CN108460954B - Freezing disaster monitoring, early warning and forecasting method - Google Patents
Freezing disaster monitoring, early warning and forecasting method Download PDFInfo
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- CN108460954B CN108460954B CN201810303456.3A CN201810303456A CN108460954B CN 108460954 B CN108460954 B CN 108460954B CN 201810303456 A CN201810303456 A CN 201810303456A CN 108460954 B CN108460954 B CN 108460954B
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- snow
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B19/00—Alarms responsive to two or more different undesired or abnormal conditions, e.g. burglary and fire, abnormal temperature and abnormal rate of flow
- G08B19/02—Alarm responsive to formation or anticipated formation of ice
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H5/00—Removing snow or ice from roads or like surfaces; Grading or roughening snow or ice
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H5/00—Removing snow or ice from roads or like surfaces; Grading or roughening snow or ice
- E01H5/10—Removing snow or ice from roads or like surfaces; Grading or roughening snow or ice by application of heat for melting snow or ice, whether cleared or not, combined or not with clearing or removing mud or water, e.g. burners for melting in situ, heated clearing instruments; Cleaning snow by blowing or suction only
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H5/00—Removing snow or ice from roads or like surfaces; Grading or roughening snow or ice
- E01H5/12—Apparatus or implements specially adapted for breaking, disintegrating, or loosening layers of ice or hard snow with or without clearing or removing ; Roughening ice or hard snow by means of tools
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
- G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
- G08B25/10—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium using wireless transmission systems
Abstract
The invention discloses a method for monitoring, early warning and forecasting freezing disasters, which comprises the steps that a plurality of ice and snow monitoring terminals are arranged on roads and bridges, and if the ice and snow monitoring terminals monitor that ice and snow quantity exceeds a preset value, the ice and snow monitoring terminals send an alarm to a monitoring server; and after receiving the alarm, the monitoring server clears ice and snow by automatically starting the heating ice melting device or dispatches an ice removing vehicle to a site for ice removal, wherein the dispatching is manually dispatched by monitoring personnel or automatically dispatched by the monitoring server. The method for monitoring, early warning and forecasting the freezing disaster has obvious deicing effect and is easy to implement.
Description
Technical Field
The invention relates to a freezing disaster monitoring, early warning and forecasting method.
Background
When a freezing disaster occurs, the accumulated snow and the ice layer on the road surface easily cause serious traffic delay, even paralysis of the traffic, and meanwhile, the phenomenon of frequent traffic accidents is also easily caused. Particularly, on a part of road surfaces or bridges with slopes, the wheels can slip due to ice and snow, and therefore the smooth and easy traffic is seriously affected.
Therefore, there is a need to design a method for monitoring, early warning and forecasting freezing disaster.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a freezing disaster monitoring, early warning and forecasting method which has an obvious deicing effect and is easy to implement.
The technical solution of the invention is as follows:
a method for monitoring, early warning and forecasting freezing disasters is characterized in that a plurality of ice and snow monitoring terminals are arranged on roads and bridges, and if the ice and snow monitoring terminals monitor that ice and snow quantity exceeds a preset value, the ice and snow monitoring terminals send an alarm to a monitoring server; and after receiving the alarm, the monitoring server clears ice and snow by automatically starting the heating ice melting device or dispatches an ice removing vehicle to a site for ice removal, wherein the dispatching is manually dispatched by monitoring personnel or automatically dispatched by the monitoring server.
A freezing disaster monitoring and early warning forecasting system is adopted to carry out freezing disaster monitoring and early warning forecasting;
the monitoring, early warning and forecasting system for the freezing disaster comprises a monitoring server, a plurality of ice and snow monitoring terminals and at least one deicing vehicle;
the ice and snow monitoring terminal is provided with an ice and snow sensing device for detecting ice and snow, a positioning module for positioning the ice and snow monitoring terminal and a wireless communication module for communicating with the monitoring server; the ice and snow monitoring terminal is in wireless communication connection with the monitoring server;
the deicing vehicle is used for removing ice and snow on a road, a positioning module and a deicing device are arranged on the deicing vehicle, and the deicing vehicle is in wireless communication connection with the monitoring server;
the ice and snow sensing device comprises a base (16), a receiving disc (19), a lifting column (13), a gear (17) and a code disc (the code disc outputs pulses, and the lifting amount of the lifting column can be measured by counting the pulses) which is arranged on the gear and synchronously rotates along with the gear
The upper end of the lifting column is connected with the bottom of the bearing disc; the bearing plate is horizontally arranged; the lower end of the lifting column is inserted into a blind hole in the base, and a pressure spring (15) is arranged at the bottom of the blind hole; a rack (18) matched with the gear is arranged on the lifting column; the gear is arranged on the base, and when the lifting column is lifted, the energy band driven gear rotates.
The edge of the carrying disc is provided with a convex edge, and the convex edge is provided with a notch. (the convex edge is convenient for receiving ice and snow, but the existence of the gap can avoid the water storage of the receiving disc. Or, the receiving disc is a square disc, only 2-3 convex edges are arranged, and the gap is formed by 1 to 2 edges without the convex edge.)
Or the bearing plate is provided with through holes which are the same up and down and used for avoiding water accumulation on the plate surface.
The ice breaking is implemented by adopting a mechanical ice breaking mode;
the deicing vehicle is provided with an ice breaking device and an ice discharging device; the ice discharging device is positioned behind the ice breaking device; the ice breaking device is used for breaking an ice layer on the road surface by impact force; the ice discharging device is used for conveying crushed ice to the side of a road or collecting the crushed ice into a box body of the deicing vehicle.
The ice breaking device comprises a hydraulic cylinder (6), a piston rod (7), an ice breaking seat (8) and a plurality of impact heads (9);
the hydraulic cylinder is fixed at the bottom of the ice breaking vehicle, the upper end of the piston rod is connected with the hydraulic cylinder, the lower end of the piston rod is connected with the ice breaking seat, and the plurality of impact heads are arranged at the bottom of the ice breaking seat;
the hydraulic cylinder drives the ice breaking seat to lift through a piston rod;
the impact head is arranged in a guide channel in the impact seat, an electromagnet (12) is arranged in the ice breaking seat and is positioned at the upper end of the guide channel, a convex edge is arranged at the tail end of the impact head, and a limiting step matched with the convex edge is arranged in the guide channel and is used for preventing the impact head from integrally falling off from the guide channel;
the guide channel is also provided with a tension spring (10) for resetting the impact head, the upper end of the tension spring props against the convex edge, and the lower end of the tension spring is fixed at the opening of the guide channel;
an impulse type driving circuit is arranged in the ice breaking seat and used for driving the impact head to realize impact action.
The pulse type driving circuit can adjust the frequency and the current intensity of the pulse, so that the impact frequency and the impact force of the impact head are adjusted, and the frequency or the current intensity of the pulse is adjusted according to the thickness of the ice layer.
The vehicle bottom, the air cylinder or the bottom of the impact seat are provided with a light source and a camera for monitoring impact operation, the light source (the light source is preferably an LED lamp) and the camera are connected with a main control MCU on the ice breaking vehicle, and real-time video monitoring of the ice breaking operation process is realized.
The ice discharging mode is any one of the following 2 modes:
(1) the ice discharging device is a compressed gas ice blowing device which is provided with one or more inclined air nozzles and blows ice and snow to the roadside by the sprayed compressed gas;
(2) the ice discharging device is a rotary cleaning head, the rotary cleaning heads are respectively arranged on the left and the right, and are used for cleaning ice and snow to the middle of the road surface and collecting the ice and snow, the collected ice and snow are shoveled into the conveying channel through a rotary shovel (a plurality of shovels are arranged on the roller wheels and shovel the ice and snow into the conveying channel continuously), and finally the broken ice and snow are collected into a collecting box of the ice breaking vehicle. The conveying channel is a spiral conveying channel.
And a heating and ice melting device is arranged on the bridge or the road.
Preferably, the heating ice melting device is connected with the battery, and the battery is charged through commercial power or solar energy or air cooling.
The deicing vehicle is an unmanned vehicle and is driven by a battery; a wireless charging device is arranged in the fixed area and used for automatically charging the unmanned vehicle;
the wireless charging device comprises a supporting platform arranged in the concave part and a transmitting coil arranged on the supporting platform;
the supporting platform comprises a bottom layer movable platform, an upper layer movable platform and a lifting mechanism for connecting the bottom layer movable platform and the upper layer movable platform; a longitudinal translation mechanism is arranged on the bottom layer movable platform; the upper layer movable platform is provided with a transverse translation mechanism.
The lifting mechanism is a cylinder type lifting mechanism or a scissor type lifting mechanism. The cylinder type lifting mechanism is a push rod type driving mechanism, such as a pneumatic cylinder or a hydraulic cylinder.
The longitudinal translation mechanism comprises a guide rail arranged at the bottom of the concave part and a first rack rail;
the number of the guide rails is 2; the rack rail is one, and the rack rail and the guide rail are arranged in parallel;
a plurality of travelling wheels capable of rolling on the guide rails are arranged at the bottom of the bottom layer movable platform; the number of the walking wheels is 4, and one side of the walking wheels is 2.
The front end of the bottom layer movable platform is provided with a first motor; a rotating shaft of the first motor is provided with a gear, and the gear is meshed with the first rack rail; when the first motor rotates, the bottom movable platform can be driven to longitudinally translate along the first rack rail.
The transverse translation mechanism comprises a second rack rail and a second motor; the second rack rail is transversely arranged, and the left end or the right end of the upper movable platform of the second motor is arranged; and a gear meshed with the second rack rail is arranged on a rotating shaft of the second motor, and when the second motor rotates, the upper movable platform can be driven to transversely (leftwards and rightwards) translate along the second rack rail.
Coded disks are arranged on rotating shafts of the first motor and the second motor and used for detecting the number of turns of the rotation of the motors, so that the displacement of the platform in advancing can be converted;
an electric movable cover plate is arranged at the opening of the depressed part. The electric driving means motor driving or electric signal control hydraulic cylinder or air cylinder driving.
The number of the movable cover plates is 2, a push rod for driving the movable cover plates is arranged in the concave part, and the upper ends of the push rods are connected with the ground of the movable cover plates;
the opening of the depressed part is also provided with a pressure-proof mechanism, and when the movable cover plate is unfolded, the pressure-proof mechanism can support the movable cover plate.
The pressure-proof mechanism is in a square frame shape.
Adopt the position of pneumatic cylinder regulation crushing head, increase the flexibility. The pressure regulating mechanism is arranged to control the pulse voltage intensity so as to regulate the crushing strength. For thicker ice layers, strength is increased. In addition, a camera and a light source are provided. And monitoring the deicing effect in real time.
When the ice and snow vehicle is used for discharging ice:
(1) the crushed ice is discharged to both sides using compressed air,
(2) or the crushed ice is collected by the spiral conveying mechanism and then is discharged to one side or two sides.
(3) Or collected in a hopper and then transported to a fixed treatment site along with a vehicle.
Has the advantages that:
the method for monitoring, early warning and forecasting the freezing disaster can realize the detection of the ice and snow disaster and the removal of the ice and snow; specifically, the method comprises the following steps:
(1) the ice and snow parameters are collected through an ice and snow sensing device;
the ice and snow sensing device receives ice and snow through the receiving disc, the weight of the ice and snow is measured through the action of the lifting column and the spring, and the quantification of the weight of the ice and snow is realized through the gear and rack mechanism and the code disc, so that the ice and snow sensing device is easy to implement.
(2) The device is provided with a unique impact type ice breaking mechanism;
the height of the ice breaking seat can be adjusted through the oil cylinder, and ice breaking efficiency is improved. In addition, the frequency and the intensity of the pulse are controlled to adjust the impact frequency and the impact intensity, and the ice breaking effect is good.
(3) The ice and snow removing device has multiple modes;
the ice and snow collecting device has a compressed gas deicing mode, collects ice and snow in a mode of adopting the rotary cleaning head, the conveying channel and the collecting box, and is good in flexibility.
(4) Monitoring image acquisition based on an aircraft;
the aircraft flies according to a preset flight route or is controlled by a background operator to fly, so that images or videos are collected.
(5) And (5) controlling charging.
When the aircraft and the deicing vehicle are on the charging platform, the wireless charging device is started to wirelessly charge the aircraft and the deicing vehicle.
In conclusion, the freezing disaster monitoring, early warning and forecasting method has rich functions, is easy to implement, can execute the tasks of ice and snow disaster detection and ice and snow breaking and removal, and has good flexibility.
Drawings
FIG. 1 is a diagram of the overall architecture of the system;
FIG. 2 is a schematic view of the ice removing vehicle;
FIG. 3 is a schematic structural view of an ice breaking device;
FIG. 4 is a schematic structural view of an ice breaking seat and an impact head;
FIG. 5 is a schematic structural diagram of an ice and snow sensor;
fig. 6 is a schematic view (side view) of the general structure of the wireless charging system for the automobile;
fig. 7 is a schematic general structural diagram (top view) of a wireless charging system for an automobile;
FIG. 8 is a schematic view of the cover plate when closed;
FIG. 9 is a schematic view of the cover plate when raised;
FIG. 10 is a schematic structural view of a press-proof frame;
FIG. 11 is a schematic diagram of a dimming circuit;
FIG. 12 is a schematic diagram of a constant current charging;
FIG. 13 is an electrical schematic block diagram of a wireless charging system for an automobile;
FIG. 14 is a schematic view of the general structure of the multi-purpose aircraft (water tank not shown);
fig. 15 is a schematic structural view (top view) of a quad-rotor telescopic boom and rotors;
fig. 16 is a schematic structural view of an aircraft with a quad-rotor telescopic boom (bottom view, with sub-rotor, pan and tilt head, camera, etc. not shown);
fig. 17 is a schematic view showing the positional relationship of the main rotor and the auxiliary rotor;
FIG. 18 is an exploded view of the telescoping boom;
FIG. 19 is a schematic view of the assembled telescopic boom;
FIG. 20 is a schematic view of the latch;
FIG. 21 is a schematic structural view of a leg;
FIG. 22 is a schematic view of a composite lens and a camera;
fig. 23 is a schematic structural view of a hexagram-shaped spider and rotor.
Description of reference numerals: 1-deicing vehicle, 2-icebreaking device, 3-deicing device, 4-rotary type cleaning head, 5-ice scraper, 6-hydraulic cylinder, 7-piston rod, 8-icebreaking seat, 9-impact head, 10-tension spring, 11-impact head guide channel, 12-electromagnet, 13-lifting column, 14-guide hole, 15-pressure spring, 16-base, 17-gear, 18-rack and 19-bearing disc.
21-outer arm, 22-inner arm, 23-main rotor, 24-jack, 25-lock catch; 26-auxiliary rotor, 27-ducted fan mount, 28-leg, 29-chassis, 30-beam, 31-cross, 32-cradle; 33-a pan-tilt head; 51-shell, 52-pin, 53-barb, 511-shell, 512-pressing block, 513-pressing spring; 70-on-board camera, 71-sub-lens, 72-compound lens, 73-rotating shaft, 74-light reflection sheet, 75-photoelectric emitting and receiving device, 76-CCD sensor, 77-fuselage; 81-upper leg, 82-spring, 83-guide bar, 84-lower leg, 85-sleeve, 86-foot nail, 87-grommet.
201-a concave part, 202-a bottom movable platform, 203-a first motor, 204-a limit switch, 205-a guide rail, 206-a first rack rail, 207-a second driving gear, 208-a coded disc, 209-a walking wheel, 210-a lifting platform, 211-a second rack rail, 212-a lead, 213-a power-on plug, 214-a transmitting coil, 215-a scissor type lifting mechanism, 216-an upper movable platform, 217-a push rod, 218-a pressure-proof frame and 219-a movable cover plate.
Detailed Description
The invention will be described in further detail below with reference to the following figures and specific examples:
example 1: referring to fig. 1-5, a method for monitoring, early warning and forecasting freezing disasters is characterized in that a plurality of ice and snow monitoring terminals are arranged at roads and bridges, and if the ice and snow monitoring terminals monitor that ice and snow amount exceeds a preset value, the ice and snow monitoring terminals send an alarm to a monitoring server; and after receiving the alarm, the monitoring server clears ice and snow by automatically starting the heating ice melting device or dispatches an ice removing vehicle to a site for ice removal, wherein the dispatching is manually dispatched by monitoring personnel or automatically dispatched by the monitoring server.
A freezing disaster monitoring and early warning forecasting system is adopted to carry out freezing disaster monitoring and early warning forecasting;
the monitoring, early warning and forecasting system for the freezing disaster comprises a monitoring server, a plurality of ice and snow monitoring terminals and at least one deicing vehicle;
the ice and snow monitoring terminal is provided with an ice and snow sensing device for detecting ice and snow, a positioning module for positioning the ice and snow monitoring terminal and a wireless communication module for communicating with the monitoring server; the ice and snow monitoring terminal is in wireless communication connection with the monitoring server;
the deicing vehicle is used for removing ice and snow on a road, a positioning module and a deicing device are arranged on the deicing vehicle, and the deicing vehicle is in wireless communication connection with the monitoring server;
the ice and snow sensing device comprises a base 16, a receiving disc 19, a lifting column 13, a gear 17 and a code disc which is arranged on the gear and synchronously rotates along with the gear (the code disc outputs pulses, and the lifting amount of the lifting column can be measured by counting the pulses)
The upper end of the lifting column is connected with the bottom of the bearing disc; the bearing plate is horizontally arranged; the lower end of the lifting column is inserted into a blind hole in the base, and a pressure spring 15 is arranged at the bottom of the blind hole; a rack 18 matched with the gear is arranged on the lifting column; the gear is arranged on the base, and when the lifting column is lifted, the energy band driven gear rotates.
The edge of the carrying disc is provided with a convex edge, and the convex edge is provided with a notch. The convex edge is convenient for receiving ice and snow, but the existence of the notch can avoid receiving water stored in the tray. Or the bearing plate is a square plate and only has 2-3 convex edges, and the positions of 1 to 2 edges have no convex edges, thereby playing the role of a notch.
Or the bearing plate is provided with through holes which are the same up and down and used for avoiding water accumulation on the plate surface.
The ice breaking is implemented by adopting a mechanical ice breaking mode;
the deicing vehicle is provided with an ice breaking device and an ice discharging device; the ice discharging device is positioned behind the ice breaking device; the ice breaking device is used for breaking an ice layer on the road surface by impact force; the ice discharging device is used for conveying crushed ice to the side of a road or collecting the crushed ice into a box body of the deicing vehicle.
The ice breaking device comprises a hydraulic cylinder 6, a piston rod 7, an ice breaking seat 8 and a plurality of impact heads 9;
the hydraulic cylinder is fixed at the bottom of the ice breaking vehicle, the upper end of the piston rod is connected with the hydraulic cylinder, the lower end of the piston rod is connected with the ice breaking seat, and the plurality of impact heads are arranged at the bottom of the ice breaking seat;
the hydraulic cylinder drives the ice breaking seat to lift through a piston rod;
the impact head is arranged in a guide channel in the impact seat, the ice breaking seat is internally provided with an electromagnet 12, the electromagnet is positioned at the upper end of the guide channel, the tail end of the impact head is provided with a convex edge, and the guide channel is internally provided with a limiting step matched with the convex edge for preventing the impact head from integrally falling off from the guide channel;
the guide channel is also provided with a tension spring 10 for resetting the impact head, the upper end of the tension spring props against the convex edge, and the lower end of the tension spring is fixed at the opening of the guide channel;
an impulse type driving circuit is arranged in the ice breaking seat and used for driving the impact head to realize impact action.
The pulse type driving circuit can adjust the frequency and the current intensity of the pulse, so that the impact frequency and the impact force of the impact head are adjusted, and the frequency or the current intensity of the pulse is adjusted according to the thickness of the ice layer.
The vehicle bottom, the air cylinder or the bottom of the impact seat are provided with a light source and a camera for monitoring impact operation, the light source (the light source is preferably an LED lamp) and the camera are connected with a main control MCU on the ice breaking vehicle, and real-time video monitoring of the ice breaking operation process is realized.
The ice discharging mode is any one of the following 2 modes:
(1) the ice discharging device is a compressed gas ice blowing device which is provided with one or more inclined air nozzles and blows ice and snow to the roadside by the sprayed compressed gas;
(2) the ice discharging device is a rotary cleaning head, the rotary cleaning heads are respectively arranged on the left and the right, and are used for cleaning ice and snow to the middle of the road surface and collecting the ice and snow, the collected ice and snow are shoveled into the conveying channel through a rotary shovel (a plurality of shovels are arranged on the roller wheels and shovel the ice and snow into the conveying channel continuously), and finally the broken ice and snow are collected into a collecting box of the ice breaking vehicle. The conveying channel is a spiral conveying channel.
And a heating and ice melting device is arranged on the bridge or the road.
Preferably, the heating ice melting device is connected with the battery, and the battery is charged through commercial power or solar energy or air cooling.
The deicing vehicle is an unmanned vehicle and is driven by a battery; a wireless charging device is arranged in the fixed area and used for automatically charging the unmanned vehicle;
and in the deicing process, the deicing effect is monitored through the video of the unmanned aerial vehicle.
The deicing vehicle is also provided with a salt sprinkling device.
The method comprises the following steps that a plurality of ice and snow monitoring terminals are arranged on roads and bridges, and if the ice and snow monitoring terminals monitor that the ice and snow amount exceeds a preset value, the ice and snow monitoring terminals send an alarm to a monitoring server; and after receiving the alarm, the monitoring server clears ice and snow by automatically starting the heating ice melting device or dispatches an ice removing vehicle to a site for ice removal, wherein the dispatching is manually dispatched by monitoring personnel or automatically dispatched by the monitoring server.
The vehicle-mounted platform is driven by a gasoline engine, a diesel engine or a power battery. The power lithium battery drive of preferred new forms of energy, more environmental protection, as preferred, on-vehicle platform is autopilot platform.
A positioning module (such as a GPS or Beidou module) and a wireless communication module are arranged on the vehicle-mounted platform; the wireless communication module is a PPRS (personal computer system), a 3G, a 4G or a 5G communication module, and the vehicle-mounted platform is in communication connection with a remote control platform or a remote control terminal (such as a PC (personal computer), a notebook computer, a tablet computer and the like) through the wireless communication module. Remote monitoring can be realized, and water spraying can be remotely controlled.
The vehicle-mounted platform is provided with a power lithium battery and a charging module, the charging module is matched with the charging pile, or the charging module is a wireless charging module; the wireless charging module is matched with a wireless charging system arranged on the ground.
The vehicle-mounted platform can realize automatic driving and automatic path planning. The water level state and the like are automatically detected, water is automatically supplemented, and automatic charging is realized.
As shown in fig. 6-10, the wireless charging module includes a supporting platform disposed in the recess 201 and a transmitting coil 214 disposed on the supporting platform;
the supporting platform comprises a bottom layer movable platform 202, an upper layer movable platform 216 and a lifting mechanism for connecting the bottom layer movable platform and the upper layer movable platform; a longitudinal translation mechanism is arranged on the bottom layer movable platform; the upper layer movable platform is provided with a transverse translation mechanism.
The lifting mechanism is a cylinder type lifting mechanism or a scissor type lifting mechanism 215. The cylinder type lifting mechanism is a push rod type driving mechanism, such as a pneumatic cylinder or a hydraulic cylinder.
The longitudinal translation mechanism comprises a guide rail 205 and a first rack rail 206 arranged at the bottom of the recess;
the number of the guide rails is 2; the rack rail is one, and the rack rail and the guide rail are arranged in parallel;
a plurality of travelling wheels 209 capable of rolling on the guide rails are arranged at the bottom of the bottom layer movable platform; the number of the walking wheels is 4, and one side of the walking wheels is 2.
The front end of the bottom layer movable platform is provided with a first motor 203; a gear 207 is arranged on a rotating shaft of the first motor, and the gear is meshed with the first rack rail; when the first motor rotates, the bottom layer movable platform can be driven to longitudinally (front and back) translate along the first rack rail.
The transverse translation mechanism comprises a second rack rail 211 and a second motor; the second rack rail is transversely arranged, and the left end or the right end of the upper movable platform of the second motor is arranged; and a gear meshed with the second rack rail is arranged on a rotating shaft of the second motor, and when the second motor rotates, the upper movable platform can be driven to transversely (leftwards and rightwards) translate along the second rack rail.
The rotating shafts of the first motor and the second motor are both provided with a code disc 208. The code wheel is used for detecting the number of turns of the motor rotation, so that the displacement of the platform in advancing can be converted.
An electrically movable cover 219 is provided at the opening of the recess. The electric driving means motor driving or electric signal control hydraulic cylinder or air cylinder driving.
The movable cover plate is 2, a push rod for driving the movable cover plate is arranged in the concave part, and the upper end of the push rod is connected with the movable cover plate ground.
The opening of the depressed part is also provided with a pressure-proof mechanism 210, and when the movable cover plate is unfolded, the pressure-proof mechanism can support the movable cover plate.
The pressure-proof mechanism is in a square frame shape. Stainless steel or cast iron is adopted, and the strength is high.
The wireless charging system for the automobile further comprises a control unit, wherein the control unit comprises an MCU, and the transverse translation mechanism and the longitudinal translation mechanism are controlled by the MCU; the MCU is also connected with a communication module.
The wireless charging system of the automobile is arranged on the parking space, an electric control parking space lock controlled by the MCU is also arranged on the wireless charging system of the automobile, and the wireless charging system of the automobile is combined with the shared parking space; the mobile cover plate is provided with an identification code used for interacting with the mobile phone, the identification code is a two-dimensional code or a bar code or a character string, and the intelligent mobile phone can be associated with the parking spot lock and the parking spot by scanning the code or inputting the character string; and the charging data is fed back to the mobile phone, so that the parking and charging are jointly charged.
The communication module is used for being connected with a remote server and also used for being communicated with an automobile based on Bluetooth or wifi or being controlled by a mobile phone (such as a mobile phone APP).
In addition, the limit switch and the code disc output signals to the MCU;
the first motor and the second motor are both stepping motors.
The first rack rail is located between the 2 rails.
The rear end of the bottom layer movable platform is provided with a limit switch 204; the front end of the motor is provided with a limit switch 204. The limit switch acts to indicate that the front or the rear is in place, and the motor stops rotating, so that the safe operation of the whole equipment is guaranteed.
The bottom movable platform is provided with a lead with a connecting plug 213. The wire is used for connecting and obtaining commercial power, thereby supplying power for the transmitting coil.
The bottom layer movable platform is also provided with an MCU and a single-phase bridge type rectification and inversion circuit; the single-phase bridge type rectification and inversion circuit comprises a rectifier bridge and an inverter bridge, wherein the rectifier bridge adopts 4 power diodes, the inverter adopts 4 IGBTs, the connection mode is the existing mature technology, and the G pole of the IGBT is controlled by the pulse sent by the MCU. The input side of the rectifier bridge is connected with the commercial power, and the output side of the rectifier bridge is connected with the transmitting coil through the inverter; the rectifier bridge is used for changing alternating current into direct current, and the inverter is used for changing direct current into alternating current of different frequencies, changes the frequency in order to improve charge efficiency.
The display screen is arranged in the concave part, is connected with the MCU and is used for field debugging and displaying field state data in real time.
And the automobile end is provided with a constant-current charging circuit for efficiently charging the lithium battery.
An inductor for inducing the automobile above is arranged at the opening of the concave part, such as an ultrasonic or photoelectric sensor; and the automatic charging is realized.
The charging system also comprises a brightness adjusting circuit for adjusting the brightness of the display screen (the display screen is positioned in the cab of the vehicle-mounted platform); as shown in fig. 11, the brightness adjusting circuit includes an MCU, a LED string, a triode, a potentiometer Rx and an a/D converter; the triode is an NPN type triode; a knob switch is arranged above a fixing frame of the display screen and is coaxially connected with the potentiometer Rx;
the potentiometer Rx and the first resistor R1 are connected in series to form a voltage division branch, one end of the voltage division branch is connected with the positive electrode Vcc of the power supply, and the other end of the voltage division branch is grounded; the connection point of the potentiometer Rx and the first resistor R1 is connected with the input end of the A/D converter; the output end of the A/D converter is connected with the data input port of the MCU;
the LED lamp string comprises a plurality of LED lamps which are connected in series; the anode of the LED lamp string is connected with the anode Vcc of the power supply; the negative electrode of the LED lamp string is connected with the C electrode of the triode, and the E electrode of the triode is grounded through a second resistor R2; the B pole of the triode is connected with the output end of the MCU. The power supply positive pole Vcc is 5V, and the A/D converter is an 8-bit serial output type converter.
As shown in fig. 12, the constant current charging circuit includes a constant voltage driving chip and a current feedback circuit;
(1) the voltage output end of the constant voltage driving chip is a positive output end VOUT + of the constant current charging circuit; the negative output end of the constant voltage driving chip is grounded;
the constant voltage driving chip is powered by a direct current voltage power supply end VIN + and VIN-;
(2) the current feedback circuit comprises resistors R1, R2 and R5 and a reference voltage end VREF +;
the reference voltage end VREF + is grounded through resistors R1, R2 and R5 which are sequentially connected in series;
the connecting point of the resistor R5 and the resistor R2 is a negative output end VOUT < - >;
the connection point of the resistors R1 and R2 is connected with the feedback terminal FB of the constant voltage driving chip.
The constant current charging circuit also comprises a voltage feedback circuit;
the voltage feedback circuit comprises resistors R3 and R4 and a diode D1;
the resistors R3 and R4 are connected in series and then connected between the positive output end VOUT + of the constant current charging circuit and the ground; the connection point of the resistors R3 and R4 is connected with the anode of the diode D1; the cathode of the diode D1 is connected to the feedback terminal FB of the constant voltage driving chip.
Description of the working principle:
the stable reference power supply is used as a reference voltage, and the voltage which is equal to the voltage FB is obtained by dividing the voltage by R1, R2 and R5, so that the internal PWM of the DCDC IC is adjusted by the voltage FB to control the magnitude of the output current. For example, when the output current becomes larger, the voltage across the sampling resistor R5 will increase, and since VRFE + is a fixed value, the FB voltage becomes larger, FB becomes larger, the duty cycle will decrease, and the output current decreases, thereby completing a complete feedback to achieve the purpose of stabilizing the current output.
Referring to fig. 14-22, a multifunctional aerial vehicle comprises a support frame 32, a rotor, a base plate 29, a pan-tilt 33, legs 28, and a camera 70;
the rotor and the holder are arranged on the bracket;
the bottom plate is fixed at the bottom of the bracket; the camera is arranged on the holder;
the supporting legs are fixed at the bottom of the bottom plate;
the camera includes a body 77 and a compound lens 72; a CCD sensor 76 is arranged in the machine body, and a photoelectric transmitting and receiving device 75 for lens alignment is arranged on the machine body;
the composite lens is provided with a rotating shaft 73; 4 sub-lenses 71 are integrated in the compound lens; the sub-lenses are uniformly arranged along the circumferential direction of the composite lens; the rear end of the composite lens is also provided with a light reflection sheet 74 matched with the photoelectric transmitting and receiving device; a stepping motor for driving the lens to rotate is further arranged in the machine body. The photoelectric transmitting and receiving device and the light reflection sheet can be a plurality of sets, preferably 2 sets, are axially symmetrical, have better alignment effect, and only after the 2 sets of photoelectric transmitting and receiving device and the light reflection sheet are aligned, the lens is considered to be aligned with the CCD sensor, so that the alignment precision is higher.
4 support legs are vertically arranged, and a horizontal cross beam is arranged between every two adjacent support legs; the legs include an upper leg 81, a lower leg 84 and a foot peg 86; the lower end of the upper leg is provided with a guide groove; the upper end of the lower leg is provided with a guide rod 83; the guide rod is inserted in the guide groove; a spring 82 is arranged in the guide groove; the spring is arranged between the top wall (the inner wall at the innermost end) of the guide groove and the top end of the guide rod; the lower end of the lower leg is provided with a foot peg 86. The outer wall of the lower end part of the lower supporting leg is provided with an external thread; the lower end of the lower supporting leg is sleeved with a sleeve 85 with internal threads, and the lower end of the sleeve is provided with a backing ring 87. The chassis is also provided with a gyroscope and a wireless communication module. The gyroscope is used for navigation, and the wireless communication module is used for receiving an instruction of the remote controller and transmitting shot pictures and video information to the ground receiving end equipment. The bracket is a cross cantilever bracket consisting of 4 telescopic cantilevers with the same structure; each telescopic boom comprises an outer arm 21 and an inner arm 22; the inner end part of the outer arm is connected with the outer end part of the inner arm through a lock catch 25; the lock catch is provided with a pin 52 with a barb 53; the number of the lock catches is multiple; a plurality of groups of jacks 24 for pins to pass through are arranged at the inner end of the outer arm and the outer end of the inner arm; each group of jacks comprises at least 2 jacks; the rotor comprises a main rotor and an auxiliary rotor; the outer end part of the outer arm is provided with a main rotor 23 and an auxiliary cantilever 26; the main rotor and the auxiliary cantilever are coaxially arranged, the main rotor is positioned above the outer arm, and the auxiliary rotor is positioned below the outer arm; the diameter of the main rotor wing is larger than that of the auxiliary rotor wing; the auxiliary rotor wing is a ducted fan and is fixed at the bottom of the outer arm through a ducted fan fixing part 7; the lock catch has a housing 51; the shell comprises an outer shell 511, a pressing block 512 and a pressure spring 513; the number of the pins is 2; the pins are fixed on the outer shell; the pressing block is positioned in the outer shell and sleeved on the 2 pins; the pressing block can move along the pin; a pressure spring is arranged between the pressing block and the pin, and the pressure spring is sleeved at the root of the pin. The inner end of the outer arm is provided with 2 groups of jacks for the pins to pass through; each group of jacks on the outer arm comprises 2 jacks; the number of the lock catches is 2; 4 groups of jacks for the pins to pass through are arranged at the outer end part of the inner arm at equal intervals; each set of jacks on the inner arm includes 2 jacks. The ratio of the diameter of the auxiliary rotor to the diameter of the main rotor is 0.2-0.35; preferred values are 0.25 and 0.3. The backing ring is made of rubber, and the foot nails are made of stainless steel.
Another aircraft is shown in fig. 23, in which the support is a hexagonal star-shaped support composed of 6 transverse struts with the same length; each angular position of the hexagonal star-shaped support is provided with a rotor wing. The rotor comprises a main rotor and an auxiliary rotor;
the outer end part of the outer arm is provided with a main rotor 23 and an auxiliary cantilever 26; the main rotor and the auxiliary cantilever are coaxially arranged, the main rotor is positioned above the outer arm, and the auxiliary rotor is positioned below the outer arm; the diameter of the main rotor wing is larger than that of the auxiliary rotor wing; the auxiliary rotor is a ducted fan and is fixed to the bottom of the outer arm by a ducted fan fixing member 27. Furthermore, each cross position of the hexagram-shaped support is provided with a rotor wing, and the cross position is a position corresponding to X cross formed by the adjacent transverse struts; such an aircraft would have 12 or 12 sets of rotors. The ratio of the diameter of the auxiliary rotor to the diameter of the main rotor is 0.25 or 0.3.
The aircraft has the following outstanding characteristics:
the aircraft camera adopts a switched composite lens of a self-lens, 4 lenses with different focal lengths are integrated in the composite lens and are used for shooting pictures with different visual angles on a target object, and the flexibility is good; the photoelectric transmitting and receiving device arranged on the camera and the light reflection sheet arranged on the lens are used for aligning the sub-lens with the CCD sensor, the combined type lens is driven by the stepping motor, the alignment precision is high, and the sub-lens is convenient to switch. The camera has the excellent quality of a fixed focus head and also has the flexibility of changing the focal length, so the camera has good practicability.
Adopting a hexagonal star-shaped rotor wing; the novel hexagram-shaped support is adopted, the stability of the support is good, each rotor wing is located at an angular position, each angular position is located at a vertex of a triangle and is supported by 2 supporting rods, and due to the stability of the triangle, the vertex cannot have any offset or drift in flight, so that the support has great stability advantages relative to a regular hexagon support or a cross-shaped support or other supports. In addition, the arrangement mode of 6 rotors has better aerodynamic configuration than the arrangement mode of 2-4 rotors, and in conclusion, the six-rotor aircraft has ingenious structure and good stability.
Claims (1)
1. A method for monitoring, early warning and forecasting freezing disasters is characterized in that a plurality of ice and snow monitoring terminals are arranged on roads and bridges, and if the ice and snow monitoring terminals monitor that ice and snow quantity exceeds a preset value, the ice and snow monitoring terminals send an alarm to a monitoring server; after receiving the alarm, the monitoring server removes ice and snow by automatically starting the heating ice melting device or dispatches an ice removing vehicle to a site for ice removal, wherein the dispatching is manually dispatched by monitoring personnel or automatically dispatched by the monitoring server;
a freezing disaster monitoring and early warning forecasting system is adopted to carry out freezing disaster monitoring and early warning forecasting;
the freezing disaster monitoring, early warning and forecasting system comprises a monitoring server, a plurality of ice and snow monitoring terminals and at least one deicing vehicle;
the ice and snow monitoring terminal is provided with an ice and snow sensing device for detecting ice and snow, a first positioning module for positioning the ice and snow monitoring terminal and a wireless communication module for communicating with the monitoring server; the ice and snow monitoring terminal is in wireless communication connection with the monitoring server;
the deicing vehicle is used for removing ice and snow on a road, a second positioning module and a deicing device are arranged on the deicing vehicle, and the deicing vehicle is in wireless communication connection with the monitoring server;
the ice and snow sensing device comprises a base (16), a receiving disc (19), a lifting column (13), a first gear (17) and a first coded disc which is arranged on the first gear and synchronously rotates along with the first gear;
the upper end of the lifting column is connected with the bottom of the bearing disc; the bearing plate is horizontally arranged; the lower end of the lifting column is inserted into a blind hole in the base, and a pressure spring (15) is arranged at the bottom of the blind hole; a rack (18) matched with the first gear is arranged on the lifting column; the first gear is arranged on the base, and the lifting column can drive the first gear to rotate when lifting;
the edge of the carrying disc is provided with a first convex edge, and the first convex edge is provided with a notch;
the ice breaking is implemented by adopting a mechanical ice breaking mode;
the deicing vehicle is provided with an ice breaking device and an ice discharging device; the ice discharging device is positioned behind the ice breaking device; the ice breaking device is used for breaking an ice layer on the road surface by impact force; the ice discharging device is used for conveying crushed ice to the side edge of a road or collecting the crushed ice into a box body of the deicing vehicle;
the ice breaking device comprises a hydraulic cylinder (6), a piston rod (7), an ice breaking seat (8) and a plurality of impact heads (9);
the hydraulic cylinder is fixed at the bottom of the ice breaking vehicle, the upper end of the piston rod is connected with the hydraulic cylinder, the lower end of the piston rod is connected with the ice breaking seat, and the plurality of impact heads are arranged at the bottom of the ice breaking seat;
the hydraulic cylinder drives the ice breaking seat to lift through a piston rod;
the impact head is arranged in a guide channel in the impact seat, an electromagnet (12) is arranged in the ice breaking seat and is positioned at the upper end of the guide channel, a second convex edge is arranged at the tail end of the impact head, and a limiting step matched with the second convex edge is arranged in the guide channel and is used for preventing the impact head from integrally falling off from the guide channel;
the guide channel is also provided with a tension spring (10) for resetting the impact head, the upper end of the tension spring props against the second convex edge, and the lower end of the tension spring is fixed at the opening of the guide channel;
an impulse type driving circuit is arranged in the ice breaking seat and used for driving the impact head to realize impact action;
the pulse type driving circuit can adjust the frequency and the current intensity of the pulse, so as to adjust the impact frequency and the impact force of the impact head, and adjust the frequency or the current intensity of the pulse according to the thickness of the ice layer;
a light source and a camera for monitoring impact operation are arranged at the bottom of the vehicle bottom, the hydraulic cylinder or the impact seat, and the light source and the camera are connected with a main control MCU on the ice breaking vehicle, so that real-time video monitoring of the ice breaking operation process is realized;
the ice discharging mode is any one of the following two modes:
the ice discharging device is a compressed gas ice blowing device which is provided with one or more inclined air nozzles and blows ice and snow to the roadside by the sprayed compressed gas;
or the ice discharging device is a rotary cleaning head, the rotary cleaning heads are respectively arranged on the left and the right, and are used for cleaning ice and snow to the middle part of the road surface to gather together, then shoveling the gathered ice and snow into the conveying channel through the rotary shovel, and finally collecting the broken ice and snow into the collecting box of the ice breaking vehicle;
a heating ice melting device is arranged on the bridge or the road;
the deicing vehicle is an unmanned vehicle and is driven by a battery; a wireless charging device is arranged in the fixed area and used for automatically charging the unmanned vehicle;
the wireless charging device comprises a supporting platform arranged in the concave part and a transmitting coil arranged on the supporting platform;
the supporting platform comprises a bottom layer movable platform, an upper layer movable platform and a lifting mechanism for connecting the bottom layer movable platform and the upper layer movable platform; a longitudinal translation mechanism is arranged on the bottom layer movable platform; a transverse translation mechanism is arranged on the upper movable platform;
the lifting mechanism is a cylinder type lifting mechanism or a scissor type lifting mechanism, the cylinder type lifting mechanism is a push rod type driving mechanism and is driven by a pneumatic cylinder or a hydraulic cylinder;
the longitudinal translation mechanism comprises a guide rail arranged at the bottom of the concave part and a first rack rail;
the number of the guide rails is two; the first rack rail is one, and the first rack rail and the guide rail are arranged in parallel;
a plurality of travelling wheels capable of rolling on the guide rails are arranged at the bottom of the bottom layer movable platform; the number of the walking wheels is four, and one side of the walking wheels is two;
the front end of the bottom layer movable platform is provided with a first motor; a rotating shaft of the first motor is provided with a second gear, and the second gear is meshed with the first rack rail; when the first motor rotates, the bottom layer movable platform can be driven to longitudinally translate along the first rack rail;
the transverse translation mechanism comprises a second rack rail and a second motor; the second rack rail is transversely arranged, and the second motor is arranged at the left end or the right end of the upper-layer movable platform; a third gear meshed with the second rack rail is arranged on a rotating shaft of the second motor, and the upper movable platform can be driven to transversely translate along the second rack rail when the second motor rotates;
a second coded disc and a third coded disc are arranged on rotating shafts of the first motor and the second motor, and are used for detecting the rotating turns of the first motor and the second motor, so that the moving displacement of the bottom layer movable platform and the upper layer movable platform can be converted;
an electric movable cover plate is arranged at the opening of the concave part; the electric driving means motor driving, or electric signal control hydraulic cylinder or air cylinder driving;
the number of the movable cover plates is two, a push rod for driving the movable cover plates is arranged in the concave part, and the upper ends of the push rods are connected with the ground of the movable cover plates;
the opening of the depressed part is also provided with a pressure-proof mechanism, and when the movable cover plate is unfolded, the pressure-proof mechanism can support the movable cover plate;
the pressure-proof mechanism is in a square frame shape;
the deicing vehicle is provided with a constant current charging circuit which is used for efficiently charging the lithium battery, wherein the constant current charging circuit comprises a constant voltage driving chip and a current feedback circuit;
the voltage output end of the constant voltage driving chip is a positive output end VOUT + of the constant current charging circuit; the negative output end of the constant voltage driving chip is grounded;
the constant voltage driving chip is powered by a direct current voltage power supply end VIN + and VIN-;
the current feedback circuit comprises a first resistor R1, a second resistor R2, a fifth resistor R5 and a reference voltage end VREF +;
the reference voltage end VREF + is grounded through a first resistor R1, a second resistor R2 and a fifth resistor R5 which are sequentially connected in series;
the connecting point of the fifth resistor R5 and the second resistor R2 is the negative output end VOUT < - >, of the constant current charging circuit;
the connection point of the first resistor R1 and the second resistor R2 is connected with the feedback end FB of the constant voltage driving chip;
the constant current charging circuit also comprises a voltage feedback circuit;
the voltage feedback circuit comprises a third resistor R3, a fourth resistor R4 and a diode D1;
the third resistor R3 and the fourth resistor R4 are connected in series and then connected between the positive output end VOUT + of the constant current charging circuit and the ground; the connection point of the third resistor R3 and the fourth resistor R4 is connected with the anode of the diode D1; the cathode of the diode D1 is connected to the feedback terminal FB of the constant voltage driving chip.
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| CN109853450A (en) * | 2019-01-29 | 2019-06-07 | 哈尔滨航天恒星数据系统科技有限公司 | Snow clearing system |
| CN110174562A (en) * | 2019-04-24 | 2019-08-27 | 长沙学院 | A kind of power quality detection system |
| CN110374045B (en) * | 2019-07-29 | 2021-09-28 | 哈尔滨工业大学 | Intelligent deicing method |
| CN113089411B (en) * | 2021-04-26 | 2022-10-21 | 中国极地研究中心 | Artificial sintering method for polar ice and snow airport construction |
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