CN107905463A - One kind clears the snow robot control system(RCS) and its application method - Google Patents

One kind clears the snow robot control system(RCS) and its application method Download PDF

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Publication number
CN107905463A
CN107905463A CN201711215019.8A CN201711215019A CN107905463A CN 107905463 A CN107905463 A CN 107905463A CN 201711215019 A CN201711215019 A CN 201711215019A CN 107905463 A CN107905463 A CN 107905463A
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CN
China
Prior art keywords
heating
snow
component
inductor
temperature
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Pending
Application number
CN201711215019.8A
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Chinese (zh)
Inventor
计成志
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ANHUI HUANRUI ELECTROTHERMAL EQUIPMENT Co Ltd
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ANHUI HUANRUI ELECTROTHERMAL EQUIPMENT Co Ltd
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Priority to CN201711215019.8A priority Critical patent/CN107905463A/en
Publication of CN107905463A publication Critical patent/CN107905463A/en
Pending legal-status Critical Current

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Classifications

    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04DROOF COVERINGS; SKY-LIGHTS; GUTTERS; ROOF-WORKING TOOLS
    • E04D13/00Special arrangements or devices in connection with roof coverings; Protection against birds; Roof drainage ; Sky-lights
    • E04D13/10Snow traps ; Removing snow from roofs; Snow melters
    • E04D13/103De-icing devices or snow melters
    • HELECTRICITY
    • H05ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05BELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B1/00Details of electric heating devices
    • H05B1/02Automatic switching arrangements specially adapted to apparatus ; Control of heating devices
    • HELECTRICITY
    • H05ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05BELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B3/00Ohmic-resistance heating
    • H05B3/40Heating elements having the shape of rods or tubes
    • H05B3/42Heating elements having the shape of rods or tubes non-flexible
    • H05B3/44Heating elements having the shape of rods or tubes non-flexible heating conductor arranged within rods or tubes of insulating material
    • HELECTRICITY
    • H05ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05BELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B3/00Ohmic-resistance heating
    • H05B3/40Heating elements having the shape of rods or tubes
    • H05B3/54Heating elements having the shape of rods or tubes flexible
    • H05B3/56Heating cables
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02BCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B10/00Integration of renewable energy sources in buildings
    • Y02B10/20Solar thermal

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Buildings Adapted To Withstand Abnormal External Influences (AREA)

Abstract

The present invention discloses one kind and clears the snow robot control system(RCS) and its application method, the robot control system(RCS) that clears the snow includes inductive component, processing component and heating component, the inductive component, the heating component and the processing component data connection, the inductive component collects environmental data and the environmental data is uploaded to the processing component, and the processing component controls the working status of the heating component;The present invention is controlled the heating power of the heating component, is realized the intelligent control of snow melting ice-melt, reduce energy consumption, improve the service life of each equipment by the monitoring of the robot control system(RCS) to roof environment that clear the snow.

Description

One kind clears the snow robot control system(RCS) and its application method
Technical field
The present invention relates to outdoor full-automatic or Semiautomatic heating technology, and in particular to one kind clears the snow robot control system(RCS) and its use Method.
Background technology
When winter meets with heavy snowfall weather, a large amount of accumulated snow can be accumulated on the roof in house, thus bring following harm:Its One, under the pressure effect of a large amount of accumulated snow, roof is easy to cave in, and thus causes house damage and casualties.Second, For low-rise building, with the rise of temperature, a large amount of accumulated snow can slowly melt, and melt water is easy to freeze at eaves and shape Into ice piton, thereby result in ice piton and fall casualty accident.Third, for high-story house, with the rise of temperature, accumulated snow warm up type into Ice, and ice cube is easy to block pipeline, thus influences daily life.Therefore, in order to avoid above-mentioned harm, at present cleaning Roof accumulated snow is mainly by manually removing method and chemical thawing method.Artificial removing method is rooted out by manpower, cumbersome and time consuming and effect Rate is low, out-of-flatness due to roof and accumulated snow freeze after it is wet and slippery, make operating personnel when carrying out cleaning operation with compared with Big danger;And chemical thawing method easily causes such as steel bar corrosion, degrades thermal-insulating roof and environment since itself principle is limited The problem of negative effects such as pollution, generally existing efficiency of cleaning snow is low, functional reliability is poor, the feature of environmental protection is poor, the degree of automation is low.
In view of drawbacks described above, creator of the present invention obtains the present invention finally by prolonged research and practice.
The content of the invention
To solve above-mentioned technological deficiency, the technical solution adopted by the present invention is, there is provided one kind clears the snow robot control system(RCS), described The robot control system(RCS) that clears the snow includes inductive component, processing component and heating component, the inductive component, the heating component and the place Module data connection is managed, the inductive component collects environmental data and the environmental data is uploaded to the processing component, institute State the working status that processing component controls the heating component.
Preferably, the inductive component includes temperature inductor, humidity sensor and pressure inductor, the temperature sense Device, the humidity sensor and the pressure inductor and the processing component data connection.
Preferably, the inductive component further includes support plate, adjusts frame body, the temperature inductor, the humidity inductive Device and the pressure inductor are arranged in the support plate, and the adjusting frame body is connected with the support plate, the adjusting bracket Body is used to adjust the angle between the support plate and the roof.
Preferably, the adjusting frame body includes runner assembly, wobble component and support base, the support base is fixed on described On roof, the support base sets the first location hole group and the second location hole group, and the first location hole group and described second are determined Position hole group is formed by a pair of of the location hole being correspondingly arranged;The runner assembly includes rotating bar, and the rotating bar passes through described First location hole group positions, and the rotating bar can be rotated around first location hole;The wobble component includes oscillating rod, described Oscillating rod is positioned by the second location hole group, and the oscillating rod can be rotated around second location hole;The oscillating rod is consolidated It is scheduled in the support plate, the first STATEMENT OF FEDERALLY SPONSORED of the oscillating rod setting, the second STATEMENT OF FEDERALLY SPONSORED of the rotating bar setting, described first Moving part and second STATEMENT OF FEDERALLY SPONSORED are correspondingly arranged.
Preferably, the runner assembly sets motor, the motor is fixed with the rotating bar;The wobble component is set Resilient mounting, the resilient mounting cause the wobble component to have the ability for replying initial position.
Preferably, the temperature inductor includes the first inductor and the second inductor, the humidity sensor and described First inductor is arranged in the heating region of the heating component;Second inductor is arranged far from the heating component Heating region position.
Preferably, a kind of application method using the robot control system(RCS) that clears the snow, including step,
S1, the robot control system(RCS) that clears the snow collect external environment data;
S2, the robot control system(RCS) that clears the snow handle the external environment data and adjust the work of the heating component State.
Preferably, S1 is concretely comprised the following steps, the temperature data of the temperature inductor sensing, the humidity sensor sensing Humidity data, the pressure inductor sense compression data, the temperature inductor, the humidity sensor, the feeling of stress Answer device that data are uploaded to the processing component;First inductor senses the snow melt temperature of the heating component, described to melt Actual temperature of the temperature for the heating component heating region after heating component heating is avenged, the second inductor sensing is outer The actual ambient temperature that boundary is not heated by the heating component.
Preferably, S2 is concretely comprised the following steps, as the self-con-tained unit that clears the snow to the temperature measured by first inductor The processing of temperature value measured by value and second inductor, and survey of the humidity sensor to extraneous ambient humidity value Amount processing, adjusts the heating power of the heating component.
Preferably, the calculation formula of the heated in real-time power P of the heating component is
Wherein, PΔFor the rated power of the heating component;T1For the temperature of first inductor detection;T2To be described The temperature of second inductor detection;RH is the relative humidity of humidity sensor detection;RHΔFor the average phase in the snowy day external world To humidity, generally 81.8%;T is melt temperature.
Compared with the prior art the beneficial effects of the present invention are:1, the roof is controlled by the self-con-tained unit that clears the snow Complementary heating snow-melting device, the gutter autonomous type heating thawing apparatus, realize roof accumulated snow and gutter are frozen from Dynamicization processing, realizes the roof snow melting ice-melt of high efficiency low energy consumption;2, pass through the electric heating assembly and the solar components Synergistic effect, realize the low energy consumption complementary roof snow melt operation of the complementary heating snow-melting device in the roof;3, pass through institute Gutter autonomous type heating thawing apparatus is stated, realizes and the quick heating frozen in gutter is removed, avoids gutter and diversion pipe Block;4, by the monitoring of the self-con-tained unit to roof environment that clear the snow, control the complementary heating snow-melting device in the roof and The gutter autonomous type heats thawing apparatus heating power, realizes the intelligent control of snow melting ice-melt, reduces energy consumption, improves each The service life of equipment.
Brief description of the drawings
Fig. 1 is the functional schematic of the present invention;
Fig. 2 is the topology view of the complementary heating snow-melting device in the roof;
Fig. 3 is the topology view of the heating pipe;
Fig. 4 is the front view that the gutter autonomous type heats thawing apparatus;
Fig. 5 is the side view that the gutter autonomous type heats thawing apparatus;
Fig. 6 is the local connection view that the gutter autonomous type heats thawing apparatus;
Fig. 7 is the topology view of the Power Supply Assembly;
Fig. 8 is the functional schematic of the self-con-tained unit 3 that clears the snow;
Fig. 9 is the topology view of support frame as described above.
Digital representation in figure:
The complementary heating snow-melting device in 1- roofs;2- gutters autonomous type heats thawing apparatus;3- clears the snow self-con-tained unit;11- Solar heat-collection plate;12- stinger loops;13- heats cable;14- battery components;15- supervisor portions;16- looped pipelines portion;17- first Solenoid valve;18- second solenoid valves;21- moving assemblies;22- heating components;23- control assemblies;24- Power Supply Assemblies;31- senses Component;32- processing components;33- supporting racks;151- flow ducts;152- heating pipes;153- deformable members;154- heat-conducting plates; 211- tracks;212- moving carts;221- heating units;222- adjustment axis;223- fixed seats;224- regulating tanks;225- is adjusted Tooth;The first control pieces of 231-;The second control pieces of 232-;233- first gears;234- second gears;The 3rd gears of 235-;236- Fixed band;241- fixed parts;242- move portions;243- sealings;Sealing plate before 244-;Sealing plate after 245-;246- movable plates;331- Support plate;332- adjusts frame body;333- runner assemblies;334- wobble components;335- support bases.
Embodiment
Below in conjunction with attached drawing, the forgoing and additional technical features and advantages are described in more detail.
Embodiment one
Shown in Figure 1, Fig. 1 is the functional schematic of heated type snow-melting system in house of the present invention, the house heating Formula snow-melting system includes the complementary heating snow-melting device 1 in roof, gutter autonomous type heating thawing apparatus 2 and the self-con-tained unit 3 that clears the snow, The self-con-tained unit 3 that clears the snow heating snow-melting device 1 complementary with the roof, gutter autonomous type heating thawing apparatus 2 count According to connection;The complementary heating snow-melting device 1 in roof is arranged on housing roof, realizes the heating and melting to roofing accumulated snow, Avoid the accumulation of roof accumulated snow;The gutter autonomous type heating thawing apparatus 2 is arranged in house roof gutter, is realized to gutter The heating and melting that interior snow melt freezes, avoids the blocking of again freezing cause gutter and diversion pipe of the snow melt in gutter.
Embodiment two
Shown in Figure 2, Fig. 2 is the topology view of the complementary heating snow-melting device 1 in the roof, and the roof is complementary Formula heating snow-melting device 1 includes electric heating assembly and solar components, and the electric heating assembly and the solar components can be same When or heating operation is carried out to the roof accumulated snow respectively, realize the deicing or snow melting of roofing.
The solar components include solar heat-collection plate 11, stinger loop 12, are arranged on the solar heat-collection plate 11 In heat collecting pipeline and the stinger loop form closed circuit, is full of heat-conducting medium in the closed circuit, is closed for described Close the heat transfer in circuit;The solar components further include motor, and the motor is arranged on the stinger loop 12, described Motor is used for realization flowing of the heat-conducting medium in the closed circuit.
The electric heating assembly includes heating cable 13 and battery component 14, and the heating cable 13 is arranged on described detour In pipeline 12, the battery component 14 provides electric energy for the heating cable 13, passes through the electrified regulation of the heating cable 13 Effect realizes the heating to the heat-conducting medium, improves the temperature of the heat-conducting medium.
The battery component 14 includes solar panel and external power interface, and the solar panel is arranged on institute State at 11 position of solar heat-collection plate, the external power interface is connected with external circuitry.The battery component 14 and the electricity Machine, the heating cable 13 connect, and realize the power supply to the motor and the heating cable 13, while by controlling the electricity The electric power thus supplied of pond component 14 adjusts the power of the motor and the heating cable 13.
By the solar heat-collection plate 11 and the heating cable 13, it can be achieved that the heating to the heat medium is made With improving the temperature of the heat medium;Flowing of the heat medium in the closed circuit is realized by the motor, it is real The existing complementary heating snow-melting device 1 in roof operates the deicing or snow melting of integral roofing.
The stinger loop 12 includes supervisor portion 15 and looped pipeline portion 16, and the supervisor portion 15 connects shape with the looped pipeline portion 16 Into circulation loop.The supervisor portion 15 is arranged on the roofing, realizes the deicing or snow melting to the roofing;The looped pipeline portion 16 First solenoid valve 17 and second solenoid valve 18 are set, and the both ends of the heat collecting pipeline pass through first solenoid valve 17, institute respectively Second solenoid valve 18 is stated to connect with the looped pipeline portion 16;Pass through the control of first solenoid valve 17 and the second solenoid valve 18 The connection of the closed circuit or the circulation loop can be realized respectively.
The supervisor portion 15 includes some flow ducts 151 and some heating pipes 152, the flow duct 151 and institute To state heating pipe 152 and be disposed as straight tube, the flow duct 151 and the heating pipe 152 alternately connect at an angle, The flow duct 151 is preferably connected setting with the adjacent heating pipe 152 with 90 degree of angle, and to adjacent described plus The distance of hot channel 152 is equidistantly set, and the overall roofing deicing or snow melting is evenly heated easy to the supervisor portion 15 Control.
To ensure that the complementary heating snow-melting device 1 in roof effectively heats up the roof, the adjacent heating The distance between pipeline 152 L is calculated as according to formula
Wherein, TwFor the heat medium rated temperature;TvFor external environment mean temperature, δ is the heating pipe tube wall Thickness;τ is the tube wall heat conduction coefficient of the heating pipe;C1For the specific heat capacity of water;C2For accumulated snow specific heat capacity;T is melt temperature;ρ For density of snow, generally 0.2~0.25 gram/cc;ω is snow melting speed;L is the length of the heating pipe; μ is heat utilization ratio.
Since the complementary heating snow-melting device 1 in the roof only works in season in low temperature snow, therefore the external environment In the mean temperature detected by external environment when mean temperature avenges season for low temperature;The temperature of the heat medium is the heating The temperature that cable 13 is heated to reach to the heating-up temperature, it is related with the power of the heating cable 13, the heat medium Rated temperature under nominal power heats the heat medium for the heating cable 13 temperature of the heat medium arrival; The heat medium rated temperature, the external environment mean temperature and the melt temperature unit are K;The melt temperature T For the critical-temperature of snow melting, 275K is generally taken;The snow melting speed ensures the roof fast melt for user And set unit interval in roof entire area snow melting thickness, be setting value, be generally 8~10mm/h;Due to outer Boundary's temperature is relatively low, and the heat medium also has amount of heat to be dissipated in outside air in addition to heat transfer is carried out to the accumulated snow, Therefore the heat utilization ratio is actual heat using ratio with the heat medium total amount of heat transmission capacity, generally take 70%~ 80%, the more low Btu utilization rate score of ambient temperature is smaller.
When the tube wall heat conduction coefficient of the heating pipe 152 is higher, the heat passed out from the heat medium is more, The Snow Cover Area that the single heating pipe 152 can influence is bigger, and the distance between adjacent described heating pipe 152 can What is set is bigger;The snow melting speed is set faster, and the heat to be absorbed just needs to get in the accumulated snow unit interval More, the distance between adjacent described heating pipe 152 can set smaller.
The distance between the adjacent heating pipe 152 L is configured by the formula, it is complementary easy to the roof Typesetting before the installation of formula heating snow-melting device 1, sets the supervisor portion 15 and more optimizes;The adjacent heating pipe 152 at the same time The distance between the setting of L realize that the uniform heating overall to roof accumulated snow of the complementary heating snow-melting device 1 in the roof is melted, Improve the snow melt efficiency of the complementary heating snow-melting device 1 in the roof.
The heating cable 13 is arranged on inside the heating pipe 152.For the electric heating assembly, the heat conduction is situated between Matter is mainly heated in the heating pipe 152, and flowed by the flow duct 151 with expand the roofing by Hot area, to realize the heating to roofing entirety.Pass through the flow duct 151 being arranged alternately and the heating pipe 152 realize the supplement of heat, and satisfaction realizes the heat condition that roofing integrally heats up.
The heating cable 13, which is arranged in the heating pipe 152, avoids heating 13 flexural deformation of cable and outer The harmful effect of boundary's environment, avoids the heating cable from phenomena such as damaged electric leakage occur.
As shown in figure 3, Fig. 3 is the topology view of the heating pipe.The heating pipe 152 includes flowing lumen and heating Chamber, the heating cable 13 are arranged in the heating chamber, and the heat medium is arranged in the flowing lumen.The heating tube Road 152 further includes barrier assembly, and the flowing lumen and the heating chamber are mutually isolated by the barrier assembly.The isolation group Part includes deformable member 153 and symmetrically arranged a pair of of heat-conducting plate 154, and the heat-conducting plate 154 is connected by the deformable member 153 Connect, the heat-conducting plate 154 is fixed on the heating pipe inner wall, the heat-conducting plate 154 and the heating pipe inner wall, described Heat-conducting plate 154 and the sealing of 153 link position of the deformable member are close, avoid described in the heat medium from flowing lumen entrance In heating chamber.Since heating medium temperature change can cause volume to change, the stinger loop internal pressure is caused Change, the deformable member is made of flexibility heat-resisting material, and changing in the heat medium volume makes the adjusting circulation Cavity volume size, realizes the adjustment to the stinger loop internal pressure, avoids damaging caused by pressure change, described in increase The service life of the complementary heating snow-melting device in roof.
The looped pipeline portion 16 sets attemperator, avoids the heat medium that heat occurs when the looped pipeline portion 16 is flowed Loss.For the solar components, mainly by the solar heat-collection plate 11 to the heating in the heat collecting pipeline Medium is heated.If there is the situation of solar heat-collection plate 11 described in snow cover, the solar components can not normal work Make, the self-con-tained unit 3 that clears the snow electric heating assembly to the heat medium can heat in fact according to roofing temperature control The deicing or snow melting operation of the existing complementary heating snow-melting device 1 in roof;Set the looped pipeline portion 16 of the attemperator can Ensure that the heat medium still has higher temperature when flowing to the heat collecting pipeline, realize to the solar heat-collection plate The thawing of accumulated snow on 11, the solar components can be again introduced into normal operating conditions.
When extraneous intensity of illumination is more than a certain particular value, and the roofing snow melt temperature that the self-con-tained unit 3 that clears the snow detects Degree is when being more than ambient temperature, first solenoid valve 17 and the second solenoid valve 18 realize the closed circuit connect and institute The closing of circulation loop is stated, the solar components is entered working status;The self-con-tained unit 3 that clears the snow is according to the institute detected Roofing snow melt temperature and the ambient temperature are stated, the power of the electric heating assembly is adjusted, realizes the electrical heating group The complementation that part and the solar components heat the heat medium, ensures that there is the heat medium higher temperature to meet To the heating operation of the roofing.When the extraneous intensity of illumination is less than a certain particular value, first solenoid valve 17 and institute State second solenoid valve 18 and realize the closure of the closed circuit and connecting for the circulation loop, enter the electric heating assembly Working status, ensures that the complementary heating snow-melting device 1 in the roof completes deicing or snow melting operation, institute in cloudy snowy day gas or night Stating extraneous intensity of illumination can be detected by light-inductive device.
Embodiment three
Shown in Figure 4, Fig. 4 heats the front view of thawing apparatus 2, the gutter autonomous type for the gutter autonomous type Heating thawing apparatus 2 includes moving assembly 21, heating component 22, control assembly 23, and the control assembly 23 is arranged on the shifting On dynamic component 21, the moving assembly 21 is fixed in the roof gutter, and the heating component 22 passes through the control assembly 23 are connected with the moving assembly 21.
As shown in figure 5, Fig. 5 is the side view that the gutter autonomous type heats thawing apparatus 2.The control assembly 23 includes First control piece 231 and the second control piece 232, the moving assembly 21 include track 211, moving cart 212, the track 211 are arranged on the roof gutter madial wall, and the moving cart 212 passes through first control piece 231 and the track 211 are flexibly connected, and the heating component 22 is flexibly connected by second control piece 232 with the moving cart 212;It is described First control piece 231 controls the mobile status of the moving cart 212 and the track 211, and second control piece 232 controls The connection status of the heating component 22 and the moving cart 212.
First control piece 231 includes the first motor, connection unit, and the connection unit includes 233 He of first gear Rack on the track is set, and the gear and the rack are equipped with, first motor and the first gear 233 are fixedly connected, and control the rotary state of the gear to realize the first gear 233 and the rack by the motor Relative motion is so as to control the mobile status between the moving cart 212 and the track.
First control piece 231 further includes limited block, and the limited block sets card slot, and the track 211 sets latch, The card slot and the latch are correspondingly arranged, mating connection and the first gear by the card slot and the latch 233 and the rack mating connection enhancing described 212 and 211 connection status of the track stability.
As shown in fig. 6, Fig. 6 is the local connection view of gutter autonomous type heating thawing apparatus 2.Second control Part 232 includes the second motor, gear set, and the gear set includes being equipped with 234 and the 3rd gear 235 of second gear, described Second gear 234 is fixedly connected with second motor, and the 3rd gear 235 and the second gear 234 are connected, institute State heating component 22 to be fixed in the second gear 234, drive the second gear 234 to rotate by second motor, Cause the 3rd gear 235 to rotate and realize the change of 22 position of heating component.22 position of heating component The change specially heating component 22 rotates with the 3rd gear 235 states heating component 22 around the described 3rd to realize The swing of gear 235.
3rd gear 235 sets fixed band 236, and the fixed band 236 is arc platy structure, the fixation band 236 arc length account for 2/5 or so of the 235 circumference overall length of the 3rd gear, and the heating component 22 is fixed on the fixed band 236 On, ensure that the heating component 22 and the connection status of the 3rd gear 235 are stablized.The setting of the fixed band 236 is to institute The swing for stating heating component 22 has certain restriction effect, 22 angle rotatable of heating component is avoided in 180 ° The heating component 22 because rotational angle is excessive cause to collide with the moving cart 212 caused by accidental damage.
The heating component 22 includes adjustable elements and heating unit 221, and the heating unit 221 passes through the adjustable list First to be connected with the fixed band 236, the adjustable elements include adjustment axis 222 and a pair of symmetrically arranged fixed seat 223, described Fixed seat 223 is respectively provided with first through hole and the second through hole, and the distance of the first through hole to the fixed band 236 is less than described the Distance of two through holes to the fixed band 236.222 both ends of adjustment axis are threaded, and institute is passed through by the adjustment axis 222 The connection of the adjustment axis 222 and the fixed seat 223 is realized in the connection for stating first through hole and nut and the screw thread, is passed through The connection of the heating unit 221 and second through hole, is realized between the heating unit 221 and the fixed seat 223 It is flexibly connected, the heating unit 221 can be freely rotated around second through hole.222 center outer surface of adjustment axis is set Regulating tank 224, the heating unit 221 set adjustable side, and the adjustable side is arranged to arc-shaped, and the adjustable side includes adjusting Tooth 225, the regulating tank 224 and the adjusting tooth 225 are correspondingly arranged, and the adjusting tooth 225 is overall in the adjusting end surfaces Helically camber, the adjusting tooth 225 have certain gradient.By rotating the heating unit 221, it is single to adjust the heating Angle between member 221 and the moving cart 212, causes institute under the influence of the regulating tank 224 and the adjusting tooth 225 State adjustment axis 222 and displacement in axial direction occurs, the nut at 222 both ends of adjustment axis is tightened so as to the fixed adjusting Realize the stabilization of angle between the heating unit 221 and the moving cart 212 in 222 position of axis.
The existing roof gutter madial wall is generally vertically arranged, but also has part gutter to ensure that current smoothly converge In the gutter bottom, by the madial wall being obliquely installed by certain angle.To allow the heating unit 221 more preferable Heating and melting is carried out to ice and snow in the gutter, by adjusting angle between the heating unit 221 and the moving cart 212 So as to adjust angle and height between the heating unit 221 and the horizontal plane, easy to the heating unit 221 be in compared with Good applies effect position, and the effect position of preferably applying realizes that the heating unit 221 can have ice and snow in the gutter The heating and melting of effect, while avoid gutter heating unit 221 in water conservancy diversion from not soaking in water.
By setting 222 minimum length of adjustment axis, ensure effective displacement in 222 axial direction of adjustment axis, with Realize the adjusting of angle between the heating unit 221 and the moving cart 212, the 222 minimum length A's of adjustment axis sets Putting formula is
Wherein, α is the angle of inclination of the gutter madial wall;H is height of the adjustment axis to the gutter bottom;b For the length of the heating unit;π is pi;θ is gradient of the adjusting tooth in the adjusting end surfaces;C is described solid The distance between reservation;D is the diameter of the adjustment axis.
When the angle of inclination of the madial wall is smaller, the heating unit 221 and the moving cart 212 is caused vertically to set When putting, 221 endpoint of heating unit is more remote with a distance from the gutter bottom, and the heating unit 221 and the movement are small Adjusting angle needed between car 212 is bigger, and 222 minimum length of adjustment axis just needs bigger to ensure the adjustment angle The normal regulating of degree, the heating unit 221 normally can carry out heating and melting operation with the ice and snow inside the gutter.The tune The ratio of nodal axisn 222 to the height and the length of the heating unit 221 of the gutter bottom is bigger, illustrates the moving cart 212 setting height(from bottom)s are relatively got over away from the gutter bottom, need to ensure that the larger adjusting angle realizes that the heating unit 221 is normal Heating and melting operation.
The value of the 222 minimum length A of adjustment axis influences to adjust between the heating unit 221 and the moving cart 212 Angle is saved, the heating unit 221 and the moving cart 212 can be ensured by the setting of 222 minimum length of adjustment axis Between preferably adjust angle, realize the normal work of gutter autonomous type heating thawing apparatus.
The heating unit 221 includes seal pipe and heating tape, and the heating tape is arranged in the seal pipe, the tune Save one end that end sets the seal pipe;The seal pipe is hollow-core construction, and the heating tape is arranged in the hollow part, institute Stating hollow part has good leakproofness, has when avoiding the heating unit 221 from carrying out heating and melting to ice and snow in the gutter Water immerses the damage heating tape in the hollow part.The seal pipe material selection good heat conductivity, the stronger material of hardness, Material is preferably aluminium, ceramet etc., easy to transmit the heat that the heating tape produces, while avoids the heating tape by the external world Damage caused by mechanical collision, air corrosion etc..The seal pipe cross section is preferably arranged to diamond shape, easy to the heating unit 221 enter inside ice sheet, reduce resistance of the ice sheet to the seal pipe.
Gutter autonomous type heating thawing apparatus further includes Power Supply Assembly 24, the Power Supply Assembly 24 include storage battery and Charhing unit, the storage battery are arranged in the moving cart 212, and the storage battery is first motor, described second Motor, heating tape power supply.As shown in fig. 7, Fig. 7 is the topology view of the Power Supply Assembly.The charhing unit includes solid Determine portion 241, move portion 242 and sealing 243, the fixed part 241 is positive and negative two fixations being connected directly with external power supply Power port is connect, the move portion 242 is that positive and negative two movements being electrically connected with the storage battery connect power port, and the fixation connects power port Set on the track, the movement connects power port and is arranged in the moving cart 212, and the fixation connects power port and the shifting It is dynamic to connect power port and be correspondingly arranged.When the moving cart 212 is moved to fixed position, the fixation connects power port and the movement connects Power port connects, and the external power supply is connected with the storage battery, and the external power supply charges for the storage battery.The fixation connects When power port and the movement connect power port and be in not-connected status, the sealing 243 ensures that the fixation connects power port, the movement Connect power port and be in isolation with external environment, avoid the fixation from connecing power port, the movement connects the things such as power port contamination water, dust Matter causes situations such as short circuit or loose contact, influences the normal work of the gutter autonomous type heating thawing apparatus 2.
The sealing 243 includes preceding sealing plate 244, rear sealing plate 245, movable plate 246, the preceding sealing plate 244 and described Sealing plate 245 is each attached on the track and 212 bottom of moving cart, the movable plate 246 and the preceding sealing plate afterwards 244th, sealing plate 245 connects after described, be arranged on the movable plate 246 of the fixed part 241, the preceding sealing plate 244, it is described after Sealing plate 245 and the track form the first inner space of sealing, are arranged on the movable plate 246, the institute of the move portion 242 Sealing plate 244, the rear sealing plate 245 and the moving cart 212 form the second inner space of sealing before stating, and the fixation connects electricity Mouth is arranged in first inner space, and the movement connects power port and is arranged in second inner space.In described first It is respectively provided with flexible member in portion space and second inner space, the flexible member ensures that the fixation connects power port and described Movement connects power port and is in not-connected status, and first inner space and second inner space are in sealing state.
When the moving cart 212 is moved to designated position, the preceding sealing plate 244 of the fixed part 241 is arranged on The movable plate 246 that limitation is arranged on the move portion 242 continues to move to, and is arranged on the preceding envelope of the move portion 242 The movable plate 246 that the limitation of plate 244 is arranged on the fixed part 241 continues to move to, and realizes first inner space and institute The connection of the second inner space is stated, ensures effective connection that the fixation connects power port and the movement connects power port;And due to described Position relationship between preceding sealing plate 244 and the movable plate 246, the fixation connects power port and the movement connects power port and is in connection During state, the inner space after connection still keep with extraneous isolation, it is effective when realizing the battery state of charge Protection.
Example IV
Shown in Figure 8, Fig. 8 is the functional schematic of the self-con-tained unit 3 that clears the snow, and the self-con-tained unit 3 that clears the snow wraps Include inductive component 31 and processing component 32,32 data connection of the inductive component 31 and the processing component, the inductive component The environmental data is simultaneously uploaded to the processing component 32 by 31 collection environmental datas, and the processing component 32 controls the roof The working status of complementary heating snow-melting device 1, gutter autonomous type heating thawing apparatus 2.
The inductive component 31 includes temperature inductor, humidity sensor and pressure inductor, the temperature inductor sense The temperature data on the roof is answered, the humidity sensor senses the humidity data on the roof, the pressure inductor sensing The roof compression data, the processing component by the temperature data, the humidity data and the compression data into Row analysis, controls the complementary heating snow-melting device in the roof, the switch and work(of gutter autonomous type heating thawing apparatus Rate.
The inductive component 31 further includes supporting rack 33, as shown in figure 9, Fig. 9 is the topology view of support frame as described above.It is described Supporting rack 33 is used to the temperature inductor, the humidity sensor and the pressure inductor being fixed on the roof On, support frame as described above 33 includes support plate 331, adjusts frame body 332, the temperature inductor, the humidity sensor and described Pressure inductor is arranged in the support plate 331, and the adjusting frame body 332 and the support plate 331 connect, the adjusting bracket Body 332 is used to adjust angle between the support plate 331 and the roof, by the adjustment effect of the adjusting frame body 332, The support plate 331 is swung, abnormal stacking of the accumulated snow in the support plate 331 is avoided, increases the temperature sense The accuracy of device, the humidity sensor and pressure inductor detection data.
The adjusting frame body 332 includes runner assembly 333, wobble component 334 and support base 335, and the support base 335 is solid Be scheduled on the roof, the support base 335 sets the first location hole group and the second location hole group, the first location hole group and The second location hole group is formed by a pair of of the location hole being correspondingly arranged;The runner assembly 333 includes rotating bar, described turn Lever is positioned by the first location hole group, and the rotating bar can be rotated around first location hole;The wobble component 334 Including oscillating rod, the oscillating rod is positioned by the second location hole group, and the oscillating rod can turn around second location hole It is dynamic;The oscillating rod is fixed in the support plate, and the runner assembly 333 sets motor, the motor and the rotating bar Fixed, the oscillating rod sets the first STATEMENT OF FEDERALLY SPONSORED, and the rotating bar sets the second STATEMENT OF FEDERALLY SPONSORED, first STATEMENT OF FEDERALLY SPONSORED and described the Two STATEMENT OF FEDERALLY SPONSOREDs are correspondingly arranged, and the wobble component 334 sets resilient mounting, and the resilient mounting causes the wobble component 334 With the ability for replying initial position.
The rotating bar is driven to rotate by the motor, first STATEMENT OF FEDERALLY SPONSORED and second STATEMENT OF FEDERALLY SPONSORED contact, institute Stating the first STATEMENT OF FEDERALLY SPONSORED drives second STATEMENT OF FEDERALLY SPONSORED to cause the oscillating rod to rotate, when the rotating bar is rotated further, described the One STATEMENT OF FEDERALLY SPONSORED and second STATEMENT OF FEDERALLY SPONSORED are disconnected, and the resilient mounting causes the oscillating rod to return back to initial bit Put, so as to fulfill the swing of the support plate.
The temperature inductor includes first temperature inductor and the second temperature inductor, first temperature Inductor is arranged near the complementary heating snow-melting device 1 in the roof, i.e., described first temperature inductor is arranged on the room In the effective range for pushing up complementary heating snow-melting device heating snow melt effect, first temperature inductor is complementary with the roof The preferred distance of formula heating snow-melting device 1 is less than 0.1m, and first temperature inductor senses the complementary heating in the roof and melts The snow melt temperature of device 1 is avenged, the roof is complementary after the snow melt temperature heats for the complementary heating snow-melting device 1 in the roof The actual temperature of formula heating snow-melting device periphery external environment;It is complementary that the second temperature inductor is arranged far from the roof The position of formula heating snow-melting device 1, the second temperature inductor sensing are extraneous not by the complementary heating snow melt dress in the roof Put the actual ambient temperature of 1 heating;The humidity sensor is arranged on the complementary heating snow-melting device 1 in the roof and heats snow melt In effective range, the humidity sensor is used to sense the external environment under the influence of the complementary heating snow-melting device 1 in the roof Humidity change.
Accumulated snow weight in the support plate is tested by the pressure inductor, first temperature inductor and described the The snow melt temperature and ambient temperature of two temperature inductors sensing, when the weight reaches a particular value and the ambient temperature reaches During to a particular value, the processing component controls the complementary heating snow-melting device in roof and the gutter autonomous type heatingization Ice production apparatus is opened, and causes the complementary heating snow-melting device in the roof to carry out thawing removing to roof accumulated snow, the gutter is autonomous Formula heating thawing apparatus ensures that the flowing of snow-broth in the gutter is unobstructed;Generally when the roof, complementary heating snow-melting device is beaten After opening, due to the influence of the complementary heating snow-melting device in the roof, on the complementary heating snow-melting device periphery in the roof Roof snow melting, is difficult in the support plate produce substantial amounts of accumulated snow accumulation, the temperature inductor, the humidity sensor In external environment, exogenous data can be accurately sensed.When the accumulated snow weight of pressure inductor sensing is higher than a certain spy During definite value, illustrate there is the abnormal stacking of accumulated snow in the support plate, the processing component controls the adjusting frame body, makes the branch Fagging is swung, and is reduced accumulated snow in the support plate, is ensured the temperature inductor, the humidity sensor and the pressure sensitive Device detects the accuracy of data.
The temperature that the processing component 32 is sensed according to first temperature inductor and the second temperature inductor Changing value, and the humidity changing value that the humidity sensor senses, control complementary 1 He of heating snow-melting device in the roof The heating power of the gutter autonomous type heating thawing apparatus 2, ensures the complementary heating snow-melting device in the roof and the day Ditch autonomous type heats the working status of thawing apparatus normal table.
Embodiment five
A kind of application method using the house heated type snow-melting system, comprises the concrete steps that,
S1, the self-con-tained unit monitoring external environment data that clear the snow, and control the room by handling the environmental data Push up the switch of complementary heating snow-melting device and gutter autonomous type heating thawing apparatus;
S2, the self-con-tained unit that clears the snow control the roof is complementary to add by the processing to extraneous environmental change data The working status of hot device for melting snow and gutter autonomous type heating thawing apparatus, to adapt to continually changing external environment bar Part.
S1 is concretely comprised the following steps, and first temperature inductor and the second temperature sensor measurement ambient temperature, work as snow When condition is smaller, due to the snow melt effect that the solar components independently heat, the temperature measured by first temperature inductor Value T1 can be higher than the temperature value T2 measured by the second temperature inductor;When first temperature inductor and second temperature When the measurement temperature value T1 and T2 of degree inductor are respectively less than start-up temperature value T, the pressure inductor is opened, passes through the pressure Pressure is carried described in sensor measurement in support plate, when the carrying pressure F1, which exceedes, starts pressure value F, the processing component Perform fighting the electric heating assembly and the gutter autonomous type heating thawing apparatus.
The electric heating assembly is opened and the heat-conducting medium in the stinger loop is heated, and ensures the heat-conducting medium With higher temperature, the effective heat exchange overall to the roofing is realized in flowing of the heat-conducting medium in the closed circuit, Ensure snow melt effect of the complementary heating snow-melting device in the roof to roof accumulated snow.
The processing component opens the heating component and controls second control piece to cause the heating component from non- Operating position is rotated in operating position, and the off-position is for the heating component with the moving cart compared with the position being bonded Put, the operating position is in the position inside the gutter for the heating component, and the heating component is in the inoperative Position and the operating position are freely changed, and avoid accidental damage of the heating component in off working state, described in increase Gutter autonomous type heats the service life of thawing apparatus;After the heating component is moved to the operating position, described first Control piece controls the moving cart movement, causes the moving cart to be moved along the track, realizes the gutter autonomous type The heating and melting effect that heating thawing apparatus freezes accumulated snow in the gutter.
S2 is concretely comprised the following steps, as the self-con-tained unit that clears the snow to the temperature value T1 measured by first temperature inductor With the processing of the temperature value T2 measured by the second temperature inductor, and the humidity sensor is to extraneous ambient humidity value Measurement processing, adjust the complementary heating snow-melting device in the roof and the gutter autonomous type heating thawing apparatus heating work( The meter of the heated in real-time power P of rate, the complementary heating snow-melting device in roof and gutter autonomous type heating thawing apparatus Calculating formula is
Wherein, PΔFor the heating cable or the rated power of the heating tape;T1Examined for first temperature inductor The temperature of survey;T2For the temperature of second temperature inductor detection;RH is the relative humidity of humidity sensor detection; RHΔFor the average relative humidity in the snowy day external world, generally 81.8%;T is melt temperature.
The temperature of the first temperature inductor detection, the temperature of second temperature inductor detection and the thawing temperature Degree unit is K, and the melt temperature T is the critical-temperature of snow melting, generally takes 275K;The first temperature inductor detection Temperature be under the complementary heating snow-melting device heat effect in the roof snow melting region temperature, the second temperature The temperature of inductor detection is ambient temperature.When first temperature inductor detection temperature increase when, be usually because For the heated in real-time power it is excessive cause it is described heating cable or the heating tape quantity of heat production it is excessive, snowpack is less can not be complete Quantity of heat production described in hypersorption, need to be by reducing quantity of heat production described in the heated in real-time power adjusting, so that the roof is complementary Heating snow-melting device and gutter autonomous type heating thawing apparatus, which stablize the heating and melting of accumulated snow, to carry out.When
The self-con-tained unit that clears the snow melts according to the calculation formula heating complementary to the roof of the heated in real-time power P Snow device and gutter autonomous type heating thawing apparatus are controlled, and can be changed according to external environment has snow melting situation Effect monitoring is adjusted;The heating cable or the heating tape is avoided to be chronically at high-power operation state and cause service life Reduce, while ensure that the house heated type snow-melting system has higher deicing or snow melting efficiency, realize the house heated type The intelligence of snow-melting system.
The foregoing is merely presently preferred embodiments of the present invention, is merely illustrative for the purpose of the present invention, and non-limiting 's.Those skilled in the art understands, many changes can be carried out to it in the spirit and scope that the claims in the present invention are limited, Modification, in addition it is equivalent, but fall within protection scope of the present invention.

Claims (10)

  1. The robot control system(RCS) 1. one kind clears the snow, it is characterised in that including inductive component, processing component and heating component, the sense group Part, the heating component and the processing component data connection, the inductive component collect environmental data and by the environment numbers According to the processing component is uploaded to, the processing component controls the working status of the heating component.
  2. 2. the as claimed in claim 1 robot control system(RCS) that clears the snow, it is characterised in that the inductive component includes temperature inductor, wet Spend inductor and pressure inductor, the temperature inductor, the humidity sensor and the pressure inductor and the processing Module data connects.
  3. 3. the robot control system(RCS) as claimed in claim 2 that clears the snow, it is characterised in that the inductive component further includes support plate, adjusts Frame body, the temperature inductor, the humidity sensor and the pressure inductor are arranged in the support plate, the adjusting Frame body is connected with the support plate, and the frame body that adjusts is used to adjust the angle between the support plate and the roof.
  4. 4. the robot control system(RCS) as claimed in claim 3 that clears the snow, it is characterised in that the adjusting frame body includes runner assembly, swings Component and support base, the support base are fixed on the roof, and the support base sets the first location hole group and the second positioning Hole group, the first location hole group and the second location hole group are formed by a pair of of the location hole being correspondingly arranged;The rotation Component includes rotating bar, and the rotating bar is positioned by the first location hole group, and the rotating bar can be around the described first positioning Hole rotates;The wobble component includes oscillating rod, and the oscillating rod is positioned by the second location hole group, and the oscillating rod can Rotated around second location hole;The oscillating rod is fixed in the support plate, and the oscillating rod sets the first STATEMENT OF FEDERALLY SPONSORED, institute State rotating bar and the second STATEMENT OF FEDERALLY SPONSORED is set, first STATEMENT OF FEDERALLY SPONSORED and second STATEMENT OF FEDERALLY SPONSORED are correspondingly arranged.
  5. 5. the robot control system(RCS) as claimed in claim 4 that clears the snow, it is characterised in that the runner assembly sets motor, the motor Fixed with the rotating bar;The wobble component sets resilient mounting, and the resilient mounting causes the wobble component to have back The ability of multiple initial position.
  6. 6. the as claimed in claim 2 robot control system(RCS) that clears the snow, it is characterised in that the temperature inductor include the first inductor and Second inductor, the humidity sensor and first inductor are arranged in the heating region of the heating component;It is described Second inductor is arranged far from the position of the heating region of the heating component.
  7. The application method of robot control system(RCS) 7. a kind of 1 to 6 any one of them of usage right requirement clears the snow, it is characterised in that including Step,
    S1, the robot control system(RCS) that clears the snow collect external environment data;
    S2, the robot control system(RCS) that clears the snow handle the external environment data and adjust the work shape of the heating component State.
  8. 8. application method as claimed in claim 7, it is characterised in that S1 is concretely comprised the following steps, the temperature inductor sensing Temperature data, the humidity data of the humidity sensor sensing, the pressure inductor sense compression data, the temperature sense Data are uploaded to the processing component by device, the humidity sensor, the pressure inductor;First inductor senses institute The snow melt temperature of heating component is stated, the reality of the heating component heating region after the snow melt temperature heats for the heating component Border temperature, the extraneous actual ambient temperature not heated by the heating component of the second inductor sensing.
  9. 9. application method as claimed in claim 7, it is characterised in that S2 is concretely comprised the following steps, and passes through the self-con-tained unit that clears the snow Processing to the temperature value measured by first inductor and the temperature value measured by second inductor, and it is described wet Measurement processing of the inductor to extraneous ambient humidity value is spent, adjusts the heating power of the heating component.
  10. 10. application method as claimed in claim 9, it is characterised in that the calculating of the heated in real-time power P of the heating component Formula is
    <mrow> <mi>P</mi> <mo>=</mo> <mo>&amp;lsqb;</mo> <mn>0.8</mn> <mo>+</mo> <mfrac> <mrow> <mn>1.5</mn> <mi>T</mi> <mrow> <mo>(</mo> <mi>T</mi> <mo>-</mo> <msub> <mi>T</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> </mrow> <mrow> <msub> <mi>T</mi> <mn>1</mn> </msub> <msub> <mi>T</mi> <mn>2</mn> </msub> </mrow> </mfrac> <mo>+</mo> <mroot> <mfrac> <mrow> <mi>R</mi> <mi>H</mi> <mo>-</mo> <msub> <mi>RH</mi> <mi>&amp;Delta;</mi> </msub> </mrow> <mrow> <mi>R</mi> <mi>H</mi> </mrow> </mfrac> <mn>3</mn> </mroot> <mo>&amp;rsqb;</mo> <msub> <mi>P</mi> <mi>&amp;Delta;</mi> </msub> </mrow>
    Wherein, PΔFor the rated power of the heating component;T1For the temperature of first inductor detection;T2For described second The temperature of inductor detection;RH is the relative humidity of humidity sensor detection;RHΔFor the average relatively wet of the snowy day external world Degree, generally 81.8%;T is melt temperature.
CN201711215019.8A 2017-11-28 2017-11-28 One kind clears the snow robot control system(RCS) and its application method Pending CN107905463A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110274195A (en) * 2019-07-23 2019-09-24 苏州中科先进技术研究院有限公司 Low power-consumption intelligent traffic indicates floor tile
CN112616199A (en) * 2020-12-01 2021-04-06 上海数捷电气有限公司 Constant temperature type position measurement sensor
CN117188856A (en) * 2023-10-13 2023-12-08 赛尔特建筑科技(广东)有限公司 Prestressed aluminum alloy tent with automatic environment adjusting function and adjusting method thereof

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JP2005226440A (en) * 2003-12-07 2005-08-25 Takashi Takahashi Method of melting snow with water sprinkling
CN105019331A (en) * 2015-08-03 2015-11-04 科莱斯(天津)电热科技有限公司 Intelligent electric induction snow and ice melting system
CN106638225A (en) * 2017-01-16 2017-05-10 上海耶伦电热技术合伙企业(普通合伙) Snow melting and deicing system

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JP2005226440A (en) * 2003-12-07 2005-08-25 Takashi Takahashi Method of melting snow with water sprinkling
CN105019331A (en) * 2015-08-03 2015-11-04 科莱斯(天津)电热科技有限公司 Intelligent electric induction snow and ice melting system
CN106638225A (en) * 2017-01-16 2017-05-10 上海耶伦电热技术合伙企业(普通合伙) Snow melting and deicing system

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Publication number Priority date Publication date Assignee Title
CN110274195A (en) * 2019-07-23 2019-09-24 苏州中科先进技术研究院有限公司 Low power-consumption intelligent traffic indicates floor tile
CN112616199A (en) * 2020-12-01 2021-04-06 上海数捷电气有限公司 Constant temperature type position measurement sensor
CN117188856A (en) * 2023-10-13 2023-12-08 赛尔特建筑科技(广东)有限公司 Prestressed aluminum alloy tent with automatic environment adjusting function and adjusting method thereof
CN117188856B (en) * 2023-10-13 2024-05-10 赛尔特建筑科技(广东)有限公司 Prestressed aluminum alloy tent with automatic environment adjusting function and adjusting method thereof

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Application publication date: 20180413