Spreading control system and method and snow sweeper

Abstract

The invention provides a spreading control system and method and a snow sweeper, and the method comprises the steps: obtaining the speed of a chassis in real time, and determining a theoretical spreading amount according to the speed of the chassis, a preset spreading density parameter and a preset spreading width parameter; the theoretical conveying rotating speed of a driving roller shaft in the conveying mechanism is determined according to the theoretical spreading amount; the opening degree of a conveying proportional valve is adjusted according to the theoretical conveying rotating speed, so that the rotating speed of a conveying motor is adjusted, and the conveying mechanism can convey the snow melting agent with the theoretical spreading amount to a spreading mechanism; determining a theoretical spreading rotation speed of a spreading motor according to a preset spreading width parameter and a structure parameter of a spreading mechanism; and adjusting the opening degree of a spreading proportional valve according to the theoretical spreading rotating speed so as to adjust the rotating speed of a spreading motor, so that the spreading mechanism can spread the snow-melting agent according to a preset spreading density parameter and a preset spreading width parameter. The problems of uneven spreading and the like caused by control errors are avoided, materials are saved, and the operation quality is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of snow removal, in particular to a spreading control system and method and a snow removal vehicle. BACKGROUND

[0002] The spreading system of a snow removal vehicle is a key component in winter road maintenance equipment, mainly used for uniformly and controllably spreading snow-melting agents (such as chlorides, urea, etc.) or anti-skid materials (such as sand) during snow removal operations to accelerate ice and snow melting or increase the road friction coefficient, thereby ensuring road traffic safety. The mechanism is usually composed of a storage bin, a conveying device, a spreading disc, and a driving system, etc. The driving system is mostly driven by a hydraulic motor to rotate the spreading disc, thereby achieving centrifugal throwing of the materials.

[0003] In the traditional snow removal vehicle spreading mechanism, the control of the hydraulic system mainly relies on manual adjustment valves or simple on-off valves. The operator adjusts the valve opening or opens and closes the valve to control the flow of hydraulic oil, thereby adjusting the speed of the conveying device, the speed of the spreading disc, and the spreading intensity. However, in actual operations, the speed of the snow removal vehicle, the road slope, the ice and snow resistance, and the material load are in dynamic changes. Manual or on-off valve control cannot accurately respond to these changes in real time, resulting in uneven throwing of snow-melting agents and different coverage densities. Too little spreading cannot effectively melt ice, and too much spreading causes material waste and environmental pollution. SUMMARY

[0004] To solve the above problems in the prior art, the first aspect of the present application provides a spreading control method, comprising the following steps: real-time acquisition of the chassis speed, and determination of the theoretical spreading amount according to the chassis speed, a preset spreading density parameter, and a spreading width parameter; determination of the theoretical conveying rotational speed of the driving roller shaft in the conveying mechanism according to the theoretical spreading amount; adjustment of the conveying proportional valve opening degree according to the theoretical conveying rotational speed to adjust the rotational speed of the conveying motor, so that the conveying mechanism can convey the theoretical spreading amount of snow-melting agents to the spreading mechanism; determination of the theoretical spreading rotational speed of the spreading motor according to the preset spreading width parameter and the structural parameters of the spreading mechanism; adjustment of the spreading proportional valve opening degree according to the theoretical spreading rotational speed to adjust the rotational speed of the spreading motor, so that the spreading mechanism can spread the snow-melting agents according to the preset spreading density parameter and the spreading width parameter.

[0005] Further, the adjustment of the conveying proportional valve opening degree according to the theoretical conveying rotational speed comprises: Real-time acquisition of the actual conveying rotation speed of the driving roller shaft in the conveying mechanism, and determination of a conveying rotation speed deviation value of the driving roller shaft according to the theoretical conveying rotation speed and the actual conveying rotation speed, and dynamic adjustment of the opening of the conveying proportional valve according to the conveying rotation speed deviation value.

[0006] Further, the adjusting the opening of the spreading proportional valve according to the theoretical spreading rotation speed comprises: Real-time acquisition of the actual spreading rotation speed of the spreading motor in the spreading mechanism, and determination of a spreading rotation speed deviation value of the spreading motor according to the theoretical spreading rotation speed and the actual spreading rotation speed, and dynamic adjustment of the opening of the spreading proportional valve according to the spreading rotation speed deviation value.

[0007] Further, the theoretical spreading amount is calculated by the following formula: M 撒布量 =V 车速 ×ρ1×L, wherein M is the theoretical spreading amount at the current vehicle speed, V 车速 is the current vehicle speed, ρ1 is the spreading density, and L is the spreading width.

[0008] Further, the theoretical conveying rotation speed of the driving roller shaft is calculated by the following formula: , wherein n 驱理 is the theoretical conveying rotation speed of the driving roller shaft, π is the circular constant, d is the diameter of the driving roller shaft, b is the width of the conveying belt, h is the height of the blocking edge of the conveying belt, and ρ2 is the density of the snow-melting agent.

[0009] The derivation process is as follows: Further, the theoretical spreading rotation speed of the spreading motor is calculated by the following formula: , wherein n 撒理 is the theoretical spreading rotation speed of the spreading motor, L is the spreading width, π is the circular constant, r is the radius of the spreading disc, H is the height of the spreading disc from the ground, and g is the acceleration of gravity.

[0010] The second aspect of the application is a spreading control system, comprising: a hydraulic pump; a conveying mechanism comprising a conveying motor and a conveying proportional valve connected between the conveying motor and the hydraulic pump, and an output end of the conveying motor being connected with a driving roller shaft; a spreading mechanism comprising a spreading disc, a spreading motor for driving the spreading disc to rotate, and a spreading proportional valve connected between the spreading motor and the hydraulic pump; a control module comprising a spreading controller and a chassis controller, the chassis controller being configured to acquire a chassis vehicle speed, and the spreading controller being in communication connection with the chassis controller, the conveying proportional valve, and the spreading proportional valve.

[0011] Further, the control module further comprises: The information collection module comprises a conveying rotation speed sensor connected to the driving roller shaft and a spreading rotation speed sensor connected to the output end of the spreading motor, and the conveying rotation speed sensor and the spreading rotation speed sensor are in communication connection with the spreading controller.

[0012] Further, the application further comprises: The human-computer interaction module is in communication connection with the spreading controller and is used for inputting the structural parameters of the conveying mechanism, the structural parameters of the spreading mechanism, the preset spreading density parameters and the spreading width parameters.

[0013] The third aspect of the application is a snow removal vehicle comprising the spreading control system as described in any one of the above.

[0014] Compared with the prior art, the application has the following beneficial effects: 1. The application realizes real-time joint control of the vehicle speed and the preset parameters, and no matter whether the vehicle speed is accelerated or slowed down, the system can automatically adjust the material conveying and throwing rate, ensures that the dosage of the snow-melting agent on the unit area of the road strictly meets the set requirements, avoids problems such as uneven spreading caused by control errors, saves materials and improves the operation quality, and ensures continuous and stable operation of the equipment in extreme severe weather such as blizzards.

[0015] 2. The application realizes a constant flow precision of ≤0.5% and a fastest closed-loop time of <3ms through PID constant flow control. The application compares the deviation of the theoretical rotation speed and the actual rotation speed in real time, and quickly and accurately adjusts the control signal of the proportional valve. The application ensures that the hydraulic flow of the driving motor is highly stable, directly guarantees the constant of the output rotation speed, quickly compensates the impact of dynamic working conditions such as road resistance fluctuation and load change on the hydraulic system, and makes the rotation speeds of the conveying motor and the spreading motor highly stable. The application not only improves the spreading effect, but also reduces the fluctuation and impact of the hydraulic system, prolongs the service life of the key components, and improves the reliability of the whole machine. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 The figure is a logic diagram of the spreading control method of the application; Figure 2 The figure is a schematic diagram of the structure of the conveying mechanism of the application; Figure 3 The figure is a schematic diagram of the structure of the conveying mechanism of the application; Figure 4 The figure is a schematic diagram of the structure of the conveying mechanism of the application; Figure 5 The figure is a schematic diagram of the structure of the conveying mechanism of the application; In the figure: 1, control module; 11, spreading controller; 12, chassis controller; 2, conveying mechanism; 21, conveying motor, 22, drive roller; 23, conveying proportional valve; 24, conveying rotational speed sensor; 25, conveying belt; 3, spreading mechanism; 31, spreading motor; 32, spreading disc; 33, spreading proportional valve; 34, spreading rotational speed sensor; 35, feeding port 4, human-computer interaction module. DETAILED DESCRIPTION

[0017] In order to facilitate the understanding of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0018] Reference Figure 1 As shown in the figure, the present application provides a spreading control method, specifically as follows: Figure 1 A schematic diagram showing some embodiments of the spreading control method of the present disclosure.

[0019] As Figure 1 shown, the spreading control method includes steps S110 to S150, which is executed by the control module.

[0020] In step S110, the chassis speed is acquired in real time, and the theoretical spreading amount is determined according to the chassis speed, the preset spreading density parameter and the spreading width parameter.

[0021] Among them, the chassis controller 12 is used to acquire the chassis speed in real time and pass to the spreading controller 11, the spreading density parameter and the spreading width parameter are preset in the human-computer interaction module 4, after setting is completed, it is sent to the spreading controller 11 in the form of message through communication protocol, the spreading controller 11 determines the theoretical spreading amount according to the chassis speed, the preset spreading density parameter and the spreading width parameter.

[0022] Preferably, the chassis controller 12 is a chassis ECM computer, the spreading controller 11 is a programmable controller PLC, and the human-computer interaction module 4 is a touch screen display. The programmable controller PLC is connected with the chassis ECM computer and the touch screen display through CAN2.0A / B protocol communication, and the real-time chassis speed V 车速 .

[0023] Specifically, the theoretical spreading amount is calculated by the following formula: M 撒布量 =V 车速 ×ρ1×L, wherein M撒布量 M is the theoretical spreading amount (unit: kg / s) at the current vehicle speed, V 车速 is the current vehicle speed, ρ1 is the spreading density (unit: g / m 2 ), i.e. the spreading amount per unit area, and L is the spreading width (unit: m).

[0024] In some embodiments, the spreading width L is 2-15 m, the spreading density ρ1 is 5-350 g / ㎡, and the current vehicle speed V 车速 is 0-25 m / s. When the spreading width L=10 m, the spreading density ρ1=50 g / ㎡, and the current vehicle speed V 车速 =10 m / s, then the theoretical spreading amount M 撒布量 =5 kg / s.

[0025] In step S120, the theoretical conveying rotation speed of the driving roller shaft 22 in the conveying mechanism 2 is determined according to the theoretical spreading amount.

[0026] Through the calculation of the above-mentioned theoretical spreading amount M 撒布量 , combined with the structural parameters of the conveying mechanism 2, the theoretical rotation speed n 驱理 of the driving roller can be finally calculated, wherein the structural parameters of the conveying mechanism 2 include the diameter of the driving roller shaft 22, the width of the conveying belt 25, and the height of the retaining edge of the conveying belt 25. Specifically, the theoretical conveying rotation speed of the driving roller shaft 22 is calculated by the following formula: wherein n 驱理 is the theoretical conveying rotation speed of the driving roller shaft 22, π is the circular constant, d is the diameter of the driving roller shaft 22, b is the width of the conveying belt 25, h is the height of the retaining edge of the conveying belt 25, and ρ2 is the density of the snow-melting agent (unit: kg / m 3 ).

[0027] The reasoning process is as follows: The volume of the snow-melting agent conveyed by the driving roller shaft per rotation is: V 每转 =πdbh, The mass conveyed per rotation is: m 每转 =ρ2V 每转 =ρ2πdbh To meet the mass flow M 撒布量 , the required rotation speed is:

[0028] In some embodiments, the diameter d of the driving roller shaft 22 is 127 mm, the width b of the conveying belt 25 is 500 mm, the height h of the retaining edge of the conveying belt 25 is 70 mm, and the density ρ2 of the snow-melting agent is 1000 kg / m 3 ; then the theoretical conveying rotation speed n 驱理 of the driving roller shaft 22 is 0.36 r / s.

[0029] ​In step S130, the opening of the conveying proportional valve 23 is adjusted according to the theoretical conveying speed to adjust the speed of the conveying motor 21, so that the conveying mechanism 2 can convey the theoretical amount of de-icing agent to the spreading mechanism 3.

[0030] The step of adjusting the opening of the conveying proportional valve 23 according to the theoretical conveying speed includes: The spreading controller 11 obtains the actual conveying speed of the drive roller 22 in the conveying mechanism 2 in real time through the conveying speed sensor 24, and determines the conveying speed deviation value of the drive roller 22 according to the theoretical conveying speed and the actual conveying speed, and dynamically adjusts the opening of the conveying proportional valve 23 according to the conveying speed deviation value.

[0031] Specifically, the conveyor speed sensor 24 uses an incremental encoder with a resolution of 600. When the drive roller 22 rotates, it generates 600 pulses per revolution. The pulse electrical signal is transmitted to the programmable controller PLC in real time through the high-speed port of the programmable controller PLC to calculate the current speed of the drive roller 22.

[0032] The theoretical conveying speed is compared with the actual conveying speed collected by the conveying speed sensor 24. Through the PID instruction (PID instruction is a preset program module in the programmable controller PLC used to execute the PID control algorithm, which can automatically realize closed-loop control of measurement, comparison and adjustment) closed-loop algorithm, the conveying speed deviation value between the theoretical conveying speed and the actual conveying speed is corrected in real time within a certain period of time. Finally, the output of the PWM port of the programmable controller PLC is adjusted to the conveying proportional valve 23 of the pulse width control conveying mechanism 2 to control the change of its valve core opening, and finally adjust the oil supply flow of the conveying motor 21 to achieve the purpose of correcting its speed change.

[0033] When the actual conveying speed detected by the conveying speed sensor 24 is greater than the theoretical conveying speed, the conveying speed deviation value is positive. The spreading controller 11 controls the opening of the conveying proportional valve 23 to decrease, reducing the oil supply flow to the conveying motor 21, thereby reducing the actual conveying speed of the conveying motor 21 until the actual conveying speed equals the theoretical conveying speed. When the actual conveying speed detected by the conveying speed sensor 24 is less than the theoretical conveying speed, the conveying speed deviation value is negative. The spreading controller 11 controls the opening of the conveying proportional valve 23 to increase, increasing the oil supply flow to the conveying motor 21, thereby increasing the actual conveying speed of the conveying motor 21 until the actual conveying speed equals the theoretical conveying speed.

[0034] In step S140, the theoretical spreading speed of the spreading motor 31 is determined based on the preset spreading width parameters and the structural parameters of the spreading mechanism 3.

[0035] The structure parameters of the spreading mechanism 3 include a radius of the spreading disc 32 and a ground clearance of the spreading disc 32.

[0036] Specifically, the theoretical spreading speed of the spreading motor 31 is calculated by the following formula: , wherein n 撒理 is the theoretical spreading speed of the spreading motor 31 (unit: r / min), L is the spreading width, π is the circular constant, r is the radius of the spreading disc 32, H is the ground clearance of the spreading disc 32, and g is the acceleration of gravity.

[0037] The reasoning process is as follows: Through the formula: , the landing time t of the material can be calculated, which is in seconds; Through the formula: v=L / t, the linear speed v of the spreading disc 32 can be calculated, Combined with the structure parameters of the spreading disc 32, the current angular speed ω can be calculated by the formula v=rω, Through the formula: ω=2πn / 60, the theoretical speed n of the spreading disc 32 can be finally obtained 撒理 .

[0038] In some embodiments, the spreading width L is 2-15 m, the radius r of the spreading disc 32 is 234 mm, the ground clearance H of the spreading disc 32 is 400 mm, and when the spreading width L is 5 m, n 撒理 is 22 r / s.

[0039] In step S150, the opening of the spreading proportional valve 33 is adjusted according to the theoretical spreading speed to adjust the speed of the spreading motor 31, so that the spreading mechanism 3 can spread the snow-melting agent according to the preset spreading density parameters and spreading width parameters.

[0040] The adjustment of the opening of the spreading proportional valve 33 according to the theoretical spreading speed includes: The spreading controller 11 obtains the actual spreading speed of the spreading motor 31 in the spreading mechanism 3 through the spreading speed sensor 34 in real time, determines the spreading speed deviation value of the spreading motor 31 according to the theoretical spreading speed and the actual spreading speed, and dynamically adjusts the opening of the spreading proportional valve 33 according to the spreading speed deviation value.

[0041] Specifically, the spreading speed sensor 34 also adopts an incremental encoder with a resolution of 600. When the spreading disc 32 rotates, 600 pulses will also be generated per revolution. The pulse electrical signal is transmitted to the programmable controller PLC in real time through the high-speed port of the programmable controller PLC for calculating the current speed of the spreading disc 32.

[0042] When the actual spreading speed detected by the spreading speed sensor 34 is greater than the theoretical spreading speed, the spreading speed deviation value is positive, the spreading controller 11 controls the opening of the spreading proportional valve 33 to decrease, reduces the oil supply flow of the spreading motor 31, thereby reducing the actual spreading speed of the spreading motor 31, until the actual spreading speed is equal to the theoretical spreading speed. When the actual spreading speed detected by the spreading speed sensor 34 is less than the theoretical spreading speed, the spreading speed deviation value is negative, the spreading controller 11 controls the opening of the spreading proportional valve 33 to increase, increases the oil supply flow of the spreading motor 31, thereby increasing the actual spreading speed of the spreading motor 31, until the actual spreading speed is equal to the theoretical spreading speed.

[0043] Similarly, through the PID instruction closed loop algorithm, the spreading speed deviation value of the theoretical spreading speed and the actual spreading speed is real-time in a certain time, and finally the PWM port output of the programmable controller PLC is adjusted to the pulse width control spreading mechanism 3 to control the valve core opening change, and finally the oil supply flow of the spreading motor 31 is adjusted, so that the purpose of speed change correction is realized.

[0044] In the prior art, the operator needs to manually adjust the valve opening or open and close the valve to control the hydraulic oil flow, and then adjust the speed of the conveying device, the speed of the spreading disc and the spreading intensity. Since the driving speed, road slope, ice and snow resistance and material load of the snow melting vehicle are in dynamic change, manual or on-off valve control cannot accurately respond to these changes in real time, so that the snow melting agent is not evenly distributed and the coverage density is not uniform.

[0045] The embodiment can automatically adjust the material conveying and spreading rate regardless of the speed of the vehicle, so as to ensure that the amount of snow melting agent obtained on the unit area of the road strictly meets the set requirements, avoid uneven spreading caused by control errors, save materials and improve the operation quality. Ensure that the equipment can continuously and stably operate in extreme bad weather such as snowstorm.

[0046] On the other hand, through the PID constant current control, the constant current accuracy is ≤0.5%, and the fastest closed loop time is <3ms. By comparing the deviation of the theoretical speed and the actual speed in real time, and quickly and accurately adjusting the control signal of the proportional valve, the hydraulic flow of the driving motor is highly stable, which directly ensures the constancy of the output speed. The speed of the conveying motor and the spreading motor can be quickly compensated for the impact of dynamic working conditions such as road resistance fluctuation and load change on the hydraulic system, so that the speed of the conveying motor and the spreading motor can be kept highly stable. Not only improves the spreading effect, but also reduces the fluctuation and impact of the hydraulic system, prolongs the service life of the key components, and improves the reliability of the whole machine.

[0047] The application also discloses a spreading control system, comprising: a hydraulic pump; The conveying mechanism 2 comprises a conveying motor 21 and a conveying proportional valve 23 connected between the conveying motor 21 and the hydraulic pump, and the output end of the conveying motor 21 is connected with a driving roller shaft 22; The spreading mechanism 3 comprises a spreading disc 32, a spreading motor 31 for driving the spreading disc 32 to rotate, and a spreading proportional valve 33 connected between the spreading motor 31 and the hydraulic pump; The control module 1 comprises a spreading controller 11 and a chassis controller 12, the chassis controller 12 is used for acquiring a chassis speed, and the spreading controller 11 is in communication connection with the chassis controller 12, the conveying proportional valve 23 and the spreading proportional valve 33.

[0048] In some embodiments, the conveying mechanism 2 further comprises a speed reducer connected between the conveying motor 21 and the driving roller shaft 22, wherein the rotating speed of the conveying motor 21 is equal to the speed ratio of the speed reducer multiplied by the rotating speed of the driving roller shaft 22. When the conveying motor 21 of the conveying mechanism 2 rotates, the speed reducer is driven to rotate, the driving roller shaft 22 is connected to the conveying end of the speed reducer, the driving roller shaft 22 rotates to drive the conveying belt 25 to rotate, so as to realize the conveying of the snow-melting material. The snow-melting material is conveyed to the feeding port 35 of the spreading mechanism 3, and then enters the spreading disc 32 of the spreading mechanism 3 through the feeding port 35. The spreading disc 32 is driven to rotate by the spreading motor 31, and under the action of centrifugal force, the snow-melting material is thrown out to realize spreading.

[0049] In some embodiments, the spreading control system further comprises an information acquisition module, comprising a conveying rotating speed sensor 24 connected to the driving roller shaft 22 and a spreading rotating speed sensor 34 connected to the output end of the spreading motor 31, and the conveying rotating speed sensor 24 and the spreading rotating speed sensor 34 are in communication connection with the spreading controller 11. Preferably, the conveying rotating speed sensor 24 and the spreading rotating speed sensor 34 adopt incremental encoders with a resolution of 600.

[0050] In some embodiments, the spreading control system further comprises a human-computer interaction module 4 in communication connection with the spreading controller 11, which is used for inputting the structural parameters of the conveying mechanism 2, the structural parameters of the spreading mechanism 3, the preset spreading density parameters and the spreading width parameters. Preferably, the human-computer interaction module 4 is a touch screen display.

[0051] The application also discloses a snow removing vehicle comprising the above-mentioned spreading control system.

[0052] The foregoing presents and describes the basic principles, main features and advantages of the present application. It should be understood by those skilled in the art that the present application is not limited to the above-described embodiments, and the above-described embodiments and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A method of spread control, characterized by, The method comprises the following steps: Real-time acquisition of chassis speed, and determination of theoretical spreading amount according to the chassis speed, preset spreading density parameter and spreading width parameter; Determination of theoretical conveying rotation speed of the driving roller shaft (22) in the conveying mechanism (2) according to the theoretical spreading amount; Adjustment of the conveying proportional valve (23) opening degree according to the theoretical conveying rotation speed, so as to adjust the rotation speed of the conveying motor (21), so that the conveying mechanism (2) can convey the theoretical spreading amount of the snow-melting agent to the spreading mechanism (3); Determination of the theoretical spreading rotation speed of the spreading motor (31) according to the preset spreading width parameter and the structural parameter of the spreading mechanism (3); Adjustment of the spreading proportional valve (33) opening degree according to the theoretical spreading rotation speed, so as to adjust the rotation speed of the spreading motor (31), so that the spreading mechanism (3) can spread the snow-melting agent according to the preset spreading density parameter and spreading width parameter.

2. The spread control method according to claim 1, characterized by, The adjustment of the conveying proportional valve (23) opening degree according to the theoretical conveying rotation speed comprises: Real-time acquisition of the actual conveying rotation speed of the driving roller shaft (22) in the conveying mechanism (2), and determination of the conveying rotation speed deviation value of the driving roller shaft (22) according to the theoretical conveying rotation speed and the actual conveying rotation speed, and dynamic adjustment of the opening degree of the conveying proportional valve (23) according to the conveying rotation speed deviation value.

3. The spread control method according to claim 1, characterized by, The adjustment of the spreading proportional valve (33) opening degree according to the theoretical spreading rotation speed comprises: Real-time acquisition of the actual spreading rotation speed of the spreading motor (31) in the spreading mechanism (3), and determination of the spreading rotation speed deviation value of the spreading motor (31) according to the theoretical spreading rotation speed and the actual spreading rotation speed, and dynamic adjustment of the opening degree of the spreading proportional valve (33) according to the spreading rotation speed deviation value.

4. The spread control method according to claim 1, characterized by, The theoretical spreading amount is calculated using the following equation: M 撒布量 = V 车速 x p1 x L, where M is the theoretical spreading amount at the current vehicle speed, V 车速 is the current vehicle speed, p1 is the spreading density, and L is the spreading width.

5. The spread control method according to claim 4, characterized by, The theoretical conveying rotational speed of the drive roller shaft (22) is calculated using the following equation: where n 驱理 is the theoretical conveying rotational speed of the drive roller shaft (22), π is the circle constant, d is the diameter of the drive roller shaft (22), b is the width of the conveyor belt (25), h is the height of the flange of the conveyor belt (25), and p2is the density of the deicing agent.

6. The spread control method according to claim 1, characterized by, The theoretical spreading rotational speed of the spreading motor (31) is calculated by the following equation: where n 撒理 is the theoretical spreading rotational speed of the spreading motor (31), L is the spreading width, π is the circular constant, r is the radius of the spreading disc (32), H is the ground clearance of the spreading disc (32), and g is the acceleration due to gravity.

7. A spread control system characterized by, Comprise: A hydraulic pump; A conveying mechanism (2) comprising a conveying motor (21) and a conveying proportional valve (23) connected between the conveying motor (21) and the hydraulic pump, and the output end of the conveying motor (21) is connected with a driving roller shaft (22); A spreading mechanism (3) comprising a spreading disc (32), a spreading motor (31) for driving the spreading disc (32) to rotate, and a spreading proportional valve (33) connected between the spreading motor (31) and the hydraulic pump; A control module (1) comprising a spreading controller (11) and a chassis controller (12), the chassis controller (12) is used for acquiring the chassis speed, and the spreading controller (11) is in communication connection with the chassis controller (12), the conveying proportional valve (23) and the spreading proportional valve (33).

8. The spread control system of claim 1, wherein, Further comprising: An information acquisition module comprising a conveying rotation speed sensor (24) connected to the driving roller shaft (22) and a spreading rotation speed sensor (34) connected to the output end of the spreading motor (31), and the conveying rotation speed sensor (24) and the spreading rotation speed sensor (34) are in communication connection with the spreading controller (11).

9. The spread control system of claim 1, wherein, Further comprising: A man-machine interaction module (4) in communication connection with the spreading controller (11) and used for inputting the structural parameter of the conveying mechanism (2), the structural parameter of the spreading mechanism (3), the preset spreading density parameter and the spreading width parameter.

10. A snowplow characterized in that, A spread control system as claimed in any one of claims 7-9.

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