Snowfield modeling control system and method for snow press

Abstract

The invention discloses a snowfield modeling control system and method for a snow press, and relates to the field of mechanical control, and the system comprises a Beidou positioning module, a tilt angle sensor and a control module. The Beidou positioning module is used for acquiring position information of the snow pressing machine in real time; the tilt angle sensor is used for detecting attitude information of the snow pressing machine in real time; the control module is used for controlling the traveling track and operation parameters of the snow pressing machine in real time according to the preset snowfield modeling information and the position information and posture information of the snow pressing machine so as to achieve snowfield modeling control of the snow pressing machine. The Beidou positioning technology is adopted, centimeter-level precision can be provided, the accuracy of the traveling track of the snow press is improved, the tilt angle sensor is combined to monitor the posture of the vehicle body, the path can be automatically planned and the snow press can be controlled to work according to the preset snowfield modeling information, manual intervention is reduced, precise control over the snowfield modeling of the snow press is achieved, and the working efficiency of the snow press is improved. And the working efficiency and precision of snowfield modeling are improved.

Description

Technical Field

[0001] This application relates to the field of mechanical control, and particularly to a snow groomer snow shaping control system and method. Background Art

[0002] With the popularization and promotion of ice and snow sports, the number of ski resorts has been continuously increasing, posing higher requirements for the operation efficiency and quality of snow groomers. As the core heavy equipment for snowfield construction, the operation effect of a snow groomer directly determines the quality of the snow track and affects the experience of skiers.

[0003] At present, during the operation of a snow groomer, there are obvious deficiencies in the driving path planning and operation control. Traditional snow groomers mainly rely on the experience of drivers for operation. This method not only requires extremely high technical levels and work experience of drivers, but also is prone to operation deviations due to human factors. On the one hand, different drivers have differences in the judgment of snow track conditions and operating habits, making it difficult to ensure the consistency of each operation; on the other hand, long-term high-intensity work is likely to cause driver fatigue, further reducing the operation accuracy. For example, in complex terrains and bad weather conditions, the driver's line of sight is blocked, making it difficult to accurately judge the slope, direction, and boundary of the snow track, resulting in the deviation of the snow groomer's driving path and being unable to compact and level the snow track comprehensively and evenly, seriously affecting the quality of the snow track.

[0004] Therefore, there is an urgent need to develop a technical solution that can accurately control the driving path and operation of a snow groomer to solve the problems existing in the operation process of existing snow groomers. Summary of the Invention

[0005] The purpose of this application is to provide a snow groomer snow shaping control system and method, which can improve the accuracy and efficiency of the snow groomer snow shaping operation.

[0006] To achieve the above purpose, this application provides the following solutions: In the first aspect, this application provides a snow groomer snow shaping control system, including: A Beidou positioning module for obtaining the position information of the snow groomer in real time; An inclination sensor for detecting the attitude information of the snow groomer in real time; A control module for controlling the driving trajectory and operation parameters of the snow groomer in real time according to the preset snow shaping information, the position information, and the attitude information of the snow groomer to achieve snow groomer snow shaping control.

[0007] In one embodiment, the Beidou positioning module is arranged on the top of the snow groomer.

[0008] In one embodiment, the inclination sensor is arranged on the working device of the snow groomer.

[0009] In one embodiment, the preset snowfield shaping information includes three-dimensional position information at each sampling point within the operation area.

[0010] In one embodiment, the process of the control module controlling the driving trajectory and operation parameters of the snow compactor in real time according to the preset snowfield shaping information, the position information, and the attitude information of the snow compactor includes: Planning the driving path of the snow compactor according to the preset snowfield shaping information and the position information of the snow compactor, and controlling the driving trajectory of the snow compactor according to the driving path and the position information of the snow compactor; Controlling the operation parameters of the working device of the snow compactor according to the preset snowfield shaping information and the attitude information of the snow compactor.

[0011] In one embodiment, the A* algorithm or the Dijkstra algorithm is used to plan the driving path of the snow compactor.

[0012] In one embodiment, the PID control algorithm or the fuzzy control algorithm is used to control the driving trajectory of the snow compactor.

[0013] In one embodiment, the working device includes a snow shovel, a snow plow, and a snow pressing plate; the operation parameters include the angle of the snow shovel, the height of the snow shovel, the angle of the snow plow, and the pressure of the snow pressing plate.

[0014] In one embodiment, the control module is further configured to adjust the body attitude of the snow compactor by using the Kalman filtering algorithm according to the attitude information of the snow compactor, so that the snow compactor remains stable during the operation process.

[0015] In a second aspect, the present application provides a method for controlling the snowfield shaping of a snow compactor, including: Obtaining the position information of the snow compactor in real time; Detecting the attitude information of the snow compactor in real time; Controlling the driving trajectory and operation parameters of the snow compactor in real time according to the preset snowfield shaping information, the position information, and the attitude information of the snow compactor, so as to realize the control of the snowfield shaping of the snow compactor.

[0016] According to the specific embodiments provided by the present application, the present application has the following technical effects: The present application provides a snowfield shaping control system and method for a snow compactor. By using the Beidou positioning technology to obtain the position information of the snow compactor, the Beidou positioning technology can provide centimeter-level accuracy, improve the accuracy of the driving trajectory of the snow compactor, and combine with the inclination sensor to monitor the body attitude. It can automatically plan the path and control the operation of the snow compactor according to the preset snowfield shaping information, reduce manual intervention, realize the precise control of the snowfield shaping of the snow compactor, and improve the operation efficiency and accuracy of the snowfield shaping. Description of the Drawings

[0017] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] Figure 1 It is a schematic diagram of a snow groomer snow shaping control system provided by an embodiment of the present application.

[0019] Figure 2 It is a schematic diagram of the working process of the snow groomer snow shaping control system in an embodiment of the present application.

[0020] Figure 3 It is a schematic flowchart of a snow groomer snow shaping control method provided by an embodiment of the present application.

[0021] Reference numerals: 101 - GNSS antenna, 102 - GNSS receiver, 103 - inclination sensor, 104 - control module, 105 - boom sensor. Detailed implementation manners

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0023] To make the above objects, features, and advantages of the present application more obvious and understandable, the present application will be further described in detail below with reference to the drawings and specific implementation manners.

[0024] The snow groomer mainly consists of parts such as a power device, a traveling device, a working device, and a cab.

[0025] The power device usually uses an internal combustion engine, such as a diesel engine, to provide sufficient power for the snow groomer and drive the traveling device and the working device to operate.

[0026] The traveling device includes crawler belts, drive wheels, idler wheels, and tension wheels. The crawler belts are in direct contact with the snow. The material and structural design need to adapt to the wear and friction of the snow environment. Generally, rubber or metal materials are used, which can effectively disperse the weight of the machine, reduce the pressure on the snow, and prevent the snowplow from sinking into the snow. The drive wheels are responsible for transmitting the power of the power device to the crawler belts to make them rotate and realize the movement of the equipment. The idler wheels play a role in supporting the weight of the equipment to ensure the stability of the snowplow during driving. The tension wheels are used to adjust the tension of the crawler belts to ensure that the crawler belts always maintain an appropriate tightness during operation, preventing the crawler belts from being too loose or too tight and affecting the normal driving of the snowplow.

[0027] The working device includes a snow shovel, a snow plow, a snow pressing plate, and rollers. The main function of the snow shovel is to push and transport the accumulated snow. It has multiple actions and can flexibly adjust the angle and height to adapt to different snow amounts and snow track conditions. The snow plow can crush and flatten snow in various states. It has actions in multiple directions and can finely process the snow track to make the snow track more flat and soft. The snow pressing plate is usually a large-area metal plate, and its surface may have special textures or protrusions. Under the drive of power, it contacts the snow surface and applies pressure to enhance the squeezing effect on the snow and compact the snow. The rollers further compact and level the snow by rolling, making the surface of the snow track smoother and improving the comfort of skiing.

[0028] In an exemplary embodiment, as Figure 1 shown, a snowplow snow shaping control system is provided, including: a Beidou positioning module, an inclination sensor 103, and a control module 104.

[0029] The Beidou positioning module is used to obtain the position information of the snowplow in real time.

[0030] As an optional implementation manner, the Beidou positioning module is arranged on the top of the snowplow. The position information includes position, speed, and heading. The number of Beidou positioning modules is two, and the position information of the snowplow is determined by two Global Navigation Satellite Systems (GNSS).

[0031] As an optional implementation manner, the Beidou positioning module includes two Global Navigation Satellite System (GNSS) antennas and two GNSS receivers 102. The two GNSS antennas 101 are arranged on the top of the snowplow, and the GNSS receivers 102 are arranged on the body of the snowplow. One GNSS antenna 101 corresponds to one GNSS receiver 102.

[0032] The inclination sensor 103 is used to detect the attitude information of the snowplow in real time.

[0033] As an alternative implementation, the tilt sensor 103 is disposed on the working device of the snowplow. The attitude information includes the pitch angle and the roll angle.

[0034] The control module 104 is configured to control the driving trajectory and working parameters of the snowplow in real time according to the preset snow terrain information, the position information of the snowplow, and the attitude information, so as to achieve the control of the snowplow's snow terrain.

[0035] The control module 104 is connected to the Beidou positioning module, the tilt sensor 103, and the power device, the traveling device, and the working device of the snowplow.

[0036] The preset snow terrain information includes the three-dimensional position information of each sampling point in the working area, and the preset snow terrain information is represented by a three-dimensional terrain model.

[0037] In addition, the snowplow snow terrain control system can also combine the boom sensor 105 and the single slope sensor on the snowplow to adjust the working parameters.

[0038] In a specific application example, the process of the control module 104 controlling the driving trajectory and working parameters of the snowplow in real time according to the preset snow terrain information, the position information of the snowplow, and the attitude information includes the following steps (1) and (2).

[0039] (1) Plan the driving path of the snowplow according to the preset snow terrain information and the position information of the snowplow, and control the driving trajectory of the snowplow according to the driving path and the position information of the snowplow.

[0040] Specifically, compare the position information of the snowplow with the preset snow terrain information to obtain accurate snow depth data, and display the snow thickness data under the snowplow body and under the snowplow blade through a display.

[0041] As an alternative implementation, the A* algorithm or the Dijkstra algorithm is used to plan the driving path of the snowplow. The PID control algorithm or the fuzzy control algorithm is used to control the driving trajectory of the snowplow to ensure that the snowplow travels along the predetermined driving path.

[0042] The A* algorithm is a commonly used path finding and graph traversal algorithm, which combines the advantages of depth-first search and breadth-first search. It calculates the cost from the starting point to the target point and uses a heuristic function to improve the search efficiency. The basic idea of the A* algorithm is to start from the starting point, evaluate the adjacent reachable nodes, and select the node with the lowest cost for expansion. Its advantage is that it can find the shortest path and has good performance and accuracy.

[0043] Dijkstra's algorithm is an algorithm for calculating the single-source shortest path in a graph, which is used to calculate the shortest paths from a single source point to all other nodes in a weighted graph. This algorithm is applicable to directed and undirected graphs containing non-negative weights. Through a greedy strategy, Dijkstra's algorithm gradually expands the nearest unprocessed node and updates the distances of its neighbor nodes until the shortest paths of all nodes are determined.

[0044] The PID control algorithm is an algorithm widely used in industrial control systems. It controls the system through three basic control actions: proportional, integral, and derivative. The core of the PID control algorithm lies in adjusting the control output according to the control deviation (i.e., the difference between the expected value and the actual value) to achieve the stability and accuracy of the control target.

[0045] (2) According to the preset snowfield styling information and the attitude information of the snowplow, control the operating parameters of the operating device of the snowplow. The operating parameters include the angle of the snow shovel, the height of the snow shovel, the angle of the snow plow, and the pressure of the snow pressing plate.

[0046] As an alternative implementation, algorithms such as expert systems and neural networks are used to achieve the intelligent control of the snowplow.

[0047] Furthermore, the control module 104 is also used to adjust the body attitude of the snowplow according to the attitude information of the snowplow by using the Kalman filtering algorithm, so that the snowplow remains stable during operation. The PID control algorithm can also be used to achieve fast and accurate attitude adjustment.

[0048] The Kalman filtering algorithm is a more advanced data fusion method that can estimate the body attitude more accurately. The steps of the Kalman filtering algorithm include: 1) Predict the state vector and covariance. 2) Calculate the Kalman gain. 3) Update the state vector and covariance.

[0049] The state equation of the Kalman filtering algorithm is , and the observation equation is . Among them, is the k state vector at time (including attitude angle and angular velocity), is the state transition matrix, is the control input matrix, is the k control input at time, is the k process noise at time, is the k observation vector at time (including the measurement values of the accelerometer and gyroscope), is the observation matrix, is the k observation noise at time.

[0050] In addition, the control module 104 is further configured to send the driving track and operation parameters of the snowplow to the remote monitoring platform in real time to achieve remote monitoring.

[0051] In another exemplary embodiment, the snowplow snow shaping control system further includes a human-machine interaction module. The human-machine interaction module provides an operation interface, receives the preset snow shaping information input by the user, and displays the operation status of the snowplow.

[0052] As an optional implementation manner, the human-machine interaction module is integrated on the control module 104. The control module 104 is a control panel installed in the cab of the snowplow.

[0053] In another exemplary embodiment, the snowplow snow shaping control system can also control the collaborative operation of multiple snowplows simultaneously, further improving the operation efficiency of the snowplow.

[0054] As Figure 2 shown, the working process of the snowplow snow shaping control system provided by this application is as follows: First, perform system initialization, start the Beidou positioning module to obtain the position information of the snowplow, start the tilt sensor 103 to obtain the attitude information of the snowplow, read the preset snow shaping information, and then perform path planning and attitude control, and monitor the position information and attitude information of the snowplow in real time.

[0055] This application uses the Beidou positioning technology to obtain the position information of the snowplow. The Beidou positioning technology can provide centimeter-level accuracy, improve the accuracy of the driving track of the snowplow, and combine with the tilt sensor 103 to monitor the vehicle body attitude. It can automatically plan the path and control the operation of the snowplow according to the preset snow shaping information, reduce manual intervention, achieve precise control of the snowplow snow shaping, and improve the operation efficiency and accuracy of the snow shaping. The snowplow snow shaping control system can be widely applied to the control of various brands of snowplows in operations such as alpine skiing slopes, snow parks, ski jumps, and U-shaped pools, and is suitable for various snow shaping requirements, such as ski slopes and snow sculptures.

[0056] In one exemplary embodiment, as Figure 3 shown, a snowplow snow shaping control method is provided, including the following steps 301 to step 303.

[0057] Step 301: Obtain the position information of the snowplow in real time.

[0058] Step 302: Detect the attitude information of the snowplow in real time.

[0059] Step 303: According to the preset snow shaping information, the position information and attitude information of the snowplow, control the driving track and operation parameters of the snowplow in real time to achieve snowplow snow shaping control.

[0060] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with relevant regulations.

[0061] In this application, all actions of obtaining signals, information, or data are carried out on the premise of complying with the corresponding data protection regulations and policies of the country where the location is located and obtaining authorization from the owner of the corresponding device.

[0062] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.

[0063] Specific examples are used in this article to elaborate on the principle and implementation manner of this application. The description of the above embodiments is only used to help understand the method and its core idea of this application; at the same time, for those of ordinary skill in the art, based on the idea of this application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to this application.

Claims

1. A snow shaping control system for a snow groomer, characterized in that: The snow shaping control system of the snow groomer comprises: Beidou positioning module, used to obtain the location information of the snow groomer in real time; Inclination sensor, used to detect the snow groomer’s posture information in real time; The control module is used to control the driving trajectory and operating parameters of the snowplow in real time according to preset snow shaping information, the position information and posture information of the snowplow, so as to realize snow shaping control of the snowplow.

2. The snow shaping control system for a snow groomer according to claim 1, characterized in that: The Beidou positioning module is arranged on the top of the snow groomer.

3. The snow shaping control system for a snow groomer according to claim 1, characterized in that: The inclination sensor is arranged on the operating device of the snowplow.

4. The snow shaping control system for a snow groomer according to claim 1, characterized in that: The preset snow shape information includes three-dimensional position information of each sampling point in the operation area.

5. The snow shaping control system for a snow groomer according to claim 1, characterized in that: The process of the control module controlling the driving trajectory and operating parameters of the snowplow in real time according to the preset snow shape information, the position information and the posture information of the snowplow includes: Planning a driving path of the snowplow according to preset snow shape information and location information of the snowplow, and controlling the driving trajectory of the snowplow according to the driving path and location information of the snowplow; According to the preset snow shape information and the posture information of the snowplow, the operating parameters of the snowplow's operating device are controlled.

6. The snow shaping control system for a snow groomer according to claim 5, characterized in that: Use A* algorithm or Dijkstra algorithm to plan the driving path of the snow groomer.

7. The snow shaping control system for a snow groomer according to claim 5, characterized in that: The PID control algorithm or fuzzy control algorithm is used to control the driving trajectory of the snowplow.

8. The snow shaping control system for a snow groomer according to claim 5, characterized in that: The operating device includes a snow shovel, a snow plow and a snow press; the operating parameters include the angle of the snow shovel, the height of the snow shovel, the angle of the snow plow and the pressure of the snow press.

9. The snow shaping control system for a snow groomer according to claim 1, characterized in that: The control module is also used to adjust the body posture of the snowplow according to the posture information of the snowplow by using a Kalman filter algorithm, so that the snowplow remains stable during operation.

10. A snow shaping control method for a snow groomer, characterized in that: The snow shaping control method of the snow groomer comprises: Get the location information of snow groomers in real time; Real-time detection of snow groomer’s posture information; According to the preset snow shaping information, the position information and the posture information of the snow groomer, the driving trajectory and operating parameters of the snow groomer are controlled in real time to realize the snow shaping control of the snow groomer.

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