Multi-sensor fused vector nozzle control system and method for thermal jet snow removal equipment

Abstract

The invention belongs to the technical field of road deicing and snow removal, and particularly relates to a multi-sensor fusion thermal jet snow removal equipment vector nozzle control system and method, which comprises a vector nozzle, a controller, an ultrasonic snow depth sensor and a laser snow depth sensor, the ultrasonic snow depth sensor and the laser snow depth sensor are both connected with the controller; the controller is connected with the vector nozzle and used for receiving the accumulated snow thickness data, processing and analyzing the accumulated snow thickness data and sending a control command to the vector nozzle according to a processing and analyzing result; the vector nozzle is used for receiving the control command and adjusting the nozzle angle and the nozzle size according to the control command. According to the vector nozzle control system, road accumulated snow thickness information is detected through the multiple sensors, the controller processes and analyzes data detected by the sensors and then controls the size and the angle of the vector nozzle, and the function of adjusting the size and the angle of the vector nozzle can be achieved through the motor and the hydraulic rod which are installed on the vector nozzle.

Description

Technical Field

[0001] This invention belongs to the field of road de-icing and snow removal technology, specifically relating to a vector nozzle control system and method for multi-sensor fusion thermal jet snow removal equipment. Background Technology

[0002] Winter snow accumulation is a major global issue affecting transportation, energy, and people's livelihoods. At airports, runway snow can lead to widespread flight delays or even cancellations; on highways, snow accumulation significantly reduces traffic efficiency and increases the risk of traffic accidents. To ensure traffic safety and timely road access, snowplows, with their efficient snow removal capabilities, have become crucial equipment for winter traffic management. They not only quickly clear blocked roads, improve traffic efficiency, and reduce accident risks, but also possess stable performance in low-temperature environments and highly efficient mechanized operation capabilities, playing a vital role in ensuring public safety and the normal functioning of society.

[0003] Winter snow removal has long relied on traditional methods, yet it has consistently struggled to overcome the dual bottlenecks of efficiency and environmental impact. Traditional snow removal methods (such as mechanical snow removal and chemical snow melting) suffer from low efficiency and road surface damage; chemical snow melting, in particular, leads to soil salinization and water pollution. Faced with frequent extreme weather events, the limitations of traditional methods become increasingly apparent: airport runways require efficient snow removal to ensure flight safety, highways need to be restored to traffic quickly without interruption, and urban roads must balance snow removal efficiency with environmental standards. Against this backdrop, thermal snow removal vehicles have emerged. Their core technological advantage lies in completing snow removal through non-contact operation, avoiding the physical damage to the road surface caused by mechanical snow removal and eliminating the environmental pollution caused by chemical snow melting. However, current thermal snow removal vehicle nozzle devices still have significant shortcomings: most existing devices are fixed structures, with only a few offering nozzle size adjustment. Furthermore, some adjustable devices suffer from poor structural flexibility and slow response speed, failing to meet the demands of rapidly adjusting snow removal direction and intensity under complex conditions. To meet the practical needs of efficient snow removal operations, the functional limitations of traditional nozzle devices are no longer sufficient—they cannot adapt to dynamically changing road snow conditions, nor can they meet the precise operational requirements of different scenarios. Therefore, the development of new nozzle devices with rapid response and multi-dimensional adjustment capabilities has become an urgent problem to be solved. Summary of the Invention

[0004] To address the technical problems of low efficiency and road surface damage in traditional snow removal methods, this invention provides a vector nozzle control system and method for thermal jet snow removal equipment with multi-sensor fusion.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: A multi-sensor fusion thermal jet snow removal equipment vector nozzle control system includes a vector nozzle, a controller, an ultrasonic snow depth sensor, and a laser snow depth sensor. Both the ultrasonic and laser snow depth sensors are connected to the controller to detect the snow thickness on the road and transmit the detected snow thickness data to the controller. The controller is connected to the vector nozzle to receive the snow thickness data, process and analyze it, and send control commands to the vector nozzle based on the processing and analysis results. The vector nozzle receives the control commands and adjusts its nozzle angle and size according to the commands.

[0006] The vector nozzle includes a first guide tube, a first motor, a first pinion, a second motor, a second pinion, a contraction ring, a tie rod, a blade, a second guide tube, a first hydraulic rod, a second hydraulic rod, a helical gear, a third guide tube, and a large gear. The first motor is fixed to the first guide tube and is fixedly connected to the first pinion. The second motor is fixed to the third guide tube and is fixedly connected to the second pinion. The contraction ring is connected to the blade via the tie rod and is sleeved on the second guide tube. The contraction ring is connected to the first hydraulic rod and the second hydraulic rod. The helical gear meshes with the second pinion, and the large gear meshes with the first pinion.

[0007] The first conduit, the second conduit, and the third conduit are connected in sequence to form the main conduit structure of the vector nozzle; one end of the third conduit is hinged to the second conduit, and the other end of the third conduit is hinged to the first conduit, together forming the fluid passage foundation of the vector nozzle, providing structural support for nozzle angle adjustment and nozzle size adjustment.

[0008] The helical gear is fixedly connected to the second conduit, and the large gear is fixedly connected to the third conduit.

[0009] The nozzle size of the vector nozzle is adjusted by pulling or pushing the contraction ring with the first and second hydraulic rods. The contraction ring controls the opening and closing of the blades via a pull rod.

[0010] The adjustment of the nozzle angle of the vector nozzle is achieved by the first motor and the second motor driving the third guide tube and the second guide tube to rotate, respectively.

[0011] The controller is electrically connected to the first motor, the second motor, the first hydraulic rod, and the second hydraulic rod, respectively.

[0012] The control method for the vector nozzle control system of a multi-sensor fusion thermal jet snow removal equipment includes the following steps: S1. Ultrasonic snow depth sensor and laser snow depth sensor detect the thickness of snow accumulation on the road and transmit the detected snow thickness data to the controller; S2. The controller receives the snow thickness data and processes and analyzes the snow thickness data. S3. The controller sends control commands, including nozzle angle adjustment and nozzle size adjustment, to the vector nozzle based on the processing and analysis results. S4. The vector nozzle receives the control command and adjusts the nozzle angle and nozzle size.

[0013] In step S2, the controller processes and analyzes the snow thickness data, including weighting the data detected by the ultrasonic snow depth sensor and the laser snow depth sensor to calculate the snow thickness. The calculation formula is as follows: in, and These are the weights of the ultrasonic snow depth sensor and the laser snow depth sensor, respectively. and These are the measurements from the ultrasonic snow depth sensor and the laser snow depth sensor, respectively.

[0014] In step S3, the controller sends a control command to the vector nozzle according to a preset scheme corresponding to the snow thickness; The preset scheme is as follows: When the snow depth is less than 5 cm, the angle between the nozzle and the road surface should be maintained at 10°-15°, and the nozzle size should be adjusted appropriately. When the snow depth is 5-10 cm, adjust the nozzle angle to 15°-25° and the nozzle size to be moderate. When the snow depth is greater than 10 cm, the nozzle angle is increased to 25°-45°, and the nozzle size is adjusted accordingly.

[0015] Compared with the prior art, the beneficial effects of this invention are: 1. The vector nozzle control system of this invention detects road snow thickness information through multiple sensors. The controller processes and analyzes the data detected by the sensors, and then controls the size and angle of the vector nozzle. The size and angle of the vector nozzle can be adjusted via a motor and hydraulic rod installed on the nozzle. This system can dynamically adjust the working state of the vector nozzle in real time according to changes in snow depth on different road sections to achieve the best snow removal effect, while also considering factors such as energy consumption and snow removal efficiency.

[0016] 2. The vector nozzle device of this invention senses the thickness of snow accumulation on the road using a snow depth sensor. The controller then adjusts the size and angle of the vector nozzle based on the sensor data, achieving automatic adjustment of the snowplow's vector nozzle and improving its flexibility. This vector nozzle device utilizes advanced sensing and control technology, enabling it to react quickly to different road conditions and snow accumulation levels. In complex road environments, it effectively avoids incomplete snow removal or resource waste caused by improper nozzle placement, greatly improving the accuracy and efficiency of snow removal operations.

[0017] 3. As a key component of snowplows, the vector nozzle device of this invention can automatically adjust the nozzle size and angle during snow removal operations, thereby improving the working efficiency of thermal spray snowplows, broadening their application range, automating equipment operation, and enhancing the snow removal efficiency of snowplow operations. This system also possesses significant operational, environmental, and social benefits. Attached Figure Description

[0018] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0019] The structures, proportions, sizes, etc. illustrated in this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed herein, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0020] Figure 1 This is a schematic diagram of the vector nozzle control system of the present invention; Figure 2 This is a schematic diagram of the vector nozzle structure of the present invention; Figure 3 This is a schematic diagram of the operation of the vector nozzle control system of the present invention; Figure 4 This is a schematic diagram of the working process of the vector nozzle control system of the present invention; Figure 5 This is a schematic diagram of the various devices in the vector nozzle system of the present invention; Figure 6 This is a schematic diagram of the vector nozzle angle of the present invention before adjustment; Figure 7 This is a schematic diagram of the vector nozzle angle after adjustment according to the present invention; Figure 8 This is a schematic diagram of the small nozzle of the vector nozzle of the present invention; Figure 9 This is a schematic diagram of the vector nozzle after adjustment. Figure 10 This is a schematic diagram illustrating the adjustment of the vector nozzle angle and nozzle size according to the present invention.

[0021] Wherein: 1 is the vector nozzle, 2 is the controller, 3 is the ultrasonic snow depth sensor, 4 is the laser snow depth sensor, 5 is the first guide tube, 6 is the first motor, 7 is the first pinion, 8 is the second motor, 9 is the second pinion, 10 is the contraction ring, 11 is the tie rod, 12 is the blade, 13 is the second guide tube, 14 is the first hydraulic rod, 15 is the second hydraulic rod, 16 is the helical gear, 17 is the third guide tube, and 18 is the large gear. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. These descriptions are only for further illustrating the features and advantages of the present invention, and not for limiting the claims of the present invention. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0024] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0025] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0026] In this embodiment, as Figure 1As shown, the vector nozzle control system includes a vector nozzle 1, a controller 2, an ultrasonic snow depth sensor 3, and a laser snow depth sensor 4. Based on mature snow depth sensor technology, the ultrasonic snow depth sensor 3 and the laser snow depth sensor 4 are selected as detection devices. The ultrasonic snow depth sensor 3 and the laser snow depth sensor 4 are connected to the controller 2 to transmit road snow thickness data. After receiving the sensor data, the controller 2 performs calculations and analysis and then sends control commands to the vector nozzle 1. The vector nozzle 1 is connected to the controller 2 and receives the control commands from the controller 2 to complete the adjustment of the size and angle of the vector nozzle.

[0027] like Figure 2 As shown, the vector nozzle is composed of a first guide tube 5, a first motor 6, a first pinion 7, a second motor 8, a second pinion 9, a contraction ring 10, a pull rod 11, a blade 12, a second guide tube 13, a first hydraulic rod 14, a second hydraulic rod 15, a helical gear 16, a third guide tube 17, and a large gear 18. The first conduit 5, the third conduit 17, and the second conduit 13 are connected. The other end of the second conduit 13 is connected to the blade 12 to form the main body of the vector nozzle. The contraction ring 10 is connected to the blade 12 through the pull rod 11. The contraction ring 10 is sleeved on the second conduit 13 and connected to the first hydraulic rod 14 and the second hydraulic rod 15. The contraction ring 10 is pulled by the first hydraulic rod 14 and the second hydraulic rod 15, and the opening and closing of the blade 12 is controlled by the pull rod 11, thereby changing the nozzle size. The second pinion 9 meshes with the helical gear 16 on the second conduit 13. The second pinion 9 is fixed to the second motor 8. The second motor 8 drives the second conduit 13 to rotate. The large gear 18 on the third conduit 17 meshes with the first pinion 7. The first motor 6 is fixed to the first pinion 7. The first motor 6 drives the third conduit 17. The rotation of the second conduit 13 and the third conduit 17 changes the nozzle angle.

[0028] like Figure 3 As shown, after the vector nozzle control system is started, its workflow is as follows: First, the ultrasonic snow depth sensor 3 and the laser snow depth sensor 4 detect the snow thickness on the road in real time and transmit the collected data signals to the controller. After receiving the data, the controller 2 processes and analyzes the snow thickness data through its built-in scheme. Based on the analysis results, the controller 2 generates control signals containing nozzle size adjustment and angle adjustment commands, and sends them to the hydraulic actuator and electric drive unit of the vector nozzle 1. After receiving the commands, the hydraulic rod controls the nozzle opening size; simultaneously, the motor executes the adjustment commands to adjust the nozzle angle, ultimately forming a complete closed-loop control system.

[0029] like Figure 4As shown, during the snowplow's operation and snow removal work, the system continuously collects, processes, and analyzes snow depth data, and adjusts the nozzle control. After the snowplow starts, the vector nozzle system is simultaneously activated, and the entire system begins operation. The ultrasonic snow depth sensor 3 and the laser snow depth sensor 4 begin collecting data on the road snow thickness. The controller 2 reads and processes the data collected by the sensors, and then the vector nozzle sends control commands. The controller 2 first adjusts the nozzle size by sending commands to the first hydraulic rod 14 and the second hydraulic rod 15 fixed on the second guide tube 13. The first hydraulic rod 14 and the second hydraulic rod 15 pull the contraction ring 10 backward, causing the contraction ring 10 to move the pull rod 11. The pull rod 11 then pulls the blade 12 outward, thus widening the nozzle. When the first hydraulic rod 14 and the second hydraulic rod 15 push the contraction ring 10 forward, the contraction ring 10 pushes the pull rod 11, and the blade 12 rotates inward under the push of the pull rod 11, narrowing the nozzle. After the nozzle size is adjusted, the system begins to adjust the nozzle angle. The angle adjustment is completed by rotating the second guide tube 13 and the third guide tube 17. The controller sends commands to the first motor 6 and the second motor 8 on the first guide tube 5 and the third guide tube 17. First, the controller controls the second motor 8 to rotate, and the second pinion 9 fixed on the second motor 8 also rotates. The helical gear 16 on the second guide tube 13 meshes with the second pinion 9 and rotates, driving the second guide tube 13 to rotate. At this time, the nozzle forms a certain angle with the ground but there is still a deviation. Then, the controller controls the first motor 6 to rotate, and the pinion 7 fixed on the first motor 6 rotates at the same time. The large gear 18 on the third guide tube 17 meshes with the first pinion 7 and rotates. The controller 2 completes the adjustment of the vector nozzle angle by rotating the third guide tube 17. The angle of the vector nozzle is adjusted by the cooperation of the first motor 6 and the second motor 8.

[0030] Example 1 Implementation method for detecting road snow thickness: Ultrasonic snow depth sensor 3 and laser snow depth sensor 4 detect the road snow thickness respectively, and then transmit the detected data to controller 2. Controller 2 processes the data detected by the sensors.

[0031] In the entire vector nozzle control system, two sensors serve as input devices, controller 2 (i.e., CPU) acts as the control device, and vector nozzle 1 functions as the actuator, such as... Figure 5 The diagram shows a schematic of a vector nozzle control system. The ultrasonic snow depth sensor 3 determines the snow depth by emitting ultrasonic waves and calculating the time difference between their reflections. The signal is sent to controller 2; laser snow depth sensor 4 calculates snow depth by emitting a laser beam and measuring the time it takes for the reflected light to return, and then calculates the snow thickness. The data is sent to controller 2. Controller 2 performs weighted processing on the data from the two sensors to calculate the snow thickness, and then sends a control command to the actuator vector nozzle 1 based on the vector nozzle angle and size corresponding to the snow depth.

[0032] Example 2 In the vector nozzle angle adjustment implementation method, the controller 2 sends a vector nozzle angle adjustment command to the vector nozzle. The vector nozzle acts as an actuator to execute the control command. The vector nozzle angle is adjusted by two drive motors fixed on the vector nozzle guide tube, in conjunction with gears and guide tubes.

[0033] When the vector nozzle angle is not adjusted, it is parallel to the ground, such as Figure 6 As shown. Vector nozzle angle adjustment begins with the second motor 8 rotating under the control command of the controller 2. The second pinion 9, fixed to the output shaft of the second motor 8, rotates simultaneously with the second motor 8. The second pinion 9 acts as a drive wheel, driving the helical gear 16 through meshing. The helical gear 16 is fixed to one end of the second guide tube 13, so the second guide tube 13 and the helical gear 16 rotate simultaneously at a certain angle. The vector nozzle is at the other end of the second guide tube 13, and thus rotates with the second guide tube 13, but the direction of the vector nozzle is not towards the ground. At this point, under the command of the controller 2, the first motor 6 rotates in coordination. The first pinion 7, fixed to the output shaft of the first motor 6, rotates with the motor 6. The first pinion 7 acts as a drive gear, driving the large gear 18 through meshing. The large gear 18 is fixed to one end of the third guide tube 17, and the third guide tube 17 rotates with the large gear 18 at a certain angle. The other end of the guide tube 17 is connected to the second guide tube 13, and the second guide tube 13 rotates with the third guide tube 17 at a certain angle. Finally, the direction of the vector nozzle is made towards the ground, and at this point, the vector nozzle forms a certain angle with the road surface, as shown. Figure 7 As shown, the angle formed between the vector nozzle and the ground is between 15° and 25°.

[0034] Example 3 Vector nozzle size adjustment implementation method: Controller 2 sends a vector nozzle size adjustment command to the vector nozzle. The vector nozzle acts as an actuator to execute the control command and completes the adjustment of the vector nozzle size through two hydraulic rods fixed on the vector nozzle guide tube and a contraction ring.

[0035] When the vector nozzle is not adjusted, the nozzle is in a small nozzle state, such as... Figure 8As shown. The vector nozzle adjusts the nozzle size by simultaneously pulling the contraction ring 10 backward under the control command of the controller 2, via the first hydraulic rod 14 and the second hydraulic rod 15. One end of the pull rod 11 is fixed to the contraction ring 10, and the other end is fixed to the blade 12. The bottom of the blade 12 is hinged to one end of the second guide tube 13. When the controller 2 sends a command to increase the nozzle size, the hydraulic rods 14 and 15 pull the contraction ring 10 backward. The pull rod 11 moves backward under the pull of the contraction ring 10, and simultaneously the blade 12 opens outward under the pull of the pull rod 11, thus enlarging the nozzle. Figure 9 The diagram shows the nozzle enlargement. When the controller 2 sends a command to reduce the nozzle size, the first hydraulic rod 14 and the second hydraulic rod 15 push the contraction ring 10 forward. The pull rod 11 moves forward under the push of the contraction ring 10, and the blade 12 contracts inward under the push of the pull rod 11, making the vector nozzle smaller.

[0036] Example 4 Automatic adjustment implementation: The thickness of snow accumulation on the road is detected by the coordinated operation of ultrasonic snow depth sensor 3 and laser snow depth sensor 4. The sensors transmit the detected data to controller 2. Controller 2 calculates the snow accumulation thickness based on the sensor data, using a weighted average calculation formula as follows: in, and These are the weights of the ultrasonic snow depth sensor 3 and the laser snow depth sensor 4, respectively. and These are the measurement values ​​from the ultrasonic snow depth sensor 3 and the laser snow depth sensor 4, respectively.

[0037] Controller 2 controls the angle and size of the vector nozzle 1 during snow removal using a preset scheme. The calculated nozzle angle and size are then transmitted to the vector nozzle 1 as control commands via electrical signals. The preset scheme for adjusting the nozzle angle and size based on snow thickness is as follows: When the snow thickness is less than 5 cm, the nozzle angle to the road surface is maintained at 10°-15°, and the nozzle is appropriately smaller to concentrate the high-temperature airflow onto the road surface, quickly melting the snow and avoiding heat waste; when the snow thickness is 5-10 cm, the nozzle angle is adjusted to 15°-25°, and the nozzle size is moderate, allowing the high-temperature airflow to effectively melt the snow and generate sufficient impact force to blow the snow off the road surface; if the snow thickness is greater than 10 cm, the nozzle angle is increased to 25°-45°, and the nozzle is enlarged to allow the high-temperature airflow to impact the snow at a greater angle, increasing the contact area and action time. Furthermore, by spraying more high-temperature airflow and expanding the coverage area, the melting requirements of a large amount of snow are met. The vector nozzle size is divided into three schemes: appropriately smaller, moderately larger, and larger. After receiving the control signal from the controller 2, the vector nozzle 1 adjusts its angle and size through the coordinated action of a motor and hydraulic rod fixed to the nozzle. Figure 10 The diagram shows the adjustment of the vector nozzle angle and nozzle size.

[0038] The above description only illustrates the preferred embodiments of the present invention. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention, and all such changes should be included within the protection scope of the present invention.

Claims

1. A vector nozzle control system for multi-sensor fusion thermal jet snow removal equipment, characterized in that: It includes a vector nozzle (1), a controller (2), an ultrasonic snow depth sensor (3), and a laser snow depth sensor (4); the ultrasonic snow depth sensor (3) and the laser snow depth sensor (4) are both connected to the controller (2) and are used to detect the snow thickness on the road and transmit the detected snow thickness data to the controller (2); the controller (2) is connected to the vector nozzle (1) and is used to receive the snow thickness data and process and analyze it, and send control commands to the vector nozzle (1) according to the processing and analysis results. The vector nozzle (1) is used to receive the control command and adjust the nozzle angle and nozzle size according to the control command.

2. The vector nozzle control system for multi-sensor fusion thermal jet snow removal equipment according to claim 1, characterized in that: The vector nozzle (1) includes a first guide tube (5), a first motor (6), a first pinion (7), a second motor (8), a second pinion (9), a contraction ring (10), a pull rod (11), a blade (12), a second guide tube (13), a first hydraulic rod (14), a second hydraulic rod (15), a helical gear (16), a third guide tube (17), and a large gear (18); the first motor (6) is fixed on the first guide tube (5), and the first motor (6) is fixedly connected to the first pinion (7). Next, the second motor (8) is fixed on the third guide tube (17), and the second motor (8) is fixedly connected to the second pinion (9); the shrink ring (10) is connected to the blade (12) through the pull rod (11), the shrink ring (10) is sleeved on the second guide tube (13), and the shrink ring (10) is connected to the first hydraulic rod (14) and the second hydraulic rod (15) respectively; the helical gear (16) meshes with the second pinion (9), and the large gear (18) meshes with the first pinion (7).

3. The vector nozzle control system for multi-sensor fusion thermal jet snow removal equipment according to claim 2, characterized in that: The first conduit (5), the second conduit (13) and the third conduit (17) are connected in sequence to form the main conduit structure of the vector nozzle; wherein, one end of the third conduit (17) is hinged to the second conduit (13) and the other end of the third conduit (17) is hinged to the first conduit (5), together forming the fluid passage foundation of the vector nozzle, providing structural support for nozzle angle adjustment and nozzle size adjustment.

4. The vector nozzle control system for multi-sensor fusion thermal jet snow removal equipment according to claim 3, characterized in that: The helical gear (16) is fixedly connected to the second conduit (13), and the large gear (18) is fixedly connected to the third conduit (17).

5. The vector nozzle control system for multi-sensor fusion thermal jet snow removal equipment according to claim 4, characterized in that: The nozzle size of the vector nozzle (1) is adjusted by pulling or pushing the contraction ring (10) through the first hydraulic rod (14) and the second hydraulic rod (15). The contraction ring (10) controls the opening and closing of the blade (12) through the pull rod (11).

6. The vector nozzle control system for multi-sensor fusion thermal jet snow removal equipment according to claim 4, characterized in that: The adjustment of the nozzle angle of the vector nozzle (1) is achieved by the first motor (6) and the second motor (8) driving the third conduit (17) and the second conduit (13) to rotate respectively, through the rotation of the second conduit (13) and the third conduit (17).

7. The vector nozzle control system for multi-sensor fusion thermal jet snow removal equipment according to claim 4, characterized in that: The controller (2) is electrically connected to the first motor (6), the second motor (8), the first hydraulic rod (14), and the second hydraulic rod (15), respectively.

8. The control method for the vector nozzle control system of a multi-sensor fusion thermal jet snow removal equipment according to any one of claims 1-7, characterized in that, Includes the following steps: S1, ultrasonic snow depth sensor (3) and laser snow depth sensor (4) detect the snow thickness on the road and transmit the detected snow thickness data to the controller (2); S2. The controller (2) receives the snow thickness data and processes and analyzes the snow thickness data; S3. The controller (2) sends a control command containing nozzle angle adjustment and nozzle size adjustment to the vector nozzle (1) based on the processing and analysis results; S4. The vector nozzle (1) receives the control command and adjusts the nozzle angle and nozzle size.

9. The control method for the vector nozzle control system of the multi-sensor fusion thermal jet snow removal equipment according to claim 8, characterized in that: In step S2, the controller (2) processes and analyzes the snow thickness data, including weighting the data detected by the ultrasonic snow depth sensor (3) and the laser snow depth sensor (4) to calculate the snow thickness. The calculation formula is as follows: in, and These are the weights of the ultrasonic snow depth sensor and the laser snow depth sensor, respectively. and These are the measurements from the ultrasonic snow depth sensor and the laser snow depth sensor, respectively.

10. The control method for the vector nozzle control system of the multi-sensor fusion thermal jet snow removal equipment according to claim 8, characterized in that: In step S3, the controller (2) sends a control command to the vector nozzle (1) according to a preset scheme corresponding to the snow thickness; The preset scheme is as follows: When the snow depth is less than 5 cm, the angle between the nozzle and the road surface should be maintained at 10°-15°, and the nozzle size should be adjusted appropriately. When the snow depth is 5-10 cm, adjust the nozzle angle to 15°-25° and the nozzle size to be moderate. When the snow depth is greater than 10 cm, the nozzle angle is increased to 25°-45°, and the nozzle size is adjusted accordingly.

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