Ice breaking control method for snow sweeping device, snow sweeping device and storage medium

Abstract

This invention relates to the field of automated control technology, and discloses a snow removal equipment ice-breaking control method, snow removal equipment, and storage medium. The snow removal equipment ice-breaking control method receives a movement request from the snow-throwing component of the snow removal equipment and determines whether the snow-throwing component meets preset ice-breaking conditions. If the preset ice-breaking conditions are met, the method controls a target motor to drive the snow-throwing component to perform an ice-breaking operation. After the snow-throwing component completes the ice-breaking operation, if successful ice-breaking is confirmed, the method obtains the target position from the snow-throwing component's movement request and controls the target motor to drive the snow-throwing component towards the target position. The snow removal equipment of this invention can automatically perform an ice-breaking operation by driving the snow-throwing component to perform an ice-breaking operation via a target motor after autonomously determining that the snow-throwing component meets the preset ice-breaking conditions. This not only ensures the normal operation of the snow-throwing component through automatic ice-breaking, but also improves the intelligence and automation of ice-breaking, thereby increasing snow removal efficiency.

Description

Technical Field

[0001] This invention relates to the field of automation control technology, and in particular to a snow removal equipment ice-breaking control method, snow removal equipment, and storage medium. Background Technology

[0002] A snowplow is a machine that removes snow from snow-covered ground, providing convenience for life and travel during snowy days. Snowplows are equipped with a snow-throwing component, used to throw the snow from the snowplow into a designated direction and location. As the core function of a snowplow, controlling the direction of snow throwing is extremely important during the snow removal process, directly affecting the performance of the snowplow.

[0003] In the existing technology, due to the high humidity and low temperature of the working environment of snow sweepers, the snow throwing components are prone to freezing. In this case, it is often necessary to manually control the movement of the snow throwing components with a joystick or for the operator to use additional tools to remove the frozen snow and ice. This will affect the normal operation of the snow sweeper. Moreover, the above-mentioned de-icing process is entirely operated manually, with insufficient intelligence and low de-icing efficiency, which will inevitably affect the snow throwing efficiency of the snow sweeper. Summary of the Invention

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

[0005] A method for controlling ice breaking in snow removal equipment, comprising:

[0006] Receive a movement request from the snow-throwing component of the snow-sweeping equipment and determine whether the snow-throwing component meets the preset ice-breaking conditions;

[0007] 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;

[0008] After the snow-throwing component completes the ice-breaking operation, if the ice-breaking is successful, the target position in the snow-throwing component's movement request is obtained, and the target motor is controlled to drive the snow-throwing component to move toward the target position.

[0009] A snow removal device includes a front end, a body, a snow-throwing component, a target motor, a walking component, a processor, and a memory. The snow-throwing component and the target motor are disposed on the front end, the walking component is disposed on the body and is used to drive the snow removal device to move, and the memory stores computer-readable instructions that can be executed on the processor. The processor is used to implement the above-mentioned snow removal device ice-breaking control method when executing the computer-readable instructions.

[0010] A computer-readable storage medium storing computer-readable instructions, which, when executed by one or more processors, cause the one or more processors to perform the snow-clearing equipment ice-breaking control method described above.

[0011] In the aforementioned snow removal equipment ice-breaking control method, snow removal equipment, and storage medium, the snow removal equipment ice-breaking control method receives a movement request from the snow-throwing component of the snow removal equipment and determines whether the snow-throwing component meets the preset ice-breaking conditions. If the preset ice-breaking conditions are met, the method controls the target motor to drive the snow-throwing component to perform the ice-breaking operation. After the snow-throwing component completes the ice-breaking operation, if the ice-breaking is confirmed to be successful, the method obtains the target position in the movement request of the snow-throwing component and controls the target motor to drive the snow-throwing component to move toward the target position.

[0012] Upon receiving a movement request from the snow-throwing component of the snow-clearing equipment, this invention only initiates the ice-breaking operation via the target motor after confirming that the snow-throwing component meets preset ice-breaking conditions. This automatic ice-breaking ensures the normal operation of the snow-throwing component (thus guaranteeing normal snow-clearing operations and improving snow-clearing efficiency) while also preventing the snow-throwing equipment from arbitrarily initiating the ice-breaking operation if the preset ice-breaking conditions are not met, thus enhancing the intelligence and automation of the ice-breaking process. Furthermore, after completing the ice-breaking operation, this invention adjusts the snow-throwing component's movement towards the target position by controlling the target motor to respond to the snow-throwing component's movement request, making the control of the snow-throwing component more precise and further improving snow-clearing efficiency. Attached Figure Description

[0013] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

[0015] Figure 2 This is a flowchart illustrating a snow removal equipment ice-breaking control method according to an embodiment of the present invention;

[0016] Figure 3 This is a schematic diagram of a snow removal device according to an embodiment of the present invention.

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

[0018] 100. Guide cover; 110. Pull rope; 200. Slide groove; 210. Rotating seat. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] It should be understood that the terms "upper", "lower", "left", "right", "front", "rear", "middle", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations of the present invention.

[0021] In one embodiment, such as Figure 1 As shown, a snow removal device is provided, comprising a front end, a body, a snow-throwing component, a target motor, and a walking component. The snow-throwing component and the target motor are disposed on the front end, and the walking component is disposed on the body and used to drive the snow removal device. The snow-throwing component includes a guide cover 100, a pull rope 110, a chute 200, and a rotating seat 210. The guide cover 100 can be a semi-enclosed cover covering the chute 200 with adjustable coverage, and the guide cover 100 can rotate relative to the chute 200 within a preset pitch angle range. Further, the target motor includes a first target motor (not shown) connected to the guide cover, a magnet mounted on the motor connector, and a first unidirectional photoelectric encoder sensor (not shown) corresponding to the first target motor. The first unidirectional photoelectric encoder sensor is disposed 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 for controlling the pull rope 110. The first target motor can control the extension and retraction of the pull rope 110 to drive the guide cover 100 relative to the slide 200 and form a guiding angle, so as to change the degree of coverage of the slide 200 and adjust the snow throwing direction of the snow throwing component.

[0022] Furthermore, the rotating seat 210 is rotatably mounted on the front of the vehicle. 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 encoder sensor (not shown in the figure) corresponding to the second target motor is also provided. The second unidirectional photoelectric encoder sensor is set at a preset zero point 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 circumferentially. The chute 200 can be a semi-enclosed elongated groove. The chute 200 is set on the rotating seat 210 and can rotate with the rotating seat 210 within a preset rotation angle range. The second target motor is provided below the rotating seat 210 to control the rotation of the rotating seat 210. The second target motor can drive the chute 200 to rotate within the preset rotation angle range and form a steering angle by controlling the rotation of the rotating seat 210, thereby adjusting the snow throwing direction of the snow throwing component.

[0023] Understandably, the guide angle corresponding to the guide cover 100 (which varies within a preset pitch angle range) can be used to determine the direction in which the snow-throwing component throws snow in the vertical direction. The preset pitch angle range can be set according to requirements. For example, the minimum value of the preset pitch angle range can be set to 0° parallel to the ground (at which point 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 can be set to the maximum pitch angle that the guide cover 100 can rotate to in the direction away from the ground. In this embodiment, if the maximum pitch angle is 45°, then the preset pitch angle range corresponding to the guide angle of the guide cover 100 in a plane perpendicular to the horizontal plane is 0° to 45°. That is, when the guide cover 100 pitches relative to the slide 200 in a plane perpendicular to the horizontal plane, the guide angle of the guide cover 100 can vary within an adjustable range of 0° to 45°.

[0024] The turning 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 requirements. For example, a mechanical origin (the preset zero point position of the chute 200) can be preset in the length direction of the snow sweeping equipment. The turning angle corresponding to the chute 200 can refer to the angle between the projection of the chute 200 in the horizontal direction and the length direction of the snow sweeping equipment. In this embodiment, when the projection of the chute 200 in the horizontal direction is located at the leftmost position in the length direction of the snow sweeping device, it corresponds to the minimum angle value of the preset rotation angle range, that is, 0° (at this time, the position of the chute 200 is the preset zero point position of the chute 200). When the projection of the chute 200 in the horizontal direction is located at the rightmost position in the length direction of the snow sweeping device, it corresponds to the maximum angle of the preset rotation angle range, that is, 180°. At this time, the chute 200 can move from 0° to 180° in the clockwise direction, or from 180° to 0° in the counterclockwise direction. That is, when the chute 200 rotates with the rotating seat 210 in the horizontal direction, the preset pitch angle range corresponding to the turning angle of the chute 200 can be varied within the adjustable range of 0° to 180°.

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

[0026] S10. Receive the snow-throwing component movement request from the snow-sweeping equipment and determine whether the snow-throwing component meets the preset ice-breaking conditions.

[0027] Understandably, a snow-throwing component movement request refers to a request to adjust the position of the snow-throwing component. This request can be used to request that the guide cover 100 be adjusted via the pull rope 110, or / and to request that the rotating seat 210 be adjusted to drive the slide 200 to adjust its steering angle. When the snow-sweeping equipment is powered on, the snow-throwing component can be adjusted to reset to a corresponding preset zero-point position. For example, adjusting the guide angle of the guide cover 100 on the snow-throwing component will reset the guide cover 100 to its preset zero-point position, or adjusting the steering angle of the slide 200 will reset the slide 200 to its preset zero-point position. When the snow-sweeping equipment is performing snow-sweeping operations, the snow-throwing direction can be changed by adjusting the guide angle of the guide cover 100 on the snow-throwing component or the steering angle of the slide 200. For example, when the snow removal equipment is stationary and performing snow removal operations, it needs to pick up and throw the snow below it. In this case, the snow-throwing device can adjust the turning angle of the chute 200 according to the usage requirements to throw the snow to the side of the snow removal equipment. As another example, when the snow removal equipment is moving along a preset path, and it needs to pick up and throw the snow below it, the guide angle of the guide cover 100 can be adjusted according to the usage requirements to throw the snow to an outer position parallel to the path. Furthermore, in this invention, the turning angle of the chute 200 and the guide angle of the guide cover can be adjusted simultaneously as needed.

[0028] Understandably, snowplows operate in environments characterized by high humidity and low temperatures. Furthermore, the adjustment of the snow-throwing component during snow removal is intermittent. If the snow-throwing component remains inactive for an extended period, it may freeze, necessitating de-icing and thawing. Preset de-icing conditions refer to pre-defined environmental conditions, operating status conditions, duration conditions, and trigger conditions for each snow-throwing action, from stop to start. These preset de-icing conditions can be set with default values ​​based on experience or adjusted according to actual needs. When a request to move the snow-throwing component is received, it may be frozen and unable to move. Therefore, it's necessary to first determine if de-icing is required, i.e., whether the preset de-icing conditions are met, before proceeding with subsequent steps.

[0029] S20. If the preset ice-breaking conditions are met, control the target motor to drive the snow-throwing component to perform the ice-breaking operation.

[0030] Understandably, the target motor refers to the motor corresponding to the snow-throwing component that needs adjustment. 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 via the rotating seat 210). In this embodiment, based on the snow-throwing component's movement request, it can be determined that the snow-throwing component requiring movement adjustment is the guide cover 100 and / or the chute 200, thus determining the target motor corresponding to the snow-throwing component requiring movement adjustment as the first target motor and / or the second target motor. Therefore, when the preset ice-breaking conditions are met, it indicates that the snow-throwing component requiring adjustment is frozen, and the aforementioned determined target motor (the first target motor and / or the second target motor) is controlled to drive the snow-throwing component requiring adjustment to perform an ice-breaking operation.

[0031] When the snow-throwing component is frozen, it is generally a thin layer of ice. The ice-breaking operation is accomplished by the target motor forcibly driving the snow-throwing component to move within a short time (e.g., 10ms). Since the target motor will not damage the machine by running at its maximum design power for a short time, this characteristic is utilized to drive the snow-throwing component to break the thin ice from the inside, avoiding the damage to the machine caused by manually breaking the ice from the outside. 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 ice-breaking operation is performed by driving the guide cover 100 through the first target motor connected to the pull rope. If only the slide 200 needs to be adjusted and the slide 200 meets the preset ice-breaking conditions, the ice-breaking operation is performed by driving the slide 200 through the second target motor below the rotating seat. If both the guide cover 100 and the slide 200 need to be adjusted simultaneously and both meet the preset ice-breaking conditions, the ice-breaking operation is performed by driving the guide cover 100 through the first target motor connected to the pull rope and driving the slide 200 through the second target motor. Other situations can be referred to the above explanation, and will not be repeated here.

[0032] S30. After the snow-throwing component completes the ice-breaking operation, if the ice-breaking is successful, the target position in the snow-throwing component's movement request 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 removal equipment is performing snow removal operations, the user can set the turning angle of the chute 200 and the guiding angle of the guide cover 100 in the snow-throwing component according to the snow-throwing direction. The snow removal equipment can also automatically calculate the turning angle of the chute 200 and the guiding angle of the guide cover 100 in the snow-throwing component based on the current position of the equipment and the snow-throwing landing point. The target position refers to the position that the snow-throwing component needs to reach after adjustment. For example, it can be the stop position of the chute 200's circumferential rotation or the stop position of the guide cover 100's pitch rotation. When the snow removal equipment is powered on, it needs to be reset to the corresponding preset zero point position by adjusting the snow-throwing component. At this time, the target position is the preset zero point position. When the snow removal equipment is performing snow removal operations, and it is necessary to adjust the guiding angle of the guide cover 100 or the turning angle of the chute 200 on the snow-throwing component to place the snow-throwing component 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 turning angle of the chute 200 and a guiding angle of the 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 operable state (it will not stall when the target motor rotates), then the ice-breaking is considered successful; if the snow-throwing component is still in an inoperable state (it will stall when the target motor rotates), then the ice-breaking is considered a failure. After confirming successful ice-breaking, the target position in the snow-throwing component's movement request is obtained.

[0034] Since each target position may correspond to a turning angle of the chute 200 and a guiding angle of the guide cover 100, if only the guiding angle of the guide cover 100 needs to change relative to the current position of the snow-throwing component, the first target motor drives the guide cover 100 to pitch and rotate to the guiding angle corresponding to the target position. If only the turning angle of the chute 200 needs to change relative to the current position of the snow-throwing component, the second target motor drives the chute 200 to rotate circumferentially to the turning angle corresponding to the target position. When both the guiding angle of the guide cover 100 and the turning angle of the chute 200 need to change relative to the current position of the snow-throwing component, the first target motor drives the guide cover 100 to pitch and rotate to the guiding angle corresponding to the target position, while the second target motor drives the chute 200 to rotate circumferentially to the turning angle corresponding to the target position.

[0035] In this embodiment, after receiving a movement request from the snow-throwing component of the snow-sweeping equipment, the snow-throwing component will only automatically perform the ice-breaking operation via the target motor after confirming that the snow-throwing component meets the preset ice-breaking conditions. This automatic ice-breaking ensures the normal operation of the snow-throwing component (thus guaranteeing the normal snow-sweeping operation of the snow-sweeping equipment and improving snow-sweeping efficiency), while also preventing the snow-throwing equipment from arbitrarily initiating the ice-breaking operation when the preset ice-breaking conditions are not met, thus improving the intelligence and automation of ice-breaking. Furthermore, after completing the ice-breaking operation, the invention also adjusts the movement of the snow-throwing component toward the target position by controlling the target motor to respond to the snow-throwing component movement request, making the control of the snow-throwing component more precise and further improving snow-sweeping efficiency.

[0036] In one embodiment, step S10, namely determining whether the snow-throwing component meets the preset ice-breaking conditions, includes:

[0037] S101. If the snow-throwing component movement request is a snow-throwing movement request, then the target snow-throwing position in the snow-throwing movement request is determined as the target position, and it is determined whether the current environmental information conforms to the preset ice and snow environment.

[0038] S102. When the current environmental information matches the preset ice and snow environment, determine whether the current working state of the target motor is the 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 icing duration, then it is determined that the snow-throwing component meets the preset ice-breaking conditions.

[0040] Understandably, a snow-throwing motion request is a request to control the snow-throwing component to move to the target snow-throwing position, and then throw the snow to the corresponding landing point. The target snow-throwing position refers to the location of the snow-throwing component during snow-throwing operations. The preset icy environment refers to pre-set environmental conditions used to determine whether icing will occur. Whether the preset icy environment is met can be determined by real-time acquisition of current environmental information (such as temperature and sunshine) corresponding to the current environment where the snow-throwing component is located. The motor control signal is initiated by the microcontroller unit (MCU). The MCU can monitor the motor control status and combine it with current information to determine the motor's state. The motor standby state refers to the motor not being rotated. The preset icing duration is a pre-set time limit used to determine whether icing will occur. For example, if the target motor corresponding to the snow-throwing component remains in standby mode for 10 minutes in a -5°C environment, it indicates that the snow-throwing component has not been adjusted within 10 minutes and is very likely to freeze. Therefore, the preset icy environment can be set to a temperature below -5°C, and the preset icing duration can be set to a duration greater than 10 minutes. When the snow-throwing component requests a snow-throwing motion request, it indicates that the snow-sweeping equipment is in snow-sweeping operation. Therefore, it is necessary to simultaneously meet the following conditions: 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 icing time. Only then can it be determined that the snow-throwing component needs to break the ice, that is, the snow-throwing component meets the preset ice-breaking conditions.

[0041] In this embodiment, when the snow-throwing component requests snow-throwing motion, it combines multiple conditions such as the preset ice and snow environment setting, motor working status, and motor standby time to determine whether the snow-throwing component needs to break ice. This improves the rigor of the preconditions for breaking ice and ensures the necessity of the ice-breaking operation.

[0042] In one embodiment, step S10, namely determining whether the snow-throwing component meets the preset ice-breaking conditions, includes:

[0043] S104. If the snow-throwing component movement request is a power-on reset movement request, then the preset zero point position in the power-on reset movement request is determined as the target position, and it is determined whether the current environmental information conforms to the preset ice and snow environment.

[0044] S105. When the current environmental information meets the preset ice and snow environment, control the target motor to drive the snow-throwing component to move toward the target position in the snow-throwing component movement request according to the preset test power, and obtain the first motor movement information.

[0045] S106. Determine whether the snow-throwing component meets the preset ice-breaking conditions based on the motion information of the first motor.

[0046] Understandably, a power-on reset motion request is a request used to control the snow-throwing component of the snow-sweeping equipment to rotate to a preset zero-point position when the snow-sweeping equipment is detected to be powered on. In this case, the target position refers to the preset zero-point position of the snow-throwing component. When the snow-sweeping equipment is shut down after use or due to a malfunction, the snow-throwing component may still be in the position it was in before shutdown. To ensure the accuracy of snow-throwing control, the snow-throwing component needs to be power-on reset each time the snow-sweeping equipment is powered on. At this time, the snow-throwing component needs to rotate and reset to the preset zero-point position (the preset zero-point position refers to the position where the guide angle corresponding to the guide cover 100 is 0° and the steering angle corresponding to the slide 200 is 0°). The first target motor needs to drive the guide cover 100 to pitch to the position with a guide angle of 0°, and the second target motor needs to simultaneously drive the slide 200 to circumferentially rotate to the position with a steering angle of 0°, thus facilitating zero-point calibration. Understandably, when the power-on signal of the snow-sweeping equipment is detected, it can first be determined whether the snow-throwing component is in the preset zero-point position. If it is not in the preset zero-point position, a power-on reset motion request is generated.

[0047] Understandably, if the snow-throwing component is frozen and unable to move, it cannot respond to the power-on reset motion request. Therefore, it is necessary to determine whether the snow-throwing component meets the preset ice-breaking conditions, i.e., whether an ice-breaking operation needs to be performed. When the snow-throwing component's motion request is a power-on reset motion request, and the current environmental information matches the preset ice and snow environment, it is not possible to determine whether the snow-throwing component needs to break the ice based on the standby time of the target motor. Therefore, in this embodiment, the snow-throwing component meets the preset ice-breaking conditions (meeting the preset ice-breaking conditions means that an ice-breaking operation needs to be performed) by testing whether the target motor can successfully drive the snow-throwing component to move. The preset test power is the output power of the target motor, pre-set to test whether the snow-throwing component corresponding to the target motor meets the preset ice-breaking conditions. For example, it can be set to 20% of the target motor's maximum output power. In this case, the preset test power is relatively small, avoiding excessive wear on the target motor (if a larger preset test power is used to pre-rotate and test whether the snow-throwing component meets the preset ice-breaking conditions, after the test, if the snow-throwing component meets the preset ice-breaking conditions, it will require a high-power ice-breaking operation, causing the target motor to run at high power for a relatively long time, resulting in relatively greater wear). The first motor motion information is the rotation status information of the target motor under the preset test power, including whether the target motor is rotating normally and the current information in the motor. When the first motor motion information determines that the target motor is rotating normally, and the snow-throwing component does not meet the preset ice-breaking conditions (normal rotation, no ice formation, no need for ice-breaking operation), the snow-throwing component is directly powered on and reset. When the first motor motion information determines that the target motor is stalled, rotating abnormally, or the current information is abnormal, the snow-throwing component meets the preset ice-breaking conditions.

[0048] In this embodiment, when the snow-throwing component's movement request is a power-on reset movement request, the target motor is controlled by a small preset test power to test whether the snow-throwing component needs to break ice (whether the preset ice-breaking conditions are met). This avoids the inability to reset the snow-throwing component due to icing, ensuring the success rate of power-on reset, which helps to accurately achieve snow-throwing control and also avoids excessive wear on the target motor.

[0049] In one embodiment, step S20, namely controlling the target motor to drive the snow-throwing component to perform the ice-breaking operation, includes:

[0050] S201. Control the target motor to drive the snow-throwing component to move in a preset direction using the maximum output power of the target motor;

[0051] S202. After the target motor drives the snow-throwing component to move for a preset ice-breaking time, confirm that the snow-throwing component has completed the ice-breaking operation.

[0052] Understandably, the preset motion direction is a pre-defined angular direction for the snow-throwing component to move. This preset motion direction can be a reciprocating motion within a specific angular range, or it can be a motion direction from the current position of the snow-throwing component to the target position. For example, in... Figure 1 In the illustrated embodiment, the preset motion direction can be a pitching motion of the guide cover 100, first diagonally upward and then diagonally downward, or a circumferential rotation of the slide 200, first clockwise and then counterclockwise. The preset ice-breaking time is the duration for which the target motor drives the snow-throwing component at maximum output power. Since maximum output power will wear down the motor, the preset ice-breaking time is set to a small value, such as 0.5s, to avoid excessive wear on the target motor. Furthermore, because the motor's current sampling rate is sufficiently high, there is no concern that the initial start-up at maximum output power when the motor is completely stalled will cause continuous damage to the motor. The current protection strategy performs a forced rest and lockout operation for consecutive instantaneous overcurrent behaviors to ensure that the motor is not continuously worn or to isolate a damaged motor. To ensure a high success rate of ice breaking, the target motor can drive the snow-throwing component at maximum output power in the preset motion direction for the preset ice-breaking time, thus confirming that the snow-throwing component has completed the ice-breaking operation.

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

[0054] In one embodiment, the snow-throwing assembly includes a guide cover 100 and a chute 200; 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 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, controlling the target motor to drive the snow-throwing assembly to move in a preset direction with the maximum output power of the target motor includes:

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

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

[0057] Understandably, the preset pitch swing angle is a pre-set angle range for the guide cover 100 to pitch and rotate. The default setting is the preset pitch angle range, meaning that the guide cover 100 pitches and rotates back and forth between the maximum and minimum values ​​of the preset pitch angle range. 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 to swing back and forth from 0° to 45° and then from 45° back to 0° at maximum output power.

[0058] The preset reciprocating rotation angle is a pre-set range of angles for the reciprocating rotation of the chute 200. It is set to this preset rotation angle range by default; that is, the chute 200 rotates circumferentially between the maximum and minimum values ​​of the preset rotation angle range. Of course, the preset pitch and swing angles and the preset reciprocating rotation angle can also be set to other values ​​as needed. When the chute 200 in the snow-throwing component 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 achieve a back-and-forth rotation from 0° to 180° and then from 180° back to 0°.

[0059] In this embodiment, the target motor is controlled to drive the guide cover 100 and / or the slide 200 to reciprocate between their respective maximum and minimum movement angles at maximum output power. This can effectively break ice and also help to clean up the ice debris after breaking ice, thus avoiding affecting the subsequent adjustment movement of the snow-throwing component.

[0060] In one embodiment, step S30, i.e., after the snow-throwing component completes the ice-breaking operation, further includes:

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

[0062] S302. When it is determined that ice breaking has failed based on the motion information of the second motor, snow throwing component freezing information is sent to the preset processing unit.

[0063] Understandably, the second motor motion information refers to the rotational state of the target motor driving the snow-throwing component to perform ice-breaking operations within a preset time period, including whether the target motor is rotating normally or the current information in the motor. The preset processor is a pre-defined receiver of snow-throwing component freezing information, which can be the current user operating the snow removal equipment. The snow-throwing component freezing information is used to indicate that the snow-throwing component is frozen. The second motor motion information of the snow-throwing component within the preset time period is obtained, that is, the motor motion state during the last short period when the target motor is running at maximum output power for the preset ice-breaking time period, where the preset time period is less than or equal to the preset ice-breaking time period. If the second motor motion information determines that the target motor is stalled, it indicates that the snow-throwing component is still in an inoperable state, thus confirming ice-breaking failure and sending snow-throwing component freezing information to the snow removal equipment user. If the second motor motion information determines that the target motor is not stalled, it indicates that the snow-throwing component is in an operable state, thus confirming successful ice-breaking.

[0064] In another embodiment, when the target motor is determined to be stalled based on the second motor's motion information, indicating that the snow-throwing component is still inoperable, the target motor is controlled to drive the snow-throwing component to re-execute the ice-breaking operation, and the number of retries for re-executing the ice-breaking operation is recorded. When the number of retries reaches a preset retry threshold (e.g., 5 times) and the snow-throwing component is still inoperable, the ice-breaking failure is confirmed, and a snow-throwing component freeze information is sent to the snow removal equipment user.

[0065] In this embodiment, after the snow-throwing component completes the ice-breaking operation, the success of ice-breaking is determined by judging the rotation of the target motor, ensuring the accuracy of the ice-breaking results. In case of ice-breaking failure, a notification message is sent in a timely manner, which can quickly and effectively provide feedback on the ice-breaking results.

[0066] In one embodiment, step S30, namely controlling the target motor to drive the snow-throwing component to move toward the target position, includes:

[0067] S303. Control the target motor to drive the snow-throwing component to continue moving toward the target position at the maximum output power;

[0068] S304. When it is determined that the snow-throwing component and the target position satisfy a preset positional relationship, the target motor is controlled to gradually reduce its 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.

[0069] Understandably, after successful ice breaking, the target motor is in a state of maximum output power. In order to quickly adjust the position of the snow-throwing component, the target motor is controlled to drive the snow-throwing component to continue moving towards the target position at maximum output power. At this time, it is necessary to redetermine the movement direction of the snow-throwing component based on its current position when ice breaking is completed and the target position.

[0070] The snow-throwing component needs to stop moving when it reaches the target position, meaning the target motor needs to brake. Emergency braking at maximum output power would cause wear on the target motor. Therefore, measures can be taken to reduce the motor output power in advance as the snow-throwing component approaches the target position. The position change of the snow-throwing component is achieved through angular changes (the elevation angle of the guide cover or the turning angle of the chute). As the angle changes, an angular displacement value is generated (e.g., the angular displacement value is +5° when the elevation angle of the guide cover increases from 30° to 35°). The motor drives the snow-throwing component. When the snow-throwing component changes position, each angular displacement value of the snow-throwing component corresponds 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 component. This conversion relationship is determined at the factory, meaning the angular displacement value of the snow-throwing component can be determined based on the rotation angle and direction of the target motor. The preset position relationship is a pre-set critical relationship used to determine the magnitude of the angular displacement value corresponding to the real-time position of the snow-throwing component when the target motor output power is reduced, and the angular displacement value corresponding to the target position. The preset power threshold can be set according to requirements. It can be a pre-set value that limits the output power of the target motor to be reduced to when the snow-throwing component reaches the target position. Specifically, when the preset positional relationship between the snow-throwing component and the target position is determined, the target motor is controlled to gradually reduce its 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. At this time, the target motor does not need to brake. 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 yet stopped moving. At this time, the target motor needs to brake, but not with strong braking, which can still reduce the wear on the target motor to a certain extent.

[0071] In this embodiment, the target motor is first given a high power output and then the power output is adaptively reduced. This not only ensures the efficiency of the snow-throwing component adjustment, but also reduces wear on the target motor and saves braking energy.

[0072] In one embodiment, step S303, i.e., after controlling the target motor to drive the snow-throwing component to continue moving towards the target position at the maximum output power, includes:

[0073] S3031. Monitor the rotation angle of the target motor using a unidirectional photoelectric encoder sensor, and obtain the current rotation direction of the target motor;

[0074] S3032. Determine the real-time position of the snow-throwing component based on the rotation angle and the current rotation direction;

[0075] S3033. Obtain the angular displacement difference between the real-time position and the target position. When the angular displacement difference is less than or equal to a preset angular displacement threshold, determine that the snow-throwing component and the target position satisfy a preset positional relationship.

[0076] Understandably, during snow removal operations, snow removal equipment can detect the target motors corresponding to the snow-throwing components using sensors; that is, each of the first and second target motors corresponds to a sensor. The sensors can be photoelectric encoder sensors or Hall effect sensors, with unidirectional photoelectric encoder sensors being preferred. Photoelectric encoder sensors, also known as photoelectric angular position sensors, can be further divided into incremental and absolute photoelectric encoder sensors depending on their application. Incremental photoelectric encoder sensors use a grating code disk composed of alternating bright and dark grating lines. When the target motor's rotor rotates, ports A and B of the code disk output orthogonal square wave signals with a 90° phase difference. By counting these square wave signals, the rotation angle of the target motor can be calculated. Simultaneously, by combining this with the direction of the drive signal controlling the target motor, a unidirectional photoelectric encoder sensor can be effectively converted into a bidirectional photoelectric encoder sensor signal for accurately acquiring the position information of the snow-throwing component. This is because a unidirectional photoelectric encoder sensor can only report the current rotation angle and does not provide directional information, while a bidirectional photoelectric encoder sensor signal can report both the current rotation angle and direction. Therefore, the rotation direction of the target motor can be determined based on the direction signal pin of the target motor. A low level indicates forward rotation (moving away from the preset zero point position), and a high level indicates reverse rotation (moving towards the preset zero point position). Combined with the rotation angle feedback from the unidirectional photoelectric encoder sensor, the effect of a bidirectional photoelectric encoder can be achieved. When the snow-throwing component changes position, each angular displacement value of the snow-throwing component corresponds 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 component. The angular displacement value of the snow-throwing component can be determined based on the rotation angle and direction of the target motor. That is, the angular displacement value corresponding to the real-time position of the snow-throwing component can be determined by the number of square wave signals from the unidirectional photoelectric encoder sensor and the rotation direction of the target motor. The preset angular displacement threshold is a pre-set minimum critical value used to determine the angular displacement difference between the snow-throwing component and the target position that satisfies the preset positional relationship.

[0077] In one embodiment, when the snow-throwing assembly completes its power-on reset, it is at a preset zero-point position, and simultaneously, the unidirectional photoelectric encoder sensor's monitoring of the target motor is also at a zero-point square wave signal count. That is, the guide cover 100's vertical guide angle is 0°, and the number of square wave signals monitored by the first unidirectional photoelectric encoder sensor for the first target motor is 0; the slide 200's horizontal turning angle is 0°, and the number of square wave signals monitored by the second unidirectional photoelectric encoder sensor for the second target motor is 0. When the target motor drives the snow-throwing assembly, the guide cover 100's vertical guide angle changes, and the number of square wave signals corresponding to the first target motor changes from 0; the slide 200's horizontal turning angle 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 encoder sensor, and the current rotation direction of the target motor is obtained. Based on the rotation angle and the current rotation direction, the real-time angular displacement value corresponding to the snow-throwing component when it reaches the real-time position from the starting position of the movement can be calculated. Based on the target position, the target angular displacement value corresponding to the snow-throwing component when it reaches the target position from the starting position of the movement can be determined. 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 snow-throwing component and the target position satisfy the preset positional relationship.

[0078] This embodiment utilizes a unidirectional photoelectric encoder 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 component and the target position. This allows for accurate determination that the distance between the snow-throwing component and the target position has reached a preset distance threshold, thereby improving the precision of snow-throwing control.

[0079] In one embodiment, step S10, after determining whether the snow-throwing component meets the preset ice-breaking conditions, further includes:

[0080] S107. If the preset ice-breaking conditions are not met, then obtain the target position in the snow-throwing component movement request;

[0081] S108. Control the target motor to drive the snow-throwing component toward the target position, and gradually increase the output power of the target motor;

[0082] S109. Monitor whether the output power of the target motor is less than the maximum output power, and at the same time determine whether the snow-throwing component and the target position satisfy a preset positional relationship;

[0083] S110. When the output power of the target motor is less than the maximum output power and the snow-throwing component and the target position satisfy a preset positional relationship, 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.

[0084] S111 When the output power of the target motor is equal to the maximum output power and the snow-throwing component and the target position satisfy a preset positional relationship, the target motor is controlled to continue to maintain the maximum output power until the distance between the snow-throwing component and the target position is determined to reach a preset distance threshold. Then, the target motor is controlled 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 the preset power threshold.

[0085] Understandably, when the snow-throwing component does not meet the preset ice-breaking conditions, it indicates that the snow-throwing component does not need to break the ice. The target position in the snow-throwing component's movement request can be obtained, and the target motor can be controlled to drive the snow-throwing component to move towards the target position. In order to quickly adjust the position of the snow-throwing component, the output power of the target motor can be gradually increased, and it can be monitored whether the output power of the target motor is less than the maximum output power. At the same time, it can be determined whether the preset positional relationship between the snow-throwing component 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 it is determined based on the angular displacement difference between the real-time position of the snow-throwing component and the target position that a preset positional relationship is met between the snow-throwing component and the target position, the target motor is controlled to gradually reduce its 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. When the output power of the target motor is equal to the maximum output power, and it is determined based on the angular displacement difference between the real-time position of the snow-throwing component and the target position that the preset positional relationship is not yet met between the snow-throwing component 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 component and the target position reaches a preset distance threshold, at which point the target motor is controlled to gradually reduce its output power.

[0087] In this embodiment, when the snow-throwing component does not need to break ice, the power output of the target motor is increased first and then adaptively reduced. This ensures the efficiency of the snow-throwing component adjustment, reduces wear on the target motor, and saves braking energy.

[0088] It should be understood that the sequence number of each step in the above embodiments does not imply 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 embodiments of the present invention.

[0089] In one embodiment, a snow removal equipment ice-breaking control device is provided, which corresponds one-to-one with the snow removal equipment ice-breaking control method described in the above embodiments. For example... Figure 3 As shown, the snow removal equipment's 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. Detailed descriptions of each functional module are as follows:

[0090] The ice-breaking condition judgment module 10 is used to receive the snow-throwing component movement request of the snow-sweeping equipment and determine whether the snow-throwing component meets the preset ice-breaking conditions.

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

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

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

[0094] The snow-throwing environment information judgment unit is used to determine the target snow-throwing position in the snow-throwing motion request as the target position if the snow-throwing component motion request is a snow-throwing motion request, and to determine whether the current environment information conforms to the preset ice and snow environment.

[0095] The working status determination unit is used to determine whether the current working status of the target motor is the 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 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] The power-on environment information judgment unit is used to determine the 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 to determine whether the current environment information conforms to the preset ice and snow environment.

[0099] The snow-throwing component testing unit is used to control the target motor to drive the snow-throwing component toward the target position in the snow-throwing component movement request according to the preset test power when the current environmental information meets the preset ice and snow environment, and to obtain the first motor movement information;

[0100] The power-on ice-breaking condition determination unit is used to determine whether the snow-throwing component meets the preset ice-breaking conditions based on the motion information of the first motor.

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

[0102] A full-power output unit is used to control the target motor to drive the snow-throwing component to move in a preset direction at the maximum output power of the target motor.

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

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

[0105] The guide cover ice-breaking unit is used to control 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 a reciprocating circumferential rotation action at a preset reciprocating rotation angle with the second maximum output power.

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

[0108] An output power holding unit is used to control the target motor to drive the snow-throwing component to continue moving 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 its output power when it is determined that the snow-throwing component and the target position meet a preset positional relationship, so that when the snow-throwing component arrives at 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 component adjustment module 30 further includes:

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

[0112] A real-time position determination unit is used to determine the real-time position of the snow-throwing component based on 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 component and the target position satisfy a preset positional relationship.

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

[0115] The target position acquisition unit is used to acquire the target position in the snow throwing component movement request if the preset ice-breaking conditions are not met.

[0116] An output power increasing unit is used to control the target motor to drive the snow-throwing component toward the target position and gradually increase the output power of the target motor;

[0117] The output power monitoring unit is used to monitor whether the output power of the target motor is less than the maximum output power, and at the same time determine whether the snow throwing component and the target position meet the preset positional relationship.

[0118] The second output power reduction unit is used to control the target motor to gradually reduce its output power when the output power of the target motor is less than the maximum output power and the snow throwing component and the target position satisfy a preset positional relationship, so that when the snow throwing component arrives at 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 the snow-throwing component and the target position satisfy a preset positional relationship, until it is determined that the distance between the snow-throwing component and the target position reaches a preset distance threshold. Then, the unit controls the target motor to gradually reduce the output power so that when the snow-throwing component arrives at the target position, the output power of the target motor is reduced to less than or equal to the preset power threshold.

[0120] Specific limitations regarding the ice-breaking control device for snow removal equipment can be found in the limitations of the ice-breaking control method for snow removal equipment mentioned above, and will not be repeated here. Each module in the aforementioned ice-breaking control device for snow removal equipment can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0121] In one embodiment, a snow removal device is provided, which can be a snowplow or a snow removal robot. The snow removal device includes a front end, a body, a snow-throwing component, a target motor, a walking component, a processor, and a memory. The snow-throwing component and the target motor are located at the front end, the walking component is located at the body and is used to drive the snow removal device to move, and the memory stores computer-readable instructions that can be executed by the processor. When the processor executes the computer-readable instructions, it implements the above-described snow removal device ice-breaking control method.

[0122] In one embodiment, such as Figure 1 As shown, the snow-throwing assembly includes a guide cover 100 and a chute 200; 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.

[0123] Furthermore, the snow removal equipment also includes a first unidirectional photoelectric encoder sensor for monitoring the rotation angle of the first target motor and a second unidirectional photoelectric encoder 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. The computer-readable storage media provided in this embodiment include non-volatile readable storage media and volatile readable storage media. The computer-readable instructions stored on the readable storage media implement the above-described snow-clearing equipment ice-breaking control method when executed by one or more processors.

[0125] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing related hardware through computer-readable instructions. These computer-readable instructions can be stored in a non-volatile readable storage medium or a volatile readable storage medium. When executed, these computer-readable instructions can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided by this invention can 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 a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0126] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to 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 above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for controlling ice breaking in snow removal equipment, characterized in that, include: Receive a movement request from the snow-throwing component of the snow-sweeping equipment and 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 the ice-breaking is successful, the target position in the snow-throwing component's movement request is obtained, and the target motor is controlled to drive the snow-throwing component to move toward the target position. The snow-throwing assembly includes a guide cover and a chute; the target motor includes a first target motor connected to the guide cover and a second target motor connected to the chute; 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 control target motor drives the snow-throwing component to perform an ice-breaking operation, including: The target motor is controlled to drive the snow-throwing component to move in a preset direction by controlling the target motor with its maximum output power. After the target motor drives the snow-throwing component to move for a preset ice-breaking time, it is confirmed that the snow-throwing component has completed the ice-breaking operation; The step of controlling the target motor to drive the snow-throwing component to move in a preset direction using the maximum output power of the target motor includes: Control the first target motor to drive the guide cover to perform a reciprocating pitch rotation action at a preset pitch swing angle with the first maximum output power; and / or The second target motor is controlled to drive the slide rail to perform a reciprocating circumferential rotation at a preset reciprocating rotation angle with the second maximum output power.

2. The snow removal equipment ice-breaking control method as described in claim 1, characterized in that, The determination of whether the snow-throwing component meets the preset ice-breaking conditions includes: If the snow-throwing component movement request is a snow-throwing movement request, then the target snow-throwing position in the snow-throwing movement request is determined as the target position, and it is determined whether the current environmental information conforms to the preset ice and snow environment; When the current environmental information matches the preset ice and snow environment, determine whether the current working state of the target motor is the 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 icing duration, then it is determined that the snow-throwing component meets the preset ice-breaking conditions.

3. The snow removal equipment ice-breaking control method as described in claim 1, characterized in that, The determination of whether the snow-throwing component meets the preset ice-breaking conditions includes: If the snow-throwing component movement request is a power-on reset movement request, then the preset zero point position in the power-on reset movement request is determined as the target position, and it is determined whether the current environmental information conforms to 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 component to move toward the target position in the snow throwing component movement request, and the first motor movement information is obtained. Based on the motion information of the first motor, determine whether the snow-throwing component meets the preset ice-breaking conditions.

4. The snow removal equipment ice-breaking control method as described in claim 1, characterized in that, The control of the target motor to drive the snow-throwing component toward the target position includes: The target motor is controlled to drive the snow-throwing assembly to continue moving toward the target position at the maximum output power. When it is determined that the snow-throwing component and the target position satisfy a preset positional relationship, the target motor is controlled to gradually reduce its 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.

5. The snow removal equipment ice-breaking control method as described in claim 4, characterized in that, After controlling the target motor to drive the snow-throwing component to continue moving towards the target position at the maximum output power, the following steps are included: The rotation angle of the target motor is monitored by a unidirectional photoelectric encoder sensor, and the current rotation direction of the target motor is obtained. The real-time position of the snow-throwing component is determined based on the rotation angle and the current rotation direction. The angular displacement difference between the real-time position and the target position is obtained. When the angular displacement difference is less than or equal to a preset angular displacement threshold, it is determined that the snow-throwing component and the target position satisfy a preset positional relationship.

6. The snow removal equipment ice-breaking control method as described in claim 1, characterized in that, After determining whether the snow-throwing component meets the preset ice-breaking conditions, the method further includes: If the preset ice-breaking conditions are not met, the target position in the snow-throwing component movement request is obtained; The target motor is controlled to drive the snow-throwing component toward the target position, and the output power of the target motor is gradually increased; Monitor whether the output power of the target motor is less than the maximum output power, and at the same time determine whether the snow-throwing component and the target position satisfy a preset positional relationship; When the output power of the target motor is less than the maximum output power and the snow-throwing component and the target position satisfy a preset positional relationship, the target motor is controlled to gradually reduce its 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. When the output power of the target motor is equal to the maximum output power and the snow-throwing component and the target position satisfy a preset positional relationship, the target motor is controlled to continue to maintain the maximum output power until the distance between the snow-throwing component and the target position is determined to reach a preset distance threshold. Then, the target motor is controlled 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 the preset power threshold.

7. A snow removal device, characterized in that, The device includes a front end, a 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 disposed at the front end, the walking assembly is disposed at the body and is used to drive the snow-clearing device to move, and the memory stores computer-readable instructions that can be executed on the processor. The processor is used to execute the snow-clearing device ice-breaking control method as described in any one of claims 1 to 6. The snow-throwing assembly includes a guide cover and a chute; the target motor includes a first target motor connected to the guide cover and a second target motor connected to the chute; the first target motor is used to drive the guide cover to pitch and rotate; the second target motor is used to drive the chute to rotate circumferentially.

8. The snow removal equipment as described in claim 7, characterized in that, The snow removal equipment also includes a first unidirectional photoelectric encoder sensor for monitoring the rotation angle of the first target motor and a second unidirectional photoelectric encoder sensor for monitoring the rotation angle of the second target motor.

9. 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 cause the snow removal equipment ice-breaking control method as described in any one of claims 1 to 6.

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