Snow removal control system and self-moving snow removal device

Abstract

This utility model discloses a snow removal control system and a self-propelled snow removal device. The snow removal control system includes a multi-channel motor adapter module, a pitch motor module, a yaw motor module, and a controller module. The controller module is interconnected with the pitch and yaw motor modules via the multi-channel motor adapter module. The controller module controls the pitch and yaw motor modules respectively through the multi-channel motor adapter module to adjust the snow-throwing angle of the snow removal device, and also supplies power to the pitch and yaw motor modules respectively. The multi-channel motor adapter module provides a connection, transmitting the power supply and control signals from the controller module to the pitch and yaw motor modules to adjust the snow-throwing angle. In case of motor module failure, disassembly and replacement can be performed quickly, improving the maintenance efficiency of the entire snow removal control system, saving time, and reducing maintenance costs.

Description

Technical Field

[0001] This utility model relates to the field of snow removal control, and in particular to a snow removal control system and a self-moving snow removal device. Background Technology

[0002] Intelligent snow removal equipment typically requires multiple drive units, such as snow roller motors, yaw motors, and pitch motors, as well as auxiliary functional modules like image acquisition, defogging lighting, and collision avoidance detection, to achieve automated snow removal operations. These functions need to operate stably for extended periods in cold and high-humidity environments, placing high demands on the system's reliability, maintainability, control precision, and communication capabilities.

[0003] In existing snow removal control systems, as the number of functional modules increases, the wiring density and communication complexity of the system also increase. Due to long-term operation in low-temperature environments, when the snow removal control system malfunctions, the large number of functional modules makes disassembly and replacement of the motor difficult, resulting in poor maintenance efficiency. Summary of the Invention

[0004] This utility model provides a snow removal control system and a self-moving snow removal device to solve the problem of poor maintenance efficiency in existing snow removal control systems.

[0005] To achieve the above objectives, in one embodiment, a snow removal control system is provided for controlling snow removal equipment, the snow removal control system comprising: The system includes a multi-channel motor adapter module, a pitch motor module, a yaw motor module, and a controller module. The controller module is interconnected with the pitch motor module and the yaw motor module via the multi-channel motor adapter module. The controller module is used to control the pitch motor module and the yaw motor module respectively through the multi-channel motor adapter module to adjust the snow throwing angle of the snow removal equipment, and to supply power to the pitch motor module and the yaw motor module respectively through the multi-channel motor adapter module.

[0006] In one embodiment, the snow removal control system further includes: The limit sensor module is interconnected with the controller module through the multi-channel motor adapter module. The limit sensor module is used to detect limit information, which includes the rotation range limits of the pitch motor module and the yaw motor module. The controller module is used to supply power to the limit sensor module through the multi-channel motor adapter module and to receive the limit information transmitted by the limit sensor module.

[0007] In one embodiment, the controller module includes: The DC-DC voltage conversion module and the first control chip are provided. The first input terminal of the DC-DC voltage conversion module is used to receive external power supply signals. The first output terminal and the second output terminal of the DC-DC voltage conversion module are electrically connected to the first control chip and the multi-channel motor adapter module, respectively. The first control chip is electrically connected to the multi-channel motor adapter module.

[0008] In one embodiment, the controller module further includes a network transformer, and the snow removal control system further includes a camera module. The input terminal of the network transformer is used to acquire external power supply signals and Ethernet communication signals. The port of the network transformer is interconnected with the camera module, and the output terminal of the network transformer is connected to the second input terminal of the DC voltage conversion module.

[0009] In one embodiment, the snow removal control system further includes: The system includes a speed controller module and a snow rolling motor module. The third output terminal of the DC voltage conversion module is connected to the speed controller module. The speed controller module, the snow rolling motor module, and the first control chip are all interconnected.

[0010] In one embodiment, the speed controller module includes: The input and output are connected to the second control chip, the drive module, and the three-phase power bridge module, and the second control chip is interconnected with the controller module. The output terminal of the three-phase power bridge module is connected to the input terminal of the snow rolling motor module for transmitting drive signals; The output of the snow-rolling motor module is connected to the second control chip for transmitting thermistor signals and speed signals.

[0011] In one embodiment, it further includes: A lighting module, the input terminal of which is electrically connected to the DC voltage conversion module.

[0012] In one embodiment, it further includes: An anti-fog module, wherein the input terminal of the anti-fog module is electrically connected to the first control chip.

[0013] In one embodiment, it further includes: The collision module is electrically connected to the first control chip.

[0014] In one embodiment, a self-moving snow removal device is provided, the self-moving snow removal device including the snow removal control system described above.

[0015] The aforementioned snow removal control system and self-propelled snow removal equipment utilize a multi-channel motor adapter module to transmit power and control signals from the controller module to the pitch and yaw motor modules, adjusting the snow-throwing angle. In the event of a motor module failure, the two modules can be quickly disassembled and replaced via the multi-channel motor adapter module interface, improving the maintenance efficiency of the entire snow removal control system, saving time, and reducing maintenance costs. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of a snow removal control system according to one embodiment of the present invention; Figure 2 This is a schematic diagram of the controller module in one embodiment of the present invention; Figure 3 This is a schematic diagram of the connection between the controller module and the camera module in one embodiment of this utility model; Figure 4 This is a schematic diagram of the connection between the controller module and the speed regulator module in one embodiment of this utility model; Figure 5 This is a schematic diagram of a speed regulator module in one embodiment of the present invention; Figure 6 This is a schematic diagram of a snow removal control system in one embodiment of the present invention.

[0018] Reference numerals: 1. Multi-channel motor adapter module; 2. Pitch motor module; 3. Yaw motor module; 4. Controller module; 41. DC voltage conversion module; 42. First control chip; 43. Network transformer; 5. Limit sensor module; 6. Camera module; 7. Speed ​​controller module; 71. Second control chip; 72. Drive module; 73. Three-phase power bridge module; 8. Snow rolling motor module; 9. Lighting module; 10. Anti-fog module; 11. Collision module; P1. First input terminal of DC voltage conversion module 41; P2. First output terminal of DC voltage conversion module 41; P3. Second output terminal of DC voltage conversion module 41; P4. Second input terminal of DC voltage conversion module 41; P5. Third output terminal of DC voltage conversion module 41; L1. Port of network transformer 43; L2. Output terminal of network transformer 43. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present utility model.

[0020] It should be understood that this invention can be embodied in various forms and should not be construed as being limited to the embodiments set forth herein. Rather, providing these embodiments will make the disclosure thorough and complete, and will fully convey the scope of this invention to those skilled in the art. In the drawings, for clarity, the dimensions of layers and regions, as well as their relative dimensions, may be exaggerated. The same reference numerals denote the same elements throughout.

[0021] It should be understood that when an element or layer is referred to as "on," "adjacent to," "connected to," or "coupled to" other elements or layers, it may be directly on, adjacent to, connected to, or coupled to other elements or layers, or there may be intervening elements or layers. Conversely, when an element is referred to as "directly on," "directly adjacent to," "directly connected to," or "directly coupled to" other elements or layers, there are no intervening elements or layers. It should be understood that although the terms first, second, third, etc., may be used to describe various elements, components, areas, layers, and / or portions, these elements, components, areas, layers, and / or portions should not be limited by these terms. These terms are only used to distinguish one element, component, area, layer, or portion from another element, component, area, layer, or portion. Therefore, without departing from the teachings of this utility model, the first element, component, area, layer, or portion discussed below may be referred to as the second element, component, area, layer, or portion.

[0022] Spatial relation terms such as “below,” “under,” “below,” “under,” “above,” “above,” etc., are used herein for convenience of description to describe the relationship between one element or feature shown in the figure and other elements or features. It should be understood that, in addition to the orientation shown in the figure, spatial relation terms are intended to also include different orientations of the device in use and operation. For example, if the device in the figure is flipped, then the element or feature described as “below,” “under,” or “below” other elements or features will be oriented “above” other elements or features. Therefore, the exemplary terms “below” and “under” can include both above and below orientations. The device may be otherwise oriented (rotated 90 degrees or otherwise) and the spatial descriptive terms used herein will be interpreted accordingly.

[0023] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention. When used herein, the singular forms “a,” “an,” and “the” are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising” and / or “including,” when used in this specification, identify the presence of the stated features, integers, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups. When used herein, the term “and / or” includes any and all combinations of the associated listed items.

[0024] To fully understand this utility model, detailed structures and steps will be presented in the following description to illustrate the technical solution proposed by this utility model. Preferred embodiments of this utility model are described in detail below; however, in addition to these detailed descriptions, this utility model may have other embodiments.

[0025] In one embodiment, such as Figure 1 As shown, a snow removal control system is provided for controlling a self-propelled snow removal device. The snow removal control system includes: The system includes a multi-channel motor adapter module 1, a pitch motor module 2, a yaw motor module 3, and a controller module 4. The controller module 4 is interconnected with the pitch motor module 2 and the yaw motor module 3 through the multi-channel motor adapter module 1. The controller module 4 is used to control the pitch motor module 2 and the yaw motor module 3 respectively through the multi-channel motor adapter module 1 to adjust the snow throwing angle of the self-moving snow removal device, and to supply power to the pitch motor module 2 and the yaw motor module 3 respectively through the multi-channel motor adapter module 1.

[0026] The multi-channel motor adapter module 1 is electrically connected to the pitch motor module 2, specifically including two lines: a power supply line for supplying power to the pitch motor module 2 via the multi-channel motor adapter module 1; and a communication line for transmitting control communication information to the pitch motor module 2 via the multi-channel motor adapter module 1, and for transmitting feedback signals to the controller module 4 via the multi-channel motor adapter module 1. The multi-channel motor adapter module 1 is also electrically connected to the yaw motor module 3, specifically also including two lines: a power supply line for supplying power to the pitch motor module 2 via the multi-channel motor adapter module 1. The yaw motor module 3 is powered; a communication line is used to transmit control communication information to the yaw motor module 3 through the multi-channel motor adapter module 1, and to transmit feedback signals to the controller module 4 through the multi-channel motor adapter module 1; the multi-channel motor adapter module 1 and the controller module 4 are electrically connected, specifically including a first power supply line for transmitting power supply information to the multi-channel motor adapter module 1; a first communication line for transmitting control communication information to the multi-channel motor adapter module 1, and for transmitting feedback signals from the pitch motor module 2 and the yaw motor module 3 to the controller module 4.

[0027] Understandably, the pitch motor module 2 and the yaw motor module 3 control the pitch and yaw angles of the self-propelled snow removal equipment, respectively. The control communication information refers to the commands from the controller module 4 to the pitch motor module 2 and the yaw motor module 3, such as rotation angles; the feedback signal refers to the operating status information of the pitch motor module 2 and the yaw motor module 3; the multi-channel motor adapter module 1 can use a multi-channel PWM control board (such as Cytron MDD10A) in conjunction with a microcontroller (such as STM32), a CANopen motor distribution controller, etc. The controller module 4 includes a DC-DC voltage conversion module and a first control chip. The DC-DC voltage conversion module converts external power to the voltage required by the first control chip and other components (such as 5V or 3.3V). The DC-DC voltage conversion module can be a switching buck module (such as an LM2596S module), and the first control chip can be an STM32 series microcontroller.

[0028] The working process of the above snow removal control system is as follows: The controller module 4 receives the external power supply signal, converts it into a power supply that can be used by the pitch motor module 2 and the yaw motor module 3, and then supplies power to the pitch motor module 2 and the yaw motor module 3 respectively through the multi-channel motor adapter module 1. The control communication information output by the controller module 4 is transmitted to the pitch motor module 2 and the yaw motor module 3 respectively through the multi-channel motor adapter module 1 to adjust the snow throwing angle; the feedback signals from the pitch motor module 2 and the yaw motor module 3 are transmitted to the controller module 4 respectively through the multi-channel motor adapter module 1.

[0029] In this embodiment, a multi-channel motor adapter module 1 provides a transfer, transmitting the power supply signal and control communication information of the controller module 4 to the pitch motor module 2 and the yaw motor module 3 to adjust the snow-throwing angle. The feedback signals from the pitch motor module 2 and the yaw motor module 3 are also transmitted back to the controller module 4. In the event of a fault in any motor module, it can be quickly disassembled and replaced, improving the maintenance efficiency of the entire snow removal control system, saving time, and reducing maintenance costs.

[0030] In one embodiment, such as Figure 1 As shown, the snow removal control system also includes: Limit sensor module 5 is interconnected with controller module 4 through multi-channel motor adapter module 1. Limit sensor module 5 is used to detect limit information, which includes the rotation range limits of pitch motor module 2 and yaw motor module 3. The controller module 4 is used to supply power to the limit sensor module 5 through the multi-channel motor adapter module 1, and to receive the limit information transmitted by the limit sensor module 5. The output of the limit sensor module 5 is connected to the controller module 4 (first control chip 42) through the multi-channel motor adapter module 1.

[0031] The limit sensor module 5 is equipped with several sensors, specifically, it may include four sensors. Two of these sensors are mounted on the pitch motor module 2 to detect the minimum and maximum pitch angles of the pitch motor module 2; the other two are mounted on the yaw motor module 3 to detect the minimum and maximum yaw angles of the yaw motor module 3. The sensors can be Hall effect sensors or other types of sensors, all of which are within the scope of protection of this application.

[0032] The working process of the above snow removal control system is as follows: The controller module 4 supplies power to each sensor in the limit sensor module 5 through the multi-channel motor adapter module 1; and receives the limit information transmitted by each sensor in the limit sensor module 5 through the multi-channel motor adapter module 1; when it receives the limit information corresponding to any of the minimum pitch angle, maximum pitch angle, minimum heading angle and maximum heading angle, the controller module 4 outputs a stop control signal to the corresponding motor module through the multi-channel motor adapter module 1 to control the corresponding motor module to stop running.

[0033] In this embodiment, a limit sensor module 5 is installed in the snow removal control system. The limit sensor module 5 is interconnected with the controller module 4 (first control chip 42) via a multi-channel motor adapter module 1. It receives power signals from the controller module 4 (first control chip 42) and simultaneously transmits limit information to it. Upon reaching the limit point, the controller module 4 (first control chip 42) controls the corresponding motor module to stop or continue operating. When the limit sensor module 5 malfunctions, it can be quickly disassembled and replaced, improving the maintenance efficiency of the entire snow removal control system, saving time, and reducing maintenance costs.

[0034] In one embodiment, such as Figure 2 As shown, the controller module 4 includes: The DC voltage conversion module 41 and the first control chip 42 are provided. The first input terminal P1 of the DC voltage conversion module 41 is used to receive external power supply signals. The first output terminal P2 and the second output terminal P3 of the DC voltage conversion module 41 are electrically connected to the first control chip 42 and the multi-channel motor adapter module 1, respectively. The first control chip 42 and the multi-channel motor adapter module 1 are interconnected.

[0035] The electrical connection between the first output terminal P2 and the second output terminal P3 of the DC voltage conversion module 41 and the first control chip 42 and the multi-channel motor adapter module 1 respectively refers to: The first output terminal P2 of the DC voltage conversion module 41 is electrically connected to the first control chip 42, and the second output terminal P3 of the DC voltage conversion module 41 is electrically connected to the multi-channel motor adapter module 1.

[0036] The first input terminal P1 of the DC-DC voltage conversion module 41 receives external power supply signals and control signals from the ECU of the self-moving snow removal equipment. The first output terminal P2 of the DC-DC voltage conversion module 41 is electrically connected to the first control chip 42 and is used to output the power supply signals of the first control chip 42. The second output terminal P3 of the DC-DC voltage conversion module 41 is electrically connected to the multi-channel motor adapter module 1 and is used to output the power supply signals of the pitch motor module 2, the yaw motor module 3, and the limit sensor module 5. The first control chip 42 is interconnected with the multi-channel motor adapter module 1 and is used to output the control communication information of the pitch motor module 2 and the yaw motor module 3, as well as to receive the feedback signals transmitted by the pitch motor module 2 and the yaw motor module 3, and the limit information transmitted by each sensor in the limit sensor module 5.

[0037] For example, the DC voltage conversion module 41 can be an LM5017 or an LTC3639, and the first control chip 42 can be an STM32F103C8T6 or a GD32F103. Other models can be selected as needed, all of which are within the protection scope of this utility model.

[0038] The working process of the above snow removal control system is as follows: The first input terminal P1 of the DC-DC voltage conversion module 41 receives the external power supply signal and steps it down to a preset voltage power supply signal. This signal powers the first control chip 42 through the first output terminal P2 of the DC-DC voltage conversion module 41. The second output terminal P3 of the DC-DC voltage conversion module 41 and the multi-channel motor adapter module 1 power the pitch motor module 2, yaw motor module 3, and limit sensor module 5, respectively. Simultaneously, the first control chip 42 outputs control communication information, which is transmitted to the pitch motor module 2 and yaw motor module 3 through the multi-channel motor adapter module 1 to adjust the snow-throwing angle. The feedback signals from the pitch motor module 2 and yaw motor module 3, and the limit information transmitted by the various sensors in the limit sensor module 5, are transmitted to the first control chip 42 through the multi-channel motor adapter module 1. When the first control chip 42 receives limit information corresponding to any of the minimum pitch angle, maximum pitch angle, minimum yaw angle, and maximum yaw angle, it outputs a stop control signal to the corresponding motor module through the multi-channel motor adapter module 1 to stop the corresponding motor module.

[0039] When the DC voltage conversion module 41 has an enable pin, the first control chip 42 can control its operating state (enable / disable) through GPIO.

[0040] In this embodiment, a first control chip 42 receives external power supply signals, converts them, and outputs them to a multi-channel motor adapter module 1. The multi-channel motor adapter module 1 then powers and controls the various sensors in the pitch motor module 2, yaw motor module 3, and limit sensor module 5 to adjust the snow-throwing angle. In case of motor module failure, disassembly and replacement can be performed quickly, improving the maintenance efficiency of the entire snow removal control system, saving time, and reducing maintenance costs.

[0041] In one embodiment, such as Figure 3 As shown, the controller module 4 also includes a network transformer 43, and the snow removal control system also includes a camera module 6. The input terminal of the network transformer 43 is used to acquire external power supply signals and Ethernet communication signals. The port L1 of the network transformer 43 is connected to the camera module 6. The output terminal L2 of the network transformer 43 is connected to the second input terminal P4 of the DC voltage conversion module 41.

[0042] The input terminal of the network transformer 43 receives external power supply signals and Ethernet communication signals, which are used to output the power supply signal of the camera module 6 and receive the Ethernet communication information output by the camera module 6. The Ethernet communication information is used to establish a network connection. The output terminal L2 of the network transformer 43 is connected to the second input terminal P4 of the DC voltage conversion module 41 and is used to output the POE power supply signal.

[0043] The network transformer 43 serves to provide electrical isolation, signal coupling, and PoE power supply support. Its model can be HX1188NL or H1102NL, and can be adjusted as needed, all of which are within the protection scope of this utility model.

[0044] The working process of the above snow removal control system is as follows: The input terminal of the network transformer 43 receives external power supply signals and Ethernet communication signals. The power supply signals are output to the camera module 6 through port L1 of the network transformer 43 for power supply, and output to the DC voltage conversion module 41 through the output terminal L2 of the network transformer 43 for conversion. Simultaneously, the Ethernet communication signal is output to the camera module 6 through port L1 of the network transformer 43, and the Ethernet communication information output by the camera module 6 is received to establish a network connection.

[0045] In this embodiment, a network transformer 43 is set in the snow removal control system. The network transformer 43 obtains external power supply signals and Ethernet communication signals, processes them, and supplies them to the camera module 6 and DC voltage conversion module 41. The network transformer 43 provides magnetic isolation between the data channel and the power channel to prevent interference such as high voltage / surge. Furthermore, a single RJ45 network cable can be used to power the camera module 6 and complete data communication simultaneously, making installation more convenient.

[0046] In one embodiment, such as Figure 4 As shown, the snow removal control system also includes: Speed ​​controller module 7 and snow rolling motor module 8 are connected together. The third output terminal P5 of the DC voltage conversion module 41 is connected to the speed controller module 7. The speed controller module 7 is interconnected with the snow rolling motor module 8 and the first control chip 42.

[0047] The speed controller module 7 is interconnected with the snow roller motor module 8 and the controller module 4. The controller module 4 supplies power to the speed controller module 7 and the snow roller motor module 8, transmits control commands to the snow roller motor module 8 through the speed controller module 7, and receives feedback signals from the snow roller motor module 8 through the speed controller module 7. Specifically, the third output terminal P5 of the DC voltage conversion module 41 is connected to the speed controller module 7, and the speed controller module 7 is interconnected with the snow roller motor module 8 and the first control chip 42.

[0048] Understandably, the speed controller module 7 receives the control command (PWM control signal) from the first control chip 42 in the controller module 4, and internally achieves speed regulation by controlling the on and off of MOSFETs or IGBTs. The snow-rolling motor module 8 can be a BLDC motor (brushless DC motor), which drives related structural components (such as impellers) to roll snow by rotating. The feedback signal includes speed / temperature / fault status, and the temperature can be achieved by setting a thermistor (NTC) in the snow-rolling motor module 8.

[0049] The working process of the above snow removal control system is as follows: The power supply terminal of the speed controller module 7 receives the power supply signal output from the third output terminal P5 of the DC voltage conversion module 41, and the DC voltage conversion module 41 supplies power to the snow rolling motor module 8 through the speed controller module 7. The snow rolling motor module 8 receives control commands output by the first control chip 42 through the speed controller module 7, performs preset actions, and transmits feedback signals to the first control chip 42 through the speed controller module 7.

[0050] In this embodiment, the speed controller module 7 receives control commands from the first control chip 42 and transmits them to the snow roller motor module 8 to control its operation. Simultaneously, the snow roller motor module 8 outputs feedback signals to the speed controller module 7, which process the signals before transmitting them back to the first control chip 42. By monitoring parameters such as speed and temperature in real time, the system can quickly identify overload, stall, and other anomalies and trigger protection mechanisms to prevent damage to the snow roller motor module 8, thus saving costs to some extent.

[0051] In one embodiment, such as Figure 5 As shown, the speed controller module 7 includes: The second control chip 71, the drive module 72, and the three-phase power bridge module 73 are connected in sequence to the input and output. The second control chip 71 is connected to the speed regulator module 7. The output terminal of the three-phase power bridge module 73 is connected to the input terminal of the snow rolling motor module 8 for transmitting drive signals; The output of the snow rolling motor module 8 is connected to the second control chip 71 and is used to transmit thermistor signals and speed signals.

[0052] The third output terminal P5 of the DC voltage conversion module 41 is connected to the speed controller module 7. Specifically, the third output terminal P5 of the DC voltage conversion module 41 is connected to the second control chip 71, the drive module 72 and the three-phase power bridge module 73 respectively. The second control chip 71 and the drive module 72 can be directly powered, while the three-phase power bridge module 73 needs to be stepped down before being powered. The second control chip 71 can be an STM32G431CBT6 or TMS320F28069, etc., and the drive module 72 and the three-phase power bridge module 73 can be a combination of IRS2330 and IRAMY20UP60B.

[0053] A thermistor is also installed in the snow rolling motor module 8. The thermistor outputs a signal to detect the temperature of the snow rolling motor in the snow rolling motor module 8 in real time.

[0054] The working process of the above snow removal control system is as follows: The second control chip 71 receives the control signals (including target motor speed, acceleration / deceleration time parameters, start / stop signals, etc.) from the first control chip 42, and then outputs PWM waveform control signals to the drive module 72. The drive module 72 outputs MOSFET / IGBT gate signals to the corresponding phase lines of the three-phase power bridge module 73, and then outputs them to the three-phase input of the snow-rolling motor module 8 through the output terminal of the three-phase power bridge module 73 to provide torque output and drive the relevant structural components (such as impellers) of the snow-rolling motor module 8 to roll snow. The snow-rolling motor module 8 outputs a speed signal FG (Frequency Generator) and a thermistor signal to the second control chip 71. The second control chip 71 calculates the motor speed and temperature and outputs them to the first control chip 42.

[0055] In this embodiment, a second control chip 71, a drive module 72, and a three-phase power module 73 are configured in the speed controller module. The second control chip 71 parses the control signals from the first control chip 42, generates corresponding control signals, and then transmits them to the drive module 72 and the three-phase power module to control the operation of the snow removal motor module. The first control chip 42 is responsible for issuing control commands and receiving feedback signals, while the second control chip 71 is responsible for fine motor drive control, closed-loop speed control, and fault response. This improves the fault tolerance of the snow removal control system and prevents motor damage or accidents caused by malfunctions of the first control chip 42.

[0056] In one embodiment, such as Figure 6 As shown, the snow removal control system also includes: Lighting module 9, the input terminal of which is electrically connected to DC voltage conversion module 41.

[0057] The lighting module 9 includes at least one LED light, and may include multiple LED lights, which can be adjusted according to actual needs. The DC-DC voltage conversion module 41 supplies power to the lighting module 9 via a power supply line. The lighting module 9 is used to turn on when working in low light conditions.

[0058] In this embodiment, a lighting module 9 is set in the snow removal control system. The lighting module 9 is powered by a DC voltage conversion module 41. When the light is insufficient, the lighting module 42 is turned on to avoid operational errors due to limited visibility, reduce the risk of collision with obstacles, optimize the snow removal path planning, and improve snow removal efficiency.

[0059] In one embodiment, such as Figure 6 As shown, the snow removal control system also includes: Anti-fog module 10, the input terminal of which is electrically connected to DC voltage conversion module 41.

[0060] The anti-fog module 10 is installed on the front glass of the camera module 6. An anti-fog heating film is installed in the anti-fog module 10. The DC voltage conversion module 41 supplies power to the anti-fog module 10 through the power supply line to defog the front glass.

[0061] In this embodiment, an anti-fog module 10 is set in the snow removal control system. The anti-fog module 10 makes the temperature difference between the inside and outside of the front glass of the camera module 6 uniform, ensuring that the imaging of the camera module 6 is clear, avoiding operational errors due to limited field of vision, reducing the risk of collision with obstacles, optimizing the snow removal path planning, and improving snow removal efficiency.

[0062] In one embodiment, such as Figure 6 As shown, the snow removal control system also includes: The collision module 11 is electrically connected to the first control chip 42.

[0063] Specifically, the collision module 11 may include a collision sensor. The collision sensor is connected to the first control chip 42 via a signal line and communicates with the first control chip 42. The collision sensor sends signals to the first control chip 42 in real time. When a collision occurs, the I / O signal sent by the collision sensor changes. When the first control chip 42 detects the signal change, it sends a control signal to the speed controller module 7 to stop the snow rolling motor module 8. At the same time, the first control chip 42 also sends a collision signal to the host computer.

[0064] In this embodiment, a collision module 11 is set in the snow removal control system, which communicates with the first control chip 42 in real time. When the first control chip 42 detects a collision, it outputs a control signal to the snow roller motor module 8 through the speed regulator module 7, causing the snow roller motor module 8 to stop running. This prevents the snow roller motor module 8 from continuing to operate when a collision occurs, thus preventing damage to the equipment and surrounding personnel, extending the service life of the equipment, and reducing costs to a certain extent.

[0065] In one embodiment, such as Figure 6As shown, a self-moving snow removal device is provided, which includes the snow removal control system described above.

[0066] The self-propelled snow removal equipment includes a vehicle body, on which a camera module 6, a collision module 11, and a lighting module 9 are installed. Other modules of the snow removal control system are located inside the vehicle body.

[0067] In this embodiment, a multi-channel motor adapter module 1 provides the connection, transmitting the power supply and control signals of the controller module 4 to the pitch motor module 2 and the yaw motor module 3 to adjust the snow-throwing angle. In case of motor module failure, it can be quickly disassembled and replaced, improving the maintenance efficiency of the entire self-propelled snow removal equipment, saving time, and reducing maintenance costs.

[0068] The above-described embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model, and should all be included within the protection scope of this utility model.

Claims

1. A snow removal control system, characterized in that, The snow removal control system is used to control snow removal equipment and includes: The system includes a multi-channel motor adapter module, a pitch motor module, a yaw motor module, and a controller module. The controller module is interconnected with the pitch motor module and the yaw motor module via the multi-channel motor adapter module. The controller module is used to control the pitch motor module and the yaw motor module respectively through the multi-channel motor adapter module to adjust the snow throwing angle of the snow removal equipment, and to supply power to the pitch motor module and the yaw motor module respectively through the multi-channel motor adapter module.

2. The snow removal control system according to claim 1, characterized in that, Also includes: The limit sensor module is interconnected with the controller module through a multi-channel motor adapter module. The limit sensor module is used to detect limit information, which includes the rotation range limits of the pitch motor module and the yaw motor module. The controller module is used to supply power to the limit sensor module through the multi-channel motor adapter module and to receive the limit information transmitted by the limit sensor module.

3. The snow removal control system according to claim 1 or 2, characterized in that, The controller module includes: The DC voltage conversion module and the first control chip are provided. The first input terminal of the DC voltage conversion module is used to receive external power supply signals. The first output terminal and the second output terminal of the DC voltage conversion module are electrically connected to the first control chip and the multi-channel motor adapter module, respectively. The first control chip and the multi-channel motor adapter module are interconnected.

4. The snow removal control system according to claim 3, characterized in that, The controller module also includes a network transformer, and the snow removal control system also includes a camera module. The input terminal of the network transformer is used to acquire external power supply signals and Ethernet communication signals. The port of the network transformer is interconnected with the camera module, and the output terminal of the network transformer is connected to the second input terminal of the DC voltage conversion module.

5. The snow removal control system according to claim 4, characterized in that, Also includes: The system includes a speed controller module and a snow rolling motor module. The third output terminal of the DC voltage conversion module is connected to the speed controller module. The speed controller module, the snow rolling motor module, and the first control chip are all interconnected.

6. The snow removal control system according to claim 5, characterized in that, The speed controller module includes: The second control chip, the drive module, and the three-phase power bridge module are connected in sequence to the output and input, and the second control chip is interconnected with the controller module. The output of the three-phase power bridge module is connected to the input of the snow rolling motor module for transmitting drive signals; the output of the snow rolling motor module is connected to the second control chip for transmitting thermistor signals and speed signals.

7. The snow removal control system according to claim 3, characterized in that, Also includes: The lighting module has its input terminal electrically connected to the DC voltage conversion module.

8. The snow removal control system according to claim 3, characterized in that, Also includes: An anti-fog module, the input terminal of which is electrically connected to the first control chip.

9. The snow removal control system according to claim 3, characterized in that, Also includes: The collision module is electrically connected to the first control chip.

10. A self-propelled snow removal device, characterized in that, The self-moving snow removal device includes the snow removal control system according to any one of claims 1 to 9.

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