CN110387855B

CN110387855B - Full-automatic small-size intelligent deicing vehicle

Info

Publication number: CN110387855B
Application number: CN201910689177.XA
Authority: CN
Inventors: 王昭为; 张天怡; 方可; 胡振宇; 顾暤; 陈浩南
Original assignee: Harbin Institute of Technology
Current assignee: Harbin Institute of Technology
Priority date: 2019-07-29
Filing date: 2019-07-29
Publication date: 2021-09-28
Anticipated expiration: 2039-07-29
Also published as: CN110387855A

Abstract

The invention discloses a full-automatic small intelligent deicing vehicle, and belongs to the field of deicing machinery. The method comprises the following steps: the device comprises a vehicle body, a driving mechanism, an ice surface identification control mechanism, a snow melting and deicing mechanism, a mechanical deicing mechanism and an automatic control mechanism. In the communication link, the trolley can receive the information sent by the operator, plan the path and start the navigation operation; the ice surface can be identified in the road surface and tracked; the size of the ice surface can be judged to adjust the usage amount of the snow-melting agent; the trolley can run to a specified place through the navigation system and the obstacle avoidance system in the running process; the volume is small and the road is not occupied; the two deicing modes are mixed for use, so that the deicing effect is good; the invention has simple structure, small volume, low cost and convenient production.

Description

Full-automatic small-size intelligent deicing vehicle

Technical Field

The invention belongs to the field of deicing machinery, and particularly relates to a full-automatic small intelligent deicing vehicle.

Background

The northern area often snows winter, and if the snow on the road is not clear away in time, can be at low temperature by the past vehicle repeated roller compaction and then form firm ice, and this kind of firm ice can lead to the vehicle to skid, causes the traffic inconvenience, and extremely difficult clearance, can form the potential safety hazard long time, produces very big influence to people's life. How to rapidly remove ice and snow on roads is an important task for ensuring the safety and smoothness of roads and is also an old and difficult problem of northern cities and roads.

At present, ice is removed by spreading a snow-melting agent in China; the deicing technology adopted at present is mainly shovel, pickaxe and plane, and manual deicing is adopted on narrow roads such as sidewalks. The manual method for removing the ice and the snow has the defects of large labor consumption, low efficiency, high cost and the like, and can not process the large-area icing condition in time. The snow-melting agent method mainly inhibits the icing phenomenon by reducing the melting point of ice and snow, but for northeast severe cold regions, the temperature is often lower than-10 ℃, and the melting point of ice and snow is still above the temperature even if the melting point of ice and snow is reduced, so that the method can be failed when being used alone. In addition, for cold regions, the snow-melting agent method is greatly limited by traffic operation conditions, high in cost of manpower and material resources and greatly damaged by the environment.

Throughout the home and abroad, besides the human engineering method, the deicing method also comprises a mechanical deicing method, a snow-melting agent method, a pavement technology for inhibiting frozen pavement, a thermal deicing method and the like.

The pavement technology for inhibiting the frozen pavement is to add a certain amount of special materials into pavement materials, and the special materials have certain deformation capacity, so that under the condition of traffic and transportation loads, stress is generated due to the deformation of the pavement, so that a covered ice layer is broken, and the accumulated snow and ice on the pavement are effectively inhibited. However, the application range of the technology is narrow at present, and the cost of the pavement needing to be paved again is high.

The thermal ice melting method is to melt ice and snow by using heat generated by hot water, electric heat and the like, and a hot water spraying method and a heating cable method are commonly used. Such methods consume large amounts of energy and are costly and are not suitable for use on cold areas.

The mechanical method is to use mechanical operation to remove hard ice, and at present, methods such as impact ice breaking, roller rotary cutting deicing, multi-section whip beating deicing and the like are available.

The impact ice breaking machine drives a vibration motor by a host machine hydraulic system to drive an eccentric block to rotate, and under the action of centrifugal force, a vibration wheel moves along the circumferential radial direction to simultaneously cause stress and shear stress in the vertical and horizontal directions on an ice surface, so that a convex block on the surface of the vibration wheel is cut into and extrudes the ice layer, and the ice layer is broken and peeled to achieve the aim of deicing.

The roller rotary cutting deicing device is driven by a motor vehicle to move forwards, the roller is driven by the device to rotate, and helical teeth or straight teeth on the roller are ground, cut and planed relative to the pressure application area, so that hard ice and snow on the road surface are crushed. The machine is similar to milling by a milling cutter in metal cutting processing, ice and snow on the road surface are separated and broken layer by layer, hard ice and snow can be broken and removed conveniently, the shovel edge is worn quickly, and the machine also has a certain destructive effect on the road surface.

The 'multi-segment whip' ice removing device simulates five segments of whips of ancient weapons, and can crack ice without damaging the road surface and other facilities. A specially-made chain is adopted, a hanging ring is installed at the front end of the specially-made chain, and the chain rotates at a high speed under the driving of a host machine to flexibly whip the road surface until an ice layer is broken, so that the deicing effect is obtained.

Mechanical deicing is a relatively straightforward and effective method that is typically carried on a deicing machine. However, the current deicing machines have several problems:

(1) large-scale production: no matter impact ice breaking, roller rotary cutting deicing or multi-section whip deicing are adopted, the preset deicing effect is necessarily driven by higher power when the deicing machine is required to achieve, and from this point, the large-scale deicing machine is inevitable, but the large-scale machine occupies more road resources, so that the passing efficiency is reduced, the traffic is blocked, the driving safety is influenced, and the influence of the road surface condition is larger;

(2) the deicing mode is single: the existing deicing machine generally only has a single deicing device, and does not have more than two types of deicing devices, so that once the deicing method fails, the deicing machine is useless;

(3) manual operation: drivers must control the deicing machine in person, but the existing deicing machine has insufficient capability of ensuring the temperature of a cab, particularly in northeast regions with severe cold, the outdoor temperature is sometimes below-20 ℃ or even below-30 ℃, and the drivers cannot operate durably due to low temperature;

the cost is high: the larger size and the more complex design structure of the deicing machine are all determined that the cost of the deicing machine is high, which is one of the main reasons that the application of the current deicing machine is not wide.

Disclosure of Invention

The invention aims to realize a full-automatic small intelligent deicing vehicle, which has the functions of path planning, autonomous navigation, obstacle avoidance, ice surface identification and ice surface clearing, and solves the problems of large occupied area, manual operation and high cost of the conventional deicing machine.

The invention is realized by the following technical scheme: full-automatic small-size intelligent deicing vehicle includes: the vehicle body comprises a bottom plate, a carriage shell, supporting columns and a top cover, the driving mechanism comprises a direct current motor, Mecanum wheels and low-temperature-resistant lithium batteries, the carriage shell is vertically installed at the edges of the bottom plate in four directions respectively, the supporting columns are respectively arranged at four corners of the bottom plate and connect the carriage shell into a whole, the top cover is covered at the top of the carriage shell, the direct current motor and the low-temperature-resistant lithium batteries are installed on the bottom plate, the Mecanum wheels are installed on an output shaft of the direct current motor, the direct current motor and the Mecanum wheels are powered by the low-temperature-resistant lithium batteries,

still install ice surface discernment control mechanism, snow melt deicing mechanism, mechanical deicing mechanism and automatic control mechanism on the bottom plate, wherein:

the automatic control mechanism is used for receiving the ice surface identification information of the ice surface identification control mechanism and respectively sending control information to the driving mechanism, the snow melting and deicing mechanism and the mechanical deicing mechanism;

the driving mechanism is used for driving the deicing vehicle to walk, stop and turn according to the control information of the automatic control mechanism;

the ice surface identification control mechanism is used for identifying and locking the ice surface position and uploading information to the automatic control mechanism;

the snow-melting and deicing mechanism is used for spreading a snow-melting agent according to the control information of the automatic control mechanism;

and the mechanical deicing mechanism is used for shoveling and crushing the ice layer according to the control information of the automatic control mechanism.

Further, the ice surface identification control mechanism comprises: central processing unit, cloud platform and two mesh cameras, central processing unit installs the upper surface front end of bottom plate, the cloud platform is installed on the upper surface of top cap, two mesh cameras are installed the upper end of cloud platform, wherein:

the central processing unit is used for controlling the cloud deck and the binocular camera to work, receiving and analyzing image data transmitted by the binocular camera to obtain azimuth information and area information of the ice surface, and transmitting the azimuth information and the area information of the ice surface to the automatic control mechanism;

the holder is controlled by the central processing unit to rotate so as to change the visual angle of the binocular camera;

and the binocular camera is used for shooting a current road surface picture under the control of the central processing unit and transmitting the road surface image data to the central processing unit.

Furthermore, the bottom plate is arranged in a hollow manner at the position corresponding to the snow-melting and deicing mechanism and the mechanical deicing mechanism.

Furthermore, a snow melting system support is further arranged on the upper surface of the bottom plate.

Further, the snow and ice melting mechanism comprises: the snow melting system comprises a stepping motor groove, a rotor, a stepping motor, a snow melting agent funnel and a porous baffle plate, wherein the stepping motor groove and the snow melting agent funnel are adjacently installed on a snow melting system bracket, the stepping motor is installed in the stepping motor groove, a rotating part of the rotor is connected with an output shaft of the stepping motor, the porous baffle plate is arranged below the snow melting agent funnel,

when the snow-melting and deicing mechanism is in a non-working state, the shielding part of the rotor plate shields the opening at the lower end of the snow-melting agent funnel; when the snow-melting and deicing mechanism is in a working state, the shielding part of the rotor does not shield the lower end opening of the snow-melting agent funnel.

Further, the mechanical de-icing mechanism comprises: a shell of the deicing mechanism, a solid iron column, a hollow iron column, a power line inlet, an anode power line, a cathode power line, two power lines with changeable electrodes, a fixed coil, a sliding coil, two power line slots, a fixed arm, a rolling wheel, a connecting plate and an ice breaking cone,

the deicing mechanism shell is arranged on the upper surface of the bottom plate, the solid iron columns are integrally poured on the inner top of the deicing mechanism shell, the solid iron columns are arranged on the inner lower portion of the deicing mechanism shell, the two power line slots are oppositely arranged on the inner wall of the lower portion of the deicing mechanism shell, the fixed arm extends transversely and oppositely at the upper end of each solid iron column, the rolling wheels are arranged at two ends of the upper portion of the fixed arm, the solid iron columns are connected with the two power line slots in a rolling mode through the fixed arm and the rolling wheels, the connecting plate is arranged at the lower end of each solid iron column, the ice breaking cones are arranged on the lower surface of the connecting plate,

the fixed coil is wound on the outer wall of the hollow iron column, the sliding coil is wound on the outer wall of the solid iron column, the winding directions of the fixed coil and the sliding coil are the same,

the power line inlet is arranged at the upper end of the shell of the deicing mechanism, one end of a positive power line, one end of a negative power line and one end of power lines of the two convertible electrodes are connected with the low-temperature-resistant lithium battery, the other end of the positive power line and the other end of the negative power line enter the hollow iron column through the power line inlet, the other ends of the positive power line and the negative power line are respectively connected with the two ends of the fixed coil, and the other ends of the power lines of the two convertible electrodes are respectively connected with the two ends of the sliding coil.

Furthermore, the mechanical deicing mechanism further comprises a limiting plate, and the limiting plate is installed at the lower end of the two power supply wire grooves.

Further, the automatic control mechanism includes: a motor driving system, an obstacle avoidance system, a course detection system, a trolley control system and a path planning system,

the motor driving system comprises a brush electricity regulator, the direct current motor is connected with the low-temperature-resistant lithium battery through the brush electricity regulator, and the brush electricity regulator is used for controlling the rotating speed of the direct current motor according to a command of the trolley control system;

the obstacle avoidance system comprises a radar and four ultrasonic obstacle avoidance devices, the radar is mounted on the upper surface of the top cover, the four ultrasonic obstacle avoidance devices are mounted in four directions of the outer wall of the carriage shell, and the radar and the four ultrasonic obstacle avoidance devices are used for detecting whether obstacles exist around the carriage body or not and transmitting a detection result to the trolley control system in real time;

the course detection system is arranged on the right side of the central processing unit and comprises a GPS module, an barometer, a gyroscope, an accelerometer and a magnetometer, wherein the GPS module, the barometer, the gyroscope, the accelerometer and the magnetometer are used for detecting the current course of the trolley in real time and transmitting course information to the trolley control system in real time to assist in calibrating the current course of the trolley;

the path planning system is used for converting roads in an actual map of a working area acquired from the trolley control system into effective paths in a Cartesian rectangular coordinate system and transmitting the effective paths to the trolley control system;

and the trolley control system is used for controlling the motor driving system to work, stop or control the driving mechanism to turn according to the effective path, the azimuth information of the ice surface and the feedback information of the obstacle avoidance system and the course detection system, and controlling the snow melting and deicing mechanism and the mechanical deicing mechanism to work according to the azimuth information and the area information of the ice surface.

Furthermore, the deicing vehicle further comprises an advanced control system, wherein the advanced control system is installed on the bottom plate and used for receiving and issuing control instructions from a far end, the control instructions comprise task instructions, temporary instructions and data application instructions, and conventional state information, error reports and replies to data applications of the deicing vehicle are uploaded to the far end.

Furthermore, the low-temperature-resistant lithium battery also supplies power to the ice surface identification control mechanism, the snow-melting and deicing mechanism, the mechanical deicing mechanism and the automatic control mechanism.

The invention has the beneficial effects that:

(1) in the communication link, the trolley can receive the information sent by the operator, plan the path and start the navigation operation.

(2) The cart is capable of identifying and tracking ice in the road surface at a speed of about 10fps, at a slightly slower speed but capable of substantially performing real-time deicing operations.

(3) During the deicing operation process of the trolley, the size of the ice surface can be judged, and the using amount of the snow-melting agent can be adjusted. The deicing process takes about 1 minute on average, the instant deicing reaches 80 percent, and the ice surface can be melted under the action of the snow melting agent in the subsequent process.

(4) The trolley can run to a specified place through the navigation system and the obstacle avoidance system in the running process, and does not collide with an obstacle or deviate from the course.

(5) The small car is small in size, does not occupy the road, and cannot influence the passing efficiency to cause traffic jam.

(6) The trolley adopts two deicing modes to be mixed for use, firstly the snow melting agent is used for loosening the ice surface, and then the ice surface is broken through the ice breaking cone, so that the problems of single deicing mode and low deicing efficiency of the existing deicing vehicle are solved.

(7) The deicing vehicle does not need the operation intervention of operators on site unless a fault or a condition which cannot be treated occurs.

(8) The deicing vehicle has the advantages of simple structure, small volume, low cost and convenient production.

Drawings

FIG. 1 is a schematic structural view of a fully automatic small intelligent ice removing vehicle according to the present invention;

FIG. 2 is a schematic view of the internal structure of the fully automatic small intelligent ice removing vehicle of the present invention;

FIG. 3 is a schematic bottom structure view of the fully automatic small intelligent ice removing vehicle of the present invention;

FIG. 4 is a schematic structural view of the snow and ice melting mechanism;

FIG. 5 is a schematic diagram of a mechanical de-icing mechanism;

FIG. 6 is another angle schematic structure of the fully automatic small intelligent ice removing vehicle of the present invention;

FIG. 7 is a flow chart of a method of operation of the ice surface identification control mechanism;

FIG. 8 is a flow chart of a path planning method;

FIG. 9 is a detailed diagram of path planning;

FIG. 10 is a flowchart of an algorithm for determining the shortest distance between every two freeze points;

FIG. 11 is a flowchart of an algorithm for branch and bound method for path search;

FIG. 12 is a schematic view showing an operation interface;

FIG. 13 is a control logic block diagram of the fully automatic small intelligent ice removing vehicle of the present invention;

fig. 14 is a control logic block diagram inside the automatic control mechanism.

Wherein, 1 is a vehicle body, 101 is a bottom plate, 102 is a carriage shell, 103 is a support column, 104 is a top cover, 105 is a snow melting system support, 2 is a driving mechanism, 201 is a direct current motor, 202 is a Mecanum wheel, 203 is a low temperature resistant lithium battery, 3 is an ice surface identification control mechanism, 301 is a central processing unit, 302 is a tripod head, 303 is a binocular camera, 4 is a snow melting and deicing mechanism, 401 is a stepping motor groove, 402 is a rotor, 403 is a stepping motor, 404 is a snow melting agent funnel, 405 is a porous baffle, 5 is a mechanical deicing mechanism, 501 is a deicing mechanism shell, 502 is a solid iron column, 503 is a hollow iron column, 504 is a power line inlet, 505 is a positive power line, 506 is a negative power line, 507 is a power line of two convertible electrodes, 508 is a fixed coil, 509 is a sliding coil, 510 is a two power line groove, 511 is a limit plate, 512 is a fixed arm, 513 is a rolling wheel, 514 is the connecting plate, 515 is the cone that opens ice, 6 is automatic control mechanism, 601 is motor drive system, 60101 is for having the brush electricity to adjust, 602 is for keeping away barrier system, 60201 is the radar, 60202 is four ultrasonic wave and keeps away barrier device, 603 is course detecting system, 60301 is the GPS module, 60302 is the barometer, 60303 is the gyroscope, 60304 is the accelerometer, 60305 is the magnetometer, 604 is dolly control system, 605 is the path planning system, 7 is advanced control system.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 6 and 13, an embodiment of a fully automatic small intelligent ice removing vehicle according to the present invention includes: the vehicle body 1 and the driving mechanism 2, the vehicle body 1 comprises a bottom plate 101, a carriage shell 102, supporting columns 103 and a top cover 104, the driving mechanism 2 comprises a direct current motor 201, Mecanum wheels 202 and low-temperature-resistant lithium batteries 203, the carriage shell 102 is vertically installed at the edges of four directions of the bottom plate 101 respectively, the supporting columns 103 are respectively arranged at four corners of the bottom plate 101 and connect the carriage shell 102 into a whole, the top cover 104 covers the top of the carriage shell 102, the direct current motor 201 and the low-temperature-resistant lithium batteries 203 are installed on the bottom plate 101, the Mecanum wheels 202 are installed on an output shaft of the direct current motor 201, the direct current motor 201 and the Mecanum wheels 202 are powered by the low-temperature-resistant lithium batteries 203,

the bottom plate 101 is also provided with an ice surface identification control mechanism 3, a snow melting and deicing mechanism 4, a mechanical deicing mechanism 5 and an automatic control mechanism 6, wherein:

the automatic control mechanism 6 is used for receiving the ice surface identification information of the ice surface identification control mechanism 3 and respectively sending control information to the driving mechanism 2, the snow and ice melting mechanism 4 and the mechanical deicing mechanism 5;

the driving mechanism 2 is used for driving the deicing vehicle to walk, stop and turn according to the control information of the automatic control mechanism 6;

the ice surface identification control mechanism 3 is used for identifying and locking the ice surface position and uploading information to the automatic control mechanism 6;

the snow-melting and deicing mechanism 4 is used for spreading a snow-melting agent according to the control information of the automatic control mechanism 6;

and the mechanical deicing mechanism 5 is used for shoveling and crushing the ice layer according to the control information of the automatic control mechanism 6.

Specifically, the deicing vehicle disclosed by the invention has the advantages that the vehicle body 1 is a small vehicle body, most mechanisms are arranged in the range enclosed by the carriage shell 102, in order to realize basic functions of the vehicle, namely advancing, retreating and turning, the vehicle turning device does not select a complex turning mechanism, the turning of the vehicle is realized by means of the Mecanum wheels 202, the Mecanum wheels 202 are compact in structure and flexible in movement, and the vehicle turning device is a very successful omnidirectional wheel, the four Mecanum wheels 202 and the four direct current motors 201 are combined in the invention, so that the omnidirectional movement function can be realized more flexibly and conveniently, more space is saved compared with the existing deicing vehicle, more functional modules can be added, and the function of the deicing vehicle is enhanced. The low-temperature resistant lithium battery 203 can be freely charged and discharged at the temperature of more than 40 ℃ below zero, and can meet the requirements of most areas in the north of China. The direct current motor 201 and the Mecanum wheel 202 are connected with the low-temperature-resistant lithium battery 203 through the brushed electricity regulator, and the brushed electricity regulator is controlled by the automatic control mechanism 6 to realize the control of the driving mechanism 2; the ice surface recognition control mechanism 3 recognizes the ice surface by adopting an image recognition and visual positioning method, and the mechanism detects environmental information by adopting a binocular camera 303 and performs image processing and coordinate calculation by utilizing a Raspberry 3b to obtain the position coordinate of the ice surface relative to the trolley. Meanwhile, a holder is additionally arranged below the binocular camera 303, so that the binocular camera 303360-degree rotation detection of the ice surface is realized, and the follow-up ice surface tracking is performed. In the deicing operation, after the ice surface is detected by the ice surface identification control mechanism 3, the ice surface position coordinates and the ice surface area are transmitted to the automatic control mechanism 6 in real time, the automatic control mechanism 6 controls the driving mechanism 2 to drive to the ice surface according to the ice surface position coordinates, and the snow melting agent spreading amount of the snow melting and deicing mechanism 4 is controlled according to the ice surface area. When the snow-melting agent is spread at the starting point of the ice surface, the automatic control mechanism 6 starts to time, the time duration is the effective time duration of the snow-melting agent, if the time duration when the snow-melting agent is spread to the end of the route planning is finished, the automatic control mechanism 6 controls the deicing vehicle to return to the starting point of the ice surface again, and controls the mechanical deicing mechanism 5 to start mechanical deicing until the end of the route planning is reached. The automatic control means 6 are also used for automatic route finding, i.e. for automatic route finding to the operator indicated street.

Referring to fig. 1 to 2, in the present preferred embodiment, the ice surface recognition control mechanism 3 includes: central processing unit 301, cloud platform 302 and binocular camera 303, central processing unit 301 install the upper surface front end at bottom plate 101, and cloud platform 302 is installed on the upper surface of top cap 104, and binocular camera 303 installs the upper end at cloud platform 302, wherein:

the central processing unit 301 is used for controlling the pan-tilt 302 and the binocular camera 303 to work, receiving and analyzing image data transmitted by the binocular camera 303 to obtain azimuth information and area information of the ice surface, and transmitting the azimuth information and the area information of the ice surface to the automatic control mechanism 6;

the pan-tilt 302 is controlled by the central processing unit 301 to rotate so as to change the visual angle of the binocular camera 303;

and the binocular camera 303 is used for shooting a current road surface picture under the control of the central processing unit 301 and transmitting road surface image data to the central processing unit 301.

Specifically, the ice surface identification system identifies the ice surface by adopting an image identification and visual positioning method. The system adopts a binocular camera 303 to detect environmental information and utilizes a central processing unit 301 to perform image processing and coordinate calculation, and the central processing unit 301 in the embodiment adopts Raspberry 3b to obtain the position coordinates of the ice surface relative to the trolley. Meanwhile, the cloud deck is additionally arranged below the camera, so that the ice surface is detected by 360-degree rotation of the camera, and the follow-up ice surface is tracked. Referring to fig. 7, the ice surface recognition system operates by the steps of: ice surface identification, ice surface position detection, ice surface target tracking,

and (3) ice surface identification:

the ice surface recognition principle is as follows: because the color of the ice surface is different from that of the ground, the color difference can be used for distinguishing the ice surface. Therefore, each frame of image collected by the binocular camera 303 can be processed by using OpenCV, the color image is grayed firstly, then a proper threshold value is selected, the obtained grayscale image is subjected to binarization processing, and the ice surface and the ground are classified;

ice surface position detection:

the left-eye camera a and the right-eye camera B of the binocular video camera 303 are horizontally placed. And performing the ice surface recognition image processing on the images acquired by the binocular camera 303 at the same moment to obtain an ice surface contour, performing contour matching by using OpenCV, and marking the geometric center point of each connected domain. According to the principle of measuring the parallax depth of the binocular camera 303, the coordinate position of the geometric center of the ice surface relative to the camera A can be measured. Calculating the distance and the azimuth angle of the ice surface position relative to the trolley by utilizing the conversion relation of a pixel coordinate system, a camera coordinate system and a trolley coordinate system, transmitting the distance and the azimuth angle to an automatic control mechanism 6, and controlling a driving mechanism 2 by the automatic control mechanism 6 to realize the travelling of the trolley to the ice surface;

tracking an ice surface target:

since the trolley may generate offset and error during the traveling process, in order to ensure that the ice surface position can be accurately reached, the binocular camera 303 is enabled to track the ice surface until the ice surface position is reached. In the advancing process, the central processing unit 301 continuously and circularly calculates the offset between the geometric center of the ice surface and the center of the pixel, transmits the offset angle to the holder 302 by utilizing PID control, and adjusts the position of the binocular camera 303; the distance and the azimuth angle are transmitted to an automatic control mechanism 6, and then the automatic control mechanism 6 controls a driving mechanism 2 to adjust the advancing direction of the trolley.

Referring to fig. 1-3, in the present preferred embodiment, the bottom plate 101 is hollow corresponding to the snow-melting and deicing mechanism 4 and the mechanical deicing mechanism 5.

Specifically, the hollow-out arrangement is provided to facilitate the falling of the snow-melting agent and the ice-breaking cone 515.

Referring to fig. 2-4, in the preferred embodiment of this section, the upper surface of the base plate 101 is also fitted with a snow melting system support 105.

Referring to fig. 4, in the present preferred embodiment, the snow and ice melting mechanism 4 includes: a stepping motor groove 401, a rotor 402, a stepping motor 403, a snow-melting agent funnel 404 and a porous baffle 405, wherein the stepping motor groove 401 and the snow-melting agent funnel 404 are adjacently arranged on the snow-melting system bracket 105, the stepping motor 403 is arranged in the stepping motor groove 401, the rotating part of the rotor 402 is connected with the output shaft of the stepping motor 403, the porous baffle 405 is arranged below the snow-melting agent funnel 404,

when the snow-melting and deicing mechanism 4 is in a non-working state, the shielding part of the rotor 402 shields the lower end opening of the snow-melting agent funnel 404; when the snow-melting and deicing mechanism 4 is in an operating state, the lower end opening of the snow-melting agent funnel 404 is not shielded by the shielding portion of the rotor 402.

Specifically, when the ice surface recognition control mechanism 3 detects that the road surface is an ice surface, the timing system of the automatic control mechanism 6 starts timing, and simultaneously, the rotor 402 is driven to rotate by a certain angle through the rotation of the stepping motor 403, so that the snow-melting agent particles in the snow-melting agent funnel 404 above the rotor 402 are scattered to the ground through the porous baffle 405 below the funnel, in the process, the trolley keeps running at a constant speed through four mecanum wheels 202 driven by four direct current motors 201, and the snow-melting agent is uniformly scattered to the ice layer. When the vehicle runs to the position above the road surface without ice and snow, a feedback signal is fed back to the automatic control mechanism 6, the automatic control mechanism 6 controls the stepping motor 403 to rotate in the reverse direction, the rotary plate 402 is driven to rotate, the lower opening of the snow-melting agent hopper 404 is closed, and the snow-melting agent is stopped spreading. When the timing system reaches the set deicing effective time of the snow melt agent for 3min, the trolley reversely traces back to the starting point, and the mechanical deicing mechanism 5 is started after the starting point is reached. The ice melting experiment of the snow melting agent shows that the corrosion degree of the snow melting agent to the ice layer is in positive correlation with the time, and after the corrosion, the ice layer becomes a loose and porous honeycomb shape and is more easily broken by the sharp and thorny ice breaking cone 515.

Referring to fig. 5, in the present preferred embodiment, the mechanical deicing mechanism 5 includes: a deicing mechanism shell 501, a solid iron column 502, a hollow iron column 503, a power line inlet 504, a positive power line 505, a negative power line 506, two power lines 507 with changeable electrodes, a fixed coil 508, a sliding coil 509, two power line slots 510, a fixed arm 512, a rolling wheel 513, a connecting plate 514 and an ice-breaking cone 515,

the deicing mechanism shell 501 is installed on the upper surface of the trolley bottom plate 101, the solid iron column 502 is integrally poured on the inner top of the deicing mechanism shell 501, the solid iron column 502 is arranged on the inner lower part of the deicing mechanism shell 501, the two power supply wire slots 510 are oppositely arranged on the inner wall of the lower part of the deicing mechanism shell 501, the fixed arm 512 transversely extends relative to the upper end of the solid iron column 502, the two ends of the upper part of the fixed arm 512 are provided with the rolling wheels 513, the solid iron column 502 is in rolling connection with the two power supply wire slots 510 through the fixed arm 512 and the rolling wheels 513, the connecting plate 514 is installed at the lower end of the solid iron column 502, the ice breaking cone 515 is arranged on the lower surface of the connecting plate 514,

the fixed coil 508 is wound on the outer wall of the hollow iron column 503, the sliding coil 509 is wound on the outer wall of the solid iron column 502, and the fixed coil 508 and the sliding coil 509 are wound in the same direction,

the power line inlet 504 is arranged at the upper end of the deicing mechanism shell 501, one end of the positive power line 505, one end of the negative power line 506 and one end of the power lines 507 of the two convertible electrodes are connected with the low temperature resistant lithium battery 203, the other end of the power lines enter the hollow iron column 503 through the power line inlet 504, the other ends of the positive power line 505 and the negative power line 506 are respectively connected with two ends of the fixed coil 508, and the other ends of the power lines 507 of the two convertible electrodes are respectively connected with two ends of the sliding coil 509.

Specifically, when the trolley returns to the starting point, the automatic control mechanism 6 controls the mechanical deicing mechanism 5 to start working. The workflow can be divided into three steps: slow stroke, return stroke.

And (3) slow-moving: first, the stationary coil 508 and the slider coil 509 are energized simultaneously, and a strong magnetic field is generated after the current passes through the stationary coil 508, and the polarities of the power supply lines 507 of the two switchable electrodes are adjusted so that the energizing direction of the slider coil 509 is opposite to that of the stationary coil 508. Because the fixed coil 508 is wound in the same way as the sliding coil 509, the current passing directions are opposite, and the generated magnetic fields are mutually exclusive, the hollow iron column 503 generates repulsion to the solid iron column 502, the solid iron column 502 slides downwards by virtue of the rolling wheel 513, and the solid iron column 502 generates stronger impact force due to larger mass and larger inertia when impacting downwards;

stroke: the ice-breaking awl 515 is connected with the solid iron column 502 by a connecting plate, a plurality of sharp cones are distributed on the surface, and ice can be quickly broken by downward impact of the inertia of the solid iron column 502;

and (3) return stroke: after the stroke is finished, the polarity of the power supply wires 507 of the two changeable electrodes is controlled by the automatic control mechanism 6 to be exchanged, so that the current of the sliding coil 509 is reversed, and the current intensity is reduced, at the moment, the electrifying direction of the sliding coil 509 is the same as that of the fixed coil 508, the generated magnetic field is attracted, and the solid iron column 502 is pulled upwards to return to the original position to prepare for the next stroke.

Referring to fig. 5, in the present preferred embodiment, the mechanical deicing mechanism 5 further includes a limiting plate 511, and the limiting plate 511 is installed at the lower end of the two power line slots 510.

Specifically, the limiting plate 511 is used to limit the rolling range of the rolling wheel 513, so as to limit the actuation range of the solid iron column 502 connected to the rolling wheel 513 via the fixing arm 512, and prevent the solid iron column 502 from being separated from the deicing mechanism housing 501.

Referring to fig. 14, in the present preferred embodiment, the automatic control mechanism 6 includes: a motor driving system 601, an obstacle avoidance system 602, a heading detection system 603, a trolley control system 604 and a path planning system 605,

the motor driving system 601 comprises a brush-up controller 60101, the direct current motor 201 is connected with the low-temperature resistant lithium battery 202 through the brush-up controller 60101, and the brush-up controller 60101 is used for controlling the rotating speed of the direct current motor 201 according to a command of the trolley control system 604;

the obstacle avoidance system 602 comprises a radar 60201 and four ultrasonic obstacle avoidance devices 60202, wherein the radar 60201 is arranged on the upper surface of the top cover 104, the four ultrasonic obstacle avoidance devices 60202 are arranged in four directions of the outer wall of the carriage shell 102, and the radar 60201 and the four ultrasonic obstacle avoidance devices 60202 are used for detecting whether an obstacle exists around the carriage body 1 and transmitting the detection result to the trolley control system 604 in real time;

the course detection system 603 is arranged on the right side of the central processor 301, and comprises a GPS module 60301, a barometer 60302, a gyroscope 60303, an accelerometer 60304 and a magnetometer 60305, wherein the GPS module 60301, the barometer 60302, the gyroscope 60303, the accelerometer 60304 and the magnetometer 60305 are used for detecting the current course of the trolley in real time and transmitting course information to the trolley control system 604 in real time to assist in calibrating the current course of the trolley;

a path planning system 605, configured to convert roads in the actual map of the working area acquired from the cart control system 604 into effective paths in a cartesian rectangular coordinate system, and transmit the effective paths to the cart control system 604;

and the trolley control system 604 is used for controlling the motor driving system 601 to work, stop or control the driving mechanism 2 to turn according to the effective path, the azimuth information of the ice surface, the feedback information of the obstacle avoidance system 602 and the heading detection system 603, and controlling the snow-melting and deicing mechanism 4 and the mechanical deicing mechanism 5 to work according to the azimuth information and the area information of the ice surface.

Specifically, the motor driving system 601 adopts a brush motor electronic governor, hereinafter referred to as a brush electric governor 60101, and controls the rotation speed of the dc motor 201 by outputting a PWM signal. The brushed electric regulator 60101 has the advantages that the rotating speed of the direct current motor 201 is output and is controlled in a feedback mode, the rotating speed of the direct current motor 201 can be controlled stably, and the PWM signal has strong anti-jamming capability and the like.

The design of the obstacle avoidance system 602, in this embodiment, the radar 60201 and the four ultrasonic obstacle avoidance devices 60202 are adopted at the same time, and are highly matched. In the low-level intelligent deicing vehicle, the radar 60201 can be selectively removed, and four ultrasonic obstacle avoidance devices 60202 are independently reserved. When an obstacle is detected in a medium distance, the trolley is decelerated selectively and moves forwards laterally to avoid the object; when the obstacle avoidance system 602 detects that there is an obstacle in a short distance, the obstacle avoidance system 602 transmits peripheral scanning data to the trolley control system 604, the trolley control system 604 controls the motor drive system 601 to stop the direct current motor 201, the trolley brakes emergently, the trolley control system 604 controls the direct current motor 201 to run again through the motor drive system 601, and controls the mecanum wheel 202 to turn at the same time, so that the trolley moves forward in a direction without the obstacle. When obstacles exist around, the trolley sends corresponding instructions to the advanced control system 7, and the advanced control system 7 accurately judges the complex conditions. On the high version dolly of joining in marriage, radar 60201 who installs additional is infrared radar, and it can detect near situation, and infrared radar has higher sampling frequency and accuracy, can cooperate other devices to measure and generate accurate road conditions to send accurate road conditions to senior control system 7, provide accurate road conditions information for the vehicle afterwards.

603 cart includes GPS module 60301, barometer 60302, gyroscope 60303, accelerometer 60304 and magnetometer 60305, wherein, the GPS module 60301 can output the positioning information of the trolley in real time, the barometer 60302 can output the measured altitude information of the trolley in real time, the gyroscope 60303 and the accelerometer 60304 can acquire and output the current course and attitude of the trolley in real time, the magnetometer 60305 is used for measuring the orientation of the current orientation of the trolley in real time, the above information is transmitted to the trolley control system 604, and is transmitted to the advanced control system 7 through the trolley control system 604, the advanced control system 7 then forwards the above information to the human-computer interaction system in front of the operator, therefore, an operator in front of the human-computer interaction system can visually see the current condition of the trolley and explore the current environment of the trolley through the binocular design camera 303, and therefore the trolley can make a correct decision when encountering an accident. And when the trolley encounters an accident, the trolley control system 604 can timely send an error report to the man-machine interaction system through the advanced control system 7, and timely apply for rescue to the operator. It should be noted that the human-computer interaction system, i.e. the client, is not a component on the cart, but a remote console, which has a display screen and related input keys, and the display screen can display the current position of the cart and the current state of each system in real time.

Referring to fig. 8-9 and 14, a path planning system 605 selects a boundary point at a lower left corner from an actual map of a working area acquired from a cart control system 604 as a coordinate origin, establishes a cartesian rectangular coordinate system with a true east direction as an x-axis and a true north direction as a y-axis, abstracts all roads in the actual map into straight lines and refers to the straight lines as effective paths, and then maps the straight lines into the coordinate system according to the actual map according to a scale, and then converts the straight lines into GPS coordinates by using a coordinate conversion matrix, that is, replaces the roads by using the straight lines in the coordinate system, thereby completing the construction of a map model.

Referring to fig. 8-9, when an operator selects a place needing deicing operation through a human-computer interaction system, the operator is first required to select a specific street where the place needing deicing is located and to confirm, then the operator clicks a specific place a needing deicing to obtain the coordinate and the specified street, the human-computer interaction system sends the part of data to a server, after the server obtains the data, a vertical line is drawn from a point a to a straight line l, the foot is the deicing place on the effective path, and the place can be obtained through calculation.

The work of calculating the optimal path may be located in the advanced control system 7, and in this embodiment, the calculation is located in a server, and the server is used as a bridge between the human-computer interaction system and the advanced control system 7 to be responsible for updating and storing data and communicating between the human-computer interaction system and the central processing unit 301. Firstly, when a user sends a request from a human-computer interaction system, a server receives data from the human-computer interaction system, namely coordinates of deicing sites and a specified street, coordinates of the deicing sites on an effective path can be obtained through the solving, the process of solving an optimal path is divided into two parts, the first part is used for solving the shortest distance between every two deicing sites, the second part forms a graph G (V, E) by using the data obtained by the first part, wherein V represents a node set in the graph and represents the deicing sites, E represents a set of edges between the nodes and represents the distance between the two points, and then a TSP Problem (tracking Salesman Problim which is translated into a traveler Problem) is solved on the graph.

The first part of the specific process: firstly, the coordinates of all road intersections are obtained by solving a map model, and a map model G1(V1, E1) is constructed according to the map, wherein V1 is a node set in the map, each node represents one road in the map, E1 is an edge set in the map, each edge represents an intersection between two streets represented by two nodes connected with each edge, namely, one road can reach the other road through the intersection, and the coordinates of the road intersections represented by the two nodes are recorded on the edges. Then the distance between every two deicing points is solved from the graph G1, and since the street where each deicing point is located has been obtained in the previous step, the problem is transformed to solve the shortest path between two nodes in the graph G1, the distance from one street to another street can be calculated by the distance between two intersections, and for the starting point, when calculating the distance, the distance between the point and the first intersection on the path is as shown in fig. 9, the schematic path distance from a to D is:

|AB|+|BC|+|CD|

the distance between the points can be found from the known coordinates.

The shortest path between two points is solved by adopting Dijkstra algorithm (Dijkstra algorithm), the flow chart of the algorithm is shown in figure 10, and the shortest distance between every two freezing points can be obtained by the algorithm.

A second part: and constructing a graph G (V, E) from the data obtained from the first part, wherein V represents a node set in the graph and represents a deicing site, and E represents a set of edges between the nodes and represents a distance between two points, and solving the TSP problem on the graph by using a branch-and-bound algorithm. Because the problem is actually to search on all possible paths to obtain a shortest path, a conversion is used to solve the tree search problem, i.e., a tree composed of all possible paths is searched to obtain a shortest path, wherein the root node of the tree is the starting node, a branch and bound method can be used in the search process, and a specific algorithm flowchart is shown in fig. 11.

Therefore, a shortest path including all deicing places can be obtained, coordinates of all intersection points in the path are stored in the calculation process, and the server sends the path and the coordinates to the trolley.

The cart control system 604 manages all the onboard devices and accepts commands from the advanced control system 7. The communication mode is full duplex peer-to-peer communication. The control commands sent by the advanced control system 7 are divided into three types: task instructions, temporary instructions, and data application instructions. The information sent by the automatic control mechanism 6 is divided into three types: general status information, error reports, and replies to data applications. Wherein: the task instruction is issued when the trolley receives a task. The method comprises the steps of selecting a waypoint, a cruising speed and a task; the temporary instruction information is temporarily sent by the trolley in the running process for various reasons, the priority of the temporary instruction information is higher than that of the task instruction, and the trolley continues to execute the task instruction after the temporary instruction is executed; the data application instruction can be sent to the trolley at any time, so as to acquire the state information of the vehicle; the conventional state information is that because the communication rate is limited, in order to ensure that important information is transmitted in time, the vehicle only sends simple and necessary information to the advanced control system at regular time, and the rest information is only sent after receiving an information application instruction; the error report is information of applying a processing scheme to the advanced control system when the trolley encounters an insurmountable fault; and the data application reply is data replied after the trolley receives the data application instruction. Each instruction and information is a data packet, which is composed of fixed bytes, a frame header, a frame tail and a check value.

In this preferred embodiment, the deicing vehicle further includes an advanced control system 7, where the advanced control system 7 is installed on the bottom plate 101, and is configured to receive and issue a control instruction from a remote end, where the control instruction includes a task instruction, a temporary instruction, and a data application instruction, and upload, to the remote end, conventional state information, an error report, and a reply to the data application of the deicing vehicle.

Specifically, referring to fig. 12, in the display operation interface, the present invention uses Java programming language to complete UI design in an eclipse compiler. The JFrame class is used as a frame of an interface, and two JPanel class objects are placed on the left and right of the JFrame class. The JPanel object on the left side has components placed to display the speed, direction, current cart and user information for the cart. The Jpanel on the right displays a map. Meanwhile, JMenu Bar, JMenu and JMenuItem classes are used to complete a menu bar. When the user clicks the camera button, the position of the displayed map is changed to the view of the binocular camera 303 of the display cart, that is, in the above embodiment, when the obstacle currently encountered by the deicing vehicle is specifically analyzed, the advanced control system 7 may directly take over the specific example of the control right of part of the device of the deicing vehicle.

Specifically, the advanced control system 7 generally plays a role in communication and advanced control, and in order to implement its communication function, the present invention uses a socket programming interface provided by Java to complete network programming at an application layer. We use Runnable and Thread classes to implement multithreading so that a server's program can accept multiple client requests simultaneously. Meanwhile, the protocol we have designed has the following fields: HOST, CODE, FUCTION. HOST is used to indicate the sender of the data. The CODE is used to indicate a user password of the sender to verify the identity. FUCTION is used to indicate the role of the data being sent. Each packet needs to have a function and a HOST field to indicate the sender and role of the packet. The CODE field is not necessarily present. Specifically, the value of the FUCTION field is eight, namely REQUIRE, PERMISSION, BUILD, MOVE, LOCATION, GETPIRTURE, CEASE, PICUTRE, DISCONNECT. The eight values correspond to the following meanings: requesting connection establishment, allowing connection establishment, confirming connection establishment, commanding the trolley to move, reporting coordinates to a server by the trolley, obtaining a picture of a trolley camera, stopping obtaining the picture of the trolley camera, sending the picture to the server by the trolley, and disconnecting the connection. The three-way handshake is implemented as follows: firstly, a human-computer interaction system sends a REQUIRE command to a server, and sends a HOST CODE and a CODE CODE together to verify the identity; the server then returns a PERMISSION command after confirming the identity, allowing the connection. If the password input by the user is wrong, not performing the second handshake; the client then notifies the server that the client is ready, after returning a BUILD command. Wherein, according to the encryption principle of the Elgamal, the Elgamal class is realized by Java. This class provides functions that can be encrypted and decrypted for invocation. The function is used to encrypt the data before transmitting it.

The message format is as follows:

1. first handshake

HOST：xxx

CODE：xxx

FUCTION:REQUIRE

Second handshake

HOST:xxx

FUCTION:PERMISSION

Third hand of shake

HOST：xxx

FUCTION:BUILD

Later data

HOST:xxx

FUCTION:xxx

xxxxxx(data)

In this embodiment, the low temperature resistant lithium battery 203 also supplies power to the ice surface identification control mechanism 3, the snow and ice melting mechanism 4, the mechanical ice removing mechanism 5 and the automatic control mechanism 6.

Claims

1. Full-automatic small-size intelligent deicing vehicle includes: the vehicle body (1) comprises a bottom plate (101), a carriage shell (102), a support column (103) and a top cover (104), the driving mechanism (2) comprises a direct current motor (201), Mecanum wheels (202) and low-temperature-resistant lithium batteries (203), the carriage shell (102) is vertically installed at the edges of four directions of the bottom plate (101) respectively, the support columns (103) are respectively arranged at four corners of the bottom plate (101) and connect the carriage shell (102) into a whole, the top cover (104) covers the top of the carriage shell (102), the direct current motor (201) and the low-temperature-resistant lithium batteries (203) are installed on the bottom plate (101), the Mecanum wheels (202) are installed on an output shaft of the direct current motor (201), and the direct current motor (201) and the Mecanum wheels (202) are powered by the low-temperature-resistant lithium batteries (203),

the ice-melting and deicing device is characterized in that the bottom plate (101) is also provided with an ice surface identification control mechanism (3), a snow-melting and deicing mechanism (4), a mechanical deicing mechanism (5) and an automatic control mechanism (6), the upper surface of the bottom plate (101) is also provided with a snow-melting system bracket (105),

wherein:

the automatic control mechanism (6) is used for automatically planning a path, receiving the ice surface identification information of the ice surface identification control mechanism (3) and respectively sending control information to the driving mechanism (2), the snow and ice melting and removing mechanism (4) and the mechanical deicing mechanism (5);

the driving mechanism (2) is used for driving the deicing vehicle to walk, stop and turn according to the control information of the automatic control mechanism (6);

the ice surface identification control mechanism (3) is used for identifying and locking the ice surface position and uploading information to the automatic control mechanism (6);

the snow-melting and deicing mechanism (4) is used for spreading a snow-melting agent according to the control information of the automatic control mechanism (6);

the snow and ice melting mechanism (4) comprises: the snow melting system comprises a stepping motor groove (401), a rotor (402), a stepping motor (403), a snow melting agent funnel (404) and a porous baffle plate (405), wherein the stepping motor groove (401) and the snow melting agent funnel (404) are adjacently installed on a snow melting system support (105), the stepping motor (403) is installed in the stepping motor groove (401), a rotating part of the rotor (402) is connected with an output shaft of the stepping motor (403), the porous baffle plate (405) is arranged below the snow melting agent funnel (404),

when the snow-melting and deicing mechanism (4) is in a non-working state, the shielding part of the rotating sheet (402) shields the opening at the lower end of the snow-melting agent funnel (404); when the snow-melting and deicing mechanism (4) is in a working state, the shielding part of the rotor blade (402) does not shield the lower end opening of the snow-melting agent funnel (404);

the mechanical deicing mechanism (5) is used for shoveling and crushing an ice layer according to the control information of the automatic control mechanism (6);

the mechanical de-icing mechanism (5) comprises: a deicing mechanism shell (501), a solid iron column (502), a hollow iron column (503), a power line inlet (504), a positive power line (505), a negative power line (506), two power lines (507) with changeable electrodes, a fixed coil (508), a sliding coil (509), two power line slots (510), a fixed arm (512), a rolling wheel (513), a connecting plate (514) and an ice breaking cone (515),

deicing mechanism shell (501) is installed on the upper surface of bottom plate (101), solid iron post (502) integrative the pouring in the interior top of deicing mechanism shell (501), solid iron post (502) set up the interior lower part of deicing mechanism shell (501), twice power wire casing (510) set up relatively on the lower part inner wall of deicing mechanism shell (501), fixed arm (512) are horizontal relative extension of solid iron post (502) upper end, just install at the upper portion both ends of fixed arm (512) wheel (513), solid iron post (502) pass through fixed arm (512) with wheel (513) with twice power wire casing (510) roll connection, connecting plate (514) are installed the lower extreme of solid iron post (502), ice cone (515) sets up on the lower surface of connecting plate (514),

the fixed coil (508) is wound on the outer wall of the hollow iron column (503), the sliding coil (509) is wound on the outer wall of the solid iron column (502), and the winding directions of the fixed coil (508) and the sliding coil (509) are the same,

the power line inlet (504) is arranged at the upper end of the deicing mechanism shell (501), one end of each of the positive power line (505), the negative power line (506) and the power lines (507) of the two convertible electrodes is connected with the low-temperature resistant lithium battery (203), the other end of each of the positive power line (505) and the negative power line (506) enters the hollow iron column (503) through the power line inlet (504), the other ends of the positive power line (505) and the negative power line (506) are respectively connected with two ends of the fixed coil (508), and the other ends of the power lines (507) of the two convertible electrodes are respectively connected with two ends of the sliding coil (509);

the automatic control mechanism (6) comprises: a motor driving system (601), an obstacle avoidance system (602), a course detection system (603), a trolley control system (604) and a path planning system (605),

the motor driving system (601) comprises a brush-up controller (60101), the direct current motor (201) is connected with the low-temperature-resistant lithium battery (203) through the brush-up controller (60101), and the brush-up controller (60101) is used for controlling the rotating speed of the direct current motor (201) according to a command of the trolley control system (604);

the obstacle avoidance system (602) comprises a radar (60201) and four ultrasonic obstacle avoidance devices (60202), wherein the radar (60201) is arranged on the upper surface of the top cover (104), the four ultrasonic obstacle avoidance devices (60202) are arranged in four directions of the outer wall of the carriage shell (102), and the radar (60201) and the four ultrasonic obstacle avoidance devices (60202) are used for detecting whether an obstacle exists around the carriage body (1) or not and transmitting the detection result to the trolley control system (604) in real time;

the course detection system (603) is arranged on the right side of the central processing unit (301) and comprises a GPS module (60301), a barometer (60302), a gyroscope (60303), an accelerometer (60304) and a magnetometer (60305), wherein the GPS module (60301), the barometer (60302), the gyroscope (60303), the accelerometer (60304) and the magnetometer (60305) are used for detecting the current course of the trolley in real time and transmitting course information to the trolley control system (604) in real time to assist in calibrating the current course of the trolley;

the path planning system (605) is used for converting roads in an actual map of a working area acquired from the trolley control system (604) into effective paths in a Cartesian rectangular coordinate system and transmitting the effective paths to the trolley control system (604);

and the trolley control system (604) is used for controlling the motor driving system (601) to work, stop or control the driving mechanism (2) to turn according to the effective path, the ice surface orientation information and the feedback information of the obstacle avoidance system (602) and the course monitoring system (603), and controlling the snow and ice melting mechanism (4) and the mechanical ice removing mechanism (5) to work according to the ice surface orientation information and the ice surface area information.

2. The fully automatic small intelligent deicing vehicle according to claim 1, characterized in that said ice surface identification control mechanism (3) comprises: central processing unit (301), cloud platform (302) and binocular camera (303), central processing unit (301) are installed the upper surface front end of bottom plate (101), cloud platform (302) are installed on the upper surface of top cap (104), binocular camera (303) are installed the upper end of cloud platform (302), wherein:

the central processing unit (301) is used for controlling the holder (302) and the binocular camera (303) to work, receiving and analyzing image data transmitted by the binocular camera (303) to obtain azimuth information and area information of an ice surface, and sending the azimuth information and the area information of the ice surface to the automatic control mechanism (6);

the pan-tilt (302) is controlled by the central processing unit (301) to rotate so as to change the visual angle of the binocular camera (303);

the binocular camera (303) is used for shooting a current road surface picture under the control of the central processing unit (301) and transmitting the road surface image data to the central processing unit (301).

3. The full-automatic small-sized intelligent deicing vehicle according to claim 1, wherein the positions of the bottom plate (101) corresponding to the snow melting and deicing mechanism (4) and the mechanical deicing mechanism (5) are arranged in a hollow manner.

4. The full-automatic small-sized intelligent deicing vehicle according to claim 1, wherein said mechanical deicing mechanism (5) further comprises a limiting plate (511), said limiting plate (511) is installed at the lower end of said two power line slots (510).

5. The full-automatic small-sized intelligent deicing vehicle according to claim 1, characterized in that the deicing vehicle further comprises an advanced control system (7), wherein the advanced control system (7) is installed on the bottom plate (101) and is used for receiving and issuing control instructions from a remote end, the control instructions comprise task instructions, temporary instructions and data application instructions, and uploading conventional state information, error reports and replies to data applications of the deicing vehicle to the remote end.

6. The full-automatic small-sized intelligent deicing vehicle according to claim 1, wherein the low temperature resistant lithium battery (203) also supplies power to the ice surface identification control mechanism (3), the snow and ice melting mechanism (4), the mechanical deicing mechanism (5) and the automatic control mechanism (6).