Smart snow removal method, snow removal robot and smart snow removal equipment

A snow removal robot, comprising:

• a traveling assembly, configured to travel along a planned path, wherein the planned path is determined by:
• generating a snow removal map by acquiring, based on GPS-RTK localization technology, latitude and longitude coordinates of a target snow throwing area, and latitude and longitude coordinates of a target snow removal area, wherein there is a common boundary between the target snow throwing area and the target snow removal area;
• obtaining girds of the snow removal map by performing grid processing on the snow removal map;
• taking a grid located in the target snow throwing area as a starting point, and assigning, based on a breadth-first search algorithm, to grids located in the target snow removal area potential energy values in a manner of spreading outward, wherein the potential energy values increase with the number of spread layers;
• and
• determining, based on the potential energy values of the grids located in the target snow removal area, a planned path for travelling grid by grid;
• a snow feeding assembly provided on the traveling assembly, wherein the snow feeding assembly is configured to collect snow on each arrived grid during a snow removal operation;
• and
• a snow throwing assembly provided on the traveling assembly and connected with the snow feeding assembly, wherein the snow throwing assembly is configured to throw the snow collected by the snow feeding assembly to a predetermined area during the snow removal operation.

A smart snow removal equipment, comprising:

• a memory, configured to store at least one instruction or at least one program;
• a controller connected with the memory, wherein the controller is configured to perform the at least one instruction or at least one program to:
• generate, based on GPS-RTK localization technology, a snow removal map of a target snow throwing area and a target snow removal area which have a common boundary;
• obtain, based on grid processing, grids of the snow removal map;
• take a grid located in the target snow throwing area as a starting point, and assign, based on a breadth-first search algorithm, to grids located in the target snow removal area potential energy values in a manner of spreading outward, wherein the potential energy values increase with the number of spread layers;
• and
• determine, based on the potential energy values of the grids located in the target snow removal area, a planned path for travelling grid by grid;
• a traveling assembly connected with the controller, wherein the traveling assembly is configured to travel, grid by grid, along the planned path from an uncleared grid whose potential energy value is currently the largest, until the traveling assembly travels to the target snow throwing area;
• and
• a snow removal assembly connected with the controller and the travelling assembly, wherein the snow removal assembly is configured to perform, under control of the controller, a snow removal operation on each grid where the traveling assembly arrives.