Cleaning method, cleaning apparatus, snow-sweeping device, and computer-readable storage medium

Abstract

A cleaning method, a cleaning apparatus, a snow-sweeping device, and a computer-readable storage medium. The method is applied to a snow-sweeping device, and comprises: when a standby state of a snow-sweeping device is detected, determining a standby time of the snow-sweeping device, so as to obtain a first standby time; and when the first standby time is not smaller than a time threshold value, controlling a preset module of the snow-sweeping device to clean ice blocks.

Description

Cleaning method, cleaning device, snow clearing equipment and computer-readable storage medium

[0001] Priority information

[0002] This application claims priority and benefits of patent applications with patent application numbers 202310814561.4 and 202310816245.0 filed with the State Intellectual Property Office of China on July 4, 2023, and the entire text of which is incorporated herein by reference. Technical Field

[0003] The present application relates to the technical field of intelligent devices, and in particular to a cleaning method, a cleaning device, a snow-clearing device, and a computer-readable storage medium. Background Art

[0004] Since the working environment of snow-clearing equipment is characterized by high humidity and low temperature, it is easy to cause the snow-clearing equipment to freeze and affect the subsequent snow-clearing work. At present, when the snow-clearing equipment freezes, the ice in the snow-clearing equipment is cleared by manual cleaning.

[0005] Summary of the Invention

[0006] The cleaning method provided in an embodiment of the present application is applied to snow-clearing equipment. The method includes: when the standby state of the snow-clearing equipment is detected, determining the standby time of the snow-clearing equipment to obtain a first standby time; when the first standby time is not less than a time threshold, controlling a preset module of the snow-clearing equipment to clean ice.

[0007] Another embodiment of the present application provides a cleaning method, which is applied to a main control module in a snow-clearing device. The cleaning method includes: receiving status information from an operating module of the snow-clearing device; determining whether it is necessary to clean the accumulated ice on the operating module based on the status information; if it is necessary to clean the accumulated ice on the operating module, sending a control instruction to the operating module, and the control instruction is used by the operating module to clean the accumulated ice.

[0008] Another embodiment of the present application provides a cleaning method, which is applied to an operating module in a snow-clearing device. The method includes: sending status information of the operating module to a main control module of the snow-clearing device, where the status information is used by the main control module to determine whether it is necessary to clean the ice accumulated on the operating module; receiving a control instruction from the main control module, where the control instruction is a control instruction sent by the main control module when it is determined that it is necessary to clean the ice accumulated on the operating module; and cleaning the ice accumulated on the operating module according to the control instruction.

[0009] A cleaning method provided in another embodiment of the present application is applied to snow-clearing equipment, which includes an operating module. The method includes: detecting status information of the operating module; determining whether it is necessary to clean the accumulated ice on the operating module based on the status information; and cleaning the accumulated ice on the operating module if it is necessary to clean the accumulated ice on the operating module.

[0010] A cleaning device provided in another embodiment of the present application is applied to snow-clearing equipment. The snow-clearing equipment includes a first determination unit and a first control unit. The first determination unit is used to determine the standby time of the snow-clearing equipment when the standby state of the snow-clearing equipment is detected, and obtain a first standby time; the first control unit is used to control a preset module of the snow-clearing equipment to clean ice when the first standby time is not less than a time threshold.

[0011] A cleaning device provided in another embodiment of the present application is applied to a main control module in a snow-clearing device. The cleaning device includes an acquisition unit, a third determination unit, and a first sending unit. The acquisition unit is used to receive status information from an operating module of the snow-clearing device; the third determination unit is used to determine whether it is necessary to clean the accumulated ice on the operating module based on the status information; the first sending unit is used to send a control instruction to the operating module if it is necessary to clean the accumulated ice on the operating module, and the control instruction is used for the operating module to clean the accumulated ice.

[0012] Another embodiment of the present application provides a cleaning device, which is applied to an operating module in a snow-clearing device. The cleaning device includes a second sending unit, a receiving unit, and a second control unit. The second sending unit is used to send status information of the operating module to the main control module of the snow-clearing device, and the status information is used by the main control module to determine whether it is necessary to clean the accumulated ice on the operating module; the receiving unit is used to receive control instructions from the main control module, and the control instructions are control instructions sent by the main control module when it is determined that it is necessary to clean the accumulated ice on the operating module; the second control unit is used to clean the accumulated ice on the operating module according to the control instructions.

[0013] A cleaning device provided in another embodiment of the present application is applied to snow-clearing equipment. The snow-clearing equipment includes an operating module, and the cleaning device includes a third detection unit, a fourth determination unit and a cleaning unit. The third detection unit is used to detect status information of the operating module; the fourth determination unit is used to determine whether it is necessary to clean the accumulated ice on the operating module based on the status information; and the cleaning unit is used to clean the accumulated ice on the operating module if it is necessary to clean the accumulated ice on the operating module.

[0014] Another embodiment of the present application provides a snow-clearing device, which includes a processor and a memory. The memory stores a computer program, and the processor calls the computer program to implement the cleaning method of any of the above embodiments.

[0015] Another embodiment of the present application provides a computer-readable storage medium, which stores program code. The program code can be called by a processor to implement the cleaning method of any of the above embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0017] FIG1 is a schematic diagram of the architecture of a cleaning system provided in an embodiment of the present application;

[0018] FIG2 is a schematic diagram of the structure of a snow-clearing device provided in an embodiment of the present application;

[0019] FIG3 is a schematic flow chart of a cleaning method according to an embodiment of the present application;

[0020] FIG4 is a schematic flow chart of a cleaning method provided in another embodiment of the present application;

[0021] FIG5 is a schematic flow chart of a cleaning method provided in another embodiment of the present application;

[0022] FIG6 is a schematic flow chart of a cleaning method provided in another embodiment of the present application;

[0023] FIG7 is a schematic diagram of the interaction between the main control module and the operation module provided in an embodiment of the present application;

[0024] FIG8 is a schematic flow chart of a cleaning method provided in another embodiment of the present application;

[0025] FIG9 is a schematic diagram of a module of a cleaning device provided in an embodiment of the present application;

[0026] FIG10 is a schematic diagram of a module of a cleaning device provided in another embodiment of the present application;

[0027] FIG11 is a schematic diagram of a module of a cleaning device provided in another embodiment of the present application;

[0028] FIG12 is a schematic diagram of a module of a cleaning device provided in another embodiment of the present application;

[0029] FIG13 is a schematic diagram of a module of a snow-clearing device provided in an embodiment of the present application;

[0030] FIG14 is a module diagram of a computer-readable storage medium provided in an embodiment of the present application. DETAILED DESCRIPTION

[0031] The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0032] In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0033] Since the operating environment of snow-clearing equipment (such as snow-clearing robots, snow-clearing vehicles, snow-clearing brushes, etc.) is characterized by low temperature and high humidity, it is easy for the snow-clearing equipment to freeze and affect the subsequent snow-clearing work. For example, some modules of the snow-clearing equipment are prone to freezing during intermittent operation, making it impossible for the snow-clearing equipment to perform snow-clearing operations. For example, the snow-clearing equipment may include a mobile module. If the mobile module is frozen, when the snow-clearing equipment is turned on again, it cannot move according to the preset path and cannot perform snow-clearing operations. For example, the snow remaining on the blades of the snow-clearing equipment will easily accumulate and freeze, resulting in low working efficiency of the snow-clearing equipment.

[0034] In some embodiments, upon detecting that the snowplow is in a standby state, the snowplow determines the standby time of the snowplow to obtain a first standby time. If the first standby time is not less than a time threshold, the snowplow automatically controls a preset module of the snowplow to perform ice removal. By detecting the standby time of the snowplow, if the standby time is equal to or greater than the time threshold, the preset module of the snowplow is automatically controlled to perform ice removal. This automatic ice removal of the snowplow improves the operational convenience of the snowplow and the efficiency of subsequent snow removal operations.

[0035] To better understand the embodiments of the present application, the following describes the system architecture. Please refer to Figure 1, which shows a schematic diagram of the architecture of a snow removal system 100 for snow removal equipment provided in an embodiment of the present application. As shown in Figure 1, the snow removal system 100 may include a main control module 110, an output module 120, an operation module 130, and a communication module 140. The main control module 110 may be used to control the output module 120, the operation module 130, and the communication module 140, among others.

[0036] The output module 120 may include a prompting device that can output prompt information controlled by the operation module 110. Specifically, the prompting device is used to display a prompting message to the user that the snow-clearing device is in the process of clearing or that the snow-clearing device cannot clear. The prompting device can also be used to display information such as the snow-clearing device's power-on status, power-off status, working status, standby status, and battery level. The operation module 130 may include a container device and a mobile module that can be used to execute execution instructions issued by the main control module 110. Specifically, the container device and mobile module can execute working instructions and clearing instructions. The communication module 140 can be used to synchronize data in the main control module 110 to the terminal and receive control instructions from the terminal. The main control module 110 can control the output module 120, the operation module 130, and the communication module 140 according to the control instructions.

[0037] As an example, during breaks in the use of the snowplow, the main control module 110 detects the standby state of the snowplow and controls the operation module 130 when the standby time reaches a preset threshold. While the operation module 130 is performing ice removal, the output module 120 is controlled to prompt the user that ice removal is in progress. Information about the snowplow's ice removal status is synchronized to the terminal via the communication module 140.

[0038] The architecture of the snow-clearing system 100 shown in FIG1 is merely an example and does not limit the technical solutions provided by the embodiments of the present application. As the architecture of snow-clearing systems evolves and new application scenarios emerge, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0039] Referring to Figure 2, a schematic diagram of the snowplow's structure is shown. The snowplow comprises a main control module (e.g., a microcomputer and microcontroller), a timer, an operation module (e.g., a snow thrower and push rod), a prompting device (e.g., a warning light and voice announcement system), a communication module, and a mobile terminal control program connected to the communication module. Both the cleaning system 100 of the embodiment of Figure 1 and the snowplow of the embodiment of Figure 2 are capable of implementing any step of the cleaning method of any of the following embodiments.

[0040] Please refer to Figure 3, which is a schematic flow chart of a cleaning method provided in an embodiment of the present application. The cleaning method can be applied to snow-clearing equipment, such as a snow-clearing robot, a snow-clearing vehicle, a snow-clearing brush, or other snow-clearing equipment. The cleaning method can include the following steps.

[0041] 201. When a standby state of a snow-clearing device is detected, determine the standby time of the snow-clearing device to obtain a first standby time.

[0042] After the snowplow device has executed the start instruction, the snowplow device may include a working state and a standby state. The working state of the snowplow device refers to the working state in which the snowplow device performs snowplowing operations through various preset modules. In this working state, all preset modules are in motion and no icing will occur. The standby state of the snowplow device refers to the non-working state in which the snowplow device is turned on and the various preset modules of the snowplow device do not perform snowplowing operations in an environment with low temperature and high humidity. In this non-working state, the various preset modules of the snowplow device are in a stationary state and are prone to icing, making it difficult for the snowplow device to enter the working state from the non-working state. Among them, the preset module may be an operation module.

[0043] The snow-clearing device may include a detection device. The detection device may be used to detect the motion state of a preset module of the snow-clearing device. The motion state of the preset module may indicate whether the snow-clearing device is in a working state, and may also indicate whether the snow-clearing device is performing an ice-clearing operation. When the motion state of the preset module is used to indicate whether the snow-clearing device is performing an ice-clearing operation, the detection device may be used to determine whether the preset module is in a clearing state or has completed the clearing operation. When the motion state of the preset module is used to indicate whether the snow-clearing device is performing an ice-clearing operation, the detection device may be used to determine whether the preset module is in a clearing state or has completed the clearing operation. Please refer to the following steps for the specific process of determining whether the preset module is in a clearing state or has completed the clearing operation.

[0044] When the motion state of a preset module is used to indicate whether the snowplow is in an operating state, the detection device can be used to confirm whether the snowplow is in an operating state. The standby state of the snowplow can be determined by detecting whether the snowplow monitors each preset module in a standby state. Specifically, if the first detection device detects that the power of the snowplow is on but the operating module performing the snowplow operation is not driven, the snowplow is in the standby state.

[0045] The snow-clearing device may further include a timing device. The timing device may be a clockwise timer, which is used to calculate the standby time of the snow-clearing device in a non-operating state. The standby time may be the intermittent duration of the snow-clearing device performing snow-clearing operations, or the non-operating duration of the snow-clearing device before starting snow-clearing operations after being connected to a power source. Specifically, the clockwise timer may calculate the difference between the time when the first detection device detects the first standby state of the snow-clearing device and the time when the first detection device detects the first working state of the snow-clearing device, thereby obtaining the standby time of the snow-clearing device in the standby state. The standby time of the snow-clearing device in the standby state may also be obtained by calculating the difference between the time when the first detection device detects that the power of the snow-clearing device is turned on and the time when the first detection device detects that the snow-clearing device is in the working state for the first time.

[0046] In some embodiments, the timing device may also be a reverse timer. The reverse timer may include a time length set by the user or a time length customized by the manufacturer. When the snowplow device is powered on but not in operation, or when the snowplow device switches from operation to a non-operating standby state, the reverse timer is activated. After activation, the reverse timer counts down until the reverse timer reaches zero, predicting ice formation in the preset module of the snowplow device. The preset module of the snowplow device is then controlled to clear ice.

[0047] 202. When the first standby time is not less than a time threshold, control a preset module of the snow removal equipment to clear ice.

[0048] When the first standby time of the snow-clearing device is equal to the time threshold, the preset module of the snow-clearing device is automatically controlled to clear ice. When the first standby time of the snow-clearing device is greater than the time threshold, the preset module of the snow-clearing device is automatically controlled to clear ice.

[0049] Snowplows can be pre-configured with a time threshold. This threshold can be the length of time required to ensure that a pre-set module of the snowplow remains free of ice under a preset temperature and humidity environment. This time threshold can be user-defined or pre-set by the snowplow manufacturer based on the ice formation time. If the time threshold is exceeded under the preset temperature and humidity conditions, ice may not be automatically cleared, thereby affecting the efficiency of the snowplow's snow removal operations.

[0050] The snow-clearing device may further include an operation module 130. The operation module 130 may include a sweeping module and a movement module. In other words, the preset module may include a sweeping module and a movement module. The operation module 130 may be configured to perform snow-clearing operations according to instructions issued by the main control module 110. The sweeping module may utilize the force of a roller to simultaneously roll snow on the ground, thereby achieving a snow-clearing function. The movement module may be configured to drive the snow-clearing device forward, thereby enabling the snow-clearing device to achieve a snow-clearing function along a preset motion path.

[0051] The operation module 130 can also be used to perform cleaning operations according to instructions issued by the main control module 110. For example, controlling the preset module to clean ice includes controlling the sweeping module to rotate and / or pitch; and / or controlling the moving module to extend and retract. When performing the cleaning operation, the sweeping module can rotate the snow throwing tube to remove ice from the snow throwing tube using the force of rotation and / or pitch the snow throwing tube to remove ice from the snow throwing tube using the force of pitching. When performing the cleaning operation, the moving module can extend and retract the push rod, using the extension and retraction force between the push rods to remove ice from the moving module.

[0052] By automatically controlling the preset modules of the snow-clearing equipment to clear ice, the operating convenience of the snow-clearing equipment and the efficiency of subsequent snow-clearing operations of the snow-clearing equipment are improved.

[0053] Please refer to FIG4 , which is a flow chart of a cleaning method provided in another embodiment of the present application. The cleaning method may include the following steps.

[0054] 201. When a standby state of a snow-clearing device is detected, determine the standby time of the snow-clearing device to obtain a first standby time.

[0055] 202. When the first standby time is not less than a time threshold, control a preset module of the snow removal equipment to clear ice.

[0056] 203. Detect the motion state of the preset module of the snow-clearing equipment.

[0057] The snow-clearing device includes a detection device. The detection device can be used to detect the motion state of a preset module of the snow-clearing device. The motion state of the preset module can indicate whether the snow-clearing device is in a working state and whether the snow-clearing device is performing an ice-clearing action.

[0058] When the motion state of the preset module is used to characterize whether the snowplow device is performing an ice clearing operation, the detection device can be used to determine whether the preset module is in a clearing state or has completed the clearing operation. Whether the snowplow device is in a clearing state can be determined by detecting whether the preset module of the snowplow device is driven. Specifically, the first detection device detects whether the preset module of the snowplow device is driven. When it is detected that the preset module is in a driven state, it is determined that the preset module of the snowplow device is in a clearing state and is performing a clearing operation. It is also possible to determine whether the snowplow device is in a state of completing the clearing operation by detecting the difference in the corresponding time when the preset module of the snowplow device is driven and not driven. When the preset module of the snowplow device is in a clearing state or has completed the clearing operation, the snowplow device does not need to clear ice.

[0059] Correspondingly, if the preset module of the snowplow device is not in the cleaning state and has not completed the cleaning operation, the snowplow device does not need to clear ice. That is, if the preset module of the snowplow device is not in the motion state and meets the preset condition, ice is cleared from the preset module of the snowplow device. The preset condition may be that the preset module of the snowplow device is not in the motion state for a time threshold.

[0060] 204. Outputting prompt information for prompting the user to clear ice from the snow-clearing device according to the motion state.

[0061] The snowplow device also includes a prompting device. The prompting device is configured to provide a user with a prompt message indicating that the snowplow device is performing ice clearing. Specifically, when the preset module of the snowplow device is in a first state, indicating that the preset module of the snowplow device is performing an ice clearing operation, the prompting device can provide a user with a prompt message indicating that the preset module of the snowplow device is performing ice clearing. When the preset module of the snowplow device is in a second state, indicating that the preset module of the snowplow device is unable to perform an ice clearing operation when required, the prompting device can provide a user with a prompt message indicating that the snowplow device is unable to perform ice clearing.

[0062] The prompting device may include a warning light and a voice announcement system. The warning light may flash to notify the user, or may be set to remain on to indicate the snowplow's operating or motion status, or to remain off to indicate the snowplow's standby status. The voice announcement system may also notify the user by announcing the snowplow's operating status.

[0063] For example, when the snowplow is in standby mode, the warning light may be constantly on to alert the user that the snowplow is in a motion state (a first state) where the preset module of the snowplow is performing an ice-clearing operation. The warning light may also flash to alert the user that the snowplow is in a non-motion state (a second state) where the preset module of the snowplow is unable to perform an ice-clearing operation when required. Simultaneously, the voice announcement system may announce that the snowplow is in the process of "automatically breaking ice," or the voice announcement system may sound a buzzer to alert the user that the snowplow is unable to perform an ice-clearing operation.

[0064] In some embodiments, the cleaning method may include the following steps.

[0065] 201. When a standby state of a snow-clearing device is detected, determine the standby time of the snow-clearing device to obtain a first standby time.

[0066] 202. When the first standby time is not less than the time threshold, control the preset module of the snow-clearing device to clear ice. 203. Detect the motion state of the preset module of the snow-clearing device.

[0067] 204. Outputting prompt information for prompting the user to clear ice from the snow-clearing device according to the motion state.

[0068] 205. Send device information of the snow-clearing device to the terminal, where the device information includes a standby state, a standby time, a motion state of a preset module, and whether to perform a clearing action.

[0069] The snow-clearing device can also be connected to a terminal. The terminal can be used to achieve convenient interaction between the snow-clearing device and the user. By synchronizing the device information of the snow-clearing device to the terminal, the user's convenience in using the snow-clearing device is improved. The device information of the snow-clearing device can be the standby state of the snow-clearing device and the duration of the snow-clearing device's continuous standby state (standby time), or the motion state of the preset module of the snow-clearing device (the motion state can indicate whether the snow-clearing device is clearing snow, or whether the snow-clearing device is clearing ice), or whether the preset module of the snow-clearing device can completely perform the cleaning action.

[0070] During the process of the preset module of the snowplow device performing ice clearing, the motion state of the snowplow device may switch to the inactive state before completing the ice clearing due to insufficient power, ice stuck, etc. Therefore, the real-time status of the snowplow device can be synchronized to the terminal to inform the user of the real-time status of the snowplow device and the preset module of the snowplow device.

[0071] In another embodiment, the cleaning method may further include: receiving a control instruction from a terminal; and controlling the snow-clearing equipment according to the control instruction.

[0072] When the user obtains the real-time status of the snow-clearing equipment and the preset modules of the snow-clearing equipment through the terminal, the user can adjust the current status of the snow-clearing equipment through the terminal to improve the user experience of using the snow-clearing equipment.

[0073] In the embodiment of the cleaning method described in FIG4 , the snowplow device can determine the standby time of the snowplow device when detecting the standby state of the snowplow device, and obtain a first standby time; when the first standby time is not less than a time threshold, the preset module of the snowplow device is controlled to perform ice cleaning. By detecting the standby time of the snowplow device when it is on standby, when the standby time is equal to or greater than the time threshold, the preset module of the snowplow device is automatically controlled to perform ice cleaning. In this way, the operating convenience of the snowplow device and the subsequent work efficiency of the snowplow device in performing snow-clearing operations are improved by automatically clearing ice from the snowplow device. In addition, when the snowplow device is performing ice cleaning or is unable to perform ice cleaning, a prompt message can be output so that the user can process according to the prompt message. Furthermore, by synchronizing the device information of the snowplow device to the terminal, the user can control the snowplow device according to the device information through the terminal, thereby improving the user experience.

[0074] Please refer to FIG5 , which is a flow chart of a cleaning method provided in another embodiment of the present application. The cleaning method may include the following steps.

[0075] 401. When it is detected that the snow-clearing equipment enters the standby state, the timing device is started.

[0076] 402. Determine the standby time of the snow-clearing equipment according to the timing device to obtain a first standby time.

[0077] The snow-clearing device obtains the state of the snow-clearing device through the detection device. When the detection device detects that the state of the snow-clearing device is in the standby state, the timing device is started, and the timing device is used to perform clockwise timing.

[0078] The specific implementation process of step 401 and step 402 can refer to the description of step 201 in the embodiment corresponding to FIG. 3 or FIG. 4 , and will not be further described here.

[0079] In some embodiments, the cleaning method may include the following steps.

[0080] 403. When the first standby time is not less than the time threshold, control the snow removal equipment to clear ice.

[0081] The specific implementation process of step 403 can refer to the description of step 202 in the embodiment corresponding to FIG. 3 or FIG. 4 , and will not be further described here.

[0082] In some embodiments, the snowplow device can also detect ice conditions in a preset module, and determine whether to control the preset module to clear ice based on the ice conditions in the preset module. If it is detected that the first standby time of the snowplow device is not less than a time threshold, a second detection device on the preset module of the snowplow device can be triggered. This second detection device can be used to detect ice conditions in the preset module of the snowplow device. This second detection device can be a weight sensor installed in the preset module, or a current sensor installed in the preset module.

[0083] For example, a weight sensor may be used to obtain a weight signal in the preset module, and the icing condition in the preset module may be determined based on the weight signal. Alternatively, a current sensor may be used to obtain a current signal in the preset module, and the icing condition in the preset module may be determined based on the current signal.

[0084] In some embodiments, after determining the icing status of the preset module, the preset module is controlled to clear ice. Specifically, the icing status of the preset module includes unfrozen and frozen. The unfrozen status indicates that when the standby time of the snowplow device reaches a time threshold, there is no ice in the preset module of the snowplow device, and the unfrozen preset module does not affect the subsequent snow-clearing operation of the snowplow device. In this case, there is no need to control the preset module to clear ice. In the absence of ice, the ice-clearing action is reduced, saving electricity resources during the snow-clearing operation of the snowplow device.

[0085] If the preset module indicates that the snowplow has been in standby mode for a certain period of time, the snowplow has reached a certain threshold. The preset module is frozen and cannot perform subsequent snowplowing operations, affecting the user-friendliness and efficiency of the snowplow. In this case, the preset module is controlled to perform ice removal. When the cleaning module indicates that the ice is frozen, the cleaning module is controlled to rotate and / or pitch. When the mobile module indicates that the ice is frozen, the mobile module is controlled to extend and retract.

[0086] In some embodiments, the cleaning method may include the following steps.

[0087] 401. When it is detected that the snow-clearing equipment enters the standby state, the timing device is started.

[0088] 402. Determine the standby time of the snow-clearing equipment according to the timing device to obtain a first standby time.

[0089] 403. When the first standby time is not less than the time threshold, control the snow removal equipment to clear ice.

[0090] 404. Reset the timing device.

[0091] When the timer detects that the snowplow has been in standby mode for a period of time not less than a threshold, the snowplow is controlled to clear ice. Simultaneously, the timer is reset. When the detection device detects that the snowplow is in standby mode, the timer is activated again.

[0092] In another embodiment, if the standby time of the snowplow device reaches a time threshold, but the preset module of the snowplow device is not frozen, the timing of the timing device is reset. When the detection device detects the standby state of the snowplow device, the timing device is restarted. If the standby time of the snowplow device detected by the timing device is not less than the time threshold, the preset module of the snowplow device is detected for ice formation.

[0093] 405. When the preset module controlling the snow-clearing device completes ice clearing, the standby time of the snow-clearing device is recorded by the reset timing device to obtain a second standby time.

[0094] When the preset module of the snow-clearing device completes the ice clearing action, the snow-clearing device can be in a standby state. Therefore, the standby state of the snow-clearing device can be detected a second time by the detection device, and the standby time of the snow-clearing device can be calculated a second time by the timing device to obtain a second standby time.

[0095] 406. When the second standby time is not less than the time threshold, control the preset module of the snow-clearing device to perform a second cleaning action.

[0096] When the second standby time is equal to or greater than the time threshold, in an environment with the same humidity and temperature, the second standby time is considered to indicate ice formation in the preset module of the snowplow device in the standby state as the first standby time. Therefore, the preset module of the snowplow device can be controlled to perform a cleaning action by secondary control, thereby achieving ice removal in the preset module of the snowplow device.

[0097] In some embodiments, when the second standby time is not less than the time threshold, the preset module of the snow-clearing device can also be checked for ice formation after the second standby time. If the preset module of the snow-clearing device is not frozen, there is no need to perform the ice clearing action.

[0098] In the embodiment of the cleaning method described in Figure 5, the snowplow device can determine the standby time of the snowplow device when detecting the standby state of the snowplow device, and obtain a first standby time; if the first standby time is not less than a time threshold, the preset module of the snowplow device is controlled to perform ice cleaning. By detecting the standby time of the snowplow device when it is on standby, when the standby time is equal to or greater than the time threshold, the preset module of the snowplow device is automatically controlled to perform ice cleaning. In this way, by automatically cleaning ice from the snowplow device, the operating convenience of the snowplow device and the efficiency of the subsequent snowplowing operation of the snowplow device are improved. In addition, by detecting the ice condition of the preset module of the snowplow device, it can be determined whether to perform the ice cleaning action to save resources. Furthermore, if the snowplow device is continuously in the standby state, the standby state of the snowplow device can be continuously detected twice. Once the standby time of the snowplow device reaches the preset time, ice cleaning is performed, thereby improving the convenience of using the device after the snowplow device has been in standby state for a long time.

[0099] It should be understood that the same or corresponding information in the above different embodiments can be referenced to each other.

[0100] 6 , which is a flow chart of a cleaning method provided by another embodiment of the present application, takes the main control module 110 and the operation module 130 mounted on a snow-clearing device as an example. When executing the program corresponding to the cleaning method, the specific flow of the cleaning method is as follows:

[0101] 101. The operation module sends status information of the operation module of the snow-clearing equipment to the main control module.

[0102] Accordingly, the main control module 110 receives status information from the operation module 130 of the snow-clearing equipment.

[0103] Snowplows can refer to specialized mechanical equipment used to clear snow from snowy or icy surfaces. Snowplows typically include a main control module 110 and an operating module 130. The main control module 110 receives status information and sends clearing instructions from the operating module 130, while the operating module 130 clears snow. Snowplows can be used in areas where snow needs to be cleared, such as roads, sidewalks, and parking lots.

[0104] The status information may refer to the working status information of the snow-clearing equipment, and may include: current information, position information, motor temperature information, operating speed information, noise information, etc. Such status information allows the main control module 110 to better monitor the status of the operation module 130 .

[0105] The operation module 130 can be connected to the main control module 110 via a connection port, wireless communication, or a communication module 140 or other means. During the operation of the snow-clearing device, the operation module 130 will continuously detect the current working status, including the current position, snow-clearing effect, and remaining power. The operation module 130 can encode the collected status information and send the encoded information to the main control module 110 of the snow-clearing device via wireless communication. The main control module 110 of the snow-clearing device will receive the status information and decode it to obtain specific information. As shown in Figure 7, the operation module 130 will continuously detect the current status information and send it to the main control module 110 so that the main control module 110 can understand the latest status of the operation module 130.

[0106] As shown in Figure 7, the main control module 110 may include a microcomputer (host) and a microcontroller (slave). The microcontroller can receive status information from the operation module 130 and monitor this status information through the microcomputer. This status information can be obtained by the operation module 130 using sensors or monitoring devices. These sensors may include temperature sensors, humidity sensors, current sensors, etc., used to obtain various status information from the operation module 130. For example, a temperature sensor can be used to monitor the temperature of the operation module 130 in real time to determine whether there is ice accumulation. A humidity sensor can detect the humidity around the operation module 130 to determine whether there is a possibility of ice formation. A current sensor can monitor the operating current value of the operation module 130 to understand its load condition. These sensors can also be connected to the main control module 110 of the snowplow to transmit the acquired status information to the main control module 110. The main control module 110 can receive this status information via wired or wireless means, such as using a data cable or wireless communication technologies such as Bluetooth. Finally, after receiving the status information from the operation module 130, the main control module 110 can subsequently analyze and process it.

[0107] In the above manner, the operation module 130 can send the status information of the operation module 130 to the main control module 110 of the snowplow device, so that the main control module 110 can always understand the status information of the operation module 130. By receiving the status information of the operation module 130 from the snowplow device, the main control module 110 can understand the status of the operation module 130 in real time and accurately, so as to take timely cleaning measures to ensure the working efficiency and safety of the snowplow device.

[0108] 102. The main control module determines whether ice accumulation on the operating module needs to be cleared according to the status information.

[0109] When the operating module 130 of the snow-clearing device is in operation, the main control module 110 monitors the status information of the operating module 130 in real time. Based on this status information, the main control module 110 determines whether the operating module 130 needs to be cleared of ice. Based on the temperature information of the operating module 130, it can be determined whether the motor temperature of the operating module 130 is too high. If the temperature is too low, it indicates that there may be ice accumulation. The humidity information of the operating module 130 can also be used to determine whether there is a possibility of ice formation. In summary, it is possible to determine whether the ice on the operating module 130 needs to be cleared based on the status information, thereby effectively helping the snow-clearing device automatically determine whether ice needs to be cleared, thereby improving work efficiency and convenience.

[0110] In some embodiments, the status information includes at least current information and position information. The main control module 110 may determine whether ice accumulation on the operating module 130 needs to be cleared based on the operating current value and the operating distance of the operating module 130. For example, step 102, "determining whether ice accumulation on the operating module needs to be cleared based on the status information," may include:

[0111] (102.1) Determine the operating current value of the operation module based on the current information;

[0112] (102.2) Determine the operating distance of the operation module based on the position information;

[0113] (102.3) Determine whether the operating current value is greater than a first threshold value, and / or whether the operating distance is greater than a second threshold value;

[0114] (102.4) When the operating current value is greater than the first threshold value and / or the operating distance is greater than the second threshold value, it is determined that ice accumulation on the operating module needs to be cleared.

[0115] The operating current value is the current flowing through the snowplow during normal operation. This is the current drawn by the snowplow under normal load conditions. Operating current is critical to the performance and safety of the snowplow. Excessively high or low operating current may cause the snowplow to malfunction or damage.

[0116] The running distance can be the distance that the snowplow equipment continuously runs and clears snow. After the snowplow equipment runs for a certain distance, snow and ice easily accumulate on the blades, which can easily cause the motor to stall and affect work efficiency.

[0117] When the snowplow's operating module 130 is in operation, the main control module 110 monitors its status information, including current and location information, in real time. Based on this information, the main control module 110 determines whether the operating module 130 needs to clear ice. First, the main control module 110 determines the operating current value of the operating module 130 based on the current information. If the operating current value is greater than a first threshold, it indicates that ice may have accumulated on the operating module 130 and requires clearing. At this point, the main control module 110 sends a control instruction to the operating module 130, instructing it to clear the ice. Second, the main control module 110 determines the operating distance of the operating module 130 based on the location information. If the operating distance is greater than a second threshold, it also indicates that ice may have accumulated on the operating module 130 and requires clearing. In this case, the main control module 110 also sends a control instruction to the operating module 130, also instructing it to clear the ice. In summary, the process of determining whether ice accumulation on the operation module 130 needs to be cleared based on the status information can be achieved by determining whether the operating current value and the operating distance exceed the set threshold value. This not only effectively helps the snow removal equipment automatically determine whether ice accumulation needs to be cleared, but also improves work efficiency and convenience.

[0118] In the above manner, whether it is necessary to clear the ice on the operation module 130 can be determined through the status information, so that clearing measures can be taken in time to ensure the working efficiency and safety of the snow-clearing equipment.

[0119] 103. When ice accumulation on the operation module needs to be cleared, the main control module sends a control instruction to the operation module.

[0120] Accordingly, the operation module 130 receives the control instruction from the main control module 110 .

[0121] The control instruction may be a computer instruction sent by the main control module 110 to the operation module 130 to perform ice clearing.

[0122] The main control module 110 determines whether ice accumulation on the operating module 130 needs to be cleared by setting certain thresholds, such as current values ​​and temperature values. When the status information exceeds or falls below these thresholds, it is determined that ice accumulation on the operating module 130 needs to be cleared. A control instruction can be sent to the operating module 130 to initiate the ice clearing operation of the operating module 130. As shown in Figure 7, after the microcomputer in the main control module 110 detects the status information, it sends a control instruction to the microcontroller. Accordingly, the operating module 130 can receive the control instruction from the main control module 110. This control instruction can be sent by the main control module 110 when it determines that ice accumulation exists in the operating module 130. The process of determining whether ice accumulation exists in the operating module 130 can be referred to as step 102.

[0123] In this manner, when ice accumulation on the operating module 130 needs to be cleared, the main control module 110 can send a control instruction to the operating module 130, causing the operating module 130 to operate to clear the ice from the blades. Accordingly, the operating module 130 can initiate the ice clearing operation upon receiving the control instruction from the main control module 110, thereby ensuring the safety and normal operation of the snowplow and improving the operating efficiency of the snowplow.

[0124] 104. The operation module clears ice accumulated on the operation module according to the control instruction.

[0125] After receiving the control command from the main control module 110, the operation module 130 begins clearing the ice. First, the operation module 130 uses sensors to detect the thickness and distribution of the ice and feeds this information back to the main control module 110. Based on the information provided by the sensors and the preset cleaning strategy, the main control module 110 determines the specific cleaning measures to be taken. Next, the operation module 130 activates the corresponding cleaning device based on the specific cleaning measures to treat the ice-accumulated area. For example, if the water spray device or heating device is selected, the operation module 130 will spray heated liquid or high-pressure water to instantly melt or break up the ice. If the heating device is selected, the operation module 130 will heat the ice-accumulated area to melt it. During the cleaning process, the operation module 130 will adjust the parameters according to the control command to ensure the cleaning effect meets the requirements. After the cleaning is completed, the operation module 130 will again send status information to the main control module 110 to report the cleaning results.

[0126] In some embodiments, as shown in FIG7 , the operation module 130 includes a motor submodule and a blade submodule. The operation module 130 may control the motor submodule to clear ice accumulation according to a control instruction. For example, step 0203 “Clean ice accumulation on the operation module 130 according to the control instruction” may include:

[0127] The motor submodule is controlled to run in reverse according to the control instruction, so that the blade submodule throws away the ice accumulated on the blade.

[0128] After receiving the control command, the operation module 130 performs the cleaning operation according to the command. Upon receiving the control command, the operation module 130 controls the operation of the motor submodule based on the command content. The control command may instruct the motor submodule to reverse operation, that is, to reversely rotate the blade submodule. This operation mode enables the blade submodule to remove ice accumulated on the blades. The rotating blades on the blade submodule have a certain amount of inertia during reverse operation. Through reverse rotation, the ice is thrown away by centrifugal force. This way, once the ice is freed from the blades, the snowplow can continue to operate normally without being hindered by ice accumulation. As shown in Figure 7, the motor submodule includes an electronic speed controller (ESC) and a motor. After receiving the control command, the ESC controls the motor to reverse rotation, thereby driving the blade submodule to reverse rotation. To ensure effective cleaning, a certain reverse rotation power can be set for the motor submodule to ensure sufficient centrifugal force to remove ice from the blades. During implementation, the reverse rotation power of the motor submodule can be adjusted according to specific circumstances to achieve optimal cleaning results. In this way, the motor submodule can be run in reverse to generate sufficient centrifugal force to throw the accumulated ice off the blades, ensuring the normal operation of the snow removal equipment.

[0129] In the above manner, the ice accumulated on the operation module 130 can be cleared through control instructions, thereby effectively improving the operation efficiency and safety of the snow-clearing equipment and ensuring the normal operation of the snow-clearing equipment.

[0130] In an embodiment of the present application, the cleaning method may further include step A, which may include:

[0131] (A.1) Monitor the time when the motor submodule runs in reverse;

[0132] (A.2) When the reverse operation time of the motor sub-module is greater than the third threshold, the motor sub-module is controlled to stop the reverse operation.

[0133] In order to ensure the cleaning effect of the operation module 130, a certain operating time can be set to ensure that there is enough time to throw the accumulated ice off the blade sub-module. During implementation, the time when the motor sub-module is reversely running can be monitored so that the motor sub-module can maintain a reverse rotation state for a certain period of time to achieve the effect of cleaning the blades. At the same time, a reverse running time (third threshold) is set for the motor sub-module to ensure that the operation module 130 can continue to work after cleaning the accumulated ice. When the reverse running time of the motor sub-module is greater than the third threshold, the motor sub-module is controlled to stop reverse running and continue to clear the snow. In this way, the best cleaning effect can be achieved and the working efficiency of the snow-clearing equipment can be guaranteed.

[0134] In the above manner, the operation of the motor submodule can be controlled by monitoring the time when the motor submodule is reversed, thereby ensuring the normal operation of the snow-clearing equipment.

[0135] By implementing any one implementation or combination of implementations in the embodiments of the present application, the application scenario of the blade cleaning process can be realized.

[0136] The operation module 130 can send status information of the operation module 130 of the snow-clearing equipment to the main control module 110; the main control module 110 determines whether it is necessary to clear the ice accumulated on the operation module 130 based on the status information; if it is necessary to clear the ice accumulated on the operation module 130, the main control module 110 sends a control instruction to the operation module 130; the operation module 130 clears the ice accumulated on the operation module 130 according to the control instruction.

[0137] As can be seen from the above, in the embodiment of the present application, the operation module 130 transmits status information of the operation module 130 of the snowplow device to the main control module 110. The main control module 110 determines whether ice accumulation on the operation module 130 needs to be cleared based on the status information. If ice accumulation on the operation module 130 needs to be cleared, the main control module 110 sends a control instruction to the operation module 130. The operation module 130 clears ice accumulation on the operation module 130 based on the control instruction. Thus, in this embodiment, the main control module 110 can first receive the status information of the operation module 130, and based on the status information, determine whether ice accumulation needs to be cleared from the operation module 130. If ice accumulation needs to be cleared, the main control module 110 sends a control instruction to clear ice accumulation to the operation module 130. The operation module 130 clears ice accumulation based on the control instruction. In this way, the operating efficiency of the snowplow device can be maintained, the snowplow motor can be prevented from stalling, and the probability of damage to the snowplow device can be reduced.

[0138] According to the cleaning method described in the embodiment of FIG6 , the snow-clearing equipment will be used as the execution subject for further detailed description.

[0139] Refer to Figure 8, which is a schematic flow chart of the steps of a cleaning method provided by another embodiment of the present application, which is applied to a snow-clearing device. In this embodiment of the present application, the method will be described from the perspective of the snow-clearing device, which includes an operation module 130. When the snow-clearing device is working, the specific process of the cleaning method is as follows:

[0140] 0201. Check the status information of the operation module.

[0141] Detecting the status information of the operation module 130 can be achieved in various ways. How the snowplow device detects the status information of the operation module 130 can be further described in conjunction with step 101. For example, the snowplow device can utilize sensor technology to detect the status information of the operation module 130, such as a temperature sensor, a humidity sensor, or a vibration sensor. These sensors can monitor the status information of the operation module 130 in real time and convert it into electrical signals for transmission.

[0142] Through the above method, the status information of the operation module 130 can be detected by the sensor, so as to monitor the status information of the operation module 130 in real time, thereby determining whether it is necessary to clean the ice on the operation module 130, improving the cleaning efficiency of the snow-clearing equipment, and ensuring the normal operation of the snow-clearing equipment.

[0143] 0202. Determine whether ice accumulation on the operation module needs to be cleared based on the status information.

[0144] After the snow-clearing device obtains the status information of the operation module 130, it can determine whether it is necessary to clear the ice accumulated on the operation module 130 based on the status information. The status information may include temperature information, humidity information, vibration information, current information, etc. For example, when ice accumulation occurs, the temperature of the operation module 130 can be obtained through the temperature information. When the temperature of the operation module 130 drops, it can be determined that there may be ice accumulation on the operation module 130. If the temperature of the operation module 130 measured by the temperature sensor is lower than the set threshold, it can be determined that there is ice accumulation on the operation module 130. When the humidity around the operation module 130 is high, it means that ice may accumulate on the operation module 130. This is because when the humidity is high, the moisture in the air is more likely to condense into water droplets or ice crystals. In addition, when ice accumulates on the operating module 130, the ice accumulation will increase the weight and imbalance of the operating module 130, causing the operating module 130 to vibrate during the ice cleaning process. Therefore, the vibration degree of the operating module 130 can be determined based on the vibration information of the operating module 130, and then whether there is ice accumulation on the operating module 130 can be determined based on the vibration condition of the operating module 130.

[0145] In some embodiments, the status information includes at least current information and position information. The snow removal device may determine whether to clear ice accumulated on the operation module 130 based on the operating current value and the operating distance of the operation module 130. For example, step 0202, "Determining whether to clear ice accumulated on the operation module 130 based on the status information," may include:

[0146] (0202.1) Determine the operating current value of the operation module 130 based on the current information;

[0147] (0202.2) Determine the operating distance of the operation module 130 based on the position information;

[0148] (0202.3) Determine whether the operating current value is greater than a first threshold value and / or whether the operating distance is greater than a second threshold value;

[0149] (0202.4) When the operating current value is greater than the first threshold value and / or the operating distance is greater than the second threshold value, it is determined that ice accumulation on the operation module 130 needs to be cleared.

[0150] When the snowplow's operating module 130 is in operation, the snowplow utilizes the main control module 110 to determine whether ice removal is required based on current and location information. If the operating current exceeds a first threshold and / or the operating distance exceeds a second threshold, ice removal is determined to be necessary on the operating module 130. For specific implementation steps, see step 102.

[0151] Through the above method, the current information and position information can be used to determine whether the snow-clearing equipment needs to clear ice from the operating module 130 in the snow-clearing equipment, thereby improving the working efficiency, safety and reliability of the snow-clearing equipment, reducing maintenance costs, and extending the service life of the snow-clearing equipment.

[0152] 0203. When it is necessary to clean the ice on the operation module, clean the ice on the operation module.

[0153] The snow removal device may remove the ice on the operation module 130 when determining that the ice on the operation module 130 needs to be removed. For specific implementation steps, please refer to step 0203.

[0154] In some embodiments, the operation module 130 includes a motor submodule and a blade submodule. The snow removal device can control the motor submodule in the operation module 130 to reversely operate, thereby achieving the effect of clearing ice accumulation. For example, step 0203 "Clearing ice accumulated on the operation module 130" may include:

[0155] The motor submodule is controlled to run in reverse, so that the blade submodule throws away the ice accumulated on the blade.

[0156] The snowplow device can control the motor submodule in the operation module 130 to reverse its operation, driving the blade submodule to rotate in the opposite direction, thereby dislodging ice accumulated on the blade submodule and effectively clearing the ice. For specific implementation steps, please refer to step 0203. In this way, by reversing the motor submodule, the blade submodule rotates in the opposite direction, dislodging the ice and ensuring the normal operation of the snowplow device.

[0157] In the above manner, the snow-clearing device can clear the ice on the operation module 130 when it is necessary to clear the ice on the operation module 130, thereby protecting the safety of the snow-clearing device and improving the working efficiency of the snow-clearing device.

[0158] In an embodiment of the present application, the cleaning method may further include step B, which may include:

[0159] (B.1) Monitor the time when the motor submodule runs in reverse;

[0160] (B.2) When the reverse operation time of the motor sub-module is greater than the third threshold, control the motor sub-module to stop the reverse operation.

[0161] The snowplow can monitor the motor submodule's reverse rotation time in real time, ensuring it maintains reverse rotation for a specified period of time to effectively clear the blades. If the motor submodule's reverse rotation time exceeds a third threshold, the motor submodule is controlled to stop reversing and continue snow clearing. For specific implementation steps, refer to step A. This ensures the snowplow's operating efficiency.

[0162] In the above manner, the operation of the motor submodule can be controlled by monitoring the time when the motor submodule is reversed, thereby ensuring the normal operation of the snow-clearing equipment.

[0163] From the above, it can be seen that this solution can first detect the status information of the operation module 130; determine whether it is necessary to clear the ice on the operation module 130 based on the status information; and clear the ice on the operation module 130 when it is necessary to clear the ice on the operation module 130; thus, the snow-clearing equipment can detect the status information of the operation module 130, and determine whether the operation module 130 needs to clear the ice by detecting the status information of the operation module 130, so that when ice clearing is required, the operation module 130 in the snow-clearing equipment can be cleared of ice, thereby improving the working efficiency of the snow-clearing equipment.

[0164] In some embodiments, the snow-clearing device can be configured to have multiple cleaning methods. For example, the snow-clearing device can be configured to have the cleaning method of the embodiment of Figure 3 (or Figure 4 or Figure 5) and the cleaning method of the embodiment of Figure 8. Among them, the execution of step 0201 and step 201 (or step 401) can be divided into a sequence, or can be performed simultaneously. For example, step 0201 can be performed before step 201 (or step 401), and for another example, step 201 (or step 401) can be performed before step 0201, and for another example, step 0201 and step 201 (or step 401) can be performed simultaneously.

[0165] Please refer to Figure 9, which is a schematic diagram of the structure of a cleaning device 500 provided in an embodiment of the present application. The cleaning device 500 is applied to the snow-clearing equipment of any of the above embodiments, which can be a snow-clearing robot, a snow-clearing vehicle, a snow-clearing brush, or other equipment used for clearing snow.

[0166] As shown in Figure 9, the cleaning device 500 may include a first determination unit 501 and a first control unit 502. The first determination unit 501 is used to determine the standby time of the snow-clearing equipment when the standby state of the snow-clearing equipment is detected, and obtain a first standby time; the first control unit 502 is used to control the preset module of the snow-clearing equipment to clean ice when the first standby time is not less than the time threshold.

[0167] In some embodiments, the cleaning device 500 also includes a first detection unit 503 and a prompt unit 504. The first detection unit 503 is used to detect the movement state of a preset module of the snow-clearing equipment; the prompt unit 504 is used to output prompt information for prompting the user to clean ice with the snow-clearing equipment according to the movement state.

[0168] In some embodiments, the prompt unit 504 is used to output a prompt message for prompting the user that the snow-clearing device is clearing ice when the motion state is the first state; the prompt unit 504 is also used to output a prompt message for prompting the user that the snow-clearing device cannot clear ice when the motion state is the second state.

[0169] In some embodiments, the first determination unit 501 is used to start the timing device when it is detected that the snow-clearing equipment enters the standby state; the first determination unit 501 is also used to determine the standby time of the snow-clearing equipment according to the timing device to obtain the first standby time.

[0170] In some embodiments, the cleaning device 500 also includes a reset unit 505, a second determination unit 506 and a first control unit 502. The reset unit 505 is used to reset the timing device; the second determination unit 506 is used to record the standby time of the snow-clearing equipment through the reset timing device when the preset module of the snow-clearing equipment is controlled to complete ice cleaning, so as to obtain a second standby time; the first control unit 502 is used to control the preset module of the snow-clearing equipment to clean ice again when the second standby time is not less than the time threshold.

[0171] In some embodiments, the first control unit 502 is used to control the sweeping module to rotate and / or pitch; and / or the first control unit 502 is used to control the moving module to extend and retract.

[0172] In some embodiments, the cleaning device 500 may further include a second detection unit 507, which detects ice conditions in the preset module of the snow removal device. The first control unit 502 is further configured to control the preset module to perform ice removal according to the ice conditions.

[0173] In some embodiments, the cleaning device 500 may also include a communication unit 508 and a first control unit 502. The communication unit 508 is used to send equipment information of the snow-clearing equipment to the terminal. The equipment information includes standby status, standby time, movement status of the preset module, and whether to perform a cleaning action; the communication unit 508 is also used to receive control instructions from the terminal; the first control unit 502 is also used to control the snow-clearing equipment according to the control instructions.

[0174] 10 , another embodiment of the present application further provides a cleaning device 500 , which is applied to the main control module 110 in the snow removal equipment. The cleaning device 500 can be integrated into the main control module 110 .

[0175] For example, as shown in Figure 10, the cleaning device 500 may include an acquisition unit 301, a third determination unit 302, and a first sending unit 303. The acquisition unit 301 is configured to receive status information from the operation module 130 of the snow removal device; the third determination unit 302 is configured to determine whether ice accumulation on the operation module 130 needs to be cleared based on the status information; and the first sending unit 303 is configured to send a control instruction to the operation module 130 if ice accumulation on the operation module 130 needs to be cleared. The control instruction is used by the operation module 130 to clear ice accumulation.

[0176] In some embodiments, the status information includes at least current information and position information. The third determination unit 302 is further used to determine the operating current value of the operation module 130 based on the current information; is also used to determine the operating distance of the operation module 130 based on the position information; is also used to determine whether the operating current value is greater than a first threshold value, and / or whether the operating distance is greater than a second threshold value; and is also used to determine that ice accumulation on the operation module 130 needs to be cleared when the operating current value is greater than the first threshold value, and / or the operating distance is greater than the second threshold value.

[0177] As can be seen from the above, in the embodiment of the present application, the operation module 130 transmits status information of the operation module 130 of the snowplow device to the main control module 110. The main control module 110 determines whether ice accumulation on the operation module 130 needs to be cleared based on the status information. If ice accumulation on the operation module 130 needs to be cleared, the main control module 110 sends a control instruction to the operation module 130. The operation module 130 clears ice accumulation on the operation module 130 based on the control instruction. Thus, in this embodiment, the main control module 110 can first receive the status information of the operation module 130, and based on the status information, determine whether ice accumulation needs to be cleared from the operation module 130. If ice accumulation needs to be cleared, the main control module 110 sends a control instruction to clear ice accumulation to the operation module 130. The operation module 130 clears ice accumulation based on the control instruction. In this way, the operating efficiency of the snowplow device can be guaranteed, the snowplow motor can be prevented from stalling, and the probability of damage to the snowplow device can be reduced.

[0178] 11 , another embodiment of the present application further provides a cleaning device 500 , which is applied to the operating module 130 in the snow-clearing equipment. The cleaning device 500 can be integrated into the operating module 130 .

[0179] As shown in FIG11 , the cleaning device 500 may include a second sending unit 304, a receiving unit 305, and a second control unit 306. The second sending unit 304 is configured to send status information of the operation module 130 to the main control module 110 of the snow removal device. The status information is used by the main control module 110 to determine whether ice accumulation on the operation module 130 needs to be cleared. The receiving unit 305 is configured to receive control instructions from the main control module 110. The control instructions are control instructions sent by the main control module 110 when it is determined that ice accumulation on the operation module 130 needs to be cleared. The second control unit 306 is configured to clear ice accumulation on the operation module 130 according to the control instructions.

[0180] In some embodiments, the operation module 130 includes a motor submodule and a blade submodule. The second control unit 306 is specifically configured to control the motor submodule to reversely operate according to a control instruction, so that the blade submodule ejects ice accumulated on the blades.

[0181] In some embodiments, the second control unit 306 is further used to monitor the time during which the motor submodule is in reverse operation; and is further used to control the motor submodule to stop reverse operation when the time during which the motor submodule is in reverse operation is greater than a third threshold.

[0182] As can be seen from the above, the embodiment of the present application can send status information of the operating module 130 to the main control module 110 of the snowplow device; receive control instructions from the main control module 110; and clear ice accumulated on the operating module 130 according to the control instructions. Therefore, this solution can send status information to the main control module 110 and clear ice accumulated on the operating module 130 according to the control instructions from the main control module 110. In this way, ice accumulated in the operating module 130 can be cleared, preventing failure of the snowplow motor and ensuring the working efficiency of the snowplow device.

[0183] 12 , another embodiment of the present application further provides a cleaning device 500 , which is applied to snow-clearing equipment. The snow-clearing equipment includes an operation module 130 , and the cleaning device 500 can be integrated into the snow-clearing equipment.

[0184] For example, as shown in FIG12 , the cleaning device 500 may include a third detection unit 307 , a fourth confirmation unit 308 , and a cleaning unit 309 .

[0185] The third detection unit 307 is used to detect the status information of the operation module 130; the fourth confirmation unit 308 is used to determine whether it is necessary to clean the ice on the operation module 130 based on the status information; and the cleaning unit 309 is used to clean the ice on the operation module 130 if it is necessary to clean the ice on the operation module 130.

[0186] In some embodiments, the status information includes at least current information and position information. The fourth confirmation unit 308 is also used to determine the operating current value of the operation module 130 based on the current information; it is also used to determine the operating distance of the operation module 130 based on the position information; it is also used to determine whether the operating current value is greater than a first threshold value, and / or whether the operating distance is greater than a second threshold value; it is also used to determine that ice accumulation on the operation module 130 needs to be cleared when the operating current value is greater than the first threshold value, and / or the operating distance is greater than the second threshold value.

[0187] In some embodiments, the operation module 130 includes a motor submodule and a blade submodule. The cleaning unit 309 is specifically configured to control the motor submodule to reversely operate so that the blade submodule ejects ice accumulated on the blades.

[0188] In some embodiments, the third detection unit 307 is further used to monitor the reverse operation time of the motor submodule; the second control unit 503 is further used to control the motor submodule to stop reverse operation when the reverse operation time of the motor submodule is greater than the third threshold.

[0189] From the above, it can be seen that the embodiment of the present application can first detect the status information of the operation module 130; determine whether it is necessary to clear the ice on the operation module 130 based on the status information; and clear the ice on the operation module 130 when it is necessary to clear the ice on the operation module 130; thus, the snow-clearing equipment can detect the status information of the operation module 130, and determine whether the operation module 130 needs to clear the ice by detecting the status information of the operation module 130, so that when ice clearing is required, the operation module 130 in the snow-clearing equipment can be cleared of ice, thereby improving the working efficiency of the snow-clearing equipment.

[0190] The specific implementation of the above operations can be found in the previous embodiments and will not be repeated here.

[0191] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0192] In several embodiments provided in this application, the coupling between units may be electrical, mechanical or other forms of coupling.

[0193] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0194] As shown in FIG13 , an embodiment of the present application further provides a schematic structural diagram of a snowplow 600. The snowplow 600 includes a processor 610 and a memory 620. The memory 620 stores computer program instructions. When the computer program instructions are called by the processor 610, any step of the various cleaning methods of the above-mentioned embodiments can be executed. Those skilled in the art will understand that the structure of the snowplow shown in the figure does not limit the snowplow, and the snowplow may include more or fewer components than shown, or may combine certain components, or have different component arrangements.

[0195] In some embodiments, the cleaning method implemented by the processor 610 calling computer program instructions includes: when the standby state of the snow-clearing equipment is detected, determining the standby time of the snow-clearing equipment to obtain a first standby time; when the first standby time is not less than a time threshold, controlling a preset module of the snow-clearing equipment to clean ice.

[0196] In some embodiments, the cleaning method implemented by the processor 610 calling computer program instructions includes: receiving status information from the operating module of the snow-clearing equipment; determining whether it is necessary to clean the ice accumulated on the operating module based on the status information; if it is necessary to clean the ice accumulated on the operating module, sending a control instruction to the operating module, and the control instruction is used for the operating module to clean the ice.

[0197] In some embodiments, the cleaning method implemented by the processor 610 calling computer program instructions includes: sending status information of the operating module to the main control module of the snow-clearing equipment, the status information is used by the main control module to determine whether it is necessary to clean the ice accumulated on the operating module; receiving control instructions from the main control module, the control instructions are control instructions sent by the main control module when it is determined that it is necessary to clean the ice accumulated on the operating module; and cleaning the ice accumulated on the operating module according to the control instructions.

[0198] In some embodiments, the cleaning method implemented by the processor 610 calling computer program instructions includes: detecting status information of the operation module; determining whether it is necessary to clean the ice accumulated on the operation module based on the status information; and cleaning the ice accumulated on the operation module if it is necessary to clean the ice accumulated on the operation module.

[0199] The processor 610 may include one or more processing cores. The processor 610 utilizes various interfaces and circuits to connect various components within the battery management system. By running or executing instructions, programs, code sets, or instruction sets stored in the memory 620, the processor 610 accesses data stored in the memory 620, executes various functions of the snowplow equipment, and processes data, thereby providing overall monitoring of the snowplow equipment. Optionally, the processor 610 may be implemented using at least one hardware form selected from the group consisting of a digital signal processing (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 610 may integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. The CPU primarily handles the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem handles wireless communications. It is understood that the modem may not be integrated into the processor 610 and may be implemented separately via a communication chip.

[0200] The memory 620 may include random access memory (RAM) or read-only memory (ROM). The memory 620 may be used to store instructions, programs, codes, code sets, or instruction sets. The memory 620 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the various method embodiments described above, and the like. The data storage area may also store data created by the snowplow device during use (such as a phone book, audio and video data, chat history data, etc.).

[0201] The snowplow device also includes a power supply 603 for supplying power to various components. Power supply 603 can be logically connected to processor 601 via a power management system, thereby enabling the power management system to manage charging, discharging, and power consumption. Power supply 603 can also include one or more DC or AC power supplies, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, and other arbitrary components.

[0202] The snow-clearing device may further include an input unit 604, which may be configured to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function controls.

[0203] Although not shown, the snowplow device 600 may also include a display unit, etc., which will not be described in detail here. Specifically, in this embodiment, the processor 610 in the snowplow device will load the executable files corresponding to one or more application processes into the memory 620 according to the following instructions, and the processor 610 will run the application stored in the memory 620, thereby implementing the various method steps provided in the above embodiments.

[0204] As shown in FIG14 , an embodiment of the present application further provides a computer-readable storage medium 700 , which stores computer program instructions 710 . The computer program instructions 710 can be called by a processor to execute the cleaning method described in any of the above embodiments.

[0205] In some embodiments, the computer program instruction 710 can be called by the processor to execute a cleaning method including: when the standby state of the snow-clearing equipment is detected, determining the standby time of the snow-clearing equipment to obtain a first standby time; when the first standby time is not less than a time threshold, controlling a preset module of the snow-clearing equipment to clean ice.

[0206] In some embodiments, the computer program instructions 710 can be called by the processor to execute a cleaning method including: receiving status information from the operating module of the snow-clearing equipment; determining whether it is necessary to clean the ice accumulated on the operating module based on the status information; if it is necessary to clean the ice accumulated on the operating module, sending a control instruction to the operating module, and the control instruction is used for the operating module to clean the ice.

[0207] In some embodiments, the computer program instructions 710 can be called by the processor to execute a cleaning method including: sending status information of the operating module to the main control module of the snow-clearing equipment, the status information is used by the main control module to determine whether it is necessary to clean the ice accumulated on the operating module; receiving control instructions from the main control module, the control instructions are control instructions sent by the main control module when it is determined that it is necessary to clean the ice accumulated on the operating module; and cleaning the ice accumulated on the operating module according to the control instructions.

[0208] In some embodiments, the computer program instructions 710 can be called by the processor to execute a cleaning method including: detecting status information of the operation module; determining whether it is necessary to clean the ice accumulated on the operation module based on the status information; and cleaning the ice accumulated on the operation module if it is necessary to clean the ice accumulated on the operation module.

[0209] The computer-readable storage medium can be an electronic memory such as a flash memory, an EEPROM (Electrically Erasable Programmable Read-Only Memory), an EPROM, a hard disk, or a ROM. Alternatively, the computer-readable storage medium includes a non-volatile computer-readable storage medium (Non-Transitory Computer-Readable Storage Medium). The computer-readable storage medium 700 has storage space for program codes that execute any of the method steps in the above method. These program codes can be read from or written into one or more computer program products. The program codes can be compressed, for example, in an appropriate form.

[0210] According to one aspect of the present application, a computer program product or computer program is provided, comprising computer instructions stored in a computer-readable storage medium. A processor of a snowplow device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the snowplow device to perform the methods provided in the various optional implementations provided in the above-described embodiments.

[0211] The above is only a preferred embodiment of the present application and does not constitute any form of limitation to the present application. Although the present application has been disclosed as above with preferred embodiments, it is not intended to limit the present application. Any person skilled in the art can make some changes or modifications to equivalent embodiments using the technical contents disclosed above without departing from the scope of the technical solution of the present application. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A cleaning method, characterized in that: Applied to snow-clearing equipment, the method comprises: When the standby state of the snow-clearing device is detected, determining the standby time of the snow-clearing device to obtain a first standby time; When the first standby time is not less than the time threshold, a preset module of the snow-clearing device is controlled to clear ice.

2. The method according to claim 1, characterized in that The method further comprises: Detecting the motion state of a preset module of the snow-clearing device; Outputting prompt information for prompting the user to clear ice from the snow-clearing equipment according to the motion state.

3. The method according to claim 2, characterized in that The prompt information output according to the motion state for prompting the user to remove ice from the snow-clearing device includes: When the motion state is the first state, outputting a prompt message for prompting the user that the snow-clearing device is clearing ice; When the motion state is the second state, a prompt message is outputted to prompt the user that the snow clearing device cannot clear ice.

4. The method according to any one of claims 1 to 3, characterized in that: The snow-clearing device includes a timing device, and when the standby state of the snow-clearing device is detected, the standby time of the snow-clearing device is determined, and obtaining the first standby time includes: When it is detected that the snow-clearing equipment enters a standby state, starting the timing device; The standby time of the snow-clearing equipment is determined according to the timing device to obtain a first standby time.

5. The method according to claim 4, characterized in that The method further comprises: Resetting the timing device; When the preset module of the snow-clearing device is controlled to complete ice clearing, the standby time of the snow-clearing device is recorded by the reset timing device to obtain a second standby time; When the second standby time is not less than the time threshold, the preset module of the snow-clearing device is controlled to clear ice again.

6. The method according to any one of claims 1 to 5, characterized in that: The preset module includes a sweeping module and a moving module, and the preset module controlling the snow-clearing device to clear ice includes: Controlling the sweeping module to rotate and / or pitch; and / or The mobile module is controlled to extend and retract.

7. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: Detecting ice conditions in a preset module of the snow-clearing device; The controlling of the preset module of the snow-clearing device to clear ice cubes comprises: According to the icing condition, the preset module is controlled to clear ice.

8. The method according to any one of claims 1 to 7, characterized in that: The method further comprises: The device information of the snow-clearing device is sent to a terminal, wherein the device information includes a standby state, a standby time, a motion state of the preset module, and whether a cleaning action is performed, and the terminal is connected to the snow-clearing device.

9. The method according to any one of claims 1 to 8, characterized in that: The method further comprises: Receive control instructions from the terminal; The snow-clearing equipment is controlled according to the control instruction.

10. A cleaning method, characterized in that: A main control module applied to snow-clearing equipment, the method comprising: Receiving status information from an operation module of the snow-clearing equipment; Determining whether it is necessary to clean ice accumulated on the operation module according to the status information; If it is necessary to clean the ice on the operation module, a control instruction is sent to the operation module, and the control instruction is used for the operation module to clean the ice.

11. The method according to claim 10, characterized in that The state information includes at least current information and position information, and determining whether ice accumulation on the operation module needs to be cleared according to the state information includes: Determine the operating current value of the operation module according to the current information; Determine the running distance of the operation module according to the position information; Determine whether the running current value is greater than a first threshold value, and / or whether the running distance is greater than a second threshold value; When the operating current value is greater than a first threshold value, and / or the operating distance is greater than a second threshold value, it is determined that ice accumulation on the operating module needs to be cleared.

12. A cleaning method, characterized in that: The operation module is applied to snow-clearing equipment, and the method comprises: The status information of the operation module is sent to the main control module of the snow-clearing device, and the status information is used by the main control module to determine Determining whether it is necessary to clean ice accumulated on the operation module; receiving a control instruction from the main control module, wherein the control instruction is a control instruction sent by the main control module when determining that ice accumulation on the operation module needs to be cleared; The ice accumulated on the operation module is cleared according to the control instruction.

13. The method according to claim 12, characterized in that The operation module includes a motor submodule and a blade submodule, and the cleaning of ice accumulation on the operation module according to the control instruction includes: The motor submodule is controlled to run in reverse according to the control instruction, so that the blade submodule throws away the ice accumulated on the blade.

14. The method according to claim 13, characterized in that The method further comprises: Monitoring the time of reverse operation of the motor submodule; When the reverse operation time of the motor submodule is greater than a third threshold, the motor submodule is controlled to stop the reverse operation.

15. A cleaning method, characterized in that: Applied to snow-clearing equipment, the snow-clearing equipment includes an operation module, and the method includes: Detecting status information of the operation module; Determining whether it is necessary to clean ice accumulated on the operation module according to the status information; When it is necessary to clean the ice accumulated on the working module, clean the ice accumulated on the working module.

16. The method according to claim 15, characterized in that The state information includes at least current information and position information, and determining whether ice accumulation on the operation module needs to be cleared according to the state information includes: Determine the operating current value of the operation module according to the current information; Determine the running distance of the operation module according to the position information; Determine whether the running current value is greater than a first threshold value, and / or whether the running distance is greater than a second threshold value; When the operating current value is greater than a first threshold value, and / or the operating distance is greater than a second threshold value, it is determined that ice accumulation on the operating module needs to be cleared.

17. The method according to claim 15 or 16, characterized in that The operation module includes a motor submodule and a blade submodule, and the step of cleaning the ice accumulated on the operation module includes: The motor submodule is controlled to run in reverse, so that the blade submodule throws away the ice accumulated on the blade.

18. The method according to any one of claims 15 to 17, characterized in that The method further comprises: Monitoring the time of reverse operation of the motor submodule; When the reverse operation time of the motor submodule is greater than a third threshold, the motor submodule is controlled to stop the reverse operation.

19. A cleaning device, characterized in that: Applied to snow-clearing equipment, the cleaning device comprises: A first determining unit is used to determine the standby time of the snow-clearing device when the standby state of the snow-clearing device is detected, so as to obtain a first standby time; The first control unit is used to control a preset module of the snow-clearing device to clear ice when the first standby time is not less than a time threshold.

20. A cleaning device, characterized in that: A main control module used in snow-clearing equipment, the cleaning device comprises: An acquisition unit, configured to receive status information from an operation module of the snow-clearing device; a third determining unit, configured to determine whether ice accumulation on the operation module needs to be cleared according to the status information; The first sending unit is used to send a control instruction to the operation module if ice accumulation on the operation module needs to be cleared, and the control instruction is used for the operation module to clear ice accumulation.

21. A cleaning device, characterized in that: An operation module used in snow-clearing equipment, the cleaning device comprises: A second sending unit, used to send the status information of the operating module to the main control module of the snow-clearing device, wherein the status information is used by the main control module to determine whether it is necessary to clear the ice on the operating module; a receiving unit, configured to receive a control instruction from the main control module, wherein the control instruction is a control instruction sent by the main control module when determining that ice accumulation on the operating module needs to be cleared; The second control unit is used to clean the ice accumulated on the operation module according to the control instruction.

22. A cleaning device, characterized in that: Applied to snow-clearing equipment, the snow-clearing equipment includes an operation module, and the cleaning device includes: A third detection unit, used to detect the status information of the operation module; a fourth determining unit, configured to determine whether ice accumulation on the operation module needs to be cleared according to the status information; The cleaning unit is used for cleaning the ice on the operation module if it is necessary to clean the ice on the operation module.

23. A snow-clearing device, characterized in that: The method comprises a processor and a memory, wherein the memory stores a computer program, and the processor calls the computer program to implement the method according to any one of claims 1 to 18.

24. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program code, and the program code can be called by a processor to implement the method according to any one of claims 1 to 18.

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