be reduced to less than or equal to N when it reaches the target position. If it is reduced to a value greater than 0 and less than or equal to N, the snow throwing component has not stopped moving at this time. At this time, the target motor needs to be braked, but it does not need to be braked strongly, and the wear on the target motor can still be reduced to a certain extent.

[0071] This embodiment adopts a method of first outputting high power to the target motor and then adaptively reducing the power output, which not only ensures the efficiency of the snow throwing component adjustment, but also reduces the wear on the target motor and saves braking energy.

[0072] In one embodiment, in step S303, that is, after controlling the target motor to drive the snow throwing assembly to continue to move toward the target position at the maximum output power, the following steps are included:

[0073] S3031, monitoring the rotation angle of the target motor through a unidirectional photoelectric encoding sensor, and obtaining the current rotation direction of the target motor;

[0074] S3032, determining the real-time position of the snow throwing assembly according to the rotation angle and the current rotation direction;

[0075] S3033, obtaining the angular displacement difference between the real-time position and the target position, and when the angular displacement difference is less than or equal to a preset angular displacement threshold, determining that the snow throwing assembly and the target position satisfy a preset position relationship.

[0076] It is understandable that during the snow-clearing operation, the snow-clearing equipment can detect the target motor corresponding to the snow-throwing assembly through a sensor, that is, the first target motor and the second target motor each correspond to a sensor. The sensor can be a photoelectric encoding sensor or a Hall sensor, preferably a unidirectional photoelectric encoding sensor. The photoelectric encoding sensor is also called a photoelectric angular position sensor, and can be divided into incremental and absolute photoelectric encoding sensors according to the purpose. Among them, the grating code disk of the incremental photoelectric encoding sensor is composed of light and dark grating lines. When the rotor of the target motor rotates, the A and B ports of the code disk output orthogonal square wave signals with a phase difference of 90°. The square wave signals are counted, and the rotation angle of the target motor can be calculated according to the number of square wave signals. At the same time, combined with the direction of the drive signal that controls the target motor, the unidirectional photoelectric encoding sensor can be effectively converted into a bidirectional photoelectric encoding sensor signal, which is used to accurately obtain the position information of the snow-throwing assembly. Among them, because the unidirectional photoelectric encoding sensor can only feedback the current rotation angle and does not have direction information, the bidirectional photoelectric encoding sensor signal can feedback the current rotation angle and direction. Therefore, the rotation direction of the target motor can be determined according to the direction signal pin of the target motor. A low level indicates forward rotation (away from the preset zero position), and a high level indicates reverse rotation (close to the preset zero position). Combined with the rotation angle fed back by the unidirectional photoelectric encoding sensor, the effect of a bidirectional photoelectric encoder can be achieved in effect. When the position of the snow throwing assembly changes, each angular displacement value of the snow throwing assembly will correspond to a rotation angle of the target motor. There is a fixed conversion relationship between the rotation angle of the target motor and the angular displacement value of the snow throwing assembly. The angular displacement value of the snow throwing assembly can be determined according to the rotation angle and rotation direction of the target motor, that is, the angular displacement value corresponding to the real-time position of the snow throwing assembly can be determined by the number of square wave signals of the unidirectional photoelectric encoding sensor and the rotation direction of the target motor. The preset angular displacement threshold is a pre-set minimum critical value for determining the angular displacement difference between the snow throwing assembly and the target position that satisfies the preset position relationship.

[0077] In one embodiment, when the snow throwing assembly completes the power-on reset, the snow throwing assembly is at a preset zero position, and the monitoring of the target motor by the unidirectional photoelectric encoding sensor is also at zero point of square wave signal counting. That is, the guide angle of the guide cover 100 in the vertical direction is 0°, and the number of square wave signals monitored by the first unidirectional photoelectric encoding sensor for the first target motor is 0; the steering angle of the chute 200 in the horizontal direction is 0° and the number of square wave signals monitored by the second unidirectional photoelectric encoding sensor for the second target motor is 0. When the target motor drives the snow throwing assembly to move, the guide angle of the guide cover 100 in the vertical direction changes, and the number of square wave signals corresponding to the first target motor changes from 0; the steering angle of the chute 200 in the horizontal direction changes, and the number of square wave signals corresponding to the second target motor changes from 0. The rotation angle of the target motor is monitored by a unidirectional photoelectric encoding sensor, and the current rotation direction of the target motor is obtained. The real-time angular displacement value corresponding to the time when the snow throwing assembly reaches the real-time position from the starting position of the movement can be converted according to the rotation angle and the current rotation direction. The target angular displacement value corresponding to the time when the snow throwing assembly reaches the target position from the starting position of the movement can be determined according to the target position. When the difference between the real-time angular displacement value and the target angular displacement value is less than or equal to the preset angular displacement threshold, it is determined that the preset position relationship between the snow throwing assembly and the target position is met.

[0078] This embodiment uses a unidirectional photoelectric encoding sensor to monitor the rotation angle of the target motor, and further obtains the distance difference between the real-time position of the snow throwing assembly and the target position. It can accurately determine whether the distance between the snow throwing assembly and the target position reaches a preset distance threshold, thereby improving the accuracy of snow throwing control.

[0079] In one embodiment, in step S10, that is, after determining whether the snow throwing assembly meets the preset ice breaking condition, the method further includes:

[0080] S107, if the preset ice-breaking condition is not met, obtaining the target position in the snow-throwing component motion request;

[0081] S108, controlling the target motor to drive the snow throwing assembly to move toward the target position, and gradually increasing the output power of the target motor;

[0082] S109, monitoring whether the output power of the target motor is less than the maximum output power, and determining whether the snow throwing assembly and the target position satisfy a preset position relationship;

[0083] S110, when the output power of the target motor is less than the maximum output power and the snow throwing assembly and the target position satisfy a preset position relationship, controlling the target motor to gradually reduce the output power so that when the snow throwing assembly reaches the target position, the output power of the target motor is reduced to less than or equal to a preset power threshold;

[0084] S111. When the output power of the target motor is equal to the maximum output power and a preset position relationship is satisfied between the snow throwing assembly and the target position, the target motor is controlled to continue to maintain the maximum output power until it is determined that the distance between the snow throwing assembly and the target position reaches a preset distance threshold, and the target motor is controlled to gradually reduce the output power so that when the snow throwing assembly reaches the target position, the output power of the target motor is reduced to less than or equal to a preset power threshold.

[0085] Understandably, when the snow throwing assembly does not meet the preset ice breaking conditions, it indicates that the snow throwing assembly does not need to break ice, and the target position in the snow throwing assembly movement request can be obtained, and the target motor can be controlled to drive the snow throwing assembly to move toward the target position. In order to quickly adjust the position of the snow throwing assembly, the output power of the target motor can be gradually increased, and the output power of the target motor can be monitored to see whether it is less than the maximum output power, and at the same time, it can be determined whether the preset position relationship between the snow throwing assembly and the target position is met.

[0086] In one embodiment, when the output power of the target motor is less than (or equal to) the maximum output power, and the snow throwing assembly and the target position are judged to meet the preset position relationship based on the angular displacement difference between the real-time position of the snow throwing assembly and the target position, the target motor is controlled to gradually reduce the output power, so that when the snow throwing assembly reaches the target position, the output power of the target motor is reduced to less than or equal to the preset power threshold. When the output power of the target motor is equal to the maximum output power, and the preset position relationship between the snow throwing assembly and the target position is not yet met based on the angular displacement difference between the real-time position of the snow throwing assembly and the target position, the target motor is controlled to continue to maintain the maximum output power until it is determined that the distance between the snow throwing assembly and the target position reaches the preset distance threshold, and the target motor is controlled to gradually reduce the output power.

[0087] When the snow throwing assembly does not need to break ice, this embodiment increases the power output of the target motor first and then adaptively reduces the power output, thereby ensuring the efficiency of the snow throwing assembly adjustment and reducing the wear on the target motor and saving braking energy.

[0088] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0089] In one embodiment, a snow-clearing equipment ice-breaking control device is provided, and the snow-clearing equipment ice-breaking control device corresponds one-to-one to the snow-clearing equipment ice-breaking control method in the above embodiment. Figure 3 As shown, the snow-clearing equipment ice-breaking control device includes an ice-breaking condition judgment module 10, an ice-breaking operation execution module 20 and a snow-throwing component adjustment module 30. The functional modules are described in detail as follows:

[0090] The ice-breaking condition judgment module 10 is used to receive a motion request of a snow-throwing component of a snow-clearing device and judge whether the snow-throwing component meets a preset ice-breaking condition;

[0091] The ice-breaking operation execution module 20 is used to control the target motor to drive the snow throwing assembly to perform the ice-breaking operation if the preset ice-breaking conditions are met;

[0092] The snow throwing assembly adjustment module 30 is used to obtain the target position in the snow throwing assembly movement request after the snow throwing assembly completes the ice breaking operation, if it is determined that the ice breaking is successful, and control the target motor to drive the snow throwing assembly to move toward the target position.

[0093] In one embodiment, the ice-breaking condition determination module 10 includes:

[0094] A snow throwing environment information determination unit, configured to determine the target snow throwing position in the snow throwing movement request as the target position if the snow throwing component movement request is a snow throwing movement request, and to determine whether the current environment information meets the preset ice and snow environment;

[0095] A working state judgment unit, used for judging whether the current working state of the target motor is a motor standby state when the current environmental information meets the preset ice and snow environment;

[0096] The snow throwing and ice breaking condition determination unit is used to determine that the snow throwing component meets the preset ice breaking condition if it is confirmed that the duration of the motor standby state is greater than the preset icing duration when the working state is the motor standby state.

[0097] In one embodiment, the ice-breaking condition determination module 10 further includes:

[0098] A power-on environment information judgment unit, for determining a preset zero point position in the power-on reset motion request as the target position if the snow throwing component motion request is a power-on reset motion request, and judging whether the current environment information conforms to the preset ice and snow environment;

[0099] A snow throwing assembly test unit, used for controlling the target motor to drive the snow throwing assembly to move toward the target position in the snow throwing assembly movement request according to a preset test power when the current environmental information meets the preset ice and snow environment, and obtaining the first motor movement information;

[0100] The power-on ice-breaking condition determination unit is used to determine whether the snow-throwing assembly meets a preset ice-breaking condition according to the first motor movement information.

[0101] In one embodiment, the ice breaking operation execution module 20 includes:

[0102] A full power output unit, used to control the target motor to drive the snow throwing assembly to move in a preset direction of movement with the maximum output power of the target motor;

[0103] The ice-breaking operation completion unit is used to confirm that the snow-throwing assembly completes the ice-breaking operation after the target motor drives the snow-throwing assembly to move for a preset ice-breaking time.

[0104] In one embodiment, the ice-breaking operation execution module 20 further includes:

[0105] a guide cover ice-breaking unit, used for controlling the first target motor to drive the guide cover to perform a reciprocating pitch rotation action at a preset pitch swing angle with a first maximum output power; and / or

[0106] The chute ice-breaking unit is used to control the second target motor to drive the chute to perform reciprocating circumferential rotation at a preset reciprocating rotation angle with a second maximum output power.

[0107] In one embodiment, the snow throwing assembly adjustment module 30 includes:

[0108] An output power maintaining unit, used for controlling the target motor to drive the snow throwing assembly to continue to move toward the target position at the maximum output power;

[0109] The first output power reduction unit is used to control the target motor to gradually reduce the output power when it is determined that the preset position relationship is satisfied between the snow throwing assembly and the target position, so that when the snow throwing assembly reaches the target position, the output power of the target motor is reduced to less than or equal to a preset power threshold.

[0110] In one embodiment, the snow throwing assembly adjustment module 30 further includes:

[0111] A rotation angle monitoring unit, used to monitor the rotation angle of the target motor through a unidirectional photoelectric encoding sensor and obtain the current rotation direction of the target motor;

[0112] A real-time position determination unit, used to determine the real-time position of the snow throwing assembly according to the rotation angle and the current rotation direction;

[0113] The distance difference judgment unit is used to obtain the angular displacement difference between the real-time position and the target position, and when the angular displacement difference is less than or equal to the preset angular displacement threshold, it is determined that the snow throwing assembly and the target position meet the preset position relationship.

[0114] In one embodiment, the ice-breaking condition determination module 10 further includes:

[0115] A target position acquisition unit, used for acquiring the target position in the snow throwing component motion request if the preset ice breaking condition is not met;

[0116] An output power increasing unit, used for controlling the target motor to drive the snow throwing assembly to move toward the target position, and gradually increasing the output power of the target motor;

[0117] An output power monitoring unit, used to monitor whether the output power of the target motor is less than the maximum output power, and to determine whether the snow throwing assembly and the target position meet a preset position relationship;

[0118] A second output power reduction unit is used to control the target motor to gradually reduce the output power when the output power of the target motor is less than the maximum output power and a preset position relationship is satisfied between the snow throwing assembly and the target position, so that when the snow throwing assembly reaches the target position, the output power of the target motor is reduced to less than or equal to a preset power threshold;

[0119] The third output power reduction unit is used to control the target motor to continue to maintain the maximum output power when the output power of the target motor is equal to the maximum output power and a preset position relationship is satisfied between the snow throwing component and the target position, until it is determined that the distance between the snow throwing component and the target position reaches a preset distance threshold, and then control the target motor to gradually reduce the output power so that when the snow throwing component reaches the target position, the output power of the target motor is reduced to less than or equal to a preset power threshold.

[0120] The specific definition of the snow-clearing equipment ice-breaking control device can be found in the above definition of the snow-clearing equipment ice-breaking control method, which will not be repeated here. Each module in the above-mentioned snow-clearing equipment ice-breaking control device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0121] In one embodiment, a snow-clearing device is provided, which may be a snow-clearing vehicle or a snow-clearing robot. The snow-clearing device comprises a vehicle head, a vehicle body, a snow-throwing assembly, a target motor, a walking assembly, a processor and a memory. The snow-throwing assembly and the target motor are arranged on the vehicle head, the walking assembly is arranged on the vehicle body and is used to drive the snow-clearing device to walk, and the memory stores computer-readable instructions that can be run on the processor. When the processor executes the computer-readable instructions, the above-mentioned snow-clearing device ice-breaking control method is implemented.

[0122] In one embodiment, if Figure 1 As shown, the snow throwing assembly includes a guide cover 100 and a slide chute 200; the target motor includes a first target motor connected to the guide cover 100 and a second target motor connected to the slide chute 200; the first target motor is used to drive the guide cover 100 to rotate in pitch; the second target motor is used to drive the slide chute 200 to rotate in a circumferential direction.

[0123] Furthermore, the snow-clearing equipment further includes a first unidirectional photoelectric encoding sensor for monitoring the rotation angle of the first target motor and a second unidirectional photoelectric encoding sensor for monitoring the rotation angle of the second target motor.

[0124] In one embodiment, one or more computer-readable storage media storing computer-readable instructions are provided, and the readable storage media provided in this embodiment include non-volatile readable storage media and volatile readable storage media. The readable storage media store computer-readable instructions, and when the computer-readable instructions are executed by one or more processors, the above-mentioned snow-clearing equipment ice-breaking control method is implemented.

[0125] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing related hardware through computer-readable instructions. The computer-readable instructions can be stored in a non-volatile readable storage medium or a volatile readable storage medium. When the computer-readable instructions are executed, they can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided by the present invention may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0126] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0127] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A method for controlling ice breaking of snow sweeping equipment, characterized in that: include: Receive a motion request from a snow throwing component of a snow sweeping device, and determine whether the snow throwing component meets a preset ice breaking condition; If the preset ice-breaking conditions are met, the target motor is controlled to drive the snow-throwing assembly to perform an ice-breaking operation; After the snow throwing assembly completes the ice breaking operation, if it is determined that the ice breaking is successful, the target position in the movement request of the snow throwing assembly is obtained, and the target motor is controlled to drive the snow throwing assembly to move toward the target position.

2. The snow-clearing equipment ice-breaking control method according to claim 1, characterized in that: The step of judging whether the snow throwing assembly meets the preset ice breaking condition comprises: If the snow throwing component motion request is a snow throwing motion request, determining the target snow throwing position in the snow throwing motion request as the target position, and determining whether the current environment information meets the preset ice and snow environment; When the current environmental information meets the preset ice and snow environment, determining whether the current working state of the target motor is a motor standby state; When the working state is the motor standby state, if it is confirmed that the duration of the motor standby state is greater than the preset freezing duration, it is determined that the snow throwing component meets the preset ice breaking condition.

3. The snow-clearing equipment ice-breaking control method according to claim 1, characterized in that: The step of judging whether the snow throwing assembly meets the preset ice breaking condition comprises: If the snow throwing component motion request is a power-on reset motion request, the preset zero point position in the power-on reset motion request is determined as the target position, and it is determined whether the current environmental information meets the preset ice and snow environment; When the current environmental information meets the preset ice and snow environment, the target motor is controlled according to the preset test power to drive the snow throwing assembly to move toward the target position in the snow throwing assembly movement request, and the first motor movement information is obtained; Determine whether the snow throwing assembly meets a preset ice breaking condition according to the first motor movement information.

4. The snow-clearing equipment ice-breaking control method according to claim 1, characterized in that: The controlling the target motor to drive the snow throwing assembly to perform an ice breaking operation includes: Controlling the target motor to drive the snow throwing assembly to move in a preset direction of movement according to the maximum output power of the target motor; After the target motor drives the snow throwing assembly to move for a preset ice-breaking time, it is confirmed that the snow throwing assembly completes the ice-breaking operation.

5. The snow-clearing equipment ice-breaking control method according to claim 4, characterized in that: The snow throwing assembly includes a guide cover and a slide slot; the target motor includes a first target motor connected to the guide cover and a second target motor connected to the slide slot; the maximum output power includes a first maximum output power corresponding to the first target motor and a second maximum output power corresponding to the second target motor; The step of controlling the target motor to drive the snow throwing assembly to move in a preset direction of movement by using the maximum output power of the target motor includes: Controlling the first target motor to drive the guide cover to perform a reciprocating pitch rotation action at a preset pitch swing angle with a first maximum output power; and / or The second target motor is controlled to drive the slide slot to perform a reciprocating circumferential rotation action at a preset reciprocating rotation angle with a second maximum output power.

6. The snow-clearing equipment ice-breaking control method according to claim 5, characterized in that: The controlling the target motor to drive the snow throwing assembly to move toward the target position includes: Controlling the target motor to drive the snow throwing assembly to continue moving toward the target position at the maximum output power; When it is determined that the preset position relationship is satisfied between the snow throwing assembly and the target position, the target motor is controlled to gradually reduce the output power so that when the snow throwing assembly reaches the target position, the output power of the target motor is reduced to less than or equal to a preset power threshold.

7. The snow-clearing equipment ice-breaking control method according to claim 6, characterized in that: After controlling the target motor to drive the snow throwing assembly to continue to move toward the target position at the maximum output power, the method includes: Monitoring the rotation angle of the target motor through a unidirectional photoelectric encoding sensor and obtaining the current rotation direction of the target motor; Determining a real-time position of the snow throwing assembly according to the rotation angle and the current rotation direction; The angular displacement difference between the real-time position and the target position is obtained, and when the angular displacement difference is less than or equal to a preset angular displacement threshold, it is determined that a preset position relationship is satisfied between the snow throwing assembly and the target position.

8. The snow-clearing equipment ice-breaking control method according to claim 1, characterized in that: After determining whether the snow throwing assembly meets the preset ice breaking condition, the method further includes: If the preset ice-breaking condition is not met, obtaining the target position in the snow-throwing component motion request; Controlling the target motor to drive the snow throwing assembly to move toward the target position, and gradually increasing the output power of the target motor; Monitoring whether the output power of the target motor is less than the maximum output power, and determining whether the snow throwing assembly and the target position satisfy a preset position relationship; When the output power of the target motor is less than the maximum output power and the snow throwing assembly satisfies a preset position relationship with the target position, the target motor is controlled to gradually reduce the output power so that when the snow throwing assembly reaches the target position, the output power of the target motor is reduced to less than or equal to a preset power threshold; When the output power of the target motor is equal to the maximum output power and the preset position relationship is satisfied between the snow throwing assembly and the target position, the target motor is controlled to continue to maintain the maximum output power until it is determined that the distance between the snow throwing assembly and the target position reaches a preset distance threshold, and the target motor is controlled to gradually reduce the output power so that when the snow throwing assembly reaches the target position, the output power of the target motor is reduced to less than or equal to the preset power threshold.

9. A snow-clearing device, characterized in that: The invention comprises a vehicle front, a vehicle body, a snow-throwing assembly, a target motor, a walking assembly, a processor and a memory. The snow-throwing assembly and the target motor are arranged on the vehicle front, the walking assembly is arranged on the vehicle body and is used to drive the snow-clearing equipment to move, the memory stores computer-readable instructions that can be run on the processor, and the processor is used to execute the snow-clearing equipment ice-breaking control method as described in any one of claims 1 to 8.

10. The snow-clearing device according to claim 9, characterized in that: The snow throwing assembly includes a guide cover and a slide slot; the target motor includes a first target motor connected to the guide cover and a second target motor connected to the slide slot; the first target motor is used to drive the guide cover to rotate in pitch; the second target motor is used to drive the slide slot to rotate in a circumferential direction; and / or The snow-clearing device further includes a first unidirectional photoelectric encoding sensor for monitoring the rotation angle of the first target motor and a second unidirectional photoelectric encoding sensor for monitoring the rotation angle of the second target motor.

11. A computer-readable storage medium storing computer-readable instructions, characterized in that: When the computer-readable instructions are executed by one or more processors, the one or more processors execute the snow-clearing equipment ice-breaking control method according to any one of claims 1 to 8.

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