CN108776477A - A kind of intelligent snowfield repair system based on cylindrical coordinates - Google Patents
A kind of intelligent snowfield repair system based on cylindrical coordinates Download PDFInfo
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- CN108776477A CN108776477A CN201810561609.4A CN201810561609A CN108776477A CN 108776477 A CN108776477 A CN 108776477A CN 201810561609 A CN201810561609 A CN 201810561609A CN 108776477 A CN108776477 A CN 108776477A
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- cylindrical coordinates
- snowfield
- central processing
- repair
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- 230000008439 repair process Effects 0.000 title claims abstract description 54
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000001771 impaired effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000005067 remediation Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
- F25C—PRODUCING, WORKING OR HANDLING ICE
- F25C3/00—Processes or apparatus specially adapted for producing ice or snow for winter sports or similar recreational purposes, e.g. for sporting installations; Producing artificial snow
- F25C3/04—Processes or apparatus specially adapted for producing ice or snow for winter sports or similar recreational purposes, e.g. for sporting installations; Producing artificial snow for sledging or ski trails; Producing artificial snow
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
- F25C—PRODUCING, WORKING OR HANDLING ICE
- F25C2600/00—Control issues
- F25C2600/04—Control means
Abstract
A kind of intelligent snowfield repair system based on cylindrical coordinates,Including unmanned plane,Snowfield repairs vehicle,Central processing unit,Unmanned plane includes surveying device,Processing unit A,Track chip A,It includes processing unit B that snowfield, which repairs vehicle,,Track chip B,Control device,Central processing unit is associated with range unit and processing unit B data respectively,Central processing unit generates cylindrical coordinates A according to unmanned plane position A,Central processing unit repairs truck position B according to snowfield and generates cylindrical coordinates B,Survey data is sent to central processing unit by unmanned plane in flight course,Central processing unit judges whether current snow face needs to repair according to survey data,If,Then instruction is sent to processing unit B,Processing unit B sends driving instruction to driving motor,Driving motor drives snowfield to repair vehicle startup,Central processing unit sends cylindrical coordinates A and cylindrical coordinates B to processing unit B,Processing unit B carries out direction controlling according to the gap of cylindrical coordinates A and cylindrical coordinates B.
Description
Technical field
The present invention relates to prosthetic device field more particularly to a kind of intelligent snowfield repair systems based on cylindrical coordinates.
Background technology
Currently, skiing has become a very high movement of popularity and entertainment selection.Usual people select to go
Snow pack is skied.Due to weather or human factor, snow face usually will appear damage, is typically embodied as snow face recess, thus gives
People generate certain danger when skiing, while also unsightly, and the experience to Ski amateur is poor.
Invention content
Goal of the invention：
It usually will appear damage for snow face, be typically embodied as snow face recess, certain danger is generated when thus skiing to people
The experience difference problem of Ski amateur while is also unsightly given in danger, and the present invention provides a kind of intelligent snowfield based on cylindrical coordinates and repaiies
Complex system.
Technical solution：
A kind of intelligent snowfield repair system based on cylindrical coordinates, including：Unmanned plane, snowfield repair vehicle, central processing unit, the nothing
Man-machine includes surveying device, processing unit A, tracking chip A, and it includes processing unit B, tracking chip B, control that the snowfield, which repairs vehicle,
Device processed, crawler body, driving motor, the central processing unit are closed with the range unit and processing unit B data respectively
Connection, the processing unit B are connect with the control device and driving motor respectively, the driving motor and the crawler body
Connection, the central processing unit generate the three-dimensional cylindrical coordinate based on snow pack according to snow pack, and the tracking chip A is for tracking institute
Unmanned plane position A is stated, the unmanned plane position A is sent to the central processing unit, the central processing by the processing unit A
Device generates cylindrical coordinates A, the tracking chip B according to the position A and repairs truck position B, the processing for tracking the snowfield
Snowfield reparation truck position B is sent to the central processing unit by device B, and the central processing unit is given birth to according to the position B
At cylindrical coordinates B.
As a kind of preferred embodiment of the present invention, the unmanned plane surveys snowfield in flight course by surveying device,
And survey data is sent to the central processing unit, the central processing unit judges that current snow face is according to the survey data
It is no to need to repair, it is instructed if so, being sent to the processing unit B, the processing unit B sends to the driving motor and drives
Instruction, the driving motor drive the snowfield to repair vehicle startup, and the central processing unit sends column to the processing unit B and sits
It marks A and cylindrical coordinates B, the processing unit B and direction controlling is carried out according to the gap of the cylindrical coordinates A and cylindrical coordinates B.
As a kind of preferred embodiment of the present invention, the surveying device is infrared ambulator.
As a kind of preferred embodiment of the present invention, when the central processing unit judges the present bit of the surveying device exploration
It sets when needing to repair, the central processing unit spirals instruction to processing unit A transmissions, and the processing unit A is according to
Instruction of spiraling controls the unmanned plane and spirals exploration, and the central processing unit spirals according to the unmanned plane and surveys result and root
The cylindrical coordinates A generated according to the position of the tracking chip A generates the cylindrical coordinates range of the approximate range of snow face reparation, and will be described
Cylindrical coordinates is sent to the processing unit B.
As a kind of preferred embodiment of the present invention, it further includes Chu Xuecang, jet pipe, nozzle that the snowfield, which repairs vehicle, described to chase after
Track chip B is set on the nozzle, and the jet pipe is connect with nozzle, and the jet pipe is connect with the storehouses Chu Xue, the jet pipe
It is also connect with the control device, the processing unit B is according to the cylindrical coordinates range of the approximate range of the snow face reparation to institute
It states control device and sends control instruction, the control device controls the jet pipe according to the control instruction and nozzle is avenged
It repairs in face.
As the present invention a kind of preferred embodiment, in repair process, the central processing unit according to real-time cylindrical coordinates B with
And the cylindrical coordinates range sends auxiliary adjust instruction to the processing unit B, the processing unit B refers to auxiliary adjustment
Order is sent to the control device, and the control device adjusts the jet pipe and nozzle position according to the auxiliary adjust instruction
It sets.
As a kind of preferred embodiment of the present invention, the control device includes slider, and the slider includes rotary shaft.
As a kind of preferred embodiment of the present invention, it includes sliding rail that the snowfield, which repairs vehicle underbody, and the sliding rail includes laterally
Sliding rail and longitudinal slide rail, the slider are set to the sliding rail.
As a kind of preferred embodiment of the present invention, the jet pipe includes bellows and rigid pipe, the rigid pipe with
Chu Xuecang is connected by the bellows, and the rigid pipe is connect with the nozzle, and the rigid pipe is used for according to described auxiliary
Adjust instruction is helped accurately to adjust nozzle position, the bellows is for adapting to the slider sliding and rotary shaft rotation.
As a kind of preferred embodiment of the present invention, it further includes snow shoveling plate that the snowfield, which repairs vehicle, and the snow shoveling plate is for shoveling
The snow accumulated after flat accumulated snow and reparation.
As a kind of preferred embodiment of the present invention, it further includes manual overvide that the snowfield, which repairs vehicle, the manual control
Device processed is for urgent control of putting on record.
The present invention realizes following advantageous effect：
1. by establishing cylindrical coordinate system, snowfield is controlled in a manner of cylindrical coordinates and repairs the traveling of vehicle and to nozzle, jet pipe
Control, accurately impaired snow face can be repaired.
2. the intelligent snowfield using the present invention repairs vehicle, snowfield reparation can be set out finding the first time for being damaged snow face
Vehicle is repaired in time so that remediation efficiency greatly improves.
3. reducing the consumption of manpower.
Description of the drawings
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and consistent with the instructions for explaining the principles of this disclosure.
Fig. 1 is present system frame diagram；
Fig. 2 is unmanned plane schematic diagram；
Fig. 3 is that snowfield repairs vehicle schematic diagram；
Fig. 4 is the schematic diagram of Chu Xuecang and associated connecting portion.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Embodiment one：
Reference chart is Fig. 1-3.A kind of intelligent snowfield repair system based on cylindrical coordinates, including：Unmanned plane 1, snowfield repair vehicle 2,
Central processing unit 3, the unmanned plane 1 include surveying device 4, processing unit A51, tracking chip A61, and the snowfield repairs vehicle 2
Including processing unit B52, tracking chip B62, control device 7, crawler body 8, driving motor 9, the central processing unit 3 is distinguished
With the range unit and processing unit B52 data correlations, the processing unit B52 respectively with the control device 7 and
Driving motor 9 connects, and the driving motor 9 is connect with the crawler body 8, and the central processing unit 3 generates base according to snow pack
In the three-dimensional cylindrical coordinate of snow pack, the tracking chip A61 is for tracking the unmanned plane 1 position A, the processing unit A51
1 position A of the unmanned plane is sent to the central processing unit 3, the central processing unit 3 generates column according to the position A and sits
Mark A, the tracking chip B62 repairs the snowfield for tracking snowfield reparation vehicle 2 position B, the processing unit B52
2 position B of vehicle is sent to the central processing unit 3, and the central processing unit 3 generates cylindrical coordinates B according to the position B.
As a kind of preferred embodiment of the present invention, the unmanned plane 1 is surveyed by surveying device 4 in flight course and is avenged
Ground, and survey data is sent to the central processing unit 3, the central processing unit 3 judges current according to the survey data
Whether snow face, which needs, is repaired, and is instructed if so, being sent to the processing unit B52, and the processing unit B52 is electric to the driving
Machine 9 sends driving instruction, and the driving motor 9 drives the snowfield to repair vehicle 2 to start, and the central processing unit 3 is to the place
Manage the difference that device B52 sends cylindrical coordinates A and cylindrical coordinates B, the processing unit B52 according to the cylindrical coordinates A and cylindrical coordinates B
Away from progress direction controlling.
As a kind of preferred embodiment of the present invention, the surveying device 4 is infrared ambulator.
As a kind of preferred embodiment of the present invention, when the central processing unit 3 judges that the surveying device 4 surveys current
When position needs to repair, the central processing unit 3 sends instruction of spiraling, the processing unit A51 roots to the processing unit A51
The unmanned plane 1 is controlled according to the instruction of spiraling to spiral exploration, the central processing unit 3 spirals exploration according to the unmanned plane 1
As a result the cylindrical coordinates A and according to the position of the tracking chip A61 generated generates the cylindrical coordinates of the approximate range of snow face reparation
Range, and the cylindrical coordinates is sent to the processing unit B52.
As a kind of preferred embodiment of the present invention, it further includes the storehouses Chu Xue 10, jet pipe 11, nozzle 12 that the snowfield, which repairs vehicle 2,
The tracking chip B62 is set on the nozzle 12, and the jet pipe 11 is connect with nozzle 12, and the jet pipe 11 is avenged with the storage
Storehouse 10 connects, and the jet pipe 11 is also connect with the control device 7, and the processing unit B52 is big according to the snow face reparation
The cylindrical coordinates range of range is caused to send control instruction to the control device 7, the control device 7 is according to the control instruction control
It makes the jet pipe 11 and nozzle 12 carries out snow face reparation.
In specific implementation process, using the long side of snow pack as polar axis, using a vertex of the snow pack on polar axis as pole
The vertical space in the two dimensional surface polar coordinates face and snow pack overhead that point generates covering snow pack forms space cylindrical coordinate.Unmanned plane 1
It flies in same level height, and central processing unit 3, centre is stored in using level height as distance threshold and by threshold value
It manages device 3 to combine distance threshold into three-dimensional cylindrical coordinate, and the distance away from two dimensional surface polar coordinate system is calculated according to distance threshold
Ordinate as the point.During unmanned plane 1 flies, the infrared ambulator fact emits infrared ray, and connects in real time
The infrared ray of snow receiving face reflection, and calculated at a distance from infrared ambulator to snow face according to transmitting and the time difference received, and will
Distance arrives the real-time range of snow face as unmanned plane 1, and real-time range is transmitted in central processing unit 3, and central processing unit 3 will
Real-time range is compared with distance threshold, if central processing unit 3 judges that real-time range reaches a certain range more than distance threshold
When, then central processing unit 3 judges that the snow face of current position is impaired.It is noted that when surveying device 4 is surveyed,
Processing unit A51 will track the corresponding positions chip A61 and central processing unit 3 be associated with and be transmitted to current real-time range, be convenient for
Central processing unit 3 can be associated with when judging magnitude relationship of the real-time range for distance threshold with real time position.At this point, central
Processor 3 sends instruction of spiraling to processing unit A51, and unmanned plane 1 carries out disk by basic point of current location in order to control for instruction of spiraling
The instruction of rotation, central processing unit 3 confirm basic point, and the equation of several cylindrical coordinates is generated according to basic point, and cylindrical coordinates equation is nothing
Man-machine 1 route to spiral, unmanned plane 1 spiral exploration, and the result of exploration is transmitted to central processing unit 3, central processing unit 3 by
One judges the size of exploration distance and distance threshold, and will be greater than the corresponding cylindrical coordinates of a certain range of real-time range of distance threshold
Extraction forms a cylindrical coordinates range, and cylindrical coordinates range needs the approximate range for the snow face repaired, and central processing unit 3 is by column
Coordinate range is transmitted to processing unit B52.When central processing unit 3 spirals instruction to processing unit A51 transmissions, central processing dress
Set 5 cylindrical coordinates for sending the position that the needs that 4 first time of surveying device surveys are repaired to processing unit B52 simultaneously, processing dress
It sets B52 and driving instruction is sent to driving motor 9 according to cylindrical coordinates, driving motor 9 drives crawler body 8, the driving snow of crawler body 8
It repairs vehicle 2 and travels in ground.It is noted that during snowfield is repaired vehicle 2 and travelled, processing unit B52 is constantly to centre
Manage the position B that device 3 sends tracking chip B62, central processing unit 3 generates the cylindrical coordinates B of position B according to position B, and by cylindrical coordinates
B is sent to processing unit B52, and processing unit B52 is carried out according to the differential seat angle of cylindrical coordinates A and cylindrical coordinates B to corresponding direction
Direction adjusts.When snowfield, which repairs vehicle 2, reaches cylindrical coordinates location A, processing unit 5 is sat according to the column of the approximate range of snow face reparation
It marks range and sends control instruction to control device 7, control device 7 controls jet pipe 11 according to control instruction and nozzle 12 is avenged
It repairs in face.
Embodiment two：
Reference chart is Fig. 4.For above-described embodiment one, the difference of the present embodiment is：
As a kind of preferred embodiment of the present invention, in repair process, the central processing unit 3 according to real-time cylindrical coordinates B and
The cylindrical coordinates range sends auxiliary adjust instruction to the processing unit B52, and the processing unit B52 adjusts the auxiliary
Instruction is sent to the control device 7, and the control device 7 adjusts the jet pipe 11 and spray according to the auxiliary adjust instruction
First 12 position.
As a kind of preferred embodiment of the present invention, the control device 7 includes slider 13, and the slider 13 includes rotation
Shaft 14.
As a kind of preferred embodiment of the present invention, it includes sliding rail 15 that the snowfield, which repairs 2 underbody of vehicle, and the sliding rail 15 includes
Horizontal slide rail 15 and longitudinal slide rail 15, the slider 13 are set to the sliding rail 15.
In specific implementation process, horizontal slide rail 15 and longitudinal slide rail 15 are interspersed and repair the bottom of vehicle 2 in snowfield,
The rotary shaft 14 that slider 13 and slider 13 include carries jet pipe 11 and slides, rotates on sliding rail 15.Vehicle 2 is repaired in snowfield
During work, the position for tracking chip B62 is sent to central processing unit 3 by processing unit B52, and central processing unit 3 generates
Real-time cylindrical coordinates B, real-time cylindrical coordinates B are 12 corresponding position of nozzle, i.e. the position of the sprinkling of nozzle 12 snow, central processing unit 3
Whether cylindrical coordinates B, which is located within the scope of cylindrical coordinates, when factually judges whether nozzle 12 enters working region, if cylindrical coordinates B is contained in column
In coordinate range, then the judgement of central processing unit 3 can carry out sprinkling work, then central processing unit 3 sends work to processing unit B52
Make signal, processing unit 5 opens nozzle 12 according to working signal.It is noted that nozzle 12 stops on the same cylindrical coordinates B
The time is stayed to be no more than a time threshold, after the residence time reaching time threshold, processing unit B52 is sent out to control device 7
Control instruction, control device 7 adjusts 13 position of slider according to control instruction, and adjusts rotary shaft 14 simultaneously, so as to nozzle 12
Entire cylindrical coordinates range can be sprayed onto.When nozzle 12 works, central processing unit 3 judges whether cylindrical coordinates B exceeds cylindrical coordinates
Range, if so, sending stop signal to processing unit B52, processing unit B52 stops the work of nozzle 12.
The above embodiments merely illustrate the technical concept and features of the present invention, and the purpose is to allow the skill for being familiar with the technical field
Art personnel can understand the content of the present invention and implement it accordingly, and can not be limited the scope of the invention with this.All bases
Equivalent changes or modifications made by spirit of the invention, should be covered by the protection scope of the present invention.
Claims (8)
1. a kind of intelligent snowfield repair system based on cylindrical coordinates, including：Unmanned plane, snowfield repair vehicle, central processing unit, described
Unmanned plane includes surveying device, processing unit A, tracking chip A, the snowfield repair vehicle include processing unit B, tracking chip B,
Control device, crawler body, driving motor, the central processing unit respectively with the range unit and processing unit B data
Association, the processing unit B are connect with the control device and driving motor respectively, the driving motor and the track bottom
Disk connects, it is characterised in that：The central processing unit generates the three-dimensional cylindrical coordinate based on snow pack, the tracking core according to snow pack
For piece A for tracking the unmanned plane position A, the unmanned plane position A is sent to the central processing by the processing unit A
Device, the central processing unit generate cylindrical coordinates A, the tracking chip B according to the position A and repair vehicle for tracking the snowfield
Snowfield reparation truck position B is sent to the central processing unit, the central processing unit root by position B, the processing unit B
Cylindrical coordinates B is generated according to the position B.
2. a kind of intelligent snowfield repair system based on cylindrical coordinates according to claim 1, it is characterised in that：It is described nobody
Machine surveys snowfield in flight course by surveying device, and survey data is sent to the central processing unit, the center
Processor judges whether current snow face needs to repair according to the survey data, if so, referring to processing unit B transmissions
It enables, the processing unit B sends driving instruction to the driving motor, and the driving motor drives the snowfield to repair vehicle and opens
Dynamic, the central processing unit sends cylindrical coordinates A and cylindrical coordinates B to the processing unit B, and the processing unit B is according to
The gap of cylindrical coordinates A and cylindrical coordinates B carry out direction controlling.
3. a kind of intelligent snowfield repair system based on cylindrical coordinates according to claim 1, it is characterised in that：The exploration
Device is infrared ambulator.
4. a kind of intelligent snowfield repair system based on cylindrical coordinates according to claim 3, it is characterised in that：In described
When central processor judges that the current location of surveying device exploration needs to repair, the central processing unit is to the processing unit
A transmissions are spiraled instruction, and the processing unit A spirals according to instructs the control unmanned plane to spiral exploration, the centre
Reason device spirals according to the unmanned plane to be surveyed result and generates snow according to the cylindrical coordinates A of the position generation of the tracking chip A
The cylindrical coordinates range for the approximate range that face is repaired, and the cylindrical coordinates is sent to the processing unit B.
5. a kind of intelligent snowfield repair system based on cylindrical coordinates according to claim 4, it is characterised in that：The snowfield
It further includes Chu Xuecang, jet pipe, nozzle to repair vehicle, and the tracking chip B is set on the nozzle, and the jet pipe connects with nozzle
It connects, the jet pipe is connect with the storehouses Chu Xue, and the jet pipe is also connect with the control device, and the processing unit B is according to institute
The cylindrical coordinates range for stating the approximate range of snow face reparation sends control instruction to the control device, and the control device is according to institute
It states control instruction and controls the jet pipe and nozzle progress snow face reparation.
6. a kind of intelligent snowfield repair system based on cylindrical coordinates according to claim 5, it is characterised in that：It was repairing
Cheng Zhong, the central processing unit send auxiliary to the processing unit B according to real-time cylindrical coordinates B and the cylindrical coordinates range and adjust
The auxiliary adjust instruction is sent to the control device by whole instruction, the processing unit B, and the control device is according to
Adjust instruction is assisted to adjust the jet pipe and nozzle position.
7. a kind of intelligent snowfield repair system based on cylindrical coordinates according to claim 6, it is characterised in that：The control
Device includes slider, and the slider includes rotary shaft.
8. a kind of intelligent snowfield repair system based on cylindrical coordinates according to claim 7, it is characterised in that：The snowfield
It includes sliding rail to repair vehicle underbody, and the sliding rail includes horizontal slide rail and longitudinal slide rail, and the slider is set to the sliding rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810561609.4A CN108776477A (en) | 2018-06-04 | 2018-06-04 | A kind of intelligent snowfield repair system based on cylindrical coordinates |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810561609.4A CN108776477A (en) | 2018-06-04 | 2018-06-04 | A kind of intelligent snowfield repair system based on cylindrical coordinates |
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| CN108776477A true CN108776477A (en) | 2018-11-09 |
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| CN201810561609.4A Pending CN108776477A (en) | 2018-06-04 | 2018-06-04 | A kind of intelligent snowfield repair system based on cylindrical coordinates |
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