Snow throwing control method, snow sweeping vehicle head of snow sweeper, and snow sweeper

Abstract

A snow throwing control method, a snow sweeping vehicle head (100) of a snow sweeper, and a snow sweeper having the snow sweeping vehicle head (100). The method is applied to a snow sweeper and comprises the following steps: determining a target angular displacement on the basis of a target snow throwing position of a snow sweeper; determining a square wave count value on the basis of the number of square waves, which correspond to a first pulse signal, in a target electric motor; and on the basis of the square wave count value, controlling the angular displacement of the target electric motor to reach the target angular displacement, so that the snow sweeper throws snow to the target snow throwing position, thereby improving the degree of automation and the degree of intelligence of the snow sweeper during the process of executing a snow sweeping operation. The snow sweeping vehicle head (100) of a snow sweeper comprises a housing assembly (10), a movable member (30) and an adjustment assembly (20), wherein the adjustment assembly (20) comprises a driving apparatus (21), a rotation member (22) and a pulling member (23), the pulling member (23) is connected to the rotation member (22), and the driving apparatus (21) drives the rotation member (22) to rotate, so as to drive the pulling member (23) to pull the movable member (30), so that the height at which snow is thrown out of the movable member (30) is adjusted.

Description

Snow throwing control method, snowplow head of snowplow and snowplow

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on October 31, 2023, with application number 202311433569.2, and invention name “Snow throwing control method, device, snow clearing equipment and computer-readable storage medium”, all contents of which are incorporated by reference into this application.

[0002] This application claims priority to the Chinese patent application filed with the Patent Office of China on September 4, 2023, with application number 202322396166.7, and entitled “A movable mechanism for electrically controlling the snow throwing height used in a snowplow”, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the technical field of intelligent device control, and in particular to a snow throwing control method, a snowplow head of a snowplow, and a snowplow. Background Art

[0004] A snowplow, as a snow-clearing tool, can sweep snow from a designated location using its snow-clearing assembly and transfer the swept snow to another designated target location using its snow-throwing assembly. The inventors discovered that snowplows often require manual control of the device's control components to achieve snow-clearing operations. Specifically, a joystick is manually controlled to adjust the direction and angle of the snow-throwing assembly to determine the target snow location. Therefore, improving the level of automated control in snowplows has become a pressing technical challenge.

[0005] Summary of the Invention

[0006] The embodiments of the present application disclose a snow throwing control method, a snowplow head of a snowplow, and a snowplow, which can improve the automatic control level and work efficiency of the snowplow.

[0007] In a first aspect, an embodiment of the present application discloses a snow throwing control method, which is applied to a snowplow. The method includes:

[0008] determining a target angular displacement according to a target snow throwing position of the snowplow;

[0009] determining a square wave count value according to the number of square waves corresponding to the first pulse signal in the target motor;

[0010] According to the square wave count value, the angular displacement of the target motor is controlled to reach the target angular displacement, so that the snowplow throws the snow to the target snow throwing position.

[0011] In a second aspect, an embodiment of the present application discloses a snowplow head of a snowplow, comprising:

[0012] housing components;

[0013] movable parts;

[0014] An adjusting assembly is installed on the housing assembly. The adjusting assembly includes a driving device, a rotating member and a pulling member. The pulling member is connected to the rotating member. The driving device drives the rotating member to rotate, driving the pulling member to pull the movable member.

[0015] On the third aspect, an embodiment of the present application discloses a snowplow, comprising a snowplow body and a snowplow head of the snowplow, the casing assembly being arranged on the snowplow body, the bottom of the snowplow body being provided with walking wheels, the casing assembly being provided with a snow-throwing guide and a guide groove for guiding snow, the adjustment assembly being arranged on the casing assembly, the movable part being arranged above the guide groove, the snow-throwing guide being arranged in the guide groove, and the movable part being rotatably connected to the snow-throwing guide.

[0016] In an embodiment of the present application, a snowplow determines a target angular displacement based on the target snow-throwing position of the snowplow; determines a square wave count value based on the number of square waves corresponding to the first pulse signal in the target motor; and controls the angular displacement of the target motor to reach the target angular displacement based on the square wave count value, so that the snowplow throws the snow to the target snow-throwing position. In this way, the target motor is automatically controlled based on the square wave count value of the target motor so that the angular displacement of the target motor reaches the corresponding target angular displacement, and the snowplow is able to throw the snow to the target snow-throwing position. As a result, the snow-throwing component in the snowplow automatically transfers the swept snow to another designated target snow-throwing position, solving the problem of how to improve the automatic control level of the snowplow. Specifically, automatically determining the angle of the snow-throwing component in the snowplow improves the automation and intelligence level of the snowplow during the snow-throwing operation, improves the operating convenience of the snowplow during the snow-throwing process, and improves the working efficiency of the snowplow during the snow-throwing operation.

[0017] The details of one or more embodiments of the disclosure are set forth in the accompanying drawings and the description below, and other features and advantages of the disclosure will be apparent from the description, the drawings, and the claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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.

[0019] FIG1 is a schematic structural diagram of a snowplow disclosed in an embodiment of the present application;

[0020] FIG2 is a product schematic diagram of a snowplow head of a snowplow disclosed in an embodiment of the present application;

[0021] FIG3 is a flow chart of a snow throwing control method disclosed in an embodiment of the present application;

[0022] FIG4 is a flow chart of another snow throwing control method disclosed in an embodiment of the present application;

[0023] FIG5 is a schematic structural diagram of the adjustment assembly disclosed in an embodiment of the present application;

[0024] FIG6 is a schematic diagram of the exploded structure of the adjustment assembly disclosed in an embodiment of the present application;

[0025] FIG7 is a structural diagram of the movable parts of the snowplow head of the snowplow disclosed in an embodiment of the present application in a relaxed state;

[0026] FIG8 is a structural diagram of the movable parts of the snowplow head of the snowplow disclosed in an embodiment of the present application in a retracted state.

[0027] Description of Figure Numbers:

[0028] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0029] 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.

[0030] 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.

[0031] A snowplow (such as a snowplow robot, a snowplow, a snowbrush, etc.) may include a snowplow component and a snowthrowing component. The snowplow component can sweep up the snow at a designated location; the snowthrowing component can transfer the swept snow to another designated target location. In the related art, a snowplow often requires manual control of the corresponding control components of each component in the snowplow to enable the snowplow to sweep the snow at a designated location and throw the swept snow to another designated location. Specifically, the drive motor is manually controlled by the control component corresponding to the snowplow component (for example, the button module corresponding to the snowplow component can adjust the speed of the snow rolling blades) to enable the snowplow to perform snowplowing operations. The drive motor is manually controlled by the control component corresponding to the snowthrowing component (for example, the rocker module corresponding to the snowthrowing component can adjust the direction and angle of the snow throwing guide of the snow throwing tube) to enable the snowplow to perform snow throwing operations.

[0032] Therefore, during the use of a snowplow, each component is manually controlled by the corresponding control components. However, this method of manually controlling the control components of each snowplow component has a low degree of automation and intelligence. Furthermore, because the snowplow performs snowplow operations in an environment characterized by high humidity and low temperature, this method of manually controlling the control components of each component makes manual operation of the control components difficult and inconvenient. This, in turn, results in low efficiency in manually controlling the snowplow during snowplow operations.

[0033] To solve the above-mentioned problem, in an embodiment of the present application, a snowplow determines a square wave count value based on the number of square waves corresponding to the first pulse signal in the target motor; determines a target angular displacement based on the target snow-throwing position of the snowplow; and controls the angular displacement of the target motor to reach the target angular displacement based on the square wave count value, so that the snowplow throws the snow to the target snow-throwing position. In this way, the target motor is automatically controlled based on the square wave count value of the target motor so that the angular displacement of the target motor reaches the corresponding target angular displacement, and the snowplow is able to throw the snow to the target snow-throwing position. As a result, the snow-throwing component in the snowplow automatically transfers the swept snow to another designated target snow-throwing position, solving the problem of how to improve the automatic control level of the snowplow. Specifically, automatically determining the angle of the snow-throwing component in the snowplow improves the automation and intelligence level of the snowplow during the snow-throwing operation, improves the operating convenience of the snowplow during the snow-throwing process, and improves the working efficiency of the snowplow during the snow-throwing operation.

[0034] In order to better understand the embodiments of the present application, the device structure diagram is first introduced below.

[0035] Please refer to Figure 1, which is a schematic structural diagram of a snowplow 1000 disclosed in an embodiment of the present application. As shown in Figure 1, the snowplow 1000 may include a controller 110, a sensor 25, a driving component 120, a working component 130, and a control component 140.

[0036] The controller 110 can be used to receive the pulse signal detected by the sensor 25; can also be used to control the driving component 120 to drive the working component 130 to perform snow clearing operations; can also receive control instructions from the control component 140, etc.

[0037] The sensor 25 may include a Hall sensor. The sensor 25 may detect the pulse signal of the driving assembly 120. It should be noted that the snowplow 1000 may include multiple Hall sensors, and the sensor 25 may be a general term for multiple Hall sensors in the snowplow 1000.

[0038] The drive assembly 120 can be a drive motor, and thus the drive assembly 120 is equivalent to the drive device 21. After being driven, the drive assembly 120 controls the corresponding working assembly 130 to perform the corresponding operation. It should be noted that the snowplow 100 can include multiple drive motors. The drive assembly 120 can be a general term for the multiple drive motors in the snowplow 100.

[0039] The working component 130 may include a snow-clearing component and a snow-throwing component. The snow-clearing component may be used to sweep up snow at a designated location; the snow-throwing component may be used to throw the swept snow to another designated location. The snow-clearing component may include snow-rolling blades and a bucket. The snow-throwing component may include a movable part 30 and a snow-throwing guide 40. The movable part 30 may determine the direction in which the snow-throwing component throws snow. The snow-throwing guide 40 may determine the angle at which the snow-throwing component throws snow. It should be noted that the snow-rolling blades in the snow-clearing component, and the movable part 30 and the snow-throwing guide 40 in the snow-throwing component may correspond to one or more drive motors, and may be driven by their corresponding drive motors to perform corresponding snow-clearing and snow-throwing operations.

[0040] The control assembly 140 may include a button module and a joystick module, which can be used by a user to manually operate the snowplow 1000. The control assembly 140 can be used to turn on the snowplow 1000 in response to the user pressing the power button. The control assembly 140 can also be used to shut down the snowplow 1000 in an emergency in response to the user pressing the emergency joystick.

[0041] Referring to Figure 2, Figure 2 is a product schematic diagram of a snowplow 1000 disclosed in an embodiment of the present application. The snow throwing assembly of the snowplow product 200 includes a snow throwing guide 40 and a movable part 30. The snow throwing guide 40 can be a semi-enclosed chute. The snow throwing guide 40 can be controlled by a rotating seat to rotate, forming a guide groove pivot angle, and finally adjusting the target snow throwing angle. The movable part 30 can be a half cover covering the snow throwing guide 40, and the coverage degree can be adjusted. The coverage degree of the movable part 30 on the snow throwing guide 40 can be controlled by a pulling part 23 connected to the movable part 30, forming a movable part 30 angle, and finally adjusting the target snow throwing angle.

[0042] It should be noted that the device shown in Figure 1 is only an example and does not limit the technical solutions disclosed in the embodiments of this application. With the evolution of snow removal system architecture and the emergence of new application scenarios, the technical solutions disclosed in the embodiments of this application are also applicable to similar technical problems.

[0043] Please refer to Figure 3, which is a schematic flow chart of a snow-throwing control method disclosed in an embodiment of the present application. The snow-throwing control method can be applied to a snowplow 1000, which can be a snow-clearing robot, snowplow, snowbrush, or other snow-clearing device. As shown in Figure 3, the snow-throwing control method can include the following steps.

[0044] 301. Determine a target angular displacement of a target motor based on a target snow throwing position of the snowplow.

[0045] The snowplow can perform snow-clearing operations by, for example, rolling up snow beneath the snowplow into the snowplow's bucket while the snowplow is in a fixed position. Alternatively, the snowplow can perform snow-clearing operations by rolling up snow beneath the moving snowplow into the snowplow's bucket while the snowplow is moving along a predetermined path. While the snowplow is in a fixed position or moving, the snowplow can also use the snow throwing assembly to throw snow from a snow container to a predetermined target snow throwing location.

[0046] The target snow-throwing location can be a specific location determined by the user's needs when using the snowplow. For example, a snowplow at a fixed location can throw the snow 30 cm to the right of the fixed location. A snowplow in motion can throw the snow 50 cm outward and parallel to the path of travel.

[0047] It should be noted that the snow throwing assembly of the snowplow can throw snow to a preset target snow throwing position by setting posture data of the snow throwing assembly during the snow plowing operation, wherein the posture data of the snow throwing assembly may include the orientation and angle of the snow throwing assembly. Specifically, the posture data of the snow throwing assembly of the snowplow can be the orientation and angle of the snow throwing assembly determined by controlling a target motor of the snow throwing assembly to rotate to a target position, or can be the orientation and angle of the snow throwing assembly determined by a target angular displacement of a target motor corresponding to the snow throwing assembly from an initial position to a target position.

[0048] Accordingly, when the target snow-throwing position of the snowplow is known based on the user's needs for using the snowplow, the posture data (direction and angle) of the snow-throwing assembly in the snowplow can be determined based on the target snow-throwing position of the snowplow. Based on the posture data of the snow-throwing assembly, the target position to which the target motor corresponding to the snow-throwing assembly needs to rotate can be determined. The pulse signal of the target motor corresponding to the snow-throwing assembly can be detected by sensor 25 to determine the current position of the target motor. Based on the current position of the target motor corresponding to the snow-throwing assembly and the target position to which the target motor needs to rotate, the target angular displacement of the target motor can be determined.

[0049] 302. Determine a square wave count value according to the number of square waves corresponding to the first pulse signal in the target motor.

[0050] During the snow-clearing operation, the snowplow can detect the target motor corresponding to the snow-throwing assembly through the sensor 25 to obtain a pulse signal corresponding to the target motor. The sensor 25 for detecting the target motor can be a Hall sensor. It should be noted that the Hall sensor can determine the magnetic field conversion during the rotation of the target motor based on the different angular displacements of the target motor, and determine the pulse signal of the target motor based on the magnetic field conversion during the rotation of the motor. The pulse signal of the target motor can be a periodic rectangular wave, that is, the pulse signal of the target motor detected by the Hall sensor is a square wave pulse signal existing in a periodic square wave. The square wave pulse signal can determine the rotation position of the target motor based on the number of square waves appearing in the signal.

[0051] When the target motor corresponding to the snow throwing assembly of the snow blower is performing a snow throwing operation, the Hall sensor can detect a pulse signal of the target motor at a preset position to obtain a first pulse signal. The first pulse signal can be a pulse signal at the initial position of the target motor before being driven. The first pulse signal can also be a pulse signal fed back to the sensor 25 at any position of the target motor from the start to the end of rotation, excluding the position where the rotation stops. Specifically, the square wave count value corresponding to the first pulse signal in the target motor can be determined by counting the number of square waves in the pulse signal received by the target motor. The square wave count value can be used to represent the current rotational position of the target motor at the initial position during the rotation process.

[0052] In another embodiment, when the target motor corresponding to the snow thrower assembly of the snowplow begins to perform snow throwing operations, the Hall effect sensor can also detect the angular displacement of the target motor during the driving process (the increment of the target motor's rotation). During the rotation of the target motor corresponding to the snow thrower assembly of the snowplow (performing the snow throwing operation), as the target motor rotates forward or reverse, the number of square waves in the pulse signal received by sensor 25, i.e., the square wave count value, increases or decreases accordingly, resulting in an updated square wave count value. This updated square wave count value can be used to represent the current angular displacement of the target motor during the rotation process.

[0053] 303. According to the square wave count value, the angular displacement of the target motor is controlled to reach the target angular displacement, so that the snowplow throws the snow to the target snow throwing position.

[0054] After determining the target angular displacement that the target motor needs to rotate, the square wave count value of the target motor at the initial position (the square wave count value is used to represent the rotation position of the target motor at the initial position), and the angular displacement of the target motor during the rotation process (the angular displacement can be determined based on the number of square waves corresponding to the pulse signal detected during the rotation of the target motor, that is, the updated square wave count value), the angular displacement of the target motor can be controlled according to the square wave count value to reach the target angular displacement, so that the snow throwing assembly corresponding to the target motor reaches the corresponding posture data (direction and angle). Furthermore, the snowplow can throw snow to the target snow throwing position based on the direction and angle of the snow throwing assembly.

[0055] Specifically, controlling the angular displacement of the target motor to reach the target angular displacement can be achieved by controlling the updated square wave count value to continuously approach the target count value corresponding to the target angular displacement until, during the rotation of the target motor, the updated target count value is equal to the target count value corresponding to the target angular displacement, so that the target motor reaches the corresponding target position, so that the snow-throwing component corresponding to the target motor reaches the corresponding posture data (direction and angle), so that the snowplow throws the snow to the target snow-throwing position.

[0056] In the method embodiment described in FIG3 , a snowplow determines a target angular displacement based on the snowplow's target snow-throwing position; determines a square wave count value based on the number of square waves in the target motor corresponding to the first pulse signal; and controls the angular displacement of the target motor to reach the target angular displacement based on the square wave count value, so that the snowplow throws the snow to the target snow-throwing position. In this way, the target motor is automatically controlled based on the square wave count value of the target motor so that the angular displacement of the target motor reaches the corresponding target angular displacement, and the snowplow is able to throw the snow to the target snow-throwing position. This enables the snow-throwing assembly in the snowplow to automatically transfer the swept snow to another designated target snow-throwing position, solving the problem of how to improve the snowplow's automatic control level. Specifically, automatically determining the angle of the snowplow's snow-throwing assembly improves the snowplow's automation and intelligence during snow-throwing operations, improving the snowplow's ease of operation and the snowplow's efficiency during snow-throwing operations.

[0057] Please refer to Figure 4, which is a schematic flow chart of another snow-throwing control method disclosed in an embodiment of the present application. This snow-throwing control method is applied to a snowplow, which can be a snowplow robot, snowplow truck, snowplow brush, or other snow-clearing device. This snow-throwing control method may include the following steps.

[0058] 401. Determine a target angular displacement of a target motor based on a target snow throwing position of the snowplow.

[0059] 402. Determine a square wave count value according to the number of square waves corresponding to the first pulse signal in the target motor.

[0060] Specifically, the specific implementation process of step 401 and step 402 can refer to the description of step 301 and step 302 in the embodiment corresponding to Figure 3 above, and will not be further described here.

[0061] In another embodiment, before determining the target snow-throwing position of the snowplow, the target angular displacement of the target motor corresponding to the snow-throwing assembly can be determined based on the current snow-throwing position of the snowplow and the target snow-throwing position of the snow-throwing assembly, and then the target snow-throwing angle of the snowplow can be determined based on the target angular displacement. Specifically, the target snow-throwing position of the snowplow is determined based on the preset snow-throwing position of the snowplow assembly and the preset target snow-throwing angle of the snow-throwing assembly. The user can set the snow-throwing position of the snowplow's snowplow assembly according to snow-throwing needs. The position or route of the snowplow for snow-throwing can be determined by setting the snow-throwing position of the snowplow assembly or the driving path of the snowplow assembly. The user can also set the snow-throwing direction and angle of the snow-throwing assembly of the snowplow according to snow-throwing needs. The snow-throwing direction and angle of the snow-throwing assembly can also be determined by setting the square wave count value of the target motor corresponding to the snow-throwing assembly.

[0062] Therefore, after determining the preset snow-clearing position or snow-clearing route of the snow-clearing component of the snowplow, as well as the preset snow-throwing direction and angle of the snow-throwing component of the snowplow, the snowplow can determine the target snow-throwing position where the snowplow throws the snow swept by the snow-clearing component to the designated position.

[0063] 403. Calculate a pulse increment of the target motor rotation according to the first pulse signal and the second pulse signal, where the second pulse signal is a signal subsequent to the first pulse signal;

[0064] When the target motor corresponding to the snow throwing assembly of the snowplow begins to perform snow throwing operations, sensor 25 can detect a first pulse signal indicating the initial position of the target motor. The initial position of the target motor can be the rotational position of the target motor when it is powered on but not yet started; or the rotational position of the target motor when it is restarted. The initial position of the target motor can be any rotational angle different from the target angular displacement of the target motor. Accordingly, the first pulse signal can be a pulse signal corresponding to any rotational position of the target motor other than the target position detected by sensor 25.

[0065] Furthermore, during the driving process, sensor 25 can also detect a second pulse signal corresponding to any angular displacement of the target motor. During the rotation of the target motor corresponding to the snow thrower assembly of the snowplow (performing the snow throw operation), as the target motor rotates forward or reverse, at any position of the target motor, sensor 25 will receive a pulse signal containing a different number of square waves, i.e., a second pulse signal. Accordingly, this second pulse signal can be a pulse signal corresponding to another rotational position of the target motor detected by sensor 25, in addition to the target position.

[0066] It should be noted that the second pulse signal may be a pulse signal generated after the first pulse signal is detected. The second pulse signal and the first pulse signal are different pulse signals, wherein the number of square waves corresponding to the second pulse signal and the first pulse signal differ. The pulse increment of the target motor can be calculated based on the difference between the second pulse signal and the first pulse signal.

[0067] 404. Convert the pulse increment into the circumference angular displacement of the target motor to obtain the current angular displacement of the target motor;

[0068] The pulse increment determined based on the pulse signal of the target motor at different rotation positions may refer to the difference in the number of square waves corresponding to the pulse signal. It should be noted that, during the driving process, the number of square waves corresponding to the pulse signal of the target motor detected by the sensor 25 may be set according to the detection sensitivity preset by the sensor 25. Different sensors 25 may produce different numbers of square waves when detecting the same target motor rotating one circle, and the number of square waves of the pulse signal detected by the sensor 25 is positively correlated with the detection sensitivity of the sensor 25. In the method of the present application, the detection sensitivity of the sensor 25 may be set to a fixed value, and accordingly, the correspondence between the number of pulse signals detected by the sensor 25 and the circumferential angular displacement of the target motor rotating one circle can be determined by setting the corresponding sensitivity parameters. In this way, the pulse increment corresponding to the pulse signal at different moments can be converted from a pulse count to a circumferential angular displacement during the rotation of the target motor according to the preset sensitivity parameters, thereby obtaining the angular displacement of the target motor at the current moment.

[0069] Exemplarily, the sensitivity parameter can be set to one third. When the pulse increments corresponding to the pulse signals at different times are a square wave signal, the circumferential angular displacement of the target motor is one third of the circumferential angular displacement of the target motor.

[0070] 405. Determine a target count value according to the target angular displacement.

[0071] After determining the target angular displacement of the target motor corresponding to the snow throwing assembly of the snowplow, the target count value can be determined based on the target angular displacement of the target motor. Specifically, the target angle of the target motor can be calculated based on the target angular displacement of the target motor. After determining the target angle reached by the target motor in order to achieve the target posture data (direction and angle), the amplification factor of the target motor can be determined based on the reduction ratio of the target motor and the single-turn pulse value of the target motor. After determining the mapping parameters from the rotational angular displacement of the target motor to the snow throwing assembly, the ratio of the target angle to the amplification factor can be calculated to obtain the target count value.

[0072] Specifically, the target count value can be the target motor angular displacement corresponding to the snow throwing angle determined by the target snow throwing position of the snow throwing assembly and the snow clearing position of the snow clearing assembly. The snow throwing position can be determined by the angles of the movable member 30 and the snow throwing guide 40, and the corresponding target motor angular displacement is determined accordingly. The target count value for controlling the snow throwing assembly is determined through magnification mapping.

[0073] For example, the target count value of the target motor corresponding to the movable member 30 can be calculated using the following formula:

[0074] Nf=angle / 360*motor reduction ratio*motor single-turn pulse value

[0075] Exemplarily, the pitch angle of the movable part 30 can be 0° to 45°, then the target motor corresponding to the movable part 30 needs to rotate 0° to 45° (0 turns - 45 / 360 turns), and then the target count value of the target motor corresponding to the movable part 30 is calculated to be Nf = 45 / 360*340*6.

[0076] For example, when the reduction ratio of the connector of the target motor corresponding to the snow throwing guide 40 is 1:N, the target count value of the target motor corresponding to the snow throwing guide 40 can be calculated by the following formula:

[0077] Np=angle / 360*1.8*motor reduction ratio*motor single-turn pulse value

[0078] Exemplarily, the pivot angle of the target motor corresponding to the snow throwing guide 40 can be 0 to 180°, then the target motor corresponding to the snow throwing guide 40 needs to be rotated 0° to 180*N° (0 turns - 45 / 360 turns), and then the target count value of the target motor corresponding to the snow throwing guide 40 is calculated to be Nf = 180*N / 360*348*4.

[0079] 406. According to the square wave count value, control the angular displacement of the target motor from the current angular displacement to the target angular displacement, so that the snowplow throws the snow to the target snow throwing position.

[0080] When the square wave count value is greater than the target count value, the target motor is driven to rotate in a first direction. The first direction of rotation may be forward rotation. The rotational angular displacement of the target motor is calculated based on the pulse signal corresponding to the target motor to obtain a first angular displacement increment. The first angular displacement increment may be the rotational increment of the target motor obtained after the target motor has rotated forward. The square wave count value is subtracted based on the first angular displacement increment to determine a decremented square wave count value. When the decremented square wave count value equals the target count value, driving the target motor is stopped.

[0081] Alternatively, if the square wave count value is less than the target count value, the target motor is driven to rotate in a second direction, which is different from the first direction and can be a directional rotation. When the target motor rotates in the second direction, the rotational angular displacement of the target motor is calculated based on the pulse signal corresponding to the target motor to obtain a second angular displacement increment. The square wave count value is incremented by the number of square waves based on the second angular displacement increment to obtain a square wave count value. When the incremental square wave count value reaches the target count value, driving the target motor is stopped.

[0082] It should be noted that the snowplow may further include multiple working components 130, and each of the multiple working components 130 may include multiple execution modules. Each execution module in the execution module may have a target motor corresponding to the execution module.

[0083] In other embodiments, the snowplow includes a snowplow assembly and a snow throwing assembly. The snowplow assembly may include multiple execution modules, and the snow throwing assembly may also include multiple execution modules. Specifically, the snow throwing assembly may include a movable part 30 and a snow throwing guide 40.

[0084] The target motor includes a first target motor and a second target motor. The first target motor is a motor corresponding to the movable part 30 , and the second target motor is a motor corresponding to the snow throwing guide 40 .

[0085] The square wave count value includes a first square wave count value and a second square wave count value. The first square wave count value is the square wave number of the pulse signal of the first target motor at the initial position, and the second square wave count value is the square wave number of the pulse signal of the second target motor at the initial position.

[0086] The target angular displacement includes a first target angular displacement and a second target angular displacement. The first target angular displacement is the angular displacement value of the first target motor in order to reach the target snow-throwing position. The second target angular displacement is the angular displacement value of the second target motor in order to reach the target snow-throwing position.

[0087] It should be noted that the snow throwing assembly in the snowplow may include a movable part 30 and a snow throwing guide 40. The snow throwing guide 40 can be used to transport swept snow, while the movable part 30 can be used to throw the swept snow. The snow throwing guide 40 and the movable part 30 can each correspond to a target motor. The target motors corresponding to the snow throwing guide 40 and the movable part 30 can be used to control the corresponding posture data of the snow throwing guide 40 and the movable part 30. For the snowplow to reach the target snow throwing position, the target motors corresponding to the snow throwing guide 40 and the movable part 30 in the snow throwing assembly must both reach the corresponding target angular displacement.

[0088] Thus, the movable member 30 and its corresponding first target motor can execute the snow-throwing control method disclosed herein. The snow-throwing guide member 40 and its corresponding second target motor can also execute the snow-throwing control method disclosed herein. The multiple execution modules within the multiple working components 130 included in the snowplow can each execute the snow-throwing control method protected herein with their corresponding target motors. Thus, the snowplow can implement multiple automatic control methods based on the snow-throwing control method protected herein, which will not be further detailed here.

[0089] In the method embodiment described in FIG4 , a snowplow determines a target angular displacement based on the snowplow's target snow-throwing position; determines a square wave count value based on the number of square waves in the target motor corresponding to the first pulse signal; and controls the angular displacement of the target motor to reach the target angular displacement based on the square wave count value, causing the snowplow to throw snow to the target snow-throwing position. In this way, the target motor is automatically controlled based on the square wave count value of the target motor so that the angular displacement of the target motor reaches the corresponding target angular displacement, and the snowplow is able to throw snow to the target snow-throwing position. This enables the snow-throwing assembly in the snowplow to automatically transfer swept snow to another designated target snow-throwing position, solving the problem of how to improve the snowplow's automatic control level. Specifically, automatically determining the angle of the snowplow's snow-throwing assembly improves the snowplow's automation and intelligence during snow-throwing operations, enhancing the snowplow's ease of operation and the snowplow's efficiency during snow-throwing operations.

[0090] It should be understood that the same or corresponding information in the above different embodiments can be referenced to each other.

[0091] The present invention also provides a snowplow head 100 for a snowplow. Referring to Figures 2 and 5 to 8, Figure 2 is a schematic structural diagram of an embodiment of the snowplow head 100; Figure 5 is a schematic structural diagram of an embodiment of the adjustment assembly 20; Figure 6 is a schematic exploded structural diagram of an embodiment of the adjustment assembly 20; Figure 7 is a schematic structural diagram of an embodiment of the snowplow head 100 of the present invention, showing the movable member 30 in a relaxed state; and Figure 8 is a schematic structural diagram of an embodiment of the snowplow head 100 of the present invention, showing the movable member 30 in a retracted state.

[0092] In the embodiment of the present application, as shown in FIG. 2 and FIG. 5 to FIG. 8 , the snowplow head 100 of the snowplow proposed in the present application includes:

[0093] Housing assembly 10;

[0094] movable part 30;

[0095] The adjusting assembly 20 is installed on the housing assembly 10. The adjusting assembly 20 includes a driving device 21, a rotating member 22 and a pulling member 23. The pulling member 23 is connected to the rotating member 22. The driving device drives the rotating member 22 to rotate, driving the pulling member 23 to pull the movable member 30.

[0096] The present application adopts the method of installing an adjustment component 20 on the casing component 10, and the adjustment component 20 is connected to the movable part 30. The adjustment component 20 includes a driving device 21, a rotating part 22 and a pulling part 23. The driving device 21 is used to drive the rotating part 22 to rotate, and the pulling part 23 is connected to the rotating part 22. The movable part 30 is connected to the pulling part 23; the rotating part 22 can be driven to rotate by the driving device 21, and the rotation of the rotating part 22 drives the pulling part 23 to move. The pulling part 23 moves and can pull the movable part 30 to adjust the angle of the movable part 30 relative to the fuselage or the ground, so that the height of snow thrown from the movable part 30 can be adjusted. It is simple, fast, and easy to control, and snow clearing is more efficient.

[0097] The adjustment assembly 20 can be mounted horizontally or vertically on the housing assembly 10. The pulling member 23 can be connected to the movable member 30 at one end and to the rotating member 22 at the other end, so as to pull the movable member 30 as the rotating member 22 rotates. The movable member 30 can be a semi-enclosed bracket structure with an opening, or a cylindrical structure with an opening. The pulling member 23 can be a steel wire rope, a spring structure, a swinging member, etc. The pulling member 23 has the function of pulling the movable member 30 as the rotating member 22 rotates.

[0098] In one embodiment, the snowplow head 100 of the snowplow further includes a snow throwing guide 40 and a snow plowing paddle. The housing assembly 10 may include the housing assembly 10, the snow plowing paddle is disposed within the housing assembly 10, the snow throwing guide 40 may be disposed above the housing assembly 10, and the movable member 30 may be mounted at an end of the snow throwing guide 40. Snow on the ground is swept by the snow plowing paddle and carried toward the guide groove 11 by the snow throwing paddle. The snow is then thrown from the movable member 30 along the snow throwing guide 40 corresponding to the guide groove 11. The snowplow head 100 of the snowplow is provided with an adjustment assembly 20, which can be provided on the housing assembly 10. The drive device 21 of the adjustment assembly 20 is used to drive the rotating member 22 to rotate. The rotating member 22 rotates and stretches the pulling member 23 through the steering force, so that the pulling member 23 is pulled, and then the pulling member 23 can pull the movable member 30. The angle of the movable member 30 can be rotated in a direction closer to or away from the ground, and the height of the snow thrown from the movable member 30 is reduced or increased. The present application uses the drive device 21 to drive the rotating member 22, and adjusts the angle of the movable member 30 through the rotating member 22 and the pulling member 23 to achieve the effect of automatically controlling the height of the snow thrown.

[0099] In one embodiment, as shown in Figures 1, 6 and 8, when the driving device 21 drives the rotating member 22 to rotate clockwise, the pulling member 23 will be reeled in as the rotating member 22 rotates clockwise and pull the movable member 30. The movable member 30 is rotated toward the ground by the pulling force of the pulling member 23, and the height at which the snow is thrown from the movable member 30 is reduced.

[0100] The driving device 21 may be a driving motor.

[0101] In one embodiment, as shown in Figures 2, 7, and 8, the movable member 30 can be rotatably connected to the snow-throwing guide 40, and a spring 50 can be disposed between the movable member 30 and the snow-throwing guide 40. This ensures that when the movable member 30 is not pulled by the pulling member 23, the opening of the movable member 30 faces away from the housing assembly 10. When the movable member 30 is pulled by the pulling member 23, the opening of the movable member 30 rotates a certain angle toward the ground, thereby changing the snow-throwing height of the snowplow's snowplow head 100. In one embodiment, the spring 50 can be used to return the movable member 30 to its original position.

[0102] Specifically, as shown in Figures 2, 6, and 7, when the driving device 21 drives the rotating member 22 to rotate counterclockwise, the pulling member 23 relaxes as the rotating member 22 rotates counterclockwise. The pulling force exerted by the pulling member 23 on the movable member 30 decreases, allowing the movable member 30 to rebound and return to its original position via the spring 50, thereby causing the angle of the movable member 30 to rotate away from the ground. At this point, the movable member 30 is in a relaxed state. The angle of the movable member 30 is reset and raised, thereby increasing the height at which snow is thrown from the snowplow's snowplow head 100.

[0103] The driving device 21 can be controlled by a program to control the rotation angle of the rotating member 22, thereby adjusting the snow throwing height of the snowplow head 100 of the snowplow. Through program adjustment, the snow throwing position is more precise and the snow clearing is more efficient. Alternatively, the program can be operated by a remote control handle to cause the driving device 21 to control the rotation angle of the rotating member 22. The control method of the snowplow head 100 of the snowplow using a program or a remote control handle to operate the driving device 21 to control the rotation angle of the rotating member 22 can adopt existing control methods.

[0104] As shown in Figures 2, 5 and 6, the rotating member 22 is a winding disk, and the shaft 210 of the driving device is connected to the winding disk to drive the winding disk to rotate. Part of the pulling member 23 is wound around the winding disk, and the other part extends toward the movable member 30 to be connected to the movable member 30.

[0105] In one embodiment, the winding drum is connected to the shaft portion 210 of the driving device. The shaft portion 210 of the driving device rotates and drives the winding drum to rotate. The rotation of the winding drum can drive the pulling member 23 to pull the movable member 30. The pulling member 23 can be a rope structure or a spring structure. Part of the structure of the pulling member 23 is wound around the winding drum. When the winding drum rotates, the pulling member 23 is stretched by the steering force. The pulling member 23 is pulled and applies the pulling force to the movable member 30. After the movable member 30 is pulled by the pulling member 23, the angle of the movable member 30 changes.

[0106] As shown in Figures 2, 5 and 6, the winding reel is provided with a limiting groove 220, and the pulling member 23 includes a winding rope 230 and a pull rope 231 connected to the winding rope 230. The winding rope 230 is wound around the limiting groove 220, and the pull rope 231 is exposed on the winding reel and extends in the direction of the movable member 30. The end of the pull rope 231 away from the winding rope 230 is connected to the movable member 30.

[0107] In one embodiment, the pulling member 23 includes a winding rope 230 provided in the winding drum and a pull rope 231 connected to the winding rope 230. The pull rope 231 is used to connect with the movable member 30. As shown in Figures 1, 3 and 5, the winding rope 230 is wound in the limiting groove 220 of the winding drum. When the driving device 21 drives the winding drum to rotate clockwise, the winding rope 230 will be twisted into the limiting groove 220 in the winding drum as the winding drum rotates clockwise. The winding rope 230 is wound so that the pull rope 231 is pulled. The pull rope 231 is subjected to the tension of the winding rope 230 and transmits the tension to the movable member 30, thereby causing the movable member 30 to be pulled by the pull rope 231. The movable member 30 is subjected to the tension of the pull rope 231 and rotates in a direction closer to the ground. At this time, the movable member 30 is in a contracted state. The angle of the movable member 30 is lowered by the adjusting assembly 20 , thereby reducing the snow throwing height of the snowplow head 100 of the snowplow.

[0108] As shown in Figures 2, 6, and 7, when the drive device 21 drives the winding drum counterclockwise, the winding rope 230 extends from the limiting slot 220 as the winding drum rotates counterclockwise. The winding rope 230 loosens, causing the pull rope 231 to become slack. The tension exerted by the pull rope 231 on the movable member 30 decreases, allowing the movable member 30 to rebound and return to its original position via the spring 50, thereby causing the angle of the movable member 30 to rotate away from the ground. At this point, the movable member 30 is in a relaxed state. The angle of the movable member 30 is reset and raised, thereby increasing the height at which the snow is thrown from the snowplow head 100 of the snowplow.

[0109] In one embodiment, as shown in Figures 2, 6, and 8, when the drive device 21 drives the cable drum to rotate counterclockwise, the winding rope 230 is loosened as the cable drum rotates counterclockwise, and the pull rope 231 becomes loose, so that the pulling force exerted by the pull rope 231 on the movable member 30 decreases. The movable member 30 can be pulled by the spring 50 and then pulled back to its original position. The movable member 30 is reset, the angle of the movable member 30 is increased, and the snow throwing height of the snowplow head 100 of the snowplow is increased. At this time, the movable member 30 is in a retracted state.

[0110] The snowplow head 100 of the snowplow drives the winding drum to rotate clockwise through the driving device 21 to drive the winding rope 230 to be wound. The pull rope 231 is pulled by the tension of the winding rope 230 to pull the movable part 30, thereby adjusting the angle of the movable part 30. The height of the snow thrown from the movable part 30 can be adjusted, which is simple, fast, and easy to control, making snow clearing more efficient.

[0111] As shown in Figures 2, 5 and 6, the adjustment assembly 20 also includes a fixing block 24, which is installed on the winding drum. A protrusion 241 is protruding from the bottom of the fixing block 24, and the winding rope 230 is arranged between the protrusion 241 and the winding drum.

[0112] In one embodiment, the fixing block 24 is installed above the winding drum, and the shape of the fixing block 24 can be set to be arc-shaped. A protrusion 241 is protruding from the bottom of the fixing block 24, and the protrusion 241 is located outside the winding drum. The winding rope 230 is in the limiting groove 220 and is located between the protrusion 241 and the winding drum. The winding rope 230 is restricted by the protrusion 241 and the winding drum. As shown in Figures 2 and 3, when the driving device 21 drives the winding drum to rotate counterclockwise, when the winding rope 230 is loosened as the winding drum rotates counterclockwise, the protrusion 241 prevents the winding rope 230 from escaping from the limiting groove 220.

[0113] The end of the winding rope 230 away from the pull rope 231 may be provided with a clamping block 2300 to facilitate clamping with the winding drum. The remaining structure of the winding rope 230 may be wound within the limiting groove 220 of the winding drum. The fixing block 24 is mounted above the winding drum and can suppress the winding rope 230. The bottom of the fixing block 24 is provided with a protruding block 241, which can be used to prevent the remaining structure of the winding rope 230 from escaping from the limiting groove 220.

[0114] In one embodiment, the winding rope 230 is fixed to the winding drum by the clamping block 2300. On the one hand, the clamping block 2300 can be used for positioning, so that the rope body portion of the winding rope 230 can be wound into the limiting groove 220 of the winding drum. On the other hand, the clamping block 2300 is clamped on the winding drum, which can prevent the winding rope 230 from completely detaching from the winding drum when the winding drum rotates counterclockwise and is loosened.

[0115] As shown in FIG. 2 , FIG. 5 and FIG. 6 , the adjustment assembly 20 further includes a sensor 25 , which is disposed on the winding reel. The fixed block 24 is equipped with a magnet for sensing the sensor 25 to locate the initial position of the rotating member 22 .

[0116] In order to facilitate sensing whether the winding drum has rotated and reset to its initial position, the fixed block 24 is provided with a magnet, and a sensor 25 is installed on the outside of the winding drum. When the fixed block 24 rotates close to the sensor 25, the magnet senses the sensor 25 to trigger the sensor 25 to determine whether the winding drum has rotated and reset to its initial position, thereby controlling the drive device 21 to stop working so as to position the winding drum at its initial position. In one embodiment, the sensor 25 is a Hall sensor. The control method adopted by the Hall sensor can be an existing control method, and this application does not limit the control method of the Hall sensor.

[0117] As shown in Figures 2, 5 and 6, the adjustment assembly 20 also includes a mounting bracket 26, the driving device 21 is installed on one side of the mounting bracket 26, and the winding drum is installed on the other side of the mounting bracket 26. The mounting bracket is provided with a through hole 263, and the shaft 210 of the driving device passes through the through hole 263 and is connected to the winding drum.

[0118] In order to install the drive device 21, the adjustment assembly 20 further includes a mounting bracket 26. The drive device 21 is mounted on one side of the mounting bracket 26, and the cable winding drum is mounted on the other side of the mounting bracket 26. In one embodiment, the drive device 21 is mounted on the bottom of the mounting bracket 26, and the cable winding drum is mounted above the mounting bracket 26. The cable winding drum is connected to the shaft 210 of the drive device so that the rotation of the shaft of the drive device 21 drives the cable winding drum to rotate. The mounting bracket 26 can be used to be mounted on the housing assembly 10 so that the cable winding drum is mounted on the housing assembly 10. The mounting bracket 26 can be a plate-like structure or a frame structure, and the mounting bracket 26 is used to mount the drive device 21.

[0119] As shown in FIG5 and FIG6 , the adjustment assembly 20 further includes a fixing bracket 250 . The fixing bracket 250 is disposed outside the winding drum. The sensor 25 is installed on a side of the fixing bracket 250 facing the winding drum.

[0120] In one embodiment, the fixing bracket 250 can be mounted on the mounting bracket 26 by screws and located outside the winding drum. The sensor 25 is mounted on the fixing bracket 250 so as to be mounted to the outside of the winding drum through the fixing bracket 250, and the sensor 25 is arranged toward the winding drum so that the sensor 25 can sense the magnet on the fixed block 24 of the winding drum. The sensor 25 and the fixing bracket 250 can be mounted by snap-fitting, screw connection, etc. The fixing bracket 250 can also be mounted to the mounting bracket 26 by snap-fitting, plug-in connection, etc. This application does not limit the mounting method of the sensor 25 and the fixing bracket 250. This application also does not limit the mounting method of the fixing bracket 250 to the mounting bracket 26.

[0121] As shown in FIG. 2 , FIG. 5 and FIG. 6 , the mounting bracket 26 is installed with a limiting member 261 . The limiting member 261 is provided on the outer circumference of the winding drum and is spaced apart from the fixing bracket 250 .

[0122] In one embodiment, to prevent the pulling member 23 from disengaging from the limiting groove 220 as the winding drum rotates with the pulling member 23, a limiting member 261 is disposed on the exterior of the winding drum. The limiting member 261 is disposed on the outer circumference of the winding drum and spaced apart from the fixed bracket 250. This allows the limiting member 261 to guide the direction of winding of the pulling member 23 or prevent the pulling member 23 from excessively relaxing and disengaging from the limiting groove 220 as the winding drum winds or relaxes. The limiting member 261 is spaced apart from the fixed bracket 250, with a gap between them to minimize the possibility of the limiting member 261 blocking the induction between the sensor 25 and the magnet on the fixed block 24.

[0123] Among them, the number of the limiting members 261 can be one, two, three or more. At least two limiting members 261 are arranged around the winding reel. In the process of the pulling member 23 loosening as the winding reel rotates, the gap between the limiting member 261 and the winding reel is small, and the pulling member 23 is not easy to separate from the winding reel. In this way, the limiting member 261 can limit the pulling member 23 from separating from the limiting groove 220. At least two limiting members 261 are spaced apart from the fixed bracket 250, and each limiting member 261 has a distance from the fixed bracket 250 to reduce the situation where the limiting member 261 blocks the sensor 25 and the magnet induction on the fixed block 24.

[0124] As shown in FIG. 2 and FIG. 5 to FIG. 8 , the outer portion of the pull rope 231 is covered with a sheath 232 .

[0125] In one embodiment, to protect the pull cord 231, a sheath 232 may be provided on the outside of the pull cord 231. In one embodiment, the sheath 232 provided on the outside of the pull cord 231 not only protects the pull cord 231 but also provides a movable passage for the pull cord 231. The sheath 232 may be mounted on the mounting bracket 26. The mounting bracket 26 may be provided with a clip 260 corresponding to the sheath 232, so that the sheath 232 can be mounted on the clip 260.

[0126] This application also proposes a snowplow, which includes a body and a snowplow head 100. The specific structure of the snowplow head is similar to the above-mentioned embodiments. Since this snowplow adopts all the technical solutions of all the above-mentioned embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above-mentioned embodiments, which will not be described in detail here. Among them, the housing assembly 10 is provided on the body, the bottom of the body is provided with running wheels, the housing assembly 10 is provided with a guide groove 11 for guiding snow, the adjustment assembly 20 is provided on the housing assembly 10, and the movable member 30 is provided above the guide groove 11.

[0127] In one embodiment, the snowplow includes a controller and a memory, wherein the memory stores a computer program. When the snowplow moves via the running wheels, the controller controls the movable part and the snow throwing guide to implement a snow throwing control method.

[0128] In one embodiment, the adjustment assembly 20 can be mounted on the housing assembly 10 via the mounting bracket 26. The housing assembly 10 is provided with a guide groove 11 for guiding snow, so that snow is thrown through the guide groove 11 to the movable member 30 and then thrown out of the movable member 30. The angle of the movable member 30 can be lowered by pulling the pulling member 23, thereby reducing the snow throwing height of the snowplow head 100 of the snowplow.

[0129] In one embodiment, the adjusting assembly 20 is disposed on one side of the guide cylinder, and the adjusting assembly 20 is connected to the movable member 30 via the pulling member 23 .

[0130] As shown in FIG2 , in order to better guide the snow to be thrown out from the movable part 30 , the snowplow head 100 of the snowplow further includes a snow throwing guide 40 . The snow throwing guide 40 is arranged in the guide groove 11 , and the movable part 30 is rotatably connected to the snow throwing guide 40 .

[0131] The snow throwing guide 40 may be configured as a semi-enclosed frame structure or a cylindrical structure.

[0132] In one embodiment, the snow throwing guide 40 is disposed in the guide groove 11, and the movable member 30 is disposed at an end of the snow throwing guide 40 away from the guide groove 11. The movable member 30 is rotatably connected to the snow throwing guide 40, and a spring 50 may be disposed between the movable member 30 and the snow throwing guide 40. When the pulling member 23 becomes relaxed as the winding reel rotates counterclockwise, the spring 50 can rebound the movable member 30 to restore the snow throwing height of the snowplow head 100 of the snowplow. At this time, the movable member 30 is in a relaxed state.

[0133] The bottom of the vehicle body is provided with running wheels, which enable the snowplow to be pushed and moved. As the snowplow moves along its path, snow on the ground is swept by the snowplow paddles and carried by the snow throwing paddles to the guide groove 11. The snow is then thrown out of the movable member 30 along the snow throwing guide 40 corresponding to the guide groove 11.

[0134] The present application also discloses an equipment control device. The equipment control device is applied to a snowplow, which can be a snowplow robot, a snowplow truck, a snowplow brush, or other equipment used for clearing snow. The equipment control device may include:

[0135] a first determining unit, configured to determine a target angular displacement of a target motor according to a target snow throwing position of the snowplow;

[0136] a second determining unit, configured to determine a square wave count value according to the number of square waves corresponding to the first pulse signal in the target motor;

[0137] A control unit is used to control the angular displacement of the target motor to reach the target angular displacement according to the square wave count value, so that the snowplow throws snow to the target snow throwing position.

[0138] In one embodiment, the device control apparatus further includes:

[0139] a first calculation unit, configured to calculate a pulse increment of the target motor rotation according to the first pulse signal and / or a second pulse signal, wherein the first pulse signal is a signal of the target motor at an initial position, and the second pulse signal is a signal subsequent to the first pulse signal;

[0140] The first calculation unit is further configured to convert the pulse increment into a rotational angular displacement of the target motor to obtain a current angular displacement of the target motor.

[0141] In one embodiment, the control unit is specifically configured to:

[0142] According to the square wave count value, the angular displacement of the target motor is controlled to reach the target angular displacement from the current angular displacement.

[0143] In one embodiment, the device control apparatus further includes:

[0144] The third determining unit is configured to determine a target count value according to the target snow throwing angle.

[0145] In one embodiment, the third determining unit is specifically configured to:

[0146] Calculating a target angle of the target motor according to a target angular displacement of the target motor;

[0147] Determining the amplification factor of the target motor according to the reduction ratio of the target motor and the single-turn pulse value of the target motor;

[0148] The ratio of the target angle to the magnification factor is calculated to obtain the target count value.

[0149] In one embodiment, the control unit is specifically configured to:

[0150] When the square wave count value is greater than the target count value, driving the target motor to rotate in a first direction;

[0151] Calculating the rotational angular displacement of the target motor according to the pulse signal corresponding to the target motor to obtain a first angular displacement increment;

[0152] reducing the square wave count value according to the first angular displacement increment to determine a decremented square wave count value;

[0153] When the decrement square wave count value is equal to the target count value, driving of the target motor is stopped.

[0154] In one embodiment, the control unit is specifically configured to:

[0155] When the square wave count value is less than the target count value, driving the target motor to rotate in a second direction, the second direction being different from the second direction;

[0156] When the target motor rotates in the second direction, calculating the rotational angular displacement of the target motor according to the pulse signal corresponding to the target motor to obtain a second angular displacement increment;

[0157] increasing the number of square waves based on the square wave count value according to the second angular displacement increment to obtain an incremental square wave count value;

[0158] When the incremental square wave count value is equal to the target count value, driving of the target motor is stopped.

[0159] In one embodiment, the device control apparatus may further include:

[0160] The fourth determining unit is used to determine the target angular displacement according to the current snow-clearing position of the snowplow and the target snow-throwing position of the snow-throwing assembly.

[0161] 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 modules can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0162] In several embodiments disclosed in this application, the coupling between modules may be electrical, mechanical or other forms of coupling.

[0163] In addition, the functional modules in the various embodiments of the present application may be integrated into a processing module, or each module may exist physically separately, or two or more modules may be integrated into a single module. The above-mentioned integrated modules may be implemented in the form of hardware or software functional modules.

[0164] The embodiments of the present application further disclose a computer-readable storage medium, in which computer program instructions are stored. The computer program instructions can be called by a controller to execute the method described in the above embodiments.

[0165] 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-transitory computer-readable storage medium and a volatile computer-readable storage medium. The computer-readable storage medium 600 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 code can be compressed, for example, in an appropriate form.

[0166] According to one aspect of the present application, a computer program product or computer program is disclosed, comprising computer instructions stored in a computer-readable storage medium. A controller of a snowplow reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the snowplow to perform the methods disclosed in the various optional implementations disclosed in the above embodiments.

[0167] 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 snow throwing control method, wherein: The method is applied to a snowplow, and the method comprises: Determining a target angular displacement of a target motor according to a target snow throwing position of the snowplow; Determining a square wave count value according to the number of square waves corresponding to the first pulse signal in the target motor; According to the square wave count value, the angular displacement of the target motor is controlled to reach the target angular displacement, so that the snowplow throws the snow to the target snow throwing position.

2. The method according to claim 1, wherein: The method further comprises: Calculate the pulse increment of the target motor rotation according to the first pulse signal and / or the second pulse signal, the first pulse signal is a signal of the target motor at an initial position, and the second pulse signal is a signal after the first pulse signal; Converting the pulse increment into the rotational angular displacement of the target motor to obtain the current angular displacement of the target motor; The step of controlling the angular displacement of the target motor to reach the target angular displacement according to the square wave count value comprises: According to the square wave count value, the angular displacement of the target motor is controlled to reach the target angular displacement from the current angular displacement.

3. The method according to claim 1, wherein: The method further comprises: determining a target count value according to the target angular displacement; The step of controlling the angular displacement of the target motor to reach the target angular displacement according to the square wave count value comprises: When the square wave count value is greater than the target count value, driving the target motor to rotate in a first direction; Calculating the rotational angular displacement of the target motor according to the pulse signal corresponding to the target motor to obtain a first angular displacement increment; Decreasing the square wave count value according to the first angular displacement increment to determine a decremented square wave count value; When the decrement square wave count value is equal to the target count value, driving of the target motor is stopped.

4. The method according to claim 3, wherein: Determining a target count value according to the target angular displacement comprises: Calculating a target angle of the target motor according to a target angular displacement of the target motor; Determining the amplification factor of the target motor according to the reduction ratio of the target motor and the single-turn pulse value of the target motor; The ratio of the target angle to the magnification factor is calculated to obtain the target count value.

5. The method according to claim 3, wherein: The step of controlling the angular displacement of the target motor to reach the target angular displacement according to the square wave count value comprises: When the square wave count value is less than the target count value, driving the target motor to rotate in a second direction, the second direction being different from the second direction; When the target motor rotates in the second direction, The corresponding pulse signal calculates the rotational angular displacement of the target motor to obtain a second angular displacement increment; increasing the number of square waves based on the square wave count value according to the second angular displacement increment to obtain an incremental square wave count value; When the incremental square wave count value is equal to the target count value, driving of the target motor is stopped.

6. The method according to any one of claims 1 to 5, wherein: The snow thrower snow throwing assembly includes a snow throwing guide, and the target angular displacement of the target motor is determined according to the target snow throwing position of the snow thrower, including: Determining the target angular displacement according to the current snow-clearing position of the snow-clearing machine and the target snow-throwing position of the snow-throwing assembly; The method further comprises: The target snow throwing angle of the snow sweeper is determined according to the target angular displacement; the target snow throwing angle is determined by the angle and the pivot angle of the snow throwing guide.

7. The method according to claim 1, wherein: The snow sweeper includes a snow throwing assembly, and the snow throwing assembly includes a snow throwing guide; The target motor includes a first target motor and a second target motor, the first target motor is a motor corresponding to the movable part, and the second target motor is a motor corresponding to the snow throwing guide part; The square wave count value includes a first square wave count value and a second square wave count value, the first square wave count value is the number of square waves of the pulse signal of the first target motor, and the second square wave count value is the number of square waves of the pulse signal of the second target motor; The target angular displacement includes a first target angular displacement and a second target angular displacement. The first target angular displacement is the angular displacement value of the first target motor in order to reach the target snow-throwing position. The second target angular displacement is the angular displacement value of the second target motor in order to reach the target snow-throwing position.

8. A snowplow head of a snowplow, wherein: include: Housing components; Active parts; The adjusting component is installed on the housing component. The adjusting component includes a driving device, a rotating member and a pulling member. The pulling member is connected to the rotating member. The driving device drives the rotating member to rotate, thereby driving the pulling member to pull the movable member.

9. The snowplow head of the snowplow according to claim 8, wherein: The rotating part is a winding disk, and the shaft of the driving device is connected to the winding disk to drive the winding disk to rotate. Part of the pulling member is wound around the winding disk, and the other part extends toward the movable part to be connected to the movable part.

10. The snowplow head of the snowplow according to claim 9, wherein: The winding drum is provided with a limiting groove, and the pulling member includes a winding rope and a pull rope connected to the winding rope. The winding rope is wound around the limiting groove, and the pull rope is exposed on the winding drum and extends along the direction of the movable member. One end of the pull rope away from the winding rope is connected to the movable member.

11. The snowplow head of the snowplow according to claim 10, wherein: One end of the winding rope away from the pull rope may be provided with a clamping block, and the clamping block is clamped with the winding drum.

12. The snowplow head of the snowplow according to claim 10, wherein: The adjustment component also includes a fixing block, which is installed on the winding drum. A protrusion is protruding from the bottom of the fixing block, and the winding rope is arranged between the protrusion and the winding drum.

13. The snowplow head of the snowplow according to claim 10, wherein: The adjustment component also includes a sensor, which is arranged on the winding disk. The fixed block is equipped with a magnet for sensing with the sensor to locate the initial position of the rotating member.

14. The snowplow head of the snowplow according to claim 13, wherein: The adjustment assembly also includes a mounting bracket, the drive device is mounted on one side of the mounting bracket, the winding drum is mounted on the other side of the mounting bracket, the mounting bracket is provided with a through hole, the shaft of the drive device passes through the through hole and is connected to the winding drum.

15. The snowplow head of the snowplow according to claim 14, wherein: The adjustment component also includes a fixed bracket, which is arranged outside the winding drum, and the sensor is installed on a side of the fixed bracket facing the winding drum.

16. The snowplow head of the snowplow according to claim 15, wherein: The mounting bracket is provided with a limiting member, and the limiting member is arranged on the outer circumference of the winding drum and is spaced apart from the fixing bracket.

17. The snowplow head of a snowplow according to claim 10, wherein: The outer cover of the draw cord is provided with a sheath.

18. A snowplow, wherein: The present invention comprises a snowplow body and a snowplow head of a snowplow according to claims 8 to 17, wherein the casing assembly is arranged on the snowplow body, the bottom of the snowplow body is provided with walking wheels, the casing assembly is provided with a snow throwing guide and a guide groove for guiding snow, the adjustment assembly is arranged on the casing assembly, the movable part is arranged above the guide groove, the snow throwing guide is arranged in the guide groove, and the movable part is rotatably connected to the snow throwing guide.

19. The snowplow according to claim 18 comprises a controller and a memory, wherein the memory stores a computer program, and when the snowplow moves via the walking wheels, the controller controls the movable part and the snow throwing guide to implement the method according to any one of claims 1 to 7.

20. The snowplow of claim 18, wherein: A spring is arranged between the movable part and the snow throwing guide part, and the spring is used for rebounding and resetting the movable part.

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