Snow shovelling recovery method and apparatus, and snowplow

Abstract

A snow shovelling recovery method and apparatus, and a snowplow. The method comprises: when detecting that a current position meets a recovery trigger condition, a snowplow executing a corresponding preset recovery action, wherein the preset recovery action comprises: adjusting the head height of a snowplow head of the snowplow at least once; upon completion of the preset recovery action, determining whether the current position still meets the recovery trigger condition; and if not, then determining a subsequent snow shovelling position, and executing a snow shovelling operation.

Description

Snow-clearing method, device and snowplow

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on September 11, 2023, with application number 202311174436.8, and invention name “Method, device and snowplow for escaping from distress”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of snowplows, and in particular to a method and device for clearing snow and a snowplow. Background Art

[0003] The existing snowplow forms a machine path by manually operating the direction of the snowplow's movement. The inventor realized that this method of snowplow cannot achieve intelligent walking, and during the walking process, if the snowplow hits bumps, icicles, and cracks in the ground, it is easy for the snowplow to climb onto the snow, causing the snowplow to slip, affecting the snowplow's snow-clearing efficiency. When the existing snowplow is in a difficult situation, it escapes by retreating along the original route, which makes the detour distance longer, resulting in the snowplow's snow-clearing efficiency being affected.

[0004] The above content is only used to assist in understanding the technical solution of this application and does not constitute an admission that the above content is prior art.

[0005] Summary of the Invention

[0006] The main purpose of this application is to provide a method, device and snowplow for getting out of trouble and shoveling snow, aiming to solve the technical problem that the existing snowplows get out of trouble by retreating along the original route, which makes the detour distance longer and affects the working efficiency of the snowplow.

[0007] To achieve the above objectives, the present application provides a method for shoveling snow out of trouble, the method comprising the following steps:

[0008] When the snowplow detects that the current position is in the escape trigger condition, the snowplow executes a corresponding preset escape action, the preset escape action including: adjusting the head height of the snowplow's snow shoveling head at least once;

[0009] After completing the preset escape action, determining whether the escape trigger condition is still met;

[0010] If not, the next snow shoveling position is determined and the snow shoveling operation is performed.

[0011] In addition, to achieve the above-mentioned purpose, the present application also proposes a snow shoveling device for escaping from distress, the device comprising:

[0012] a detection module configured to execute a corresponding preset escape action when the snowplow detects that the current position is in an escape trigger condition, the preset escape action comprising: adjusting the head height of the snowplow's snow shoveling head at least once;

[0013] A judgment module, configured to judge whether the escape trigger condition is still met after completing the preset escape action;

[0014] The snow shoveling module is used to determine the next snow shoveling location and perform the snow shoveling operation.

[0015] In addition, to achieve the above-mentioned purpose, the present application further proposes a snowplow, comprising: a snowplow head, a snowplow body, and one or more controllers, wherein the snowplow head is detachably connected to the snowplow body, and one or more controllers are provided on the snowplow body, and the one or more controllers are used to control the snowplow head and the snowplow motor, and the controller can run a snow-shoveling escape program, wherein the snow-shoveling escape program is configured to implement the following steps:

[0016] When the snowplow detects that the current position is in the escape trigger condition, the snowplow executes a corresponding preset escape action, the preset escape action including: adjusting the head height of the snowplow's snow shoveling head at least once;

[0017] After completing the preset escape action, determining whether the escape trigger condition is still met;

[0018] If not, the next snow shoveling position is determined and the snow shoveling operation is performed.

[0019] When a snowplow detects that its current position is in a triggering condition for escaping, the present application executes a corresponding preset escape action. The preset escape action includes: adjusting the head height of the snowplow's snow-clearing head at least once; after completing the preset escape action, determining whether the escape trigger condition is still in place; if not, determining the next snow-clearing position and executing the snow-clearing operation. By detecting the triggering condition for escaping, triggering the preset escape action, and adjusting the head height of the snow-clearing head to perform the escape operation, the present application solves the existing technical problem of the snowplow, when in trouble, trying to escape by backing up along the original route, which increases the detour distance, and thus improves the snow-clearing efficiency of the snowplow.

[0020] 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

[0021] FIG1 is a schematic diagram of the structure of a snowplow in the hardware operating environment of an embodiment of the present application;

[0022] FIG2 is a schematic diagram of a process flow of a first embodiment of the snow shoveling method for escaping distress according to the present application;

[0023] FIG3 is a flow chart of a second embodiment of the snow shoveling method for escaping distress;

[0024] FIG4 is a structural block diagram of the first embodiment of the snow-clearing device of the present application.

[0025] 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

[0026] It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0027] Refer to Figure 1, which is a structural diagram of a snowplow in the hardware operating environment involved in the embodiment of the present application.

[0028] As shown in Figure 1, the snowplow may include: a snowplow head, a snowplow body and a controller, the snowplow head is detachably connected to the snowplow body, one or more controllers are arranged on the snowplow body, one or more controllers are used to control the snowplow head and the snowplow motor, one or more controllers can run a snow-escape program, the snow-escape program is configured to implement the steps of the snow-escape method as described above, and the snowplow executes the snow-escape method provided in the embodiment of the present application.

[0029] Those skilled in the art will appreciate that the structure shown in FIG1 does not limit the snowplow and may include more or fewer components than shown, or a combination of certain components, or a different arrangement of components.

[0030] An embodiment of the present application provides a method for shoveling snow out of trouble. Referring to FIG. 2 , FIG. 2 is a flow chart of a first embodiment of the method for shoveling snow out of trouble.

[0031] In this embodiment, the escape triggering condition includes a first escape triggering condition and / or a second escape triggering condition, wherein the first escape triggering condition is that the snowplow is not performing the automatic snow shoveling operation for the first time or the motor current of the snowplow is greater than a preset threshold value and the snowplow is slipping. The first escape triggering condition can be implemented on the basis that the snowplow has not triggered the second escape triggering condition, and can also be implemented on the basis that the snowplow has triggered the second escape triggering condition. The second escape triggering condition is that the snowplow performs the automatic snow shoveling operation for the first time or the marking position is manually opened. The second escape triggering condition can be implemented separately. The snow shoveling escape method includes:

[0032] Step S10: When the snowplow detects that the current position is in an escape trigger condition, it executes a corresponding preset escape action, and the preset escape action includes: adjusting the head height of the snowplow's snow shoveling head at least once.

[0033] It should be noted that the method of this embodiment can be applied in scenarios where snow shoveling is required, and the execution subject of the method of this embodiment can be the above-mentioned snowplow, or other equipment that can achieve the same or similar functions. Here, the above-mentioned snowplow is used to specifically illustrate this embodiment and the following embodiments.

[0034] It should be noted that the above-mentioned current position may be the position where the snowplow is traveling while shoveling snow according to a pre-set snowplow path. In this embodiment, the snowplow path is formed by connecting position coordinates one by one.

[0035] It should be understood that the above-mentioned escape triggering condition can be that when the snowplow encounters a bump on the ground, icicles or cracks in the ground during the snow shoveling process, the snowplow moves onto the snow pile, the position of the snowplow determined by the positioning sensor of the snowplow has not changed, but the movement of the snowplow wheels is detected.

[0036] It should be emphasized that the above-mentioned preset escape action can be a corresponding escape action triggered when the snowplow detects that it is in a preset escape trigger condition, so as to enable the snowplow to escape from the situation where the snowplow slips on the snow pile when it encounters ground bumps, icicles or cracks in the ground during the snow shoveling process.

[0037] It is understood that the head height of the snowplow can be adjusted by adjusting the push rod value to raise the snowplow head a certain distance, that is, the height of the snowplow head from the ground. Specifically, the head height of the snowplow head can be set to four levels, corresponding to the head heights of 1cm, 2cm, 3cm, and 5cm, respectively. The head height of level 1 is 1cm, and the head height of level 4 is 5cm.

[0038] It should be noted that the above-mentioned snow shoveling operation can be an operation in which the snowplow is in operation for the purpose of shoveling snow. In this embodiment, it can be an operation in which the snowplow adjusts the snow rolling blades and the snow throwing blades to rotate at high speed during the movement.

[0039] In a specific implementation, the snowplow of this embodiment performs a corresponding preset escape action when it detects that the position of the snowplow determined by the positioning sensor of the snowplow has not changed, but detects that the wheels of the snowplow have moved. The preset escape action includes: adjusting the head-up height of the snowplow's snow-clearing head at least once.

[0040] Step S20: After completing the preset escape action, determine whether the escape trigger condition is still met.

[0041] In a specific implementation, after completing the preset escape action, the snowplow determines whether it is still in the escape trigger condition. If it is not in the escape trigger condition, it means that the escape and snow shoveling operation is successful. If it is still in the escape trigger condition, it means that the snowplow's head height is adjusted to the highest height and still meets the trigger condition. The snowplow fails to execute the escape and snow shoveling operation, and the user needs to be notified to implement other solutions.

[0042] Step S30: If not, determine the next snow shoveling position and perform the snow shoveling operation.

[0043] In a specific implementation, if the escape trigger condition is not met, the next target position will be determined according to the pre-set path, and the snow shoveling operation will continue.

[0044] This embodiment, when a snowplow detects that its current position is in a triggering condition for escaping, executes a corresponding preset escaping action. The preset escaping action includes: adjusting the head height of the snowplow's snowplow at least once; after completing the preset escaping action, determining whether the triggering condition for escaping is still present; if not, determining the next snowplowing position and executing the snowplowing operation. This embodiment, by detecting the triggering condition for escaping, triggers the preset escaping action, and adjusts the head height of the snowplow to perform the escaping operation. This solves the existing technical problem of snowplows, when in trouble, retreating to escape by the original route, which increases the detour distance, thereby improving the snowplow's snow-clearing efficiency.

[0045] Refer to FIG3 , which is a flow chart of a second embodiment of the snow shoveling method for escaping distress in the present application.

[0046] Based on the first embodiment described above, in this embodiment, the escape triggering condition includes a first escape triggering condition, which is that the snowplow is not performing the automatic snow shoveling operation for the first time or the motor current of the snowplow is greater than a preset threshold, and the snowplow is slipping. Accordingly, the preset escape action includes the following steps:

[0047] It should be understood that the first escape triggering condition may be that the snowplow is still in a slipping condition when the snowplow triggers the second escape triggering condition.

[0048] It should be noted that the above-mentioned first escape triggering condition can be the snow shoveling operation performed by the snowplow after the behavior recorded on the terrain.

[0049] Step S110: retreating a first preset distance and adjusting the head-up height of the snow shoveling head to a target head-up height.

[0050] It should be noted that the target head-up height may be the head-up height to which the snowplow head is to be adjusted.

[0051] Step S120: moving forward a second preset distance and performing a snow shoveling operation.

[0052] Step S130: During the process of advancing the second preset distance, if the advancing distance reaches a preset distance threshold, it is determined whether the motor current is greater than a preset threshold.

[0053] It should be noted that the motor current (motor load) can be used to determine whether the snowplow is consuming snow, that is, whether the snowplow is plowing snow. Specifically, the current is determined to be greater than a preset threshold, such as 17A. If it is greater than this, it indicates that the snowplow is consuming snow, while if it is less than or equal to this threshold, it indicates that the snowplow is not consuming snow.

[0054] It should be understood that the preset distance threshold may be a value greater than zero and less than the second preset distance. When the snowplow advances the second preset distance and the distance reaches the preset distance threshold, the system determines whether the snowplow is eating snow, thereby determining whether the current escape trigger condition for the snowplow is thick and hard snow or a crack / terrain protrusion / icicle.

[0055] Step S140: If not, continue to shovel snow at the target head-up height. After determining that the snow shoveling is completed, adjust the head-up height of the snow shoveling head to a height close to the ground.

[0056] It should be noted that the above-mentioned ground height can be the height at which the snowplow's snowplow head is close to the ground, that is, the height of the snowplow head from the ground is zero.

[0057] It should be noted that if the motor current of the snowplow is less than or equal to the preset threshold, the current escape trigger condition is a ground crack / terrain protrusion / icicle.

[0058] In a specific implementation, when the snowplow detects that its current position is in the first escape condition, it retreats a first preset distance and adjusts the head-up height of the snowplow to a target head-up height. While advancing the second preset distance, if the advance distance reaches a preset distance threshold, it determines whether the motor current is greater than the preset threshold. If not, the snowplow continues clearing snow at the target head-up height. After determining that snow clearing is complete, the head-up height of the snowplow is adjusted to ground level. Specifically, when the snowplow detects that its current position is in the escape trigger condition without a terrain record, it retreats 50cm, adjusts the head-up height of the snowplow to 3cm, and advances 65cm. When it advances 55cm, if the motor current is less than or equal to 17A, it indicates that the snowplow has passed the ground protrusion and escaped.

[0059] Furthermore, in this embodiment, the above step S130 includes:

[0060] Step S131: If yes, retreat the first preset distance based on the forward distance, and adjust the head height of the snow shovel head to a height close to the ground.

[0061] It should be noted that if the motor current of the snowplow is greater than the preset threshold, it means that the current escape trigger condition is thick and hard snow.

[0062] Step S132: Continue to move forward the second preset distance, and in the process of moving to the next snow shoveling position, keep the head height of the snow shoveling head close to the ground.

[0063] In a specific implementation, the snowplow will keep the head-up height of the snowplow head at ground level while heading to the next snow-plowing position; if the next snow-plowing position entered is a marked position recorded in the terrain, the ground level will be directly adjusted to the head-up height corresponding to the position recorded in the terrain; if the next snow-plowing position entered is a marked position recorded in the terrain, and when the position is passed at the head-up height recorded in the terrain, if it is determined that slipping has occurred, the preset escape action corresponding to the first escape trigger condition will be executed, including: retreating 50cm, adjusting the head-up height of the snowplow head to 3cm, and the snowplow moving forward 65cm. When moving forward to 55cm, if the current of the snowplow motor is greater than the preset threshold, it is determined that thick and hard snow is encountered, and the snowplow will continue to move forward to 65cm, and continue to retreat 50cm, adjust the head-up height of the snowplow head to ground level, and then move forward 65cm to remove the thick and hard snow and resume the normal automatic snow-plowing plan; if the next snow-plowing position entered is not a marked position recorded in the terrain, and it is determined that slipping has occurred, the preset escape action corresponding to the first escape trigger condition will continue to be executed, as described above.

[0064] Furthermore, in this embodiment, the escape trigger condition includes a second escape trigger condition, wherein the second escape trigger condition is that the snowplow slips after the snowplow performs the automatic snow shoveling operation for the first time or the marked position is manually opened. The preset escape action includes the following steps:

[0065] It should be noted that the second escape trigger condition mentioned above can be the behavior of the snowplow terrain recording, recording the position of the ground cracks / terrain protrusions / icicles and the corresponding snowplow head height.

[0066] Step S210: raising the head height of the snow shoveling head from the ground level according to a preset height interval.

[0067] It should be noted that the above-mentioned preset height interval can be a height interval for achieving height adjustment through the preset gear height of the snowplow. Specifically, the height interval adjusted from gear 1 (1 cm) to gear 2 (2 cm) is 1 cm.

[0068] Step S220: Determine whether the snowplow at the current position is slipping based on the positioning information of the snowplow.

[0069] Step S230: If yes, return to the step of adjusting the head-up height of the snow shoveling head according to the preset height interval until the head-up height of the snow shoveling head is adjusted to the upper limit value of the head-up height of the snow shoveling head, take the current position as the mark position, and record the mark position and the mark head-up height corresponding to the mark position.

[0070] Step S240: If not, the current position is used as the mark position, and the mark position and the mark head height corresponding to the mark position are recorded.

[0071] It should be noted that the above-mentioned marking position may be a position where the terrain (ground crack / terrain protrusion / icicle) needs to be recorded.

[0072] It should be understood that the above-mentioned marked head-up height can be the head-up height of the snowplow's snow-clearing head when the snowplow is in the process of getting out of trouble.

[0073] In a specific implementation, the marked position of the ground crack / terrain protrusion / icicle is recorded. In the subsequent escape process, the head height of the snow shovel head can be adjusted to the marked head height directly when walking to the position.

[0074] In this embodiment, if the marked head-up height is less than or equal to the preset head-up height, the snowplow moves a preset distance, lowering the snowplow head while moving, and restoring the head-up angle to the default angle. If the marked head-up height is greater than the preset head-up height, the snowplow moves two preset distances and then first determines whether the machine's current inclination angle is consistent with the default angle. If not, the head-up angle is restored to the default angle. If consistent, the snowplow continues to move a preset distance at the current head-up height and repeats the above determination of whether the angles are consistent. The preset travel distance can be any value between 20 and 40 centimeters, preferably 30 centimeters.

[0075] Furthermore, in this embodiment, the snow shoveling method further includes:

[0076] Step S40: When the snowplow runs to the marked position corresponding to the next snow shoveling position, the head-up height of the snowplow is adjusted to the marked head-up height.

[0077] It should be noted that, based on the first escape condition (terrain record), when the snowplow runs to the marked position corresponding to the next snow-clearing position, the head-up height of the snow-clearing head will be adjusted to the marked head-up height of the above record.

[0078] Furthermore, in this embodiment, the snow shoveling method further includes:

[0079] Step S250: When the snowplow automatically performs the snow shoveling operation for the first time, detect whether the motor current of the snowplow is greater than a preset threshold.

[0080] Step S260: If yes, the height of the snow shoveling head is adjusted to a height close to the ground for snow shoveling.

[0081] Step S270: Determine the next target location to perform snow shoveling operations.

[0082] In a specific implementation, when the snowplow automatically performs the snow shoveling operation for the first time, it is detected whether the motor current of the snowplow is greater than the preset threshold value. If the motor current of the snowplow is greater than the preset threshold value, it indicates that the snowplow is in a snow-eating state, and the head-up height of the snowplow head is adjusted to the height close to the ground for shoveling snow.

[0083] Furthermore, in this embodiment, the above step S10 includes:

[0084] Step S11: Determine the current position through positioning information, and judge whether the current position exceeds the boundary.

[0085] It should be noted that the positioning information may be longitude and latitude location information. The positioning information may be determined by integrating positioning with the snowplow's positioning sensor and RTK (RTK is a technology that uses GPS carrier phase observations for real-time dynamic relative positioning and is also a measurement device that can receive satellite signals for high-precision positioning). The positioning sensor may include an IMU and an odometer.

[0086] In a specific implementation, positioning information is obtained through a positioning sensor to determine the current position, and to determine whether the current position is within the preset route range. If it is within the preset route range, it has not exceeded the boundary; if it is not within the preset map, it has exceeded the boundary.

[0087] Step S12: If yes, obtain the historical coordinate position determined by the positioning information and return to the historical position corresponding to the historical coordinate position, and continue to perform the snow shoveling operation.

[0088] In a specific implementation, if the boundary is exceeded, that is, the travel path is exceeded, the coordinate position of the previous snow shoveling operation (historical coordinate position) is obtained, and the historical position corresponding to the historical coordinate position is returned to, and the snow shoveling operation is continued.

[0089] Furthermore, in this embodiment, the snow shoveling method further includes:

[0090] Step S50: When adjusting the head height of the snowplow, a target push rod value is determined based on the relationship between the push rod value and the head height of the snowplow.

[0091] It should be noted that the above-mentioned push rod can be a device for the snowplow to adjust the height of the snowplow head through the push rod, wherein different push rod values ​​correspond to different heights of the snowplow head.

[0092] Step S60: adjusting the current push rod value to the target push rod value to adjust the head-up height of the snow shoveling head.

[0093] In this embodiment, the maximum head height of the snowplow is 5 cm, at which point the push rod value is 0. The minimum head height is 0 cm, at which point the push rod value is 64. When the head height is 3 cm, the push rod value is 20. This shows that the head height is determined by controlling the push rod value of the snowplow, and the relationship between the push rod value and the head height is nonlinear (curved). The current push rod value is adjusted to the target push rod value to adjust the head height.

[0094] Refer to FIG4 , which is a structural block diagram of the first embodiment of the snow-clearing device of the present application.

[0095] As shown in FIG4 , the snow shoveling device proposed in the embodiment of the present application includes:

[0096] The detection module 100 is configured to execute a corresponding preset escape action when the snowplow detects that the current position is in an escape trigger condition, wherein the preset escape action includes: adjusting the head height of the snowplow's snow shoveling head at least once;

[0097] A judgment module 200 is used to judge whether the escape trigger condition is still met after completing the preset escape action;

[0098] The snow shoveling module 300 is used to determine the next snow shoveling location and perform the snow shoveling operation if the answer is no.

[0099] This embodiment, when a snowplow detects that its current position is in a triggering condition for escaping, executes a corresponding preset escaping action. The preset escaping action includes: adjusting the head height of the snowplow's snowplow at least once; after completing the preset escaping action, determining whether the triggering condition for escaping is still present; if not, determining the next snowplowing position and executing the snowplowing operation. This embodiment, by detecting the triggering condition for escaping, triggers the preset escaping action, and adjusts the head height of the snowplow to perform the escaping operation. This solves the existing technical problem of snowplows, when in trouble, retreating to escape by the original route, which increases the detour distance, thereby improving the snowplow's snow-clearing efficiency.

[0100] Other embodiments or specific implementation methods of the snow-clearing device of the present application can refer to the above-mentioned method embodiments and will not be repeated here.

[0101] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0102] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0103] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as read-only memory / random access memory, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0104] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for shoveling snow out of trouble, wherein: The method comprises: When the snowplow detects that the current position is in the escape trigger condition, the corresponding preset escape action is executed, and the preset escape action includes: adjusting the head height of the snowplow's snow shoveling head at least once; After completing the preset escape action, determining whether the escape trigger condition is still met; If not, the next snow shoveling position is determined and the snow shoveling operation is performed.

2. The snow shoveling method according to claim 1, wherein: The escape triggering condition includes a first escape triggering condition, wherein the first escape triggering condition is that the snowplow is slipping when it is not the first time for the snowplow to perform the automatic snow shoveling operation or the motor current of the snowplow is greater than a preset threshold; The preset escape action comprises the following steps: Retreating a first preset distance and adjusting the head-up height of the snow shoveling head to a target head-up height; Go forward a second preset distance and perform a snow shoveling operation; During the process of advancing the second preset distance, if the advancing distance reaches a preset distance threshold, determining whether the motor current is greater than a preset threshold; If not, continue to shovel snow at the target head-up height, and after determining that the snow shovel is completed, adjust the head-up height of the snow shovel head to the ground height.

3. The snow shoveling method according to claim 2, wherein: In the process of advancing the second preset distance, if the advancing distance reaches the preset distance threshold, after the step of determining whether the motor current is greater than the preset threshold, the method includes: If yes, retreat the first preset distance on the forward distance, and adjust the head height of the snow shovel head to the ground level; Continue to move forward the second preset distance, and in the process of moving to the next snow shoveling position, keep the head height of the snow shoveling head at a height close to the ground.

4. The snow shoveling method according to claim 1, wherein: The escape triggering condition includes a second escape triggering condition, wherein the second escape triggering condition is that the snowplow slips after the snowplow performs the automatic snow shoveling operation for the first time or the marked position is manually opened; The preset escape action also includes the following steps: The head-up height of the snow shovel head is adjusted from the ground level at preset height intervals; Determining whether the snowplow at the current position is slipping according to the positioning information of the snowplow; If yes, return to the step of raising the head height of the snow shoveling head according to the preset height interval until the head height of the snow shoveling head is adjusted to the upper limit of the head height of the snow shoveling head, take the current position as the marked position, and record the marked position and the marked head height corresponding to the marked position; If not, the current position is used as the mark position, and the mark position and the mark head height corresponding to the mark position are recorded.

5. The snow shoveling method according to any one of claims 1 to 4, wherein: The method further comprises: When the snowplow runs to the marked position corresponding to the next snow shoveling position, the head-up height of the snowplow is adjusted to the marked head-up height.

6. The snow shoveling method according to claim 1, wherein: The method further comprises: When the snowplow automatically performs a snow-shoveling operation for the first time, detecting whether the motor current of the snowplow is greater than a preset threshold; If yes, the head height of the snow shoveling head is adjusted to the ground height to shovel snow; Determine the next target location to perform snow shoveling operations.

7. The snow shoveling method according to any one of claims 1 to 4, wherein: After the step of executing a corresponding preset escape action when the snowplow detects that the current position is in an escape triggering condition, the method includes: Determine the current position through the positioning information, and judge whether the current position exceeds the boundary; If so, obtain the historical coordinate position determined by the positioning information and return to the historical position corresponding to the historical coordinate position, and continue to perform the snow shoveling operation.

8. The snow shoveling method according to claim 7, wherein: The positioning information is determined by fusion positioning of the snowplow's IMU, odometer and RTK.

9. The snow shoveling method according to any one of claims 1 to 4, wherein: The method further comprises: When adjusting the head height of the snowplow's snowplow head, a target push rod value is determined by the relationship between the push rod value and the head height of the snowplow head; The current push rod value is adjusted to the target push rod value to adjust the head-up height of the snow shovel head.

10. The snow shoveling method according to claim 9, wherein: Different head-up heights of the snow shovel head correspond to different push rod values.

11. A snow-clearing device, wherein: The device comprises: A detection module, configured to execute a corresponding preset escape action when the snowplow detects that the current position is in an escape trigger condition, wherein the preset escape action includes: adjusting the head height of the snowplow's snow shoveling head at least once; A judgment module, used for judging whether the escape triggering condition is still met after completing the preset escape action; The snow shoveling module is used to determine the next snow shoveling position and perform the snow shoveling operation if the answer is no.

12. The snow-removing device according to claim 11, wherein: The escape triggering condition in the detection module includes a first escape triggering condition, wherein the first escape triggering condition is that the snowplow is slipping when it is not the first time for the snowplow to perform the automatic snow shoveling operation or the motor current of the snowplow is greater than a preset threshold; The detection module is also used for: Retreating a first preset distance and adjusting the head-up height of the snow shoveling head to a target head-up height; Go forward a second preset distance and perform a snow shoveling operation; During the process of advancing the second preset distance, if the advancing distance reaches a preset distance threshold, determining whether the motor current is greater than a preset threshold; If not, continue to shovel snow at the target head-up height, and after determining that the snow shovel is completed, adjust the head-up height of the snow shovel head to the ground height.

13. The snow-removing device according to claim 12, wherein: The detection module is also used for: If yes, retreat the first preset distance on the forward distance, and adjust the head height of the snow shovel head to the ground level; Continue to move forward the second preset distance, and in the process of moving to the next snow shoveling position, keep the head height of the snow shoveling head at a height close to the ground.

14. The snow-removing device according to claim 12, wherein: The escape trigger condition in the detection module includes a second escape trigger condition, wherein the second escape trigger condition is that the snowplow slips after the snowplow performs the automatic snow shoveling operation for the first time or the marked position is manually opened; The detection module is also used for: The head-up height of the snow shovel head is adjusted from the ground level at preset height intervals; Determining whether the snowplow at the current position is slipping according to the positioning information of the snowplow; If yes, then return to the step of adjusting the head height of the snow shovel head according to the preset height interval. Step, until the head-up height of the snow shoveling head is adjusted to the upper limit of the head-up height of the snow shoveling head, the current position is used as the marked position, and the marked position and the marked head-up height corresponding to the marked position are recorded; If not, the current position is used as the mark position, and the mark position and the mark head height corresponding to the mark position are recorded.

15. The snow-removing device according to any one of claims 12 to 4, wherein: The device is also used for: When the snowplow runs to the marked position corresponding to the next snow shoveling position, the head-up height of the snowplow is adjusted to the marked head-up height.

16. A snowplow, wherein: The snowplow comprises: a snowplow head, a snowplow body and one or more controllers, wherein the snowplow head is detachably connected to the snowplow body, one or more controllers are arranged on the snowplow body, one or more controllers are used to control the snowplow head and the snowplow motor, and one or more controllers can run a snowplow escape program, wherein the snowplow escape program is configured to implement the following steps: When the snowplow detects that the current position is in the escape trigger condition, the corresponding preset escape action is executed, and the preset escape action includes: adjusting the head height of the snowplow's snow shoveling head at least once; After completing the preset escape action, determining whether the escape trigger condition is still met; If not, the next snow shoveling position is determined and the snow shoveling operation is performed.

17. The snowplow of claim 16, wherein: The escape triggering condition includes a first escape triggering condition, wherein the first escape triggering condition is that the snowplow is not performing the automatic snow shoveling operation for the first time or the motor current of the snowplow is greater than a preset threshold, and the snowplow is slipping, and the escape snow shoveling program is configured to further implement the following steps under the first escape triggering condition: Retreating a first preset distance and adjusting the head-up height of the snow shoveling head to a target head-up height; Go forward a second preset distance and perform a snow shoveling operation; During the process of advancing the second preset distance, if the advancing distance reaches a preset distance threshold, determining whether the motor current is greater than a preset threshold; If not, continue to shovel snow at the target head-up height, and after determining that the snow shovel is completed, adjust the head-up height of the snow shovel head to the ground height.

18. The snowplow of claim 17, wherein: The snow removal program is configured to further implement the following steps: If so, retreat the first preset distance on the forward distance and raise the snow shovel head Adjust the head height to ground level; Continue to move forward the second preset distance, and in the process of moving to the next snow shoveling position, keep the head height of the snow shoveling head at a height close to the ground.

19. The snowplow of claim 16, wherein: The escape triggering condition includes a second escape triggering condition, wherein the second escape triggering condition is that the snowplow slips after the snowplow performs the automatic snow shoveling operation for the first time or the marked position is manually opened, and the escape snow shoveling program is configured to further implement the following steps under the second escape triggering condition: The head-up height of the snow shovel head is adjusted from the ground level at preset height intervals; Determining whether the snowplow at the current position is slipping according to the positioning information of the snowplow; If yes, return to the step of raising the head height of the snow shoveling head according to the preset height interval until the head height of the snow shoveling head is adjusted to the upper limit of the head height of the snow shoveling head, take the current position as the marked position, and record the marked position and the marked head height corresponding to the marked position; If not, the current position is used as the mark position, and the mark position and the mark head height corresponding to the mark position are recorded.

20. The snowplow according to any one of claims 16 to 19, wherein: The snow removal program is configured to further implement the following steps: When the snowplow runs to the marked position corresponding to the next snow shoveling position, the head-up height of the snowplow is adjusted to the marked head-up height.

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