Power regulation and control method for snow blowing vehicle

Abstract

The embodiment of the invention provides a power regulation and control method for a snow blowing vehicle. The power regulation and control method comprises the steps that a snow blowing time window T is determined according to a flight take-off and landing schedule; dividing the snow blowing time window T into n time subintervals; collecting data of snow thickness H and density rho so as to determine an initial traveling speed V0 and corresponding snow blowing power P0; and the traveling speed Vi + 1 of the next time subinterval Ti + 1 is adjusted based on the snow blowing task proportion Pi completed in the current time subinterval Ti. According to the scheme of the embodiment of the invention, the accumulated snow can be effectively removed under the condition that the take-off and landing time of airport flights is limited.

Description

Technical Field

[0001] This application relates to the technical field of intelligent airports, and particularly to a method for power regulation of a snow blower vehicle. Background Art

[0002] Snow blower vehicle power regulation is a technology used to optimize the operation efficiency of snow blower vehicles, aiming to intelligently adjust the engine power output and snow blowing speed to adapt to different snow accumulation situations and environmental conditions. This method aims to improve snow removal efficiency and ensure operation safety. However, in practical applications, how to accurately regulate the snow blowing speed of snow blower vehicles to meet the strict restrictions of airport flight takeoff and landing times is a key issue. Since airport runways need to be quickly cleared during the intervals between flight takeoffs and landings, if the snow blowing speed is too slow, the runway cannot be restored for use in time, affecting flight scheduling; conversely, too fast a snow blowing speed may reduce the cleaning quality or pose safety hazards to equipment and personnel, thus indirectly delaying flights. Summary of the Invention

[0003] In view of this, embodiments of the present disclosure provide a method for power regulation of a snow blower vehicle, which at least partially solves the problems existing in the prior art.

[0004] A method for power regulation of a snow blower vehicle according to this application includes:

[0005] Determine the snow blowing time window T according to the flight takeoff and landing schedule;

[0006] Divide the snow blowing time window T into n time sub-intervals;

[0007] Collect data on snow thickness H and density ρ to determine the initial traveling speed V0 and its corresponding snow blowing power P0;

[0008] Based on the proportion P of the snow blowing task completed in the current time sub-interval T i Adjust the traveling speed V in the next time sub-interval T i i+1 i+1 .

[0009] In a specific embodiment, the dividing the snow blowing time window T into n time sub-intervals includes:

[0010] Perform a preliminary division of the snow blowing time window T, where the length of the nth time sub-interval is L / V max , and the lengths of the first n - 1 time sub-intervals are (T - L / V max ) / (n - 1), where L is the total snow blowing task volume, and V max is the maximum traveling speed of the snow blower vehicle; and

[0011] ​​At the end of the i-th time sub-interval, the remaining snow blowing time window Tri is divided again according to the total completion amount P of the current snow blowing task, where the length of the n-th time sub-interval is (LP) / V max , the length of the time sub-interval from the i+1th to the n-1th is (Tri-(LP) / V max ) / (n-1).

[0012] In a specific embodiment, the current time sub-interval T i The percentage of snow blowing tasks completed i Adjust the next time subinterval T i+1 The travel speed V i+1 ,include:

[0013] Calculate the current time subinterval T i The percentage of snow blowing tasks completed i and the current time subinterval T i The travel speed V i ;

[0014] According to the formula V i+1 =V i ×(1+(1-P i )) Calculate the next time subinterval T i+1 The travel speed V i+1 .

[0015] In a specific embodiment, the method further comprises:

[0016] If V i+1 ≥V max , then extend the next time sub-interval T i+1 Length to V i+1 ×L / n / V max , and in the next time subinterval T i+1 V max speed of travel.

[0017] In one specific embodiment, if V i+1 ≤V min , then in the next time subinterval T i+1 V min The speed of V min is the minimum travel speed of the snowblower.

[0018] In one specific embodiment, if V min ≤V i+1 ≤L / T, then in the next time subinterval T i+1 Travel at a speed of L / T, where L is the total snowblowing task.

[0019] In a specific embodiment, the proportion P of the snow blowing tasks completed based on the current time sub - interval T i is used to adjust the traveling speed V of the next time sub - interval T i , and further includes: i+1 the traveling speed V i+1 , and further includes:

[0020] Calculate the remaining task proportion R of the current time sub - interval T i where R = 1 - P i ; i ;

[0021] According to the formula V i+1 = V i ×(1 + R i / (n - i)) to calculate the preliminary adjusted speed;

[0022] If V i+1 > V max , then correct V i+1 to V max , and extend the length of the next time sub - interval T i+1 to V i+1 ×L / n / V max， where L is the total snow - blowing task volume;

[0023] If V i+1 < V min , then correct V i+1 to V min .

[0024] In a specific embodiment, the method further includes adjusting the length of the time sub - interval by the following steps:

[0025] If V i+1 > V max , calculate the time increment ΔT according to the formula ΔT=(V i+1 - V max ) / V max ×T i+1 ;

[0026] Adjust the length of the next time sub - interval T i+1 to T i+1 +ΔT;

[0027] Uniformly deduct the time amount of ΔT / (n - i - 1) from the remaining unallocated time sub - intervals;

[0028] If the length of any sub - interval is less than L / V max after deduction, then trigger the forced termination condition and alarm.

[0029] In a specific embodiment, the method further includes:

[0030] Calculate the remaining total task volume Q = L - P, where P is the total task volume already completed currently;

[0031] Calculate the emergency travel speed according to the formula V_emergency = Q / (Tri - ΔT);

[0032] If V_emergency > V max , then mark the task as impossible to complete and activate the alternative plan;

[0033] If V_emergency ≤ V max , then force the speeds of all subsequent sub - intervals to be V_emergency.

[0034] The embodiment of the present disclosure provides a power regulation method for a snow - blowing vehicle, including: determining the snow - blowing time window T according to the flight schedule; dividing the snow - blowing time window T into n time sub - intervals; collecting snow thickness H and density ρ data to determine the initial travel speed V0 and its corresponding snow - blowing power P0; adjusting the travel speed Vi + 1 of the next time sub - interval Ti + 1 based on the snow - blowing task proportion Pi completed in the current time sub - interval Ti. Through the solution of the embodiment of the present disclosure, the problem of effectively removing snow under the time limit of airport flight take - off and landing can be solved. Brief Description of the Drawings

[0035] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present disclosure, the following will briefly introduce the drawings required in the embodiments. It should be understood that the following drawings only show some embodiments of the present disclosure, and thus should not be regarded as limiting the scope. For those of ordinary skill in the art, other relevant drawings can also be obtained based on these drawings without creative efforts.

[0036] Figure 1 is a flowchart of a power regulation method for a snow - blowing vehicle of the present application;

[0037] Figure 2 is a flowchart of dividing the snow - blowing time window T into n time sub - intervals in an embodiment of the present application;

[0038] Figure 3 is based on the current time sub - interval T i The snow - blowing task proportion P i completed to adjust the travel speed V i+1 of the next time sub - interval T i+1 in a flowchart;

[0039] Figure 4 is another embodiment of the present application based on the current time sub - interval T i The snow - blowing task proportion Pi Adjust the next time sub - interval T i+1 of the traveling speed V i+1 Flow chart;

[0040] Figure 5 is the flow chart of adjusting the length of the time sub - interval in the present application;

[0041] Figure 6 is the flow chart of the power regulation method for a snow - blowing vehicle in another embodiment of the present application. Specific implementation mode

[0042] The following describes the embodiments of the present disclosure in detail with reference to the accompanying drawings.

[0043] The following illustrates the embodiments of the present disclosure through specific examples. Those skilled in the art can easily understand the other advantages and effects of the present disclosure from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all of them. The present disclosure can also be implemented or applied through other different specific implementation modes. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present disclosure. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present disclosure without creative efforts belong to the scope of protection of the present disclosure.

[0044] It should be noted that the following describes various aspects of the embodiments within the scope of the appended claims. It should be obvious that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is illustrative only. Based on the present disclosure, those skilled in the art should understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement the device and / or practice the method. In addition, this device can be implemented and this method can be practiced using other structures and / or functions in addition to one or more of the aspects described herein.

[0045] It should also be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present disclosure schematically. The diagrams only show the components related to the present disclosure, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and ratio of each component in its actual implementation can be an arbitrary change, and the component layout type may also be more complex.

[0046] In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, those skilled in the art will understand that the described aspects can be practiced without these specific details.

[0047] Next, with reference to the accompanying drawings, a method for power regulation of a snow blower vehicle according to the present invention will be described. This method addresses the strict time limit problem for airport flight takeoffs and landings. By optimizing the snow blowing speed, it ensures that the runway returns to normal use within the specified time, thereby improving the overall operational efficiency of the airport.

[0048] As Figure 1 shown, the method for power regulation of a snow blower vehicle of the present application includes:

[0049] S101: Determine the snow blowing time window T according to the flight schedule. Specifically, by analyzing the flight scheduling information, it can be determined during which time periods the runway snow removal work must be completed to ensure the safe takeoff and landing of flights. For example, if there are two critical periods with frequent flight arrivals and departures during the day at a certain airport (from 7:00 to 8:30 in the morning and from 17:00 to 19:00 in the evening), and the temperature at night is extremely low, which may cause large - area snow accumulation, then appropriate times can be selected outside the two peak periods, such as from 5:00 to 7:00 in the early morning and from 12:00 to 2:00 in the afternoon, to perform the snow blowing operation, that is, the snow blowing time window T. The selection of the snow blowing time window T needs to avoid interfering with the normal operation of flights and also strive for a buffer period for a new round of snowfall that may occur next.

[0050] In a specific embodiment, all the estimated takeoff and landing time points of flights in the flight schedule can be obtained, the time intervals between adjacent two flight time points can be calculated, and it can be determined whether the time interval is greater than a preset minimum snow blowing time interval threshold Tth1. If so, the time interval is included in the candidate interval of the snow blowing time window T, and all the candidate intervals that meet the conditions are merged to obtain a preliminary snow blowing time window T'. In this case, the snow blowing time window is discontinuous. In addition, according to the special operation rules of the airport (such as flight ban regulations during specific periods, etc.), the preliminary snow blowing time window T' can be adjusted to finally determine the snow blowing time window T, and T satisfies the following condition: T = T' - T offset , where T offset is the time offset determined according to the airport operation rules, and its value range is [0, Tth2], and Tth2 is the preset maximum time offset threshold.

[0051] S102: Divide the snow blowing time window T into n time sub-intervals. Specifically, the snow blowing time window T is reasonably divided into multiple (n) time sub-intervals. The selection of n here needs to take into account factors such as weather changes and task urgency. It can generally be determined based on the expected severity of the snow conditions. If a blizzard is encountered, it is divided into more detailed small time periods. Conversely, the sub-interval length is appropriately increased under conventional obstacle removal conditions. This approach helps to more accurately grasp the work progress within each time sub-interval, and when faced with a sudden blizzard or other unexpected situation, the strategy can be flexibly adjusted and responded to quickly without affecting the overall plan. In other words, in this application, the time sub-interval can be used as a reflection of the control frequency. The shorter the time sub-interval, the higher the control accuracy, and the longer the time sub-interval, the lower the control accuracy.

[0052] In a specific embodiment, the total workload L of the snow blowing task can be determined first, and the theoretical number of time sub-intervals n'=L / Lth can be calculated based on L and the preset average workload threshold Lth of each time sub-interval; and the starting time of the snow blowing time window T is used as a reference, and T is divided into n' preliminary time sub-intervals Ti' (i'=1, 2, ..., n') according to equal time intervals ΔT'=T / n'; on this basis, the snow condition change data within each preliminary time sub-interval Ti' can also be collected, including the snowfall change rate S i Adhesion degree to snow C i , calculate the adjustment coefficient Ki=S for each preliminary time sub-interval Ti' i ×C i ; Then adjust the preliminary time sub-interval Ti' according to the adjustment coefficient Ki to obtain the final n time sub-intervals Ti (i = 1, 2, ..., n), and each adjusted time sub-interval T i The following conditions are met: i =Ti'×(1+Ki / Kmax), where Kmax is the maximum value of all adjustment coefficients Ki. By adjusting the interval in this way, it is possible to respond to changing snow conditions.

[0053] S103: Collect snow thickness H and density ρ data to determine the initial travel speed V0 and its corresponding snow blowing power P0. This is usually done with the help of monitoring systems such as radar and remote sensing satellites to obtain detailed and reliable snow volume parameters. Afterwards, the walking benchmark value can be calculated by referring to a combination of past experience and mathematical modeling, so that the snow blowing device can efficiently clear the snow while ensuring safety. Suppose in an actual application, a heavy snow with a depth of 10 cm and very dense snow (H = 10 cm, ρ = 300 kg / m 3) covers the runway surface. Based on this intelligence, the initial action rate V0 can be set to a lower speed in order to generate enough force to blow away the thick snow, while maintaining an appropriate snow blowing power P0 to ensure continued effective work performance without exceeding the power supply limit and damaging hardware facilities or wasting energy resources.

[0054] For example, in a specific embodiment, multiple snow monitoring points can be set in the snow blowing operation area to collect snow thickness H and density ρ data at each monitoring point in real time; the collected snow thickness H and density ρ data are averaged to obtain the average snow thickness H avg and the average density ρ avg , then according to the average snow thickness H avg and the average density ρ avg The initial travel speed V0 is determined by a preset empirical formula. In one embodiment, the formula may be V0=ab×H avg -c×ρ avg , where a, b, and c are preset empirical coefficients; according to the initial travel speed V0 and the performance parameters of the snowblowing equipment, the corresponding snowblowing power P0 is calculated using the following formula: P0 = k × V0^d, where k and d are constants determined according to the characteristics of the snowblowing equipment. It is understandable that other methods can also be used to determine the initial travel speed V0 and its corresponding snowblowing power P0.

[0055] S104: Based on the current time sub-interval T i The percentage of snow blowing tasks completed i Adjust the next time subinterval T i+1 The travel speed V i+1 In actual work, it is also necessary to base on each completed stage T i The task completion ratio P i Dynamically adjust the subsequent stage T i+1 The forward speed V i+1 . That is to say, after each round of operation, the completion rate of the past period of time must be evaluated to determine whether the distance that has been cleaned has reached the pre-set standard range. Assuming that after a certain period of time, it is found that only 75% of the task target (Pi = 75%) has been completed, then in order to make up for the lagging part, the speed of the machine should be appropriately increased to a higher level when the new link comes, so that it can run a little faster and completely clean the ice and snow on the remaining quarter of the path within the next timing period; on the contrary, if the previous progress is smooth and exceeds the predetermined indicators, it is allowed to slow down and slowly process the remaining sections. In this way, a stable and efficient output state is always maintained until the last moment to successfully complete the mission of the entire cycle, and ultimately achieve the purpose of shortening the runway opening interval, thereby improving the quality of civil aviation transportation services.

[0056] In a specific embodiment, at the end of the current time sub-interval T i the amount of snow-clearing tasks Q completed is counted i and the total task amount Q within this time sub-interval total is calculated to obtain the snow-clearing task ratio P i = Q i / Q total ; It is determined whether P i is greater than the preset task ratio threshold P th . When P i ≤ P th , the traveling speed in the next time sub-interval T i+1 is increased. The adjusted traveling speed V i+1 = V i ×(1 + (P th - P i ) / (1 - P th )) and V i+1 does not exceed the maximum traveling speed V max of the snow-clearing equipment; When P i > P th , the traveling speed in the next time sub-interval T i+1 is decreased according to the task completion situation. The adjusted traveling speed V i+1 = V i ×(1 - (P i - P th ) / P th ) and V i+1 is not lower than the minimum traveling speed V min .

[0057] Next, with reference to Figure 2 the specific steps of dividing the snow-clearing time window T into n time sub-intervals in an embodiment of the present invention are described.

[0058] S201: The snow-clearing time window T is initially divided. The length of the nth time sub-interval is L / V max , and the lengths of the first n - 1 time sub-intervals are (T - L / V max ) / (n - 1), where L is the total snow-clearing task amount and V max is the maximum traveling speed of the snow-clearing vehicle.

[0059] Specifically, when initially dividing the snow-clearing time window T, the length of the nth time sub-interval is determined to be L / Vmax, that is, the total task amount divided by the maximum traveling speed. The lengths of the first n - 1 time sub-intervals are then calculated as (T - L / V max) / (n - 1), where T is the total available time during the entire operation, L represents the total workload or distance required for the entire snow blowing task (in this application, the snow blowing task volume is represented by the travel distance of the snow blower), and V max is the maximum travel speed of the snow blower. This setting ensures that even in the last time period, there is still enough time reserved to complete the last section of work, and tries to keep the vehicle speed at a relatively high level in each time period, thereby improving efficiency. In other words, even if there are delays in all n - 1 time sub - intervals due to unexpected situations, the snow clearing task can still be completed in the last time sub - interval.

[0060] S202: At the end of the i - th time sub - interval, re - divide the remaining snow blowing time window Tri according to the total completed amount P of the current snow blowing task, where the length of the n - th time sub - interval is (L - P) / V max , and the lengths of the (i + 1)-th to (n - 1)-th time sub - intervals are (Tr-(L - P) / V max ) / (n - 1). Secondly, at the end of each cycle, that is, when reaching a time interval (i is any serial number), check the currently actually completed work P, and re - plan all unused resources in the remaining time period Tri based on this. At this time, adjust the length of the last sub - interval to (L - P) / V again max ; at the same time, update the lengths of the time periods from the (i + 1)-th to the (n - 1)-th in the middle to become (Tri-(L - P) / V max ) / (n - 1). By continuously modifying the plan, fine - tuning can be carried out according to the on - site situation in each stage, further optimizing the entire process and ensuring the smooth completion of all cleaning tasks within the specified time.

[0061] For example, in an embodiment, if the total length of the snow blowing task is 800 meters, the snow blower can clear at most 2000 meters of snow on the construction site per hour under optimal performance. And the set operation deadline is only 3.5 hours. So first, it is roughly divided into 4 small blocks in the above - mentioned way. After about 1 hour of the first complete scan, it is known that about one - third of the expected path has been processed. At this time, it is necessary to re - consider how to allocate human and material resources more reasonably on the remaining sections. Therefore, the system will dynamically change the subsequent plan arrangement according to the known information: Suppose there is still an area of nearly 650 meters to be sorted out after the first round, then the new plan may shorten the last stage and correspondingly increase the work intensity of other sections, so that the equipment can be fully utilized to exert its maximum capacity without causing over - expenditure or delay problems. Specifically, adjusting the strategy in a timely manner when the progress in the previous steps is found to be much faster than expected in the second division can significantly improve the overall effect and achieve more refined and efficient operation management.

[0062] Next, refer to Figure 3 , describe another embodiment of the present invention based on the current time sub - interval Ti Proportion P of completed snow-clearing tasks i Adjust the next time sub-interval T i+1 Travel speed V i+1 Steps

[0063] S301: Calculate the proportion P of completed snow-clearing tasks in the current time sub-interval T i Proportion P of completed snow-clearing tasks i And the travel speed V in the current time sub-interval T i Travel speed V i During the operation of the snow blower, each time period T i Is a working section of a specific duration. Within this working section, the proportion P is determined by comparing the actual snow-clearing range with the total planned range to be cleared i , Usually this ratio is a decimal between 0 and 1. The closer it is to 1, the higher the degree of completion. In the optimal case, it should reach or be close to 1. V i Is the speed at which the vehicle travels during this time period T i The unit can be meters per second or kilometers per hour, and it depends on the specific operating environment set

[0064] S302: Calculate the travel speed V of the next time sub-interval T according to the formula V i+1 = V i ×(1+(1 - P i )) i+1 Travel speed V of the next time sub-interval T i+1 . Here, P i Reflects the effectiveness and progress of the previous interval's work. If the task completion rate in the time sub-interval T i Is low, it means that 1 - P i Is close to 1, then the travel speed in the next interval is increased to ensure the cleaning efficiency; conversely, when P i Is greater than 1, then the speed of the next time sub-interval T i+1 Is decreased. This setting ensures that when the operation is going smoothly, the efficiency can be maintained close to the original level without large fluctuations. More specifically, the meaning of this formula is that if the current time sub-interval T i Has not completed the scheduled task volume, then the travel speed of the snow blower is regulated to catch up with the scheduled plan by adjusting the speed in the next time sub-interval

[0065] For example, in a specific implementation case, in a certain time sub-interval (such as from 8 am to 9 am), assuming the target cleaning length is 1 kilometer and it is finally measured that 75% has been cleaned, that is, the P i Value is 0.75. At this time, the average travel speed in this interval is set to 10 km / h, that is, V iis 10 km / h. The target moving speed for the new period (i.e., the 9 - 10 o'clock period) is calculated according to the rules mentioned above: V i+1 = 10×(1+(1 - 0.75)) = 12.5 km / h, which means that in order to compensate for the slightly poor cleaning effect before and speed up the progress of the entire project, the speed will be slightly increased.

[0066] In summary, adjusting the driving speed according to the completion of different snow - blowing tasks in different time periods can improve the overall operation efficiency and ensure that every section of the road surface can be thoroughly cleaned. This regulation scheme is applicable to the rapid road clearance and snow removal work under different seasonal weather conditions, ensuring the scientific and reasonable use of equipment while maximizing the satisfaction of urban traffic needs.

[0067] In addition, in another embodiment of the present application, if the calculated speed V i+1 in the next time sub - interval is greater than or equal to the maximum allowable speed V max , the regulation mechanism is triggered. Under this condition, the length of the subsequent time period T i+1 will be extended to a new length value, which is specifically calculated according to the formula (V i+1 ×L / n / V max ), and the vehicle will travel at the speed limit V max during this period to ensure that the actual speed does not exceed the safety threshold.

[0068] For example, in a power regulation scenario of a snow - blower vehicle, in one instance, considering that the road surface is hard and covered with snow due to cold weather, the snow - blower needs to clean the covering layer at a relatively cautious but efficient rate, and the maximum speed V max is specified as 5 m / s to avoid damaging the road surface or threatening the safety of nearby personnel and property. It is also known that the total length L of the entire section to be cleaned reaches 200 meters and is evenly disassembled into n = 40 small sections according to its winding trend. When it is monitored that the 7th section is about to start, that is, during the process of transitioning from the i = 6 stage to i + 1 = 7, when the originally expected instantaneous traveling speed V i+1 reaches or exceeds the preset limit V max , the above - mentioned special rule processing program will be started: the normal duration originally allocated to T i+1 , that is, the regular duration of the seventh time period, will be extended by an additional period. The extended increment is obtained by multiplying the expected excessive instantaneous speed by the total distance, dividing by the number of parts, and further dividing by the speed limit (here, for simplicity of understanding, it is equivalent to that in order to keep moving within the maximum limit, an additional time needs to be extended so that the vehicle can complete the cleaning operation of this section within the safe range). Therefore, in the next period of time, no matter how high the original speed is, it will be forced to be reduced to V maxThat is, it is stably controlled at a constant value of 5 m / s to carry out subsequent cleaning activities until the work in the corresponding section is completed. In this way, both the output performance of the power source can be fully utilized, and the operation specifications can be strictly controlled to ensure the safety factor.

[0069] In addition, in the present invention, if the calculated V i+1 ≤V min , then in the next time sub-interval T i+1 it travels at a speed of V min .

[0070] For example, when the expected moving speed of the snow blower in the current environmental conditions for the next cycle of the vehicle is lower than the pre-set safety bottom line (i.e., satisfying the inequality V i+1 ≤V min ), the controller will immediately make an adjustment action to make the vehicle enter the protection mode and travel stably at the pre-specified V min value. Suppose Vmin is set to 10 km / h and a certain measurement shows that the instantaneous speed in the next period of time is expected to be 8 km / h, then this protection mechanism will be activated at this time to ensure overall safety and stability. Through the above mechanism, it is possible to avoid the situation of unstable operation or stagnation of the operation progress caused by too slow driving, ensuring the safe and reliable operation of the equipment and the improvement of the snow removal efficiency.

[0071] In addition, in the present invention, if V min ≤V i+1 ≤L / T, then in the next time sub-interval T i+1 it travels at a speed of L / T. At the beginning of this process, it is necessary to confirm that V min is the minimum speed threshold allowed for the snow blower in the current environment; V i+1 represents the predicted or preliminarily determined working speed in an upcoming moment; and L / T indicates the average cleaning speed.

[0072] In one embodiment, it can be considered that the snow blower is located on a total length L equal to 200 m, and the expected total cleaning time is set to T = 10 minutes. Therefore, the corresponding ideal driving speed will be 20 m / min, and the set minimum speed Vmin is 10 m / min. If the speed V i+1 in the next time sub-interval T i+1 is 15 m / s, then in this application, it does not travel at a speed of 15 m / min, but at an average speed of 20 m / min. In this way, it helps to improve the work efficiency.

[0073] Next, referring to Figure 4 , describe the proportion P of the snow removal task completed based on the current time sub-interval T i in another embodiment of the present inventioni Adjust the next time sub - interval T i+1 's traveling speed V i+1 .

[0074] S401: Calculate the remaining task volume ratio R i of the current time sub - interval T i = 1 - P i . The remaining task volume ratio R i is defined as R i = 1 - P i , which reflects how much work remains unfinished after the current sub - interval T i ends. The range here is a value between 0 and 1, where being close to 0 means that most of the work has been completed; being close to 1 means the opposite.

[0075] S402: According to the formula V i+1 = V i+1 = V i ×(1 + R i / (n - i)) to calculate the preliminary adjusted speed, where Tri is the remaining snow - blowing time window. Here, V i refers to the speed of the current stage, n represents the number of all time sub - intervals, and i is the number of the current time period. Therefore, Tri is the length of the remaining effective operation period from now until the end of the operation. The factor R i / (n - i)) means distributing the remaining task volume ratio R i of the current time sub - interval T i evenly among the remaining n - i sub - intervals, thus improving the overall work consistency. If the completion efficiency is low, the vehicle running speed in the subsequent time periods will be appropriately increased to more efficiently handle the remaining work; conversely, when the task progress is ahead, reducing the moving speed can save energy consumption and maintain stable operation performance. In addition, the proportional coefficient in the formula aims to optimize the entire cleaning process and rationalize the task distribution in each time period.

[0076] S403: If V i+1 > V max , then correct V i+1 to V max , and extend the length of the next time sub - interval T i+1 to V i+1 ×L / n / V max . After obtaining the adjusted preliminary driving speed V i+1 , it needs to be corrected. If in any case the preliminarily calculated speed exceeds the allowable maximum value V max, then set the traveling speed at this time equal to this limit value, and activate the mechanism to re-evaluate the current time division. For the specific re-evaluation of the time division, reference can be made to the above method for adjusting the length of the next time sub-interval T when V > V, which will not be elaborated here. i+1 > V max at the time to adjust the length of the next time sub-interval T i+1 .

[0077] S404: If V < V i+1 < V min , then correct V to V i+1 . At this time, it is the same as the above situation where V < V min , which will not be elaborated here. i+1 < V min .

[0078] Next, refer to Figure 5 to describe the method for adjusting the length of the time sub-interval in another embodiment of the present invention.

[0079] S501: If V > V i+1 > V max , calculate the time increment ΔT according to the formula ΔT = (V - V) / V × T i+1 - V max / V max ×T i+1 .

[0080] S502: Adjust the length of the next time sub-interval T i+1 to T + ΔT; i+1

[0081] S503: Uniformly deduct the time amount of ΔT / (n - i - 1) from the remaining unallocated time sub-intervals;

[0082] S504: If the length of any sub-interval is less than L / V after deduction max , then trigger the forced termination condition and alarm.

[0083] Specifically, in the present application, when the calculated speed of the next time sub-interval is greater than the maximum traveling speed V max after that, then adjust the length of the next time sub-interval according to the exceeding ratio, that is, adjust the duration of the next cycle, namely the time sub-interval, to the original T i+1 plus the time increment ΔT. This means dynamically optimizing and adjusting the future operation time so that the snow blowing power can more precisely match the changing requirements.

[0084] Then, uniformly subtract a value equal to the time increment divided by (n - i - 1) from all the remaining unused subsequent time periods to be allocated. Here, n represents the total number of preset division numbers, aiming to enable the remaining part to reasonably absorb or disperse the changes caused by the adjustment. The meaning here is that due to the Ti+1 If the length of a time sub - interval, i.e., the time length, increases by ΔT, then in order to ensure that the overall time remains unchanged and prevent the situation where continuously extending the time sub - interval may exceed the time window, in this application, the lengths of the remaining time sub - intervals are also adjusted. Specifically, the length of each time sub - interval is shortened by ΔT / (n - i - 1), thus ensuring that the overall snow - blowing time length remains unchanged.

[0085] If the processing result of any one time causes a certain section to be shorter than the average duration L / Vmax at the maximum travel speed, this will cause the system to immediately stop further operations and trigger an alarm warning.

[0086] Next, refer to Figure 6 to describe the forced termination conditions of the present invention.

[0087] S601: Calculate the remaining total task volume Q = L - P;

[0088] S602: Calculate the emergency travel speed according to the formula V_emergency = Q / (Tri - ΔT);

[0089] S603: If V_emergency > Vmax, mark the task as un - completable and start the alternative plan;

[0090] S604: If V_emergency ≤ Vmax, force the speeds of all subsequent sub - intervals to be V_emergency.

[0091] First, calculate the remaining total task volume Q = L - P. This represents subtracting the currently completed task volume P from the total task volume L to obtain the remaining task volume Q. Among them, the total task volume L is the sum of the task lengths of all sections on the snow - blower; the completed task volume P is the sum of the task lengths of the sections that the snow - blower has traveled through, that is, the task volume completed currently according to the time period T i The completed task volume. The significance of this step is to accurately determine the remaining workload for reasonable planning of subsequent operations.

[0092] Then, use the formula V_emergency = Q / (Tri - ΔT) to calculate the emergency travel speed V_emergency. In this formula, Q represents the remaining total task volume calculated in the previous step, with the unit of kilometers or meters. TRi is the current remaining snow - blowing time window, that is, the time period obtained by subtracting the current time point from the latest time node for completing the entire task, and the range is usually from minutes to hours. Through this formula, it can be known how fast the vehicle must move forward within the shortest feasible time to complete the work on time. The purpose of setting this formula is to ensure that the task is completed within the scheduled time limit and provide the necessary speed guidance to prevent further delays.

[0093] When V_emergency > Vmax, it is considered that the current situation cannot meet the requirement of timely completion, and this task is marked as uncompletable. Then, the alternative plan will be activated. For example, in case of bad weather or other external factor interference, the emergency mode is activated and other more reliable routes are selected for replanning.

[0094] If V_emergency ≤ Vmax, the traveling speed on all subsequent unoperated road sections is set to the calculated emergency traveling speed V_emergency, so as to improve the efficiency of the entire snow clearing process as much as possible, and at the same time, the balance between the safe driving limit of the vehicle and the actual road conditions is also considered.

[0095] In summary, in this application, by determining the snow blowing time window T according to the flight schedule; dividing the snow blowing time window T into n time sub-intervals; collecting snow thickness H and density ρ data to determine the initial traveling speed V0 and its corresponding snow blowing power P0; based on the current time sub-interval T i The proportion P of the completed snow blowing tasks i Adjust the traveling speed V of the next time sub-interval T i+1 . Through the solution of the embodiment of the present disclosure, the problem of effectively clearing snow under the time limit of airport flight takeoff and landing can be solved. i+1 Those skilled in the art should understand that the embodiments of this specification can be provided as methods, systems or computer program products. Therefore, those skilled in the art can think that the implementation of the functional modules / units or controllers and related method steps clarified in the above embodiments can be realized in a software, hardware and software / hardware combination manner.

[0096] Unless explicitly stated, the actions or steps of the methods and programs described according to the embodiments of the present invention do not have to be executed in a specific order and can still achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0097]

[0098] ​​

[0099] Exemplary systems and methods of the present invention have been specifically shown and described with reference to the above embodiments, which are merely examples of the best mode for implementing the systems and methods. Those skilled in the art will understand that various changes can be made to the embodiments of the systems and methods described herein when implementing the systems and / or methods without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A power control method for a snowblower, characterized in that: include: Determine the snow blowing time window T according to the flight take-off and landing schedule; Dividing the snow blowing time window T into n time sub-intervals; Collect snow thickness H and density ρ data to determine the initial travel speed V0 and its corresponding snow blowing power P0; Based on the current time subinterval T i The percentage of snow blowing tasks completed i Adjust the next time subinterval T i+1 The travel speed V i+1 .

2. The power control method for a snowblower according to claim 1, characterized in that: The step of dividing the snow blowing time window T into n time sub-intervals includes: The snow blowing time window T is initially divided, where the length of the nth time sub-interval is L / V max , the length of the first n-1 time sub-intervals is (TL / V max ) / (n-1), where L is the total snow blowing task, V max is the maximum travel speed of the snowblower; and At the end of the i-th time sub-interval, the remaining snow blowing time window Tri is divided again according to the total completion amount P of the current snow blowing task, where the length of the n-th time sub-interval is (LP) / V max , the length of the time sub-interval from the i+1th to the n-1th is (Tri-(LP) / V max ) / (n-1).

3. The power control method for a snowblower according to claim 1, characterized in that: The current time sub-interval T i The percentage of snow blowing tasks completed i Adjust the next time subinterval T i+1 The travel speed V i+1 ,include: Calculate the current time subinterval T i The percentage of snow blowing tasks completed i and the current time subinterval T i The travel speed V i ; According to the formula V i+1 =V i ×(1+(1-P i )) Calculate the next time subinterval T i+1 The travel speed V i+1 .

4. The power control method for a snowblower according to claim 3, characterized in that: The method further comprises: If V i+1 ≥V max , then extend the next time sub-interval T i+1 Length to V i+1 ×L / n / V max , and in the next time subinterval T i+1 V max speed of travel.

5. The power control method for a snowblower according to claim 3, characterized in that: If V i+1 ≤V min , then in the next time subinterval T i+1 V min The speed of V min is the minimum travel speed of the snowblower.

6. The power control method for a snowblower according to claim 3, characterized in that: If V min ≤V i+1 ≤L / T, then in the next time subinterval T i+1 Travel at a speed of L / T, where L is the total snowblowing task.

7. The power control method for a snowblower according to claim 1, characterized in that: The current time sub-interval T i The percentage of snow blowing tasks completed i Adjust the next time subinterval T i+1 The travel speed V i+1 , further comprising: Calculate the current time subinterval T i The remaining task volume ratio R i =1-P i ; According to the formula V i+1 =V i ×(1+R i / (ni)) calculate the initial adjustment speed; If V i+1 >V max , then V i+1 Corrected to V max , and extend the next time sub-interval T i+1 Length to V i+1 ×L / n / V max， Among them, L is the total snow blowing task volume; If V i+1 <V min , then V i+1 Corrected to V min .

8. The power control method for a snowblower according to claim 7, characterized in that: The method further comprises adjusting the length of the time sub-interval by adopting the following steps: If V i+1 >V max According to the formula ΔT=(V i+1 -V max ) / V max ×T i+1 Calculate the time increment ΔT; The next time subinterval T i+1 The length is adjusted to T i+1 +ΔT; Uniformly deduct an amount of ΔT / (ni-1) from the remaining unallocated time subintervals; If the length of any sub-interval after deduction is less than L / V max , then the forced termination condition is triggered and an alarm is sounded.

9. The power control method for a snowblower according to claim 8, characterized in that: The method further comprises: Calculate the remaining total task volume Q = LP, where P is the total amount of tasks currently completed; The emergency travel speed is calculated according to the formula V_emergency=Q / (Tri-ΔT); If V_emergency>Vmax, mark the task as unachievable and initiate an alternative plan; If V_emergency≤Vmax, the speeds of all subsequent sub-intervals will be forced to be set to V_emergency.

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