Road snowplow side-scan control system and method

Abstract

The application relates to the field of road snow removal, and particularly discloses a road snow removal vehicle side-scan control system and method, wherein resistance sensors, pressure sensors, distance sensors and working condition sensors are arranged at the main and auxiliary brush driving ends, hinged parts, floating buffer parts, below telescopic frames and rollers; the sensing data is converted by a working condition acquisition module to generate main and auxiliary brush initial, rechecked and verified working condition data sets and operation working condition parameter sets; a cleaning control module sequentially and gradually executes three-level snow sticking determination and cleaning verification, generates corresponding control instructions when the determination rules are met, drives the main roller brush and the auxiliary side brush to reversely operate to realize self-cleaning through linkage of a vibration execution module, and starts and stops the self-cleaning process according to the number of cycles and the verification result. The scheme realizes the precision and high efficiency of automatic self-cleaning, and improves the road snow removal efficiency.

Description

Technical Field

[0001] This invention relates to the field of road snow removal technology, and in particular to a side sweeping control system and method for road snow removal vehicles. Background Technology

[0002] Snowplows are the core equipment for clearing snow from municipal roads and highways in winter. Roller brush snowplows are widely used due to their high sweeping efficiency and wide adaptability to various road surfaces. For example, Chinese patent CN104111660A discloses a snowplow and a snowplow roller brush lifting control device and method. The device includes a first sensor for detecting the rotation angle of the roller brush frame, a second sensor for directly detecting the roller brush's height above the ground, and a controller. The controller is electrically connected to both the first and second sensors and calculates a reference height of the roller brush above the ground based on the rotation angle detected by the first sensor. This reference height is then compared with the roller brush's height above the ground directly detected by the second sensor. If the deviation between the two values ​​exceeds a set error value and remains so for a period of time, one set of data is considered illogical. If a sensor malfunctions and triggers an alarm, the actual height of the snowplow brush is determined using data from another set of sensors. If this deviation is within the error setting, the data from both sensors is corrected to obtain the actual height. This actual height is then compared with a pre-set height setting. Based on the calculation result, the snowplow brush is raised or lowered to the set height. In this way, the actual height of the snowplow brush is fed back in real time by sensors, and compared with the pre-set height setting. Based on the comparison result, the snowplow brush is adjusted to the set height in real time, thus ensuring the stability of the snowplow brush's height above the ground and maintaining appropriate pressure on the road surface for good snow removal results.

[0003] Because the ambient temperature for snow removal operations in winter is mostly between -10℃ and -30℃, natural snow contains trace amounts of liquid moisture and exists in a flexible, semi-solid physical state, making it extremely easy for the roller brush to stick to and clump together. During continuous operation, the flexible snow continuously embeds itself into the gaps between the bristles and adheres to the brush surface. If side brushes are added, they need to sweep close to the curb, increasing the contact area and stress on the snow, further exacerbating the snow-sticking problem. In low-temperature environments, the adhered snow quickly freezes into hard snow blocks, accumulating layer by layer on the brush surface and at the bristle roots, completely altering the brush's original shape, weight distribution, and moment of inertia. In the aforementioned technical solution, the ultrasonic sensor performs point measurements. When the detection surface changes from a flat brush body to an irregular snow block surface, the measured data is not the true height of the brush above the ground. Simultaneously, the snow clumps significantly increase the load on the brush body, causing elastic deformation of the roller brush frame. The rotation angle data collected by the tilt sensor deviates from the true value, and the continuous deviation of the dual-sensor data easily leads to significant fluctuations and distortions in the original height data. If the control algorithm is driven by distorted detection data, the roller brush height adjustment will be completely out of control. Either it will be too high off the ground to sweep the snow on the road, or it will be too close to the ground, which will aggravate the wear and tear between the brush bristles and the road surface. After the side brush sticks to the snow and clumps together, it will not be able to stick to the curb, which will easily create blind spots. Frozen snow will also compact the snow on the road, thereby reducing the sweeping efficiency.

[0004] In summary, there is an urgent need for a side sweeping control system and method for road snowplows that can achieve self-cleaning and improve sweeping efficiency. Summary of the Invention

[0005] This invention provides a side sweeping control system and method for road snowplows, which can achieve self-cleaning and improve sweeping efficiency.

[0006] To solve the above-mentioned technical problems, this application provides the following technical solution: A side-sweeping control system for a road snowplow includes a main frame, to which a roller brush frame is hinged. Floating buffers are located at both ends of the roller brush frame, and each floating buffer has a telescopic frame. Rollers are located below the telescopic frame. The roller brush frame has a main roller brush, and secondary side brushes are symmetrically arranged forward at the outer ends of the telescopic frame. The main roller brush and the two secondary side brushes together form a forward-facing U-shaped sweeping structure. Both the main roller brush and the secondary side brushes are connected to a drive end, which is equipped with a resistance sensor. Pressure sensors are located at the hinge points between the main frame and the roller brush frame, as well as at the floating buffers. A distance sensor is located below the telescopic frame, and a condition sensor is located on the rollers. It also includes a working condition conversion module, a cleaning control module, and a vibration execution module; The working condition conversion module is used to convert the data collected by the resistance sensor, pressure sensor, distance sensor and working condition sensor into the initial working condition dataset of the main roller brush, the initial working condition dataset of the secondary side brush and the working condition parameter set, and transmit them to the cleaning control module; the resistance sensor is used to collect the original driving torque signal of the main roller brush and the secondary side brush in real time during operation; the pressure sensor is used to collect the original support pressure signal of the hinge position and the floating buffer position in real time; the distance sensor is used to collect the original distance signal between the telescopic frame and the road surface in real time; and the working condition sensor is used to synchronously collect the roller rotation frequency signal and the original tilt angle attitude signal of the sweeping mechanism. The cleaning control module is used to determine whether the initial working condition dataset of the main roller brush and the initial working condition dataset of the secondary side brush meet the first preset snow adhesion judgment rule. If they meet the rule, a secondary conversion instruction is generated and transmitted to the working condition conversion module. The working condition conversion module is used to receive secondary conversion instructions, convert the main roller brush verification working condition dataset and the secondary side brush verification working condition dataset, and transmit them to the cleaning control module. The cleaning control module is used to determine whether the main roller brush verification condition dataset and the secondary side brush verification condition dataset meet the second preset snow adhesion judgment rule. If they meet the rule, a self-cleaning start command is generated. A vibration execution command is generated based on the self-cleaning start command and the working condition parameter set and transmitted to the vibration execution module. The vibration execution module includes a vibration control unit, a brush drive unit, and a vibration mechanism. The vibration control unit receives vibration execution commands, parses the reverse rotation parameters and vibration parameters, and outputs corresponding drive control signals to the brush drive unit. The brush drive unit drives the main roller brush and the auxiliary side brush to reverse rotation at a set speed according to the drive control signals, and synchronously drives the vibration mechanism to perform vibration at a set frequency and amplitude. When the reverse rotation and vibration execution time reach the command set value, the vibration control unit generates an execution completion signal and transmits it to the cleaning control module. The cleaning control module is used to receive the execution completion signal, generate three conversion instructions and transmit them to the working condition conversion module; The working condition conversion module is used to receive three conversion instructions, convert the main roller brush calibration working condition dataset and the secondary side brush calibration working condition dataset, and transmit them to the cleaning control module. The cleaning control module is used to determine whether the main roller brush calibration data set and the secondary side brush calibration data set meet the third preset cleaning calibration rule. If they meet the rule and the number of self-cleaning cycles has not reached the preset upper limit threshold, the self-cleaning start command is regenerated. If they do not meet the rule or the number of self-cleaning cycles has reached the preset upper limit threshold, the self-cleaning process is terminated.

[0007] The basic principle and beneficial effects of this solution are as follows: This solution adopts a U-shaped sweeping layout with the opening facing forward. The main roller brush and the auxiliary side brushes on both sides work together to effectively collect snow on the road surface, prevent snow leakage, and improve the integrity and efficiency of sweeping. The telescopic frame is equipped with a floating buffer and works with the bottom rollers to achieve adaptive contact with the road surface. This not only buffers the impact of road bumps and reduces wear on the mechanism, but also adapts to the sweeping needs of different road conditions. The positions of each sensor are aligned with the force and detection logic. The resistance sensor can accurately collect the rotational resistance of the brush body, the pressure sensor monitors the force data of the hinge and floating buffer parts in real time, and the distance sensor and the working condition sensor respectively obtain the ground clearance and working status information.

[0008] Meanwhile, since the resistance sensors are installed at the drive ends of the main roller brush and the auxiliary side brush, all the rotational resistance generated by the main roller brush, the auxiliary side brush cleaning operation and the snow adhesion is directly borne by the drive end power shaft. The torque transmission is lossless and lag-free, and the real-time rotational load data of the brush body can be accurately collected. Combined with the layout characteristics of the U-shaped cleaning structure with the main and auxiliary brushes operating in separate zones, the independently installed resistance sensors can identify the overall snow adhesion of the main roller brush and the local snow adhesion of a single auxiliary side brush, providing a direct and accurate load basis for snow adhesion determination. Pressure sensors are installed at the hinge between the main frame and the roller brush frame, and at the floating buffer component between the roller brush frame and the telescopic frame. The hinge bears the total weight of the entire sweeping mechanism and the vertical reaction force from the road surface, providing a global view of the overall ground pressure of the side sweeping mechanism. The floating buffer component is the direct force-bearing buffer node between the two auxiliary side brushes and the telescopic frame, accurately reflecting the ground pressure and floating state of a single brush. These two measuring points form a complementary "whole-local" detection system, fully covering the vertical force transmission link and ensuring accurate and reliable detection of pressure changes caused by snow accumulation. The distance sensor is installed below the telescopic frame, which is connected to the roller brush frame via the floating buffer component. Its lower roller travels directly on the ground, making it the most sensitive structural component to floating with road surface undulations. Its vertical displacement is completely synchronized with the brush's working end's ground clearance. Directly detecting the distance between the telescopic frame and the road surface at this location avoids indirect detection errors caused by hinge swing and frame deformation, accurately reflecting the sweeping mechanism's ground clearance and road surface undulations, providing accurate attitude data for dynamic adaptation of self-cleaning parameters. The working condition sensors are installed at the rollers, which are the only moving parts of the side sweeping mechanism that directly contact the road surface. They roll synchronously with the vehicle and tilt synchronously with the telescopic frame. Their rotation frequency can reflect the actual driving speed of the vehicle without deviation, and the tilt angle data can truly reflect the working posture of the sweeping mechanism. The speed and posture information collected at this location is closest to the actual operating state of the working end, and can provide a real and effective basis for the working condition adaptation of vibration parameters and reverse operation parameters.

[0009] In actual winter snow removal operations, whether it's light snow accumulation on municipal roads, heavy wet and sticky snow on highways, or uneven snow accumulation on mountain roads, the initial working condition datasets of the main roller brush, the initial working condition datasets of the secondary side brush, and the set of operating parameters can be acquired in real time. Based on the above initial datasets, a preliminary screening of the snow-sticking state is completed according to the first preset snow-sticking judgment rule. Only when the judgment meets the rule is a secondary conversion instruction generated and issued. This can effectively filter out fluctuations in working condition data caused by non-snow-sticking conditions, reduce invalid conversions and judgment actions, and adapt to operational interference in different scenarios. After receiving the secondary acquisition instruction, the main roller brush verification working condition dataset and the secondary side brush verification working condition dataset are accurately acquired and transmitted back. The core data related to snow-sticking (such as the duration of resistance and the amplitude of height fluctuation) are carefully verified to improve the accuracy of the judgment and adapt to extreme snow-sticking scenarios.

[0010] Based on the second preset snow adhesion judgment rule, the verification dataset is accurately judged. After confirming that there is snow adhesion on the main roller brush and the secondary side brush, a self-cleaning start command is generated. Combined with the working condition parameter set, calculations are completed to generate a vibration execution command adapted to the current working scenario. This allows the parameters of the vibration execution command to be flexibly adapted to different scenarios, ensuring that the self-cleaning execution action matches the actual working state. The main roller brush and the secondary side brush are controlled to rotate in opposite directions to achieve self-cleaning. After the rotation is completed, an execution completion signal is sent immediately to complete the closed-loop feedback of the execution link. After receiving the execution completion signal, three acquisition commands are generated to collect the main roller brush verification working condition dataset and the secondary side brush verification working condition dataset. The verification dataset is judged according to the third preset cleaning verification rule. At the same time, the number of self-cleaning cycles and the preset upper limit threshold are used for constraint to adapt to extreme snow adhesion scenarios and equipment safety requirements: if the verification result meets the rule (there is still snow) and the number of cycles has not reached the upper limit, the self-cleaning start command is regenerated to execute the cleaning process in a loop; if the verification result does not meet the rule (cleaning standard is met) or the number of cycles has reached the upper limit, the self-cleaning process is terminated immediately and normal sweeping operation is resumed.

[0011] In practical operations, traditional snowplows require manual cleaning after snow adheres to their brushes. This solution, however, can automatically complete self-cleaning during operation without stopping the machine or disrupting the normal sweeping rhythm. Factors such as road surface undulations, debris interference, and uneven snow accumulation can cause fluctuations in the operating data of the main roller brush and auxiliary side brushes, easily leading to misjudgments of snow adhesion and triggering ineffective self-cleaning, wasting energy and accelerating equipment wear. This solution effectively avoids false triggers through tiered screening combined with scenario adaptation to the operating condition parameter set. For example, in mountainous road snow removal scenarios, where road surfaces are undulating and the main roller brush's ground clearance fluctuates occasionally, the first preset snow adhesion judgment rule can be combined with the "road surface smoothness" data in the operating condition parameter set to eliminate fluctuation interference and prevent secondary data collection. Self-cleaning is only initiated when the data consistently exceeds a threshold and matches the characteristics of snow adhesion, reducing energy consumption from ineffective actions and indirectly improving overall sweeping efficiency.

[0012] Different road scenarios and snow accumulation conditions require different self-cleaning techniques: light snow accumulation does not require high-intensity vibration, heavy wet and sticky snow requires enhanced vibration, and narrow road scenarios require controlled vibration amplitude to avoid equipment collisions. For example, in thin snow and narrow road surfaces, low-speed-difference, short-duration vibration commands can be generated to remove snow while avoiding excessive vibration that could wear down the brush bristles. In heavy snow and wet, sticky snow scenarios, high-speed-difference, long-duration vibration commands can be generated to ensure complete snow removal, preventing residual snow from affecting subsequent cleaning and improving the cleaning pass rate. Meanwhile, the structure of the main roller brush responsible for cleaning the main road surface and the secondary side brushes responsible for cleaning the sides of the road, combined with a stable self-cleaning mechanism, can completely eliminate cleaning blind spots such as road edges and curbs, improving the integrity of cleaning coverage and reducing the need for manual secondary cleaning. Furthermore, the dual constraints of the number of self-cleaning cycles and the preset upper limit threshold can prevent infinite cleaning cycles caused by extreme conditions, quickly terminating ineffective cleaning and resuming normal cleaning operations, ensuring the stability and efficiency of the system.

[0013] In summary, this solution not only achieves precise and efficient automatic self-cleaning of the brush body, but also improves the overall efficiency of road snow removal from three dimensions: continuous operation and blind-spot-free cleaning.

[0014] Furthermore, the working condition acquisition module performs conversion processing on the acquired signals from the resistance sensor at the main roller brush drive end and the pressure sensor at the hinge of the main frame and the roller brush frame to obtain the corresponding rotational resistance characteristic value and ground pressure characteristic value of the main roller brush, generating an initial working condition dataset for the main roller brush; it also performs conversion processing on the acquired signals from the resistance sensors at the drive ends of the two auxiliary side brushes and the pressure sensors at the floating buffer parts of the roller brush frame and the corresponding side telescopic frame to obtain the corresponding rotational resistance characteristic value and ground pressure characteristic value of the auxiliary side brush, generating an initial working condition dataset for the auxiliary side brush; and it analyzes the acquired signals from the distance sensors under the telescopic frames on both sides and the working condition sensors at the rollers to obtain rotational speed characteristic value, attitude characteristic value, and ground height characteristic value, integrating them to generate a set of working condition parameters.

[0015] The beneficial effects are as follows: the main and auxiliary roller brush operating condition datasets are only associated with the resistance and pressure signals of the corresponding brush bodies, which can truly reflect the load and stress state of each brush body and improve the pertinence of snow adhesion judgment; the operating condition parameter set integrates distance and operating condition sensor data, which can accurately reflect the road surface undulations and equipment operating posture.

[0016] Furthermore, the first preset snow adhesion determination rule is as follows: the rotational resistance characteristic value in the initial working condition dataset of the main roller brush is compared with the preset first main brush resistance threshold, and the ground pressure characteristic value is compared with the preset first main brush pressure threshold; the rotational resistance characteristic value in the initial working condition dataset of the secondary side brush is compared with the preset first secondary brush resistance threshold, and the ground pressure characteristic value is compared with the preset first secondary brush pressure threshold; when the rotational resistance characteristic value of the main roller brush is greater than the first main brush resistance threshold and the ground pressure characteristic value of the main roller brush is less than the first main brush pressure threshold, and at the same time the rotational resistance characteristic value of the secondary side brush is greater than the first secondary brush resistance threshold and the ground pressure characteristic value of the secondary side brush is less than the first secondary brush pressure threshold, it is determined that the first preset snow adhesion determination rule is met.

[0017] The beneficial effects are as follows: by quantifying the resistance and pressure characteristic values ​​of the main and auxiliary brushes with corresponding thresholds, it is possible to accurately identify the typical state of increased rotational resistance and decreased ground pressure caused by snow sticking to the brush body, effectively distinguishing between normal sweeping and snow sticking conditions, and avoiding misjudgments caused by interference factors such as road bumps and load fluctuations; the judgment rule is highly compatible with the U-shaped sweeping structure and the floating buffer telescopic structure, and can simultaneously match the working characteristics of the main roller brush and the auxiliary side brush, so as to achieve preliminary accurate screening of the snow sticking state.

[0018] Furthermore, the second preset snow adhesion determination rule is as follows: extract the rotational resistance feature value and ground pressure feature value from the main roller brush verification condition dataset, and compare them with the preset second main brush resistance threshold and second main brush pressure threshold respectively; extract the rotational resistance feature value and ground pressure feature value from the two side auxiliary brush verification condition datasets, and compare them with the preset second auxiliary brush resistance threshold and second auxiliary brush pressure threshold respectively; when the main roller brush rotational resistance feature value is continuously greater than the second main brush resistance threshold and the ground pressure feature value is continuously less than the second main brush pressure threshold, and the rotational resistance feature values ​​of both side auxiliary brushes are continuously greater than the second auxiliary brush resistance threshold and the ground pressure feature values ​​are continuously less than the second auxiliary brush pressure threshold, and the duration reaches the preset duration threshold, it is determined that the second preset snow adhesion determination rule is met.

[0019] The beneficial effects are as follows: The addition of data duration to the initial judgment improves the rigor and accuracy of snow adhesion judgment, effectively avoiding misjudgments caused by accidental factors such as road debris obstruction and instantaneous load fluctuations; the rule sets corresponding judgment thresholds for the main roller brush and the two auxiliary side brushes, aligning with the operational characteristics of the U-shaped sweeping structure, enabling simultaneous and accurate verification of the snow adhesion status of the main and auxiliary brushes; by quantifying the verification judgment conditions, the self-cleaning process is only initiated when it is confirmed that the brush body is indeed in a state of continuous snow adhesion, thus avoiding energy waste and mechanical wear caused by ineffective self-cleaning, and providing a reliable basis for the accurate initiation of the self-cleaning process.

[0020] Furthermore, the third preset cleaning verification rule is as follows: the cleaning control module extracts the rotational resistance feature value and the ground pressure feature value from the main roller brush verification condition dataset, and compares them with the preset main brush cleaning resistance threshold and the main brush cleaning pressure threshold, respectively; it extracts the rotational resistance feature value and the ground pressure feature value from the secondary side brush verification condition dataset, and compares them with the preset secondary brush cleaning resistance threshold and the secondary brush cleaning pressure threshold, respectively; when the rotational resistance feature value of the main roller brush and the two secondary side brushes are not greater than the corresponding cleaning resistance threshold, and the ground pressure feature value is not less than the corresponding cleaning pressure threshold, it is determined that the third preset cleaning verification rule is met.

[0021] The beneficial effects are as follows: by using quantitative thresholds to accurately verify the working condition data of the brush body after self-cleaning, it is possible to intuitively determine whether the snow has been completely removed, avoiding misjudgments caused by relying on data from a single instance; this rule is simultaneously adapted to the U-shaped cleaning structure of the main roller brush and the auxiliary side brush, verifying the cleaning effect of the corresponding brush body separately, ensuring that the entire side sweeping mechanism returns to normal operating status; it can not only avoid repeated invalid cycles due to incomplete cleaning, but also prevent damage to the mechanism caused by over-cleaning, making the start and stop of the self-cleaning process more reasonable.

[0022] Furthermore, the self-cleaning start command is generated when the main roller brush verification data set and the secondary side brush verification data set meet the second preset snow adhesion judgment rule. The ground clearance feature value and rotation speed feature value are extracted from the working condition parameter set. Combined with the rotational resistance feature value of the main roller brush and the secondary side brush, a self-cleaning start command is generated that includes the reverse rotation speed of the main roller brush and the secondary side brush and the initial operation time. The reverse rotation speed is adapted to the current working condition parameters, and the reverse rotation direction is opposite to the normal cleaning direction.

[0023] The beneficial effects are as follows: by combining the operating condition parameters with the real-time operating characteristics of the main and auxiliary brushes, the core parameters for self-cleaning are set, making the self-cleaning start more targeted and reasonable; the instructions clearly define the reverse rotation direction and appropriate speed of the main and auxiliary brushes, conforming to the operating logic of the U-shaped sweeping structure, avoiding mechanical wear and energy waste caused by blindly starting self-cleaning; at the same time, by adjusting the operating parameters in combination with the road surface undulation, roller speed and other operating condition parameters, the self-cleaning action is precisely adapted to the current snow removal scenario, which can not only efficiently remove snow stuck to the brush body, but also protect the telescopic frame, floating buffer structure and various sensors, ensuring the self-cleaning effect while extending the service life of the equipment.

[0024] Furthermore, the vibration execution command is generated based on the self-cleaning start command and the set of operating condition parameters. The corresponding vibration frequency, vibration amplitude and execution duration are matched and set according to the rotation speed characteristic value and ground clearance characteristic value in the set of operating condition parameters. Combined with the reverse rotation speed and initial operation duration in the self-cleaning start command, the vibration execution command containing vibration parameters and reverse rotation parameters is generated.

[0025] The beneficial effects are as follows: By combining the self-cleaning start command with real-time operating parameters, vibration and operating parameters can be dynamically matched according to road surface undulations (ground clearance) and equipment operating status, avoiding poor cleaning effect or mechanical damage caused by fixed parameters; the command parameters are adapted to the U-shaped sweeping structure and floating buffer telescopic frame, which can be targeted at snow-sticking areas to improve snow removal efficiency; the dynamically generated execution commands are more in line with the actual operation scenario, ensuring self-cleaning power while reducing the impact on sensors and mechanical structures, and reducing equipment wear and tear.

[0026] Furthermore, the process of regenerating the self-cleaning start command involves calculating the resistance difference between the residual rotational resistance characteristic value and the corresponding preset cleaning resistance threshold in the main roller brush and auxiliary side brush calibration data set, and the pressure difference between the residual ground pressure characteristic value and the corresponding preset cleaning pressure threshold. Based on the combined magnitude of the resistance difference and pressure difference, the reverse rotation speed is gradually increased and the corresponding operation duration is extended, thereby regenerating a self-cleaning start command adapted to the current snow residue state.

[0027] The beneficial effects are as follows: by dynamically adjusting the reverse rotation speed and duration through the combined amplitude of the resistance difference and pressure difference, the self-cleaning intensity can be precisely matched with the degree of snow residue, avoiding insufficient cleaning force or excessive movement; this adjustment is adapted to the working characteristics of the U-shaped sweeping structure and the floating buffer telescopic frame, and gradually enhances the cleaning effect within a limited number of cycles, which not only effectively improves the snow removal rate, but also reduces the wear and tear on the mechanism and sensors caused by ineffective operation.

[0028] Furthermore, the process of regenerating the self-cleaning start command involves self-verifying the reverse rotation speed and duration of the command to determine if they are within a preset safe range. If the verification is successful, the self-cleaning start command is confirmed to have been successfully generated. If the verification fails, the reverse rotation speed and duration are readjusted and the verification is performed again. When the number of verifications reaches the preset number of verifications and the command still fails, the command is directly confirmed to have been successfully generated.

[0029] The beneficial effects are as follows: by judging whether the operating parameters are within the preset safe range, abnormal parameters such as excessive speed or excessive duration are avoided, effectively protecting the U-shaped cleaning mechanism, telescopic frame and floating buffer structure; when the verification fails, the parameters are automatically readjusted, which can improve the rationality of the instructions; setting a preset upper limit for the number of verifications can ensure that the instructions are optimized and qualified as much as possible, and prevent infinite verification from causing process blockage. Attached Figure Description

[0030] Figure 1 A schematic diagram of a road snowplow; Figure 2 A system block diagram of the side sweeper control system for a road snowplow; Figure 3 This is a flowchart of the side-sweeping control method for road snowplows. Detailed Implementation

[0031] The following detailed description illustrates the specific implementation method: The following are the reference numerals in the instruction manual's attached drawings: 1. Main frame; 2. Roller brush frame; 3. Floating buffer; 4. Telescopic frame; 5. Roller; 6. Main roller brush; 7. Secondary side brush; 8. Drive end; 9. Resistance sensor; 10. Pressure sensor; 11. Distance sensor; 12. Operating condition sensor.

[0032] Example 1 This embodiment discloses a side sweeping control system for a road snowplow, as shown in the attached diagram. Figure 1 As shown, the main frame 1 is a suspended load-bearing frame structure, welded from steel plates. Its rear end is used to connect to the front end of the snowplow body. The lower part of the front end is hinged to the rear end of the roller brush frame 2 via a transverse hinge axis. The roller brush frame 2 can swing up and down in the vertical plane around this hinge axis. The roller brush frame 2 is a transversely extending box-shaped truss structure, with a central space for installation. Floating buffers 3 are vertically fixed at both ends. The floating buffer 3 adopts a vertical combined buffer structure of helical springs and hydraulic damping rods in parallel. Its upper end is bolted to the end flange of the roller brush frame 2, and its lower end is fixed to the inner end of the telescopic frame 4, providing vertical floating margin for the telescopic frame 4 and buffering the impact load caused by road bumps.

[0033] The telescopic frame 4 is a horizontally arranged cantilevered telescopic frame that extends along the left and right direction of the vehicle body, with its outer end bent forward to extend out to install supports. The extension length of the telescopic frame 4 can be adjusted laterally to adapt to different sweeping width requirements, and the whole structure floats vertically in sync with the floating buffer 3. Below the telescopic frame 4 and directly below the floating buffer 3, a roller 5 is mounted via a wheel frame. The roller 5 is a cylindrical rubber running wheel with its surface facing vertically downwards, directly contacting the road surface. It rolls synchronously with the snowplow's movement, providing support and conforming to the road surface.

[0034] The main roller brush 6 is rotatably mounted in the middle of the roller brush frame 2 via bearing seats on both sides. The main roller brush 6 is a horizontally arranged cylindrical brush body with bristles evenly distributed radially, and its axis extends horizontally to the left and right. Secondary side brushes 7 are rotatably mounted on the mounting supports at the outer ends of the telescopic frames 4 on both sides. The secondary side brushes 7 are vertically arranged disc-shaped brush bodies with their rotation axes arranged vertically, and the two secondary side brushes 7 extend symmetrically forward. The main roller brush 6 and the secondary side brushes 7 together form a U-shaped cleaning structure with the opening facing forward. During operation, snow enters from the front opening, is collected by the secondary side brushes 7, and is then swept away by the main roller brush 6. The vibration mechanism uses an eccentric wheel type micro vibration motor, which is fixed to the bearing seat of the main roller brush 6 and the rotation axis support of the secondary side brushes 7 via mounting seats. Vibration can be directly transmitted to the brush body and bristles.

[0035] The main roller brush 6 and the secondary side brush 7 are both connected to drive ends 8. Drive ends 8 have built-in DC brushless drive motors and planetary reduction gears to provide power for the brush rotation. Each drive end 8 has a resistance sensor 9 installed inside. The resistance sensor 9 is a strain gauge torque sensor, coaxially connected in series with the brush shaft, and can directly output an analog voltage signal proportional to the shaft torque. A pressure sensor 10 is installed at the hinge between the main frame 1 and the roller brush frame 2. Pressure sensors 10 are also installed in series inside the floating buffer 3 between the roller brush frame 2 and the telescopic frame 4, and at the spring bearing end. Pressure sensors 10 are piezoelectric pressure sensors, with the force direction consistent with the vertical force transmission direction, and output an analog voltage signal proportional to the bearing pressure. A distance sensor 11 is fixedly installed on the lower bottom surface of the telescopic frame 4. The distance sensor 11 is a laser diffuse reflection rangefinder, with the detection end vertically downwards facing the road surface, and outputs an analog voltage signal proportional to the distance from the ground.

[0036] A condition sensor 12 is installed at the position of the axle and the frame of the roller 5. The condition sensor 12 integrates a Hall speed detection unit and a MEMS tilt angle detection unit. The Hall unit is coaxially arranged with the roller axle and is used to detect the roller rotation frequency. The MEMS unit is fixed on the roller frame and is used to detect the tilt angle attitude of the cleaning mechanism. It can synchronously output pulse frequency signal and tilt angle voltage signal.

[0037] This system also includes a working condition conversion module, a cleaning control module, and a vibration execution module, as shown in the attached diagram. Figure 2 As shown, the three components interact and transmit commands via the vehicle's CAN bus: The operating condition conversion module, based on the multi-channel 24-bit analog-to-digital converter chip ADS1256, is equipped with an instrument amplifier circuit and an RC low-pass filter circuit; it is responsible for receiving analog voltage / pulse signals output from various sensors, amplifying, filtering, and converting the signals to digital, then calculating the characteristic values ​​of each physical quantity using a built-in calibration conversion formula, and finally packaging them into the corresponding dataset. The cleaning control module, based on the STM32F407ZGT6 embedded microcontroller, is connected to an external SPI Flash memory chip to store preset thresholds, safety parameter ranges, and control logic programs; as the system's main control unit, it is responsible for receiving the operating condition dataset, executing the three-level judgment logic, generating various control commands, and scheduling the entire process. The vibration execution module consists of a vibration control unit, a brush drive unit, and a vibration mechanism. The vibration control unit uses an STM32F103C8T6 slave microcontroller, the brush drive unit uses a DRV8301 three-phase brushless motor drive chip, and the vibration mechanism is equipped with a dedicated MOSFET drive circuit. All three are integrated in the vehicle control box and communicate with the cleaning control module via a CAN bus.

[0038] The operating condition conversion module calibrates and converts the raw signals collected by each sensor, generating corresponding datasets. The specific conversion rules and formulas are as follows: When generating the initial working condition dataset for the main roller brush, the output signal of the resistance sensor 9 at the drive end 8 of the main roller brush 6 and the output signal of the pressure sensor 10 at the hinge joint between the main frame 1 and the roller brush frame 2 are converted to obtain the characteristic values ​​of the rotational resistance and the ground pressure of the main roller brush. The calculation formula is as follows: In the formula, The characteristic value of the rotational resistance of the main roller brush is expressed in N·m. The torque calibration conversion factor is expressed in N·m / V. The output voltage of the main roller brush side resistance sensor, in V; The characteristic value of the pressure exerted on the ground by the main roller brush is expressed in kPa. This is the pressure calibration conversion factor, with units of kPa / V; The output voltage of the pressure sensor at the hinge joint is expressed in volts (V). These characteristic values ​​are then integrated to generate the initial operating condition dataset for the main roller brush.

[0039] If, at a certain moment, the output voltage of the main roller brush side resistance sensor is 2.5V and the torque calibration conversion factor is 40N·m / V, then the characteristic value of the main roller brush rotation resistance can be calculated as 100N·m using the formula. If, at a certain moment, the output voltage of the pressure sensor at the hinge is 1.8V and the pressure calibration conversion factor is 20kPa / V, then the characteristic value of the main roller brush pressure against the ground can be calculated as 36kPa. Integrating the above two characteristic values, we obtain the initial working condition dataset of the main roller brush at that moment.

[0040] When generating the initial working condition dataset of the secondary side brush, the output signals of the resistance sensor 9 of the drive end 8 of the secondary side brush 7 on both sides and the output signals of the pressure sensor 10 in the corresponding floating buffer 3 are converted. Through the conversion formula consistent with the above, the rotational resistance characteristic value and the ground pressure characteristic value of the secondary side brush on both sides are obtained respectively, and integrated to generate the initial working condition dataset of the secondary side brush.

[0041] When generating the working condition parameter set, the output signals of the distance sensor 11 under the telescopic frame 4 on both sides and the output signals of the working condition sensor 12 at the roller 5 are analyzed. The ground clearance characteristic value, rotation speed characteristic value and attitude characteristic value are obtained by conversion formula. The calculation formula is as follows: In the formula, This is a characteristic value for the height above the ground, in mm. This is the distance calibration conversion factor, in mm / V; This is the output voltage of the distance sensor, in volts (V). This represents the characteristic value of rotational speed, in r / min. For rotational speed calibration conversion factor, the unit is r / min / Hz; The rotation frequency output by the operating condition sensor, in Hz; These are attitude feature values, in degrees. The conversion factor for tilt angle calibration is expressed in ° / V; The tilt angle voltage output by the operating condition sensor is expressed in volts (V). These characteristic values ​​are then integrated to generate a set of operating condition parameters.

[0042] If the distance sensor output voltage is 2.2V and the distance calibration conversion factor is 10mm / V, then the ground clearance characteristic value is 22mm; if the rotation frequency output by the working condition sensor is 5Hz and the speed calibration conversion factor is 60r / min / Hz, then the speed characteristic value is 300r / min; if the tilt angle output voltage is 1.5V and the tilt angle calibration conversion factor is 2° / V, then the attitude characteristic value is 3°; integrating these three types of characteristic values ​​yields the working condition parameter set.

[0043] The working condition conversion module synchronously transmits the initial working condition dataset of the main roller brush, the initial working condition dataset of the secondary side brush, and the working condition parameter set to the cleaning control module.

[0044] The cleaning control module retrieves the first preset snow adhesion judgment rule and compares the rotational resistance characteristic value in the initial working condition dataset of the main roller brush with the preset first main brush resistance threshold, and the ground pressure characteristic value with the preset first main brush pressure threshold. Simultaneously, it compares the rotational resistance characteristic value in the initial working condition dataset of the secondary side brush with the preset first secondary brush resistance threshold, and the ground pressure characteristic value with the preset first secondary brush pressure threshold. When the rotational resistance characteristic value of the main roller brush is greater than the first main brush resistance threshold and the ground pressure characteristic value of the main roller brush is less than the first main brush pressure threshold, and simultaneously the rotational resistance characteristic value of the secondary side brush is greater than the first secondary brush resistance threshold and the ground pressure characteristic value of the secondary side brush is less than the first secondary brush pressure threshold, the first preset snow adhesion judgment rule is deemed satisfied.

[0045] For example, the preset threshold values ​​for the first main brush resistance are 80 N·m and 40 kPa, the threshold values ​​for the first main brush pressure are 60 N·m and 30 kPa, respectively. If, at a certain moment, the characteristic value of the main brush rotation resistance is 92 N·m and the characteristic value of the pressure on the ground is 36 kPa, and the characteristic value of the secondary brush rotation resistance is 71 N·m and the characteristic value of the pressure on the ground is 25 kPa, and the conditions of "resistance greater than threshold and pressure less than threshold" are met, then the first preset snow adhesion judgment rule is satisfied, and the cleaning control module generates a secondary conversion instruction and transmits it to the working condition conversion module.

[0046] In this embodiment, the threshold setting is based on the various thresholds of the first preset snow adhesion judgment rule. The thresholds are set based on the reference resistance value and reference pressure value when the side sweeping mechanism is performing normal sweeping operations, combined with statistical data of working condition interference such as road bumps and snow hardness fluctuations. The threshold is slightly higher than the upper limit of fluctuation under normal working conditions. After calibration and optimization with multiple sets of on-site operation data, it can filter out most of the instantaneous interference signals while ensuring the sensitivity of the initial screening, and control the probability of false triggering within the allowable range of the project.

[0047] After receiving the secondary conversion instruction, the working condition conversion module continuously collects the signals of each sensor at a fixed sampling frequency within a preset time period, and generates the main roller brush verification working condition dataset and the secondary side brush verification working condition dataset after conversion processing, and transmits them to the cleaning control module.

[0048] The cleaning control module retrieves the second preset snow-sticking judgment rule, extracts the rotational resistance feature value and ground pressure feature value from the main roller brush verification data set, and continuously compares them with the preset second main brush resistance threshold and second main brush pressure threshold, respectively. Simultaneously, it extracts the rotational resistance feature value and ground pressure feature value from the side auxiliary brush verification data set, and continuously compares them with the preset second auxiliary brush resistance threshold and second auxiliary brush pressure threshold, respectively. When the main roller brush rotational resistance feature value is continuously greater than the second main brush resistance threshold and the ground pressure feature value is continuously less than the second main brush pressure threshold, and the rotational resistance feature values ​​of both side auxiliary brushes are continuously greater than the second auxiliary brush resistance threshold and the ground pressure feature values ​​are continuously less than the second auxiliary brush pressure threshold, and the duration of this state reaches a preset duration threshold, the second preset snow-sticking judgment rule is satisfied, confirming a snow-sticking fault in the side sweeping mechanism.

[0049] For example, the preset threshold values ​​for the second main brush resistance are 85 N·m and 38 kPa, the second auxiliary brush resistance is 65 N·m and 28 kPa, and the preset time threshold is 3 seconds. If, within 3 seconds of continuous data collection and conversion by the working condition conversion module, the rotational resistance characteristic value of the main roller brush and the two auxiliary side brushes is always greater than the corresponding second threshold, and the ground pressure characteristic value is always less than the corresponding second threshold, then the second preset snow adhesion judgment rule is met, and the self-cleaning process is officially triggered.

[0050] When the second preset snow adhesion judgment rule is met, the cleaning control module extracts the ground clearance feature value and rotation speed feature value from the working condition parameter set, and combines them with the rotation resistance feature value of the main roller brush and the auxiliary side brush to generate a self-cleaning start command. The command includes the reverse rotation speed of the main roller brush and the auxiliary side brush and the initial operation time. The reverse rotation direction is opposite to the normal cleaning rotation direction, and the reverse rotation speed is adapted and adjusted according to the current working condition parameters.

[0051] For example, if the current ground clearance is 22mm, the rotation speed is 300r / min, and the main roller brush rotation resistance is 92N·m, the cleaning control module, in conjunction with the above parameters, generates a self-cleaning start command with a reverse rotation speed of 400r / min and an initial operation time of 5s. The reverse rotation direction is opposite to the normal cleaning direction.

[0052] The cleaning control module generates vibration execution commands based on the self-cleaning start command and the set of operating condition parameters. The vibration parameters are matched using a three-segment mapping method: based on the numerical range of the rotational speed characteristic value and ground clearance characteristic value in the operating condition parameter set, the vibration frequency, vibration amplitude, and vibration execution duration are matched and set accordingly; the greater the ground clearance and the higher the driving speed, the greater the matched vibration frequency and amplitude are, in order to adapt to different snow thicknesses and operating conditions. The vibration parameters are integrated with the reverse rotation speed and initial operation duration in the self-cleaning start command to generate a vibration execution command containing complete vibration parameters and reverse rotation parameters, which is then transmitted to the vibration execution module.

[0053] For example, ground clearance is divided into three levels: low, medium, and high; and engine speed is divided into three levels: slow, medium, and fast. These combinations correspond to nine sets of vibration parameters. The higher the ground clearance and the faster the engine speed, the greater the matched vibration frequency and amplitude. For instance, if the current ground clearance and engine speed are both at the medium level, the matched vibration frequency is 20Hz, the vibration amplitude is 5mm, and the vibration execution time is the same as the initial operation time of 5 seconds. These vibration parameters are then integrated with the reverse operation parameters to generate a complete vibration execution command.

[0054] After receiving the vibration execution command, the vibration control unit parses the command to obtain the reverse operation parameters and vibration parameters. It then outputs the corresponding PWM operation drive control signal to the brush body drive unit and the corresponding vibration drive control signal to the vibration mechanism. Based on the received drive control signals, the brush body drive unit outputs three-phase drive current to drive the drive motors of the main roller brush 6 and the auxiliary side brush 7 to reverse at the set speeds. The drive circuit of the vibration mechanism synchronously receives the vibration control signal and drives the eccentric vibration motor to generate mechanical vibration at the set frequency and amplitude, acting on the brush body structure. When both the reverse operation execution duration and the vibration execution duration reach the set duration values, the internal timer of the vibration control unit triggers an interrupt, generating an execution completion signal, which is transmitted to the cleaning control module via the CAN bus.

[0055] After receiving the completion signal, the cleaning control module generates three conversion instructions and transmits them to the working condition conversion module. The working condition conversion module receives the three conversion instructions, re-acquires the sensor signals, and converts them to generate the main roller brush calibration working condition dataset and the secondary side brush calibration working condition dataset, which are then transmitted to the cleaning control module.

[0056] The cleaning control module retrieves the third preset cleaning verification rule, extracts the rotational resistance characteristic value and ground pressure characteristic value from the main roller brush verification data set, and compares them with the preset main brush cleaning resistance threshold and main brush cleaning pressure threshold, respectively. Simultaneously, it extracts the rotational resistance characteristic value and ground pressure characteristic value from the secondary side brush verification data set and compares them with the preset secondary brush cleaning resistance threshold and secondary brush cleaning pressure threshold, respectively. When the rotational resistance characteristic value of both the main roller brush and the two secondary side brushes is not greater than the corresponding cleaning resistance threshold, and the ground pressure characteristic value is not less than the corresponding cleaning pressure threshold, the third preset cleaning verification rule is satisfied, indicating that the snow has been effectively removed and the cleaning effect is qualified.

[0057] For example, the preset cleaning resistance threshold for the main brush is 50 N·m, the cleaning pressure threshold for the main brush is 50 kPa, the cleaning resistance threshold for the auxiliary brush is 40 N·m, and the cleaning pressure threshold for the auxiliary brush is 40 kPa. If, after one self-cleaning cycle, the verification shows that the rotational resistance characteristic value of the main roller brush is 45 N·m and the ground pressure characteristic value is 52 kPa, and the rotational resistance characteristic value of the auxiliary side brush is 38 N·m and the ground pressure characteristic value is 43 kPa, and all characteristic values ​​meet the condition that "resistance is not greater than the threshold and pressure is not less than the threshold", then it is determined that the third preset cleaning verification rule is met, and the cleaning effect is qualified.

[0058] If the third preset cleaning verification rule is not met, and the current number of self-cleaning cycles has not reached the preset upper limit threshold, the cleaning control module regenerates the self-cleaning start command. The specific generation logic is as follows: Calculate the resistance deviation coefficient between the residual rotational resistance characteristic value and the corresponding preset cleaning resistance threshold in the calibration data of the main roller brush and the auxiliary side brush, and the pressure deviation coefficient between the residual ground pressure characteristic value and the corresponding preset cleaning pressure threshold. The calculation formula is as follows: In the formula, is the rotational resistance deviation coefficient, and is a dimensionless ratio; To verify the residual characteristic value of rotational resistance under operating conditions; This corresponds to the preset cleaning resistance threshold; is the ground pressure deviation coefficient, and is a dimensionless ratio; To verify the residual characteristic value of ground pressure under operating conditions; This corresponds to the preset cleaning pressure threshold.

[0059] Further calculate the overall deviation magnitude: In the formula, The overall deviation range is a dimensionless value; a larger value indicates more severe snow residue. The overall deviation range is divided into three levels, corresponding to three parameter adjustment levels. Based on the level range of the overall deviation range, the cleaning control module progressively increases the reverse rotation speed and extends the corresponding running duration, regenerating a self-cleaning start command adapted to the current snow residue state.

[0060] For example, if after one self-cleaning cycle, the residual characteristic value of the main roller brush rotation resistance is 70 N·m, corresponding to a preset cleaning resistance threshold of 50 N·m, then the resistance deviation coefficient... The residual pressure characteristic value of the main roller brush against the ground is 40 kPa, corresponding to a preset cleaning pressure threshold of 50 kPa. Therefore, the pressure deviation coefficient... Overall deviation range .

[0061] The default grading rules are: For mild residue, the corresponding speed should be increased by 50 r / min and the duration extended by 1 s; For moderate residue, the corresponding speed should be increased by 100 r / min and the duration extended by 2 s; For severe residue, the corresponding rotational speed is increased by 150 r / min and the duration is extended by 3 s. In the example above... Since the residue is moderate, the reverse rotation speed is increased by 100 r / min and the running time is extended by 2 seconds, and the self-cleaning start command is regenerated.

[0062] After regenerating the self-cleaning start command, the cleaning control module performs a self-verification of the reverse rotation speed and duration in the command to determine whether these parameters are within the preset safety parameter range. If the parameters are within the preset safety range, the verification is deemed successful, and the self-cleaning start command is confirmed to have been successfully generated. If the parameters exceed the preset safety range, the reverse rotation speed and duration are readjusted, and the verification is performed again. When the number of verifications reaches the preset number and still fails, the current command is directly confirmed to have been successfully generated, avoiding the program from entering an infinite verification loop.

[0063] For example, the preset safe parameter range is a reverse rotation speed of 300-500 r / min and a running duration of 38 seconds. If the regenerated command has a reverse rotation speed of 520 r / min, exceeding the upper limit of the safe range, the verification is deemed unqualified. After lowering the speed to 500 r / min and verifying again, the parameters are now within the safe range, the verification is deemed qualified, and the command generation is confirmed to be successful. If the parameters still cannot fall within the safe range after three consecutive adjustments, the current command generation is directly confirmed as successful, and the verification process exits.

[0064] If the third preset cleaning verification rule is met, or the number of self-cleaning cycles reaches the preset upper limit threshold, the cleaning control module terminates the self-cleaning process and controls the side sweeping mechanism to resume normal cleaning operation mode.

[0065] This embodiment effectively filters out working condition interference and reduces the false judgment rate of snow adhesion through a two-stage snow adhesion judgment mechanism; multiple types of industrial-grade sensors are deployed along the force flow path to ensure the directness and accuracy of working condition data acquisition; a self-cleaning method combining reverse operation and synchronous vibration is adopted to enhance the removal effect of compacted snow adhesion; through dimensionless deviation coefficient and graded adjustment, the cleaning parameters and the degree of snow adhesion residue are adaptively matched; coupled with instruction self-verification and cycle number limitation, it not only avoids parameter over-limit damage to the mechanism, but also prevents the program from falling into an infinite loop, thus improving the automation level and operational reliability of the side sweeping mechanism's self-cleaning.

[0066] Example 2 This embodiment discloses a side-sweeping control method for a road snowplow. This method is implemented based on the road snowplow side-sweeping hardware structure and system modules described in Embodiment 1, as shown in the attached figure. Figure 3 As shown, the specific implementation process is as follows: S1, Initial Working Condition Conversion The original voltage signal of the driving torque during the operation of the brush body is collected in real time by strain gauge resistance sensors 9 at the drive end 8 of the main roller brush 6 and the auxiliary side brush 7. The original voltage signal of the support pressure at the corresponding position is collected in real time by piezoelectric pressure sensors 10 at the hinge and floating buffer 3. The original voltage signal of the distance between the telescopic frame and the road surface is collected in real time by laser distance sensor 11 under the telescopic frame 4. The original voltage signal of the roller rotation frequency pulse signal and the original signal of the sweeping mechanism tilt angle are collected synchronously by integrated working condition sensor 12 at the roller 5. The working condition conversion module processes the above-mentioned original signals through the ADS1256 acquisition circuit and calibration conversion formula to generate the initial working condition dataset of the main roller brush, the initial working condition dataset of the auxiliary side brush, and the working condition parameter set. For example, if the resistance sensor outputs 2.5V, the rotational resistance of the main roller brush is calculated to be 100N·m; if the distance sensor outputs 2.2V, the ground clearance is calculated to be 22mm. All feature values ​​are integrated to form three types of initial datasets, which are then transmitted to the cleaning control module.

[0067] S2, Initial Snow Adhesion Judgment The cleaning control module compares the initial working condition datasets of the main roller brush and the secondary side brush with the first preset snow adhesion judgment rule to determine whether the judgment conditions are met. If the first preset snow adhesion judgment rule is met, a secondary conversion instruction is generated, and the process enters the review and judgment stage. If the conditions are not met, the normal cleaning operation is maintained, and the initial working condition data collection and judgment continue. For example, the preset first main brush resistance threshold is 80 N·m and the pressure threshold is 40 kPa. If the current main roller brush resistance is 92 N·m and the pressure is 36 kPa, and the secondary side brush resistance is 71 N·m and the pressure is 25 kPa, and both threshold conditions are met, then the initial screening is passed, and a secondary conversion instruction is generated.

[0068] S3, Review Snow Adhesion Detection and Instruction Generation According to the secondary conversion instruction, the working condition conversion module continuously collects and processes sensor signals within a preset time period, generating a main roller brush verification working condition dataset and a secondary side brush verification working condition dataset. The cleaning control module compares the verification working condition dataset with the second preset snow adhesion judgment rule. When the characteristic value continuously meets the threshold condition and the time reaches the preset time threshold, it is determined that the second preset snow adhesion judgment rule is met, and a self-cleaning start instruction is generated. Further, combined with the working condition parameter set, a three-segment segmented mapping method is used to match vibration parameters such as vibration frequency and vibration amplitude, and the reverse operation parameters and vibration parameters are integrated to generate a vibration execution instruction. For example, if the preset time threshold is 3 seconds, and the characteristic values ​​of both the main and secondary brushes meet the second threshold requirement for 3 consecutive seconds, a snow adhesion fault is confirmed. Combining the current ground clearance and driving speed, a vibration frequency of 20Hz and an amplitude of 5mm are matched, and a vibration execution instruction is generated.

[0069] S4, Vibration self-cleaning function After receiving the vibration execution command, the vibration control unit of the vibration execution module parses the reverse operation parameters and vibration parameters, and outputs the corresponding PWM control signals to the brush body drive unit and the vibration mechanism. The brush body drive unit drives the main roller brush 6 and the auxiliary side brush 7 to reverse at the set speed according to the control signals, and the eccentric motor of the vibration mechanism synchronously performs mechanical vibration at the set frequency and amplitude. When the execution time of the reverse operation and vibration both reach the command set value, the timer inside the vibration control unit triggers an interrupt and generates an execution completion signal.

[0070] S5, Verification Condition Conversion After receiving the completion signal, the cleaning control module generates three conversion instructions. The working condition conversion module re-acquires the signals of each sensor according to the three conversion instructions, and generates the main roller brush calibration working condition dataset and the secondary side brush calibration working condition dataset after analog-to-digital conversion and calibration conversion processing, which are used to verify the cleaning effect.

[0071] S6. Cleaning Verification and Cyclic Control The cleaning control module compares the calibration data set with the third preset cleaning calibration rule. If the calibration fails to meet the third preset cleaning calibration rule and the number of self-cleaning cycles does not reach the preset upper limit threshold, the comprehensive deviation amplitude is calculated according to the deviation coefficient formula. The cleaning parameters are adjusted according to the corresponding gear, the self-cleaning start command is regenerated, and after the command self-calibration is completed, the self-cleaning process is repeated. If the calibration meets the third preset cleaning calibration rule, or the number of self-cleaning cycles reaches the preset upper limit threshold, the self-cleaning process is terminated, and the side sweeping mechanism is controlled to resume normal road snow removal operations. For example, if the main roller brush resistance is 70 N·m and the pressure is 40 kPa after calibration, which does not meet the cleaning qualification standard, and the number of cycles is 1 (not reaching the upper limit of 3), the comprehensive deviation amplitude is calculated to be 0.6, corresponding to the medium residue gear. The rotation speed is increased by 100 r / min and the duration is extended by 2 s. After passing the safety calibration, the next round of self-cleaning is started.

[0072] This embodiment achieves automatic identification and removal of snow stuck to the side sweeping mechanism through graded judgment, closed-loop cleaning, and parameter self-adaptation of the entire process of automated control, reducing the frequency of manual intervention and improving the continuity of snow removal operations and the reliability of equipment operation.

[0073] The above are merely embodiments of the present invention. The invention is not limited to the fields covered by these embodiments. Commonly known structures and characteristics in the solutions are not described in detail here. Those skilled in the art are aware of all common technical knowledge in the field prior to the application date or priority date, are able to access all existing technologies in that field, and have the ability to apply conventional experimental methods prior to that date. Those skilled in the art can, under the guidance of this application, improve and implement this solution in combination with their own capabilities. Some typical known structures or methods should not be obstacles for those skilled in the art to implement this application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the structure of the present invention. These should also be considered within the scope of protection of the present invention, and will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A side-sweeping control system for a road snowplow, characterized in that, The system includes a main frame, to which a roller brush frame is hinged. The roller brush frame has floating buffers at both ends, and each floating buffer has a telescopic frame. Rollers are located below the telescopic frame. The roller brush frame has a main roller brush, and secondary side brushes are symmetrically arranged forward at the outer ends of the telescopic frame. The main roller brush and the two secondary side brushes together form a forward-facing U-shaped cleaning structure. Both the main roller brush and the secondary side brushes are connected to a drive end, which is equipped with a resistance sensor. Pressure sensors are located at the hinge points between the main frame and the roller brush frame, as well as at the floating buffers. A distance sensor is located below the telescopic frame, and a condition sensor is located on the rollers. It also includes a working condition conversion module, a cleaning control module, and a vibration execution module; The working condition conversion module is used to convert the data collected by the resistance sensor, pressure sensor, distance sensor and working condition sensor into the initial working condition dataset of the main roller brush, the initial working condition dataset of the secondary side brush and the working condition parameter set, and transmit them to the cleaning control module; the resistance sensor is used to collect the original driving torque signal of the main roller brush and the secondary side brush in real time during operation; the pressure sensor is used to collect the original support pressure signal of the hinge position and the floating buffer position in real time; the distance sensor is used to collect the original distance signal between the telescopic frame and the road surface in real time; and the working condition sensor is used to synchronously collect the roller rotation frequency signal and the original tilt angle attitude signal of the sweeping mechanism. The cleaning control module is used to determine whether the initial working condition dataset of the main roller brush and the initial working condition dataset of the secondary side brush meet the first preset snow adhesion judgment rule. If they meet the rule, a secondary conversion instruction is generated and transmitted to the working condition conversion module. The working condition conversion module is used to receive secondary conversion instructions, convert the main roller brush verification working condition dataset and the secondary side brush verification working condition dataset, and transmit them to the cleaning control module. The cleaning control module is used to determine whether the main roller brush verification condition dataset and the secondary side brush verification condition dataset meet the second preset snow adhesion judgment rule. If they meet the rule, a self-cleaning start command is generated. A vibration execution command is generated based on the self-cleaning start command and the working condition parameter set and transmitted to the vibration execution module. The vibration execution module includes a vibration control unit, a brush drive unit, and a vibration mechanism. The vibration control unit receives vibration execution commands, parses the reverse rotation parameters and vibration parameters, and outputs corresponding drive control signals to the brush drive unit. The brush drive unit drives the main roller brush and the auxiliary side brush to reverse rotation at a set speed according to the drive control signals, and synchronously drives the vibration mechanism to perform vibration at a set frequency and amplitude. When the reverse rotation and vibration execution time reach the command set value, the vibration control unit generates an execution completion signal and transmits it to the cleaning control module. The cleaning control module is used to receive the execution completion signal, generate three conversion instructions and transmit them to the working condition conversion module; The working condition conversion module is used to receive three conversion instructions, convert the main roller brush calibration working condition dataset and the secondary side brush calibration working condition dataset, and transmit them to the cleaning control module. The cleaning control module is used to determine whether the main roller brush calibration data set and the secondary side brush calibration data set meet the third preset cleaning calibration rule. If they meet the rule and the number of self-cleaning cycles has not reached the preset upper limit threshold, the self-cleaning start command is regenerated. If they do not meet the rule or the number of self-cleaning cycles has reached the preset upper limit threshold, the self-cleaning process is terminated.

2. The road snowplow side sweeping control system according to claim 1, characterized in that, The working condition acquisition module converts the acquired signals from the resistance sensor at the drive end of the main roller brush and the pressure sensor at the hinge of the main frame and the roller brush frame to obtain the corresponding rotational resistance characteristic value and ground pressure characteristic value of the main roller brush, and generates the initial working condition dataset of the main roller brush. The signals collected by the resistance sensors at the drive ends of the secondary side brushes on both sides, the pressure sensors at the floating buffer parts of the roller brush frame and the corresponding side telescopic frame are converted and processed to obtain the corresponding rotational resistance characteristic value and ground pressure characteristic value of the secondary side brush, generating the initial working condition dataset of the secondary side brush; the signals collected by the distance sensors under the telescopic frames on both sides and the working condition sensors at the rollers are analyzed for speed, attitude and ground clearance characteristic value to obtain speed characteristic value, attitude characteristic value and ground clearance characteristic value, and integrated to generate the working condition parameter set.

3. The road snowplow side sweeping control system according to claim 2, characterized in that, The first preset snow adhesion determination rule is: compare the rotational resistance feature value in the initial working condition dataset of the main roller brush with the preset first main brush resistance threshold, and compare the ground pressure feature value with the preset first main brush pressure threshold; The rotational resistance characteristic value in the initial working condition dataset of the secondary side brush is compared with the preset first secondary brush resistance threshold, and the ground pressure characteristic value is compared with the preset first secondary brush pressure threshold. When the rotational resistance characteristic value of the main roller brush is greater than the first main brush resistance threshold and the ground pressure characteristic value of the main roller brush is less than the first main brush pressure threshold, and at the same time the rotational resistance characteristic value of the secondary side brush is greater than the first secondary brush resistance threshold and the ground pressure characteristic value of the secondary side brush is less than the first secondary brush pressure threshold, it is determined that the first preset snow adhesion judgment rule is met.

4. The road snowplow side sweeping control system according to claim 3, characterized in that, The second preset snow adhesion determination rule is as follows: extract the rotational resistance feature value and ground pressure feature value from the main roller brush verification condition dataset, and compare them with the preset second main brush resistance threshold and second main brush pressure threshold respectively; extract the rotational resistance feature value and ground pressure feature value from the two side auxiliary brush verification condition datasets, and compare them with the preset second auxiliary brush resistance threshold and second auxiliary brush pressure threshold respectively; when the main roller brush rotational resistance feature value is continuously greater than the second main brush resistance threshold and the ground pressure feature value is continuously less than the second main brush pressure threshold, and the rotational resistance feature values ​​of both side auxiliary brushes are continuously greater than the second auxiliary brush resistance threshold and the ground pressure feature values ​​are continuously less than the second auxiliary brush pressure threshold, and the duration reaches the preset duration threshold, it is determined that the second preset snow adhesion determination rule is met.

5. The road snowplow side sweeping control system according to claim 4, characterized in that, The third preset cleaning verification rule is as follows: the cleaning control module extracts the rotational resistance feature value and the ground pressure feature value from the main roller brush verification condition dataset, and compares them with the preset main brush cleaning resistance threshold and the main brush cleaning pressure threshold, respectively; it extracts the rotational resistance feature value and the ground pressure feature value from the secondary side brush verification condition dataset, and compares them with the preset secondary brush cleaning resistance threshold and the secondary brush cleaning pressure threshold, respectively; when the rotational resistance feature value of the main roller brush and the two secondary side brushes are not greater than the corresponding cleaning resistance threshold, and the ground pressure feature value is not less than the corresponding cleaning pressure threshold, it is determined that the third preset cleaning verification rule is met.

6. The road snowplow side sweeping control system according to claim 5, characterized in that, The self-cleaning start command is generated when the main roller brush verification data set and the secondary side brush verification data set meet the second preset snow adhesion judgment rule. The ground clearance feature value and rotation speed feature value are extracted from the working condition parameter set. Combined with the rotational resistance feature value of the main roller brush and the secondary side brush, a self-cleaning start command is generated that includes the reverse rotation speed of the main roller brush and the secondary side brush and the initial operation time. The reverse rotation speed is adapted to the current working condition parameters, and the reverse rotation direction is opposite to the normal cleaning direction.

7. The road snowplow side sweeping control system according to claim 6, characterized in that, The vibration execution command is generated based on the self-cleaning start command and the set of operating condition parameters. The corresponding vibration frequency, vibration amplitude and execution duration are matched and set according to the rotation speed characteristic value and ground clearance characteristic value in the set of operating condition parameters. Combined with the reverse rotation speed and initial operation duration in the self-cleaning start command, the vibration execution command containing vibration parameters and reverse rotation parameters is generated.

8. The road snowplow side sweeping control system according to claim 7, characterized in that, The process of regenerating the self-cleaning start command involves calculating the resistance difference between the residual rotational resistance characteristic value and the corresponding preset cleaning resistance threshold in the main roller brush and auxiliary side brush calibration data set, and the pressure difference between the residual ground pressure characteristic value and the corresponding preset cleaning pressure threshold. Based on the combined magnitude of the resistance difference and pressure difference, the reverse rotation speed is gradually increased and the corresponding operation duration is extended to regenerate the self-cleaning start command adapted to the current snow residue state.

9. The road snowplow side sweeping control system according to claim 8, characterized in that, The self-cleaning start command is regenerated, and the reverse rotation speed and operation duration in the command are self-checked to determine whether they are within the preset safe range. If the verification is successful, the self-cleaning startup command is confirmed to have been successfully generated. If the verification fails, the reverse rotation speed and duration are readjusted and the verification is performed again. If the verification fails after the preset number of verifications, the generation is confirmed as successful.

10. A method for controlling the side sweeping of a road snowplow, characterized in that, Including the following steps: S1. Initial Working Condition Conversion: The original driving torque signals of the main roller brush and the auxiliary side brush during operation are collected in real time by the resistance sensor; the original support pressure signals at the hinge position and floating buffer position are collected in real time by the pressure sensor; the original distance signal between the telescopic frame and the road surface is collected in real time by the distance sensor; and the roller rotation frequency signal and the original tilt angle attitude signal of the sweeping mechanism are collected synchronously by the working condition sensor. The data collected by the above sensors are converted to generate the initial working condition dataset of the main roller brush, the initial working condition dataset of the auxiliary side brush, and the working condition parameter set. S2, Initial Snow Adhesion Judgment: Determine whether the initial working condition datasets of the main roller brush and the secondary side brush meet the first preset snow adhesion judgment rule. If they do, generate a secondary conversion instruction. S3, Snow Adhesion Judgment and Command Generation: Generate the main roller brush review working condition dataset and the secondary side brush review working condition dataset based on the secondary conversion command; determine whether the main roller brush review working condition dataset and the secondary side brush review working condition dataset meet the second preset snow adhesion judgment rule. If they do, generate the self-cleaning start command; generate the vibration execution command based on the self-cleaning start command and the working condition parameter set. S4. Vibration self-cleaning execution: Receives vibration execution command, parses the reverse operation parameters and vibration parameters, and outputs corresponding drive control signals; according to the drive control signals, drives the main roller brush and the auxiliary side brush to reverse at the set speed, and synchronously drives the vibration mechanism to perform vibration at the set frequency and amplitude; when the reverse operation and vibration execution time reach the command set value, an execution completion signal is generated. S5. Verification condition conversion: Generate three conversion instructions based on the execution completion signal to convert and generate the main roller brush verification condition dataset and the secondary side brush verification condition dataset. S6. Cleaning Verification and Cyclic Control: Determine whether the main roller brush verification data set and the secondary side brush verification data set meet the third preset cleaning verification rule. If the conditions are met and the number of self-cleaning cycles has not reached the preset upper limit threshold, then the self-cleaning start command will be regenerated. If the self-cleaning cycle count does not meet the requirements or reaches the preset upper limit threshold, the self-cleaning process will be terminated.

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