An unmanned snowplow adaptive system, method, device and storage medium

Abstract

The application discloses an unmanned snow removal vehicle self-adaptive system, method, equipment and storage medium, belongs to the technical field of snow removal vehicles, and comprises a chassis walking mechanism, a snow thrower, a material conveying screw mechanism, a hydraulic control system and a controller. The hydraulic control system comprises a pressure sensor and an electric proportional overflow valve. The pressure sensor is installed in the oil circuit of the hydraulic system of the snow thrower. The snow throwing wheel motor and the material conveying screw motor are connected in series through hydraulic connection. The electric proportional overflow valve is arranged in the oil circuit between the snow throwing wheel motor and the material conveying screw motor. The controller adjusts the displacement of the chassis walking pump according to the detected working pressure and the preset pressure threshold value. In addition, the opening degree of the electric proportional overflow valve is adjusted according to the received rotating speed of the snow throwing wheel motor and the preset rotating speed threshold value. Through real-time self-adaptive linkage adjustment of the chassis speed, the snow thrower load, the material conveying screw rotating speed and the snow throwing wheel load, the snow removal efficiency is improved, the equipment loss is reduced, and the working condition adaptability is enhanced.

Description

Technical Field

[0001] This application relates to the field of snowplow technology, specifically to an adaptive system, method, device, and storage medium for an unmanned snowplow. Background Technology

[0002] In winter snow removal operations, unmanned snowplows are widely used in snow removal work on roads, squares, airports, and other scenarios due to their advantages such as requiring no human intervention, continuous operation, and adaptability to harsh environments. The core working components of an unmanned snowplow include the chassis running mechanism and the snow blower (including snow-throwing wheels). The coordinated operation efficiency of these three components directly determines the snow removal effect and the service life of the equipment.

[0003] Currently, existing unmanned snowplows suffer from two major technical pain points that seriously affect the stability and efficiency of snow removal operations: First, the load on the snowplow changes dynamically with working conditions such as snow thickness, snow density, and road surface smoothness, but the chassis travel speed is a fixed value or requires manual remote adjustment, which cannot adaptively match the snowplow load. When the snow is thick and the snowplow load increases, the chassis still maintains the original speed, which will lead to snowplow overload, excessive pressure in the hydraulic system, and easy damage to equipment parts, while also resulting in incomplete snow removal. When the snow is thin and the snowplow load is small, the chassis speed is too slow, which will reduce snow removal efficiency and cause energy waste. Secondly, the operating speeds of the snow-throwing wheel and the conveying screw lack a linkage adjustment mechanism. The snow-throwing wheel motor and the conveying screw motor are mostly independently controlled or have a fixed speed ratio. When the snow-throwing wheel encounters resistance such as thick or hard snow, causing its speed to drop, the conveying screw will still maintain its original speed. This will result in the conveying volume being greater than the snow-throwing volume, causing snow to accumulate and block the conveying channel, thus affecting the normal operation of the snow-throwing machine and even damaging the conveying screw components.

[0004] In existing technologies, the adjustment of unmanned snowplows is mostly focused on the independent control of a single component, without realizing the adaptive linkage between the snowplow load and chassis speed, and the snowplow wheel load and conveyor screw speed. This cannot solve the problems of poor adaptability to the above working conditions, large equipment wear and tear, and low snow removal efficiency. There is an urgent need for a system and method that can realize the coordinated adaptive adjustment of multiple components. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide an adaptive system, method, device and storage medium for unmanned snowplows, so as to realize real-time adaptive linkage adjustment of chassis speed and snowplow load, and conveying screw speed and snowplow wheel load, thereby improving snow removal efficiency, reducing equipment wear and tear and enhancing working condition adaptability.

[0006] To achieve the above objectives, the present invention is implemented using the following technical solution: In a first aspect, the present invention provides an adaptive system for an unmanned snowplow, including a chassis running mechanism, a snow blower, a hydraulic control system, and a controller; The chassis walking mechanism is driven to move by a chassis walking pump; The snow thrower is mounted on the chassis walking mechanism. The snow thrower is equipped with a snow thrower frame and a snow thrower tube connected to the snow thrower frame at one end. A snow thrower wheel is provided on the end of the snow thrower tube near the snow thrower frame. The snow thrower wheel is driven to rotate by a snow thrower wheel motor. A material conveying screw mechanism is installed inside the snow thrower frame. The material conveying screw mechanism is driven to rotate by a material conveying screw motor. The hydraulic control system includes a pressure sensor and an electro-proportional relief valve; the snow-throwing wheel motor and the material conveying screw motor are connected in series hydraulically, and the electro-proportional relief valve is configured in the oil circuit between the snow-throwing wheel motor and the material conveying screw motor; the pressure sensor is installed in the oil circuit of the snow-throwing machine's hydraulic system to detect the working pressure. The controller is electrically connected to the pressure sensor, the electro-proportional overflow valve, the chassis walking pump, the snow-throwing wheel motor, and the material conveying screw motor, and is used to receive the working pressure detected by the pressure sensor and the rotational speed of the snow-throwing wheel motor. The controller adjusts the displacement of the chassis travel pump based on the detected working pressure and a preset pressure threshold; and adjusts the opening of the electro-proportional overflow valve based on the received speed of the snow-throwing wheel motor and a preset speed threshold.

[0007] Furthermore, the controller adjusts the displacement of the chassis travel pump based on the detected working pressure and a preset pressure threshold. The specific process is as follows: If the detected pressure is greater than the preset pressure threshold, the controller will reduce the displacement of the chassis travel pump and decrease the chassis travel speed. If the detected pressure is less than the preset pressure threshold, the controller will increase the displacement of the chassis travel pump and increase the chassis travel speed. If the detected pressure equals the preset pressure threshold, keep the chassis travel pump displacement unchanged and maintain the current travel speed.

[0008] Furthermore, the step of adjusting the opening of the electro-proportional overflow valve based on the received speed signal of the snow-throwing motor and a preset speed threshold specifically involves: If the speed of the snow wheel motor is less than the preset speed threshold, the controller controls the electro-proportional overflow valve to adjust the opening, reduce the oil inlet pressure of the conveying screw motor, and reduce the speed of the conveying screw motor; If the speed of the snow wheel motor is greater than or equal to the preset speed threshold, the controller controls the electro-proportional overflow valve to maintain the current opening and keep the current speed of the conveying screw motor.

[0009] Furthermore, when the unmanned snowplow is started, the controller is initialized, and the working pressure threshold of the snowplow hydraulic system and the speed threshold of the snowplow motor are set, as well as the adjustment strategy of the chassis travel speed and working pressure.

[0010] Furthermore, the adjustment strategy for the chassis travel speed and working pressure is as follows: When the detected working pressure P is P1, the corresponding travel pump displacement q1 and chassis travel speed v1 are; when P > P1, the corresponding travel pump displacement q2 and chassis travel speed v2 are; when P < P1, the corresponding travel pump displacement q3 and chassis travel speed v3 are. Where v2 < v1 < v3, and P1 is the preset pressure threshold.

[0011] Secondly, the present invention provides an adaptive method for an unmanned snowplow, applicable to any of the aforementioned unmanned snowplow adaptive systems, comprising: Set preset pressure threshold and preset speed threshold; The working pressure of the hydraulic system of the snowplow and the speed of the snowplow motor are received and tested. The displacement of the chassis travel pump is adjusted according to the detected working pressure and the preset pressure threshold; and the opening of the electro-proportional relief valve is adjusted according to the received speed of the snow wheel motor and the preset speed threshold.

[0012] Furthermore, the specific process of adjusting the displacement of the chassis travel pump based on the detected working pressure and the preset pressure threshold is as follows: If the detected pressure is greater than the preset pressure threshold, the controller will reduce the displacement of the chassis travel pump and decrease the chassis travel speed. If the detected pressure is less than the preset pressure threshold, the controller will increase the displacement of the chassis travel pump and increase the chassis travel speed. If the detected pressure equals the preset pressure threshold, keep the chassis travel pump displacement unchanged and maintain the current travel speed.

[0013] Furthermore, the step of adjusting the opening of the electro-proportional overflow valve based on the received rotational speed of the snow-throwing motor and a preset rotational speed threshold specifically involves: If the speed of the snow wheel motor is less than the preset speed threshold, the controller controls the electro-proportional overflow valve to adjust the opening, reduce the oil inlet pressure of the conveying screw motor, and reduce the speed of the conveying screw motor; If the speed of the snow wheel motor is greater than or equal to the preset speed threshold, the controller controls the electro-proportional overflow valve to maintain the current opening and keep the current speed of the conveying screw motor.

[0014] Thirdly, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the methods described above.

[0015] Fourthly, the present invention provides a computer device, comprising: Memory, used to store computer programs / instructions; A processor for executing the computer program / instructions to implement the steps of any of the methods described above.

[0016] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: This invention provides an adaptive system for an unmanned snowplow. The system obtains the rotational speed of the snowplow motor by detecting the working pressure of the hydraulic system of the snowplow. The controller adjusts the displacement of the chassis travel pump according to the detected working pressure and a preset pressure threshold. Thus, the system automatically adjusts the chassis travel speed by detecting the pressure of the hydraulic system of the snowplow. The speed is reduced when the load increases and increased when the load decreases. This not only avoids overload damage to the snowplow but also improves snow removal efficiency and reduces energy consumption.

[0017] The present invention also adjusts the opening of the electro-proportional relief valve according to the received speed signal of the snow-throwing wheel motor and the preset speed threshold. Based on the cooperation of the series hydraulic system and the electro-proportional relief valve, the speed of the conveying screw is synchronously adjusted with the speed of the snow-throwing wheel, so as to avoid snow accumulation and blockage in the conveying channel and ensure the continuity and stability of snow removal operations.

[0018] The technical solution of the present invention can achieve adaptive adjustment during implementation without manual intervention, which reduces the operation difficulty of unmanned snowplows, reduces manual maintenance costs, and extends the service life of equipment. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the snow blower of an adaptive system for an unmanned snowplow provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the connection of the hydraulic system of an adaptive system for an unmanned snowplow provided in an embodiment of the present invention; Figure 3 This invention provides a flowchart of the control of pressure in the hydraulic system of the snow blower and speed in the chassis of an adaptive system for an unmanned snowplow. Figure 4 This is a flowchart illustrating the control of the snow-throwing wheel motor speed and the material conveying screw mechanism in the hydraulic system of an adaptive system for an unmanned snowplow provided by this invention.

[0020] Reference numerals in the attached diagram: 1. Snow-throwing tube; 2. Snow-throwing frame; 3. Conveying screw mechanism; 4. Snow-throwing wheel motor; 5. Snow-throwing wheel; 6. Conveying screw motor. Detailed Implementation

[0021] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0022] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0023] In the description of this invention, it should be noted that, unless otherwise explicitly 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 of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0024] Example 1, such as Figure 1 As shown in the figure, this embodiment introduces an adaptive system for an unmanned snowplow, including a chassis running mechanism, a snow blower, a hydraulic control system, and a controller; The chassis travel mechanism is driven by the chassis travel pump; the snow blower is mounted on the lifting mechanism, which is set on the chassis frame, and the chassis travel mechanism is mounted on the chassis frame to support the frame and realize the overall movement of the unmanned snowplow. The snow blower is equipped with a snow blower frame 2 and a snow-throwing tube 1 connected to the snow blower frame 2 at one end. A snow-throwing wheel 5 is installed on the end of the snow-throwing tube 1 near the snow blower frame 2. The snow-throwing wheel 5 is driven to rotate by a snow-throwing wheel motor 4. A material conveying screw mechanism 3 is installed inside the snow blower frame 2, and the material conveying screw mechanism 3 is driven to rotate by a material conveying screw motor 6. The hydraulic control system includes a pressure sensor and an electro-proportional relief valve. The snow-throwing wheel motor 4 and the material conveying screw motor 6 are connected in series hydraulically. The electro-proportional relief valve is configured in the oil circuit between the snow-throwing wheel motor 4 and the material conveying screw motor 6. The pressure sensor is installed in the oil circuit of the snow blower's hydraulic system to detect the working pressure. The controller is electrically connected to the pressure sensor, the electro-proportional relief valve, the chassis travel pump, the snow-throwing wheel motor 4, and the material conveying screw motor 6 to receive the working pressure detected by the pressure sensor and the rotational speed of the snow-throwing wheel motor 4. The controller adjusts the displacement of the chassis travel pump based on the detected working pressure and the preset pressure threshold; and adjusts the opening of the electro-proportional overflow valve based on the received speed of the snow-throwing motor 4 and the preset speed threshold.

[0025] Specifically, the chassis walking mechanism adopts a hydraulic drive, and the chassis walking pump is a variable displacement piston pump, which can adjust the displacement through the controller to change the chassis walking speed. The snow blower is installed at the front of the unmanned snowplow. The snow blower motor 4 is a fixed displacement motor, and the conveying screw motor 6 is a fixed displacement motor. The two are connected in series hydraulically, that is, the hydraulic oil output from the hydraulic pump first enters the snow blower motor 4, performs work on the conveying screw motor 6, and then enters the snow blower motor 4. The pressure sensor is a strain gauge pressure sensor, which is installed in the oil inlet pipe of the snow blower hydraulic system to detect the working pressure of the snow blower hydraulic system in real time. The electro-proportional relief valve is an electromagnetic electro-proportional relief valve, which is installed in the oil circuit between the oil outlet of the snow blower motor 4 and the oil inlet of the conveying screw motor 6. The relief pressure can be adjusted by the electrical signal output by the controller. The controller adopts an industrial computer, which is electrically connected to the pressure sensor, the electro-proportional relief valve, the electromagnetic proportional valve of the chassis walking pump, the speed sensor of the snow blower motor, and the speed sensor of the conveying screw motor to realize signal reception and command output.

[0026] Based on the above technical solution, the adaptive adjustment scheme of this embodiment is as follows: 1. Adaptive matching of chassis speed and snowplow load: The working pressure of the snowplow's hydraulic system is detected in real time by a pressure sensor, and the detected pressure signal is transmitted to the controller. The controller has a preset relationship between the working pressure of the snowplow's hydraulic system and the displacement of the chassis travel pump. When the detected working pressure is higher than the preset threshold, it indicates that the snowplow load has increased. The controller outputs an adjustment command to reduce the displacement of the chassis travel pump, thereby reducing the chassis travel speed and matching the chassis travel speed with the snowplow load to avoid overloading the snowplow. When the detected working pressure is lower than the preset threshold, it indicates that the snowplow load has decreased. The controller outputs an adjustment command to increase the displacement of the chassis travel pump, increase the chassis travel speed, and improve snow removal efficiency.

[0027] 2. Adaptive matching of the speed of the conveying screw mechanism 3 and the load of the snow-throwing wheel 5: The snow-throwing wheel motor and the conveying screw motor 6 adopt a series hydraulic system. The load change of the snow-throwing wheel 5 will directly affect the speed of the snow-throwing wheel motor 4. When the snow-throwing wheel 5 encounters increased resistance (such as thick snow or hard snow), the speed of the snow-throwing wheel motor 4 decreases, and the pressure in the series oil circuit changes. The controller detects the speed signal of the snow-throwing wheel motor 4 (or indirectly judges the speed change through the change of oil circuit pressure). When the speed of the snow-throwing wheel motor 4 is detected to be lower than the preset value, the controller automatically controls the electro-proportional relief valve to adjust the opening, reduce the oil inlet pressure of the conveying screw motor 6, and thus reduce the speed of the conveying screw motor 6, so that the conveying capacity of the conveying screw mechanism 3 matches the snow-throwing capacity of 5, and avoids snow accumulation and blockage.

[0028] As a preferred implementation, please refer to Figure 3 The controller adjusts the displacement of the chassis travel pump based on the detected working pressure and the preset pressure threshold. The specific process is as follows: If the detected pressure is greater than the preset threshold, the controller will reduce the displacement of the chassis travel pump and decrease the chassis travel speed.

[0029] If the detected pressure is less than the preset threshold, the controller will increase the displacement of the chassis travel pump and increase the chassis travel speed.

[0030] If the detected pressure equals the preset threshold, keep the chassis travel pump displacement constant and maintain the current travel speed.

[0031] As a preferred implementation, please refer to Figure 4 Based on the received speed signal of the snow-throwing motor 4 and the preset speed threshold, the opening of the electro-proportional overflow valve is adjusted, specifically as follows: If the speed of the snow wheel motor 4 is less than the preset threshold, the controller controls the proportional overflow valve to adjust the opening, reduce the oil inlet pressure of the conveying screw motor 6, and reduce the speed of the conveying screw motor 6.

[0032] If the speed of the snow wheel motor 4 is greater than or equal to the preset threshold, the controller controls the electro-proportional overflow valve to maintain the current opening and maintain the current speed of the conveying screw motor 6.

[0033] In addition, it should be noted that when the unmanned snowplow starts, the controller is initialized and the working pressure threshold of the snowplow hydraulic system and the speed threshold of the snowplow motor are set.

[0034] like Figure 2 As shown, the following description, in conjunction with a preferred embodiment, will illustrate the contents involved in the above embodiments.

[0035] The main relief valve is set to 20 MPa, and a proportional relief valve is installed in the series circuit of the two motors. Based on the pressure changes measured by pressure sensors arranged in M1 and M2, the current of the proportional relief valve is controlled to adjust the load distribution of the conveying screw mechanism 3. The specific control scheme is as follows: If the pressure measured by the M1 pressure sensor does not reach the overflow valve setting pressure of 20 MPa, and the pressure measured by M2 is below 4 MPa, it indicates that the load of the conveying screw mechanism 3 is normal. The proportional overflow valve can be set to 4 MPa using current control to ensure the normal operation of the system.

[0036] If the measured pressure of pressure sensor M2 rises but reaches 4 MPa, while the measured pressure of M1 is below 18 MPa, it indicates that the amount of snow consumed is not large, and only the actual load of the conveying screw mechanism 3 increases. This may be due to the snow hardening or the presence of other debris causing the load of the conveying screw mechanism 3 to increase. In this case, the current of the proportional overflow valve can be adjusted, and the pressure can be adjusted between 4-10 MPa.

[0037] When the measured pressure of M1 exceeds 18 MPa, it indicates that the snow intake is too large and the actual load is close to the system overflow value. At this time, the proportional valve can be controlled to reduce the current and the proportional valve pressure can be controlled to 4 MPa to reduce the snow intake of the conveying screw mechanism 3 and reduce the pressure superposition.

[0038] If the proportional valve pressure is 4 MPa and the M1 pressure still does not improve and remains above 18 MPa, the vehicle controller can be notified to appropriately reduce the vehicle speed.

[0039] It should be added that, in other embodiments, the chassis walking system can be electrically driven, that is, by detecting the pressure of the snow blower's hydraulic system, the speed of the chassis walking motor can be adjusted to achieve adaptive matching.

[0040] Example 2: This example provides an adaptive method for an unmanned snowplow, applicable to an adaptive system for an unmanned snowplow in Example 1, including the following steps: Step 1: Start the unmanned snowplow, initialize the controller, set the working pressure threshold of the snowplow hydraulic system, the snowplow wheel motor speed threshold, and set the correspondence between the chassis travel speed and the snowplow hydraulic system pressure: when the detected working pressure P is P1, it corresponds to the travel pump displacement q1 and the chassis travel speed v1; when P > P1 and P ≤ P2, it corresponds to the travel pump displacement q2 and the chassis travel speed v2; when P < P1, it corresponds to the travel pump displacement q3 and the chassis travel speed v3; where v2 < v1 < v3, and P1 is the preset pressure threshold.

[0041] Step 2: During snow removal operations, the pressure sensor monitors the oil inlet pressure of the snow blower's hydraulic system in real time and transmits a pressure signal to the controller at fixed time intervals; the snow-throwing wheel motor speed sensor monitors the speed of the snow-throwing wheel motor 4 in real time and transmits a speed signal to the controller at fixed time intervals.

[0042] Step 3: After receiving the pressure signal, the controller compares it with the preset threshold: If the detected pressure is P (P≤), the controller outputs an electrical signal to control the electromagnetic proportional valve of the chassis travel pump, adjusting the displacement to the limit and reducing the chassis travel speed to match the snow blower load with the travel speed; if the detected pressure is P<, the controller controls the chassis travel pump to adjust the displacement to the limit and increase the travel speed to improve snow removal efficiency.

[0043] Step 4: After receiving the speed signal of the snow-throwing wheel motor 4, the controller compares it with the preset threshold. When encountering resistance from thick snow, the speed of the snow-throwing wheel motor 4 drops to the threshold. The controller outputs an electrical signal to adjust the opening of the electro-proportional relief valve, reducing the oil inlet pressure of the conveying screw motor 6 from the threshold to the threshold speed, thus matching the conveying capacity with the snow-throwing capacity and preventing snow accumulation and blockage. When the speed of the snow-throwing wheel motor 4 recovers to above the threshold, the controller controls the electro-proportional relief valve to return to its original opening, and the speed of the conveying screw motor 6 returns to the threshold speed.

[0044] Step 5: Continue repeating steps 2-4 until the snow removal operation is completed, then turn off the system power to end the operation.

[0045] Example 3: This example provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the methods described in Example 1.

[0046] Example 4: This example provides a computer device, including: Memory, used to store computer programs / instructions; A processor for executing the computer program / instructions to implement the steps of any of the methods described in Embodiment 1.

[0047] Example 5: This example provides a computer program product, including a computer program / instructions, which, when executed by a processor, implement the steps of the method described in any one of Examples 1.

[0048] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

[0049] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0050] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0051] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0052] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this disclosure and not to limit its protection scope. Although this disclosure has been described in detail with reference to the above embodiments, those skilled in the art should understand that after reading this disclosure, they can still make various changes, modifications or equivalent substitutions to the specific implementation of the invention, but these changes, modifications or equivalent substitutions are all within the protection scope of the pending claims.

Claims

1. An adaptive system for an unmanned snowplow, characterized in that, Includes chassis running gear, snow blower, hydraulic control system and controller; The chassis walking mechanism is driven to move by a chassis walking pump; The snow thrower is mounted on the chassis walking mechanism. The snow thrower is equipped with a snow thrower frame and a snow thrower tube connected to the snow thrower frame at one end. A snow thrower wheel is provided on the end of the snow thrower tube near the snow thrower frame. The snow thrower wheel is driven to rotate by a snow thrower wheel motor. A material conveying screw mechanism is installed inside the snow thrower frame. The material conveying screw mechanism is driven to rotate by a material conveying screw motor. The hydraulic control system includes a pressure sensor and an electro-proportional relief valve; the snow-throwing wheel motor and the material conveying screw motor are connected in series hydraulically, and the electro-proportional relief valve is configured in the oil circuit between the snow-throwing wheel motor and the material conveying screw motor; the pressure sensor is installed in the oil circuit of the snow-throwing machine's hydraulic system to detect the working pressure. The controller is electrically connected to the pressure sensor, the electro-proportional overflow valve, the chassis walking pump, the snow-throwing wheel motor, and the material conveying screw motor, and is used to receive the working pressure detected by the pressure sensor and the rotational speed of the snow-throwing wheel motor. The controller adjusts the displacement of the chassis travel pump based on the detected working pressure and a preset pressure threshold; and adjusts the opening of the electro-proportional overflow valve based on the received speed of the snow-throwing wheel motor and a preset speed threshold.

2. The adaptive system for unmanned snowplows according to claim 1, characterized in that, The controller adjusts the displacement of the chassis travel pump based on the detected working pressure and a preset pressure threshold, specifically: If the working pressure is greater than the preset pressure threshold, the controller will reduce the displacement of the chassis travel pump and decrease the chassis travel speed. If the working pressure is less than the preset pressure threshold, the controller will increase the displacement of the chassis travel pump and increase the chassis travel speed. If the working pressure equals the preset pressure threshold, keep the chassis travel pump displacement constant and maintain the current travel speed.

3. The adaptive system for unmanned snowplows according to claim 1, characterized in that, The step of adjusting the opening of the electro-proportional overflow valve based on the received speed signal of the snow-throwing motor and a preset speed threshold is as follows: If the speed of the snow wheel motor is less than the preset speed threshold, the controller controls the electro-proportional overflow valve to adjust the opening, reduce the oil inlet pressure of the conveying screw motor, and reduce the speed of the conveying screw motor; If the speed of the snow wheel motor is greater than or equal to the preset speed threshold, the controller controls the electro-proportional overflow valve to maintain the current opening and keep the current speed of the conveying screw motor.

4. The adaptive system for unmanned snowplows according to claim 1, characterized in that, When the unmanned snowplow starts, it initializes the controller and sets the working pressure threshold of the snowplow hydraulic system, the speed threshold of the snowplow motor, and the adjustment strategy of the chassis travel speed and working pressure.

5. The adaptive system for unmanned snowplows according to claim 4, characterized in that, The specific adjustment strategy for chassis travel speed and working pressure is as follows: When the detected working pressure P is P1, the corresponding travel pump displacement q1 and chassis travel speed v1 are; when P > P1, the corresponding travel pump displacement q2 and chassis travel speed v2 are; when P < P1, the corresponding travel pump displacement q3 and chassis travel speed v3 are. Where v2 < v1 < v3.

6. An adaptive method for an unmanned snowplow, characterized in that, An adaptive system for an unmanned snowplow as described in any one of claims 1 to 5, comprising: Set preset pressure threshold and preset speed threshold; The working pressure of the hydraulic system of the snowplow and the speed of the snowplow motor are received and tested. The displacement of the chassis travel pump is adjusted according to the detected working pressure and the preset pressure threshold; and the opening of the electro-proportional relief valve is adjusted according to the received speed of the snow wheel motor and the preset speed threshold.

7. The adaptive method for unmanned snowplows according to claim 6, characterized in that, The process of adjusting the displacement of the chassis travel pump based on the detected working pressure and the preset pressure threshold is as follows: If the detected pressure is greater than the preset pressure threshold, the controller will reduce the displacement of the chassis travel pump and decrease the chassis travel speed. If the detected pressure is less than the preset pressure threshold, the controller will increase the displacement of the chassis travel pump and increase the chassis travel speed. If the detected pressure equals the preset pressure threshold, keep the chassis travel pump displacement unchanged and maintain the current travel speed.

8. The adaptive method for unmanned snowplows according to claim 7, characterized in that, The step of adjusting the opening of the electro-proportional overflow valve based on the received speed signal of the snow-throwing motor and a preset speed threshold is as follows: If the speed of the snow wheel motor is less than the preset speed threshold, the controller controls the electro-proportional overflow valve to adjust the opening, reduce the oil inlet pressure of the conveying screw motor, and reduce the speed of the conveying screw motor; If the speed of the snow wheel motor is greater than or equal to the preset speed threshold, the controller controls the electro-proportional overflow valve to maintain the current opening and keep the current speed of the conveying screw motor.

9. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the steps of the method as described in any one of claims 5 to 8.

10. The present invention provides a computer device, characterized in that, include: Memory, used to store computer programs / instructions; A processor for executing the computer program / instructions to implement the steps of the method as claimed in any one of claims 5 to 8.

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