CN114808830A - Anti-freezing system for highway bridge - Google Patents
Anti-freezing system for highway bridge Download PDFInfo
- Publication number
- CN114808830A CN114808830A CN202210754538.6A CN202210754538A CN114808830A CN 114808830 A CN114808830 A CN 114808830A CN 202210754538 A CN202210754538 A CN 202210754538A CN 114808830 A CN114808830 A CN 114808830A
- Authority
- CN
- China
- Prior art keywords
- image
- freezing
- module
- information
- pressure hot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000007710 freezing Methods 0.000 title claims abstract description 95
- 230000008014 freezing Effects 0.000 claims abstract description 70
- 238000012545 processing Methods 0.000 claims abstract description 59
- 230000007613 environmental effect Effects 0.000 claims abstract description 16
- 238000002844 melting Methods 0.000 claims abstract description 10
- 239000000126 substance Substances 0.000 claims abstract description 9
- 238000005507 spraying Methods 0.000 claims description 23
- 238000000034 method Methods 0.000 claims description 14
- 230000007246 mechanism Effects 0.000 claims description 7
- 230000003068 static effect Effects 0.000 claims description 6
- 230000006698 induction Effects 0.000 claims description 5
- 238000002485 combustion reaction Methods 0.000 claims description 3
- 239000002283 diesel fuel Substances 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000012216 screening Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims description 2
- 230000002265 prevention Effects 0.000 claims description 2
- 108010053481 Antifreeze Proteins Proteins 0.000 claims 1
- 230000002528 anti-freeze Effects 0.000 claims 1
- 239000002699 waste material Substances 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 8
- 238000004590 computer program Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 4
- 238000010438 heat treatment Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 206010039203 Road traffic accident Diseases 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010257 thawing Methods 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H5/00—Removing snow or ice from roads or like surfaces; Grading or roughening snow or ice
- E01H5/10—Removing snow or ice from roads or like surfaces; Grading or roughening snow or ice by application of heat for melting snow or ice, whether cleared or not, combined or not with clearing or removing mud or water, e.g. burners for melting in situ, heated clearing instruments; Cleaning snow by blowing or suction only
- E01H5/106—Clearing snow or ice exclusively by means of rays or streams of gas or steam, or by suction with or without melting
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H10/00—Improving gripping of ice-bound or other slippery traffic surfaces, e.g. using gritting or thawing materials ; Roadside storage of gritting or solid thawing materials; Permanently installed devices for applying gritting or thawing materials; Mobile apparatus specially adapted for treating wintry roads by applying liquid, semi-liquid or granular materials
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/764—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30232—Surveillance
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30236—Traffic on road, railway or crossing
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Business, Economics & Management (AREA)
- Multimedia (AREA)
- Human Resources & Organizations (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Strategic Management (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Economics (AREA)
- Entrepreneurship & Innovation (AREA)
- Development Economics (AREA)
- Tourism & Hospitality (AREA)
- Quality & Reliability (AREA)
- Operations Research (AREA)
- Marketing (AREA)
- Game Theory and Decision Science (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- General Business, Economics & Management (AREA)
- Computing Systems (AREA)
- Databases & Information Systems (AREA)
- Evolutionary Computation (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides an anti-freezing system for a highway bridge, which comprises: the environment information acquisition module: the system comprises a central processing module, a plurality of sensors and a central processing module, wherein the central processing module is used for acquiring environmental information in real time through the plurality of sensors and transmitting the environmental information to the central processing module; a central processing module: the system is used for analyzing image information, audio information and position information in the received environment information and searching a freezing position on the highway bridge by combining a pre-constructed driving model; an anti-freezing module: the device is used for judging the freezing level of the freezing position, when the freezing level is less than or equal to a preset freezing level threshold value, an ice-melting substance is sprayed on the freezing position for deicing, and when the freezing level is greater than the preset freezing level threshold value, high-pressure hot air flow is started for deicing; wherein the plurality of sensors comprises: the anti-freezing system can correspondingly de-ice frozen in different degrees, and avoids resource waste.
Description
Technical Field
The invention relates to the technical field of anti-freezing systems, in particular to an anti-freezing system for a highway bridge.
Background
The winter in China is basically that 3/4 land falls snow, ice and snow influence normal driving of people on highway bridges, traffic accidents caused by the ice and the snow are reported every year, so that the loss of economy of people is caused, and the life health of people is seriously damaged, so that the ice and snow removing technology is listed as one of three important projects of the highway bridges in China.
At present, the most widely adopted method in the deicing technology in China is manual deicing technology, ice melting agent is spread on roads, and ice and snow are cleaned mechanically, but the manual deicing effect is low, the manpower is wasted, the cost is high, traffic accidents are easy to happen, and the method is not suitable for the requirement of clearing accumulated ice of highway bridges.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an anti-freezing system for a highway bridge, which comprises:
the environment information acquisition module: the system comprises a central processing module, a plurality of sensors and a central processing module, wherein the central processing module is used for acquiring environmental information in real time through the plurality of sensors and transmitting the environmental information to the central processing module;
a central processing module: the system is used for analyzing image information, audio information and position information in the received environment information and searching a freezing position on the highway bridge by combining a pre-constructed driving model;
an anti-freezing module: the device is used for judging the freezing level of the freezing position, when the freezing level is less than or equal to a preset freezing level threshold value, an ice-melting substance is sprayed on the freezing position for deicing, and when the freezing level is greater than the preset freezing level threshold value, high-pressure hot air flow is started for deicing;
wherein the plurality of sensors comprises: two-dimensional laser sensors and ultrasonic sensors.
Preferably, the environment information obtaining module includes:
an environment image acquisition unit: the system comprises a two-dimensional laser sensor, a data acquisition module, a data processing module and a data processing module, wherein the two-dimensional laser sensor is used for performing real-time horizontal surrounding scanning on the surrounding environment to obtain environment image information;
an ambient audio acquisition unit: the sound collecting device is used for collecting the sound of the surrounding environment through the sound collector to obtain the environmental sound information.
Preferably, the central processing module includes:
an image recognition unit: the system comprises a first image module, a second image module, a third image module and a fourth image module, wherein the first image module is used for screening out a first image with ice and snow characteristics in environment image information transmitted in real time through image rough processing, comparing the first image with images in a pre-constructed ice and snow image library, and determining the position of the first image when the similarity between the first image and any image in the ice and snow image library reaches a preset similarity threshold;
a driving module: the method is used for inputting the position information of the first image into a pre-established optimal path planning model after the position information of the first image is determined on a map, generating an optimal path, and starting navigation to be close to the position of the first image.
Preferably, the central processing module further includes:
an audio-sensitive word acquisition unit: the system comprises a sensitive word library, a sensitive word corresponding processing mechanism and a sensitive word processing mechanism, wherein the sensitive word library and the sensitive word corresponding processing mechanism are preset, and when a sensitive word appears in the environmental sound information, the sensitive word corresponding processing is carried out according to the sensitive word corresponding processing mechanism;
obstacle avoidance unit: the device is used for receiving the distance between the terrain two-dimensional laser radar sensor and the surrounding environment, and when the sensor collides with an obstacle, the anti-falling induction device is started.
Preferably, the optimal path planning model includes:
a path construction layer: the system comprises a map, a first image and a second image, wherein the map is used for receiving position information of the first image, marking position coordinates on the map and planning a plurality of paths which can be traveled through the map;
optimal path selection layer: the method is used for eliminating the obstructed paths on the map, constructing a position point distance weight matrix table for the plurality of eliminated paths, and selecting the Euclidean distance with the shortest two position points as the optimal path.
Preferably, the anti-freezing module comprises:
a freezing level judging unit: the high-pressure hot air deicing device is used for receiving the first image, analyzing the frozen area and thickness in the first image, starting the high-pressure hot air deicing device when the frozen thickness exceeds a preset thickness value, and starting the spraying device when any value of the frozen area and the frozen thickness is smaller than the preset value;
spraying a deicing unit: the spraying device is used for calculating the spraying time according to the freezing area and the thickness, circularly spraying ice-melting substances at the freezing position, closing the spraying device after the ice removal is finished, and searching the next freezing position;
high-pressure hot gas deicing unit: the device is used for calculating the heat required by the high-pressure hot gas according to the freezing area and the thickness, setting the temperature and the airflow speed of the hot gas according to the heat, and closing the high-pressure hot gas device to find the next freezing position after the deicing is finished.
Preferably, the driving module starts navigation to be close to the position of the first image, and the specific steps are as follows:
step S1: calculating an angle towards the position of the first image, adjusting the static accuracy of a course angle and the static accuracy of an attitude angle through a pose sensor, and turning to the position of the first image;
step S2: performing linear driving along the current point and the position point of the first image, and performing angular velocity control through a PID controller;
step S3: and when the position of the first image is reached, rotating for a circle to obtain an image of the frozen area and the frozen thickness.
Preferably, the obstacle avoidance unit receives the distance between the terrain two-dimensional laser radar sensor and the surrounding environment, and when the obstacle avoidance unit collides with an obstacle, the anti-falling induction device is started, and the method comprises the following specific steps:
step S1: obtaining a group of laser data according to each laser beam of the two-dimensional laser radar sensor, and calculating the distance between the two-dimensional laser radar sensor and an obstacle according to the laser length in the laser data;
step S2: stopping driving when the distance is close to a preset dangerous distance;
step S3: when emergency situations occur and danger is difficult to avoid, the anti-falling induction device is started for fixing;
the laser data comprises a laser angle, a laser angle resolution and a laser length.
Preferably, the high-pressure hot gas deicing unit calculates the heat required by the high-pressure hot gas according to the freezing area and the thickness, and the heat is calculated according to the following formula:
wherein,
in order to release heat for the high-pressure hot gas,
is the rated power of the high-pressure hot gas device,
for the lowest oil consumption of the high-pressure hot gas device,
is the diesel oil low heat value of the high-pressure hot gas device,
the heat released by the high-pressure hot gas accounts for the combustion heat.
Preferably, the euclidean distance is calculated as follows:
wherein,
is the euclidean distance of the optimal path,
is the standard deviation of the map-measured distance, G is the weighted value of the map-measured distance,
is the pose data of the starting position,
the pose data of the end point position.
Compared with the closest prior art, the invention has the following beneficial effects:
the invention provides an anti-freezing system for a highway bridge, which comprises: the environment information acquisition module: the system comprises a central processing module, a plurality of sensors and a central processing module, wherein the central processing module is used for acquiring environmental information in real time through the plurality of sensors and transmitting the environmental information to the central processing module; a central processing module: the system is used for analyzing image information, audio information and position information in the received environment information and searching a freezing position on the highway bridge by combining a pre-constructed driving model; an anti-freezing module: the device is used for judging the freezing level of the freezing position, when the freezing level is less than or equal to a preset freezing level threshold value, an ice-melting substance is sprayed on the freezing position for deicing, and when the freezing level is greater than the preset freezing level threshold value, high-pressure hot air flow is started for deicing; wherein the plurality of sensors comprises: a two-dimensional laser sensor and an ultrasonic sensor; the environment information acquisition module acquires various information of the surrounding environment in real time, so that the serious loss caused by information delay is avoided, the central processing module identifies and judges the environment information, the driving module is combined, the driving module is close to a freezing position, different defrosting devices are started in the anti-freezing module according to two different freezing grades, defrosting is correspondingly carried out on the freezing in different degrees, and the waste of resources is avoided.
Drawings
FIG. 1 is a schematic view of an anti-icing system for a highway bridge according to the present invention;
FIG. 2 is a schematic flow chart of a driving module of the anti-freezing system for highway bridges according to the present invention;
fig. 3 is a schematic view of an anti-freezing module of an anti-freezing system for highway bridges provided by the invention.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
Example 1:
an anti-freezing system for highway bridges according to the present invention is shown in fig. 1, and includes:
the environment information acquisition module: the system comprises a central processing module, a plurality of sensors and a central processing module, wherein the central processing module is used for acquiring environmental information in real time through the plurality of sensors and transmitting the environmental information to the central processing module;
a central processing module: the system is used for analyzing image information, audio information and position information in the received environment information and searching a freezing position on the highway bridge by combining a pre-constructed driving model;
an anti-freezing module: the device is used for judging the freezing level of the freezing position, when the freezing level is less than or equal to a preset freezing level threshold value, an ice-melting substance is sprayed on the freezing position for deicing, and when the freezing level is greater than the preset freezing level threshold value, high-pressure hot air flow is started for deicing;
wherein the plurality of sensors comprises: two-dimensional laser sensors and ultrasonic sensors.
In the above embodiment, the environment information acquiring module acquires real-time environment data of the surrounding environment through a plurality of sensors such as a two-dimensional laser sensor, a temperature sensor and an ultrasonic sensor, is favorable for observing dynamic changes of the environment in time by acquiring the real-time environment data, rapidly acquiring real-time information of the changes of the environment, sends the acquired environment information to the central processing module, analyzes and integrates the environment information through the central processing module, extracts effective information required by an anti-freezing system, determines information of a freezing position from the effective information, after the freezing position is determined, starts the anti-freezing module, judges the freezing grade of the freezing position, starts deicing devices in different modes according to different grades to deice, and can correspondingly deice the freezes in different degrees through the anti-freezing system of the invention, the waste of resources is avoided.
Example 2:
in an alternative embodiment, an environmental information obtaining module of an anti-freezing system for a highway bridge specifically includes:
an environment image acquisition unit: the system comprises a two-dimensional laser sensor, a data acquisition module, a data processing module and a data processing module, wherein the two-dimensional laser sensor is used for performing real-time horizontal surrounding scanning on the surrounding environment to obtain environment image information;
an ambient audio acquisition unit: the system comprises a sound collector, a sound processing unit and a sound processing unit, wherein the sound collector is used for collecting sound of the surrounding environment to obtain environment sound information;
in the above embodiment, the environment image information is obtained through the two-dimensional laser sensor, the two-dimensional laser sensor can perform horizontal scanning of 190 degrees, the distance measuring range is 80m, the scanning frequency can be 25Hz to 100Hz, the two-dimensional laser sensor can capture and upload the surrounding environment through the rotary machine, the sound of the surrounding environment is obtained through the sound pick-up, the sound obtained by the sound pick-up is mainly used for filtering out sensitive words, the environment information is identified through the plurality of sensors, and the emergency situation of the machine during outdoor operation is reduced.
Example 3:
in an alternative embodiment, a central processing module for an anti-icing system for a highway bridge comprises:
an image recognition unit: the system comprises a first image module, a second image module, a third image module and a fourth image module, wherein the first image module is used for screening out a first image with ice and snow characteristics in environment image information transmitted in real time through image rough processing, comparing the first image with images in a pre-constructed ice and snow image library, and determining the position of the first image when the similarity between the first image and any image in the ice and snow image library reaches a preset similarity threshold;
a driving module: the method is used for inputting the position information of the first image into a pre-established optimal path planning model after the position information of the first image is determined on a map, generating an optimal path, and starting navigation to be close to the position of the first image.
In one implementation scenario: the heating pipes with equal length are installed according to the length of the bridge, and the solar panel is connected to generate electricity to heat the bridge for deicing, but the method does not consider how deicing should be carried out on a road, solar energy in winter is insufficient, sufficient energy is hardly provided for the heating pipes in a large area to melt the ice, and the heating pipes are buried in the bridge and are damaged once, so that the cost required by maintenance is high, the energy consumption of an anti-freezing system in heating the bridge can be saved theoretically, the environment is protected, and the cost required by actual operation is high.
When the invention is implemented: the method comprises the steps of confirming the position of an object in an image by adjusting a gray value through an image recognition unit, recognizing and classifying the object, when the object with ice and snow characteristics appears in the image, cutting the image of the object with ice and snow characteristics, naming the image as a first image, obtaining a machine angle at which the first image is shot, comparing the first image with images in a pre-constructed ice and snow image library, determining the position of the first image on a map when the similarity between the first image and any image in the ice and snow image library reaches a preset similarity threshold, planning a plurality of paths capable of traveling on the map through an optimal path planning model after determining the position information of the first image on the map, rejecting obstructed paths on the map, constructing a position point distance weight matrix table for the rejected paths, and selecting the Euclidean distance with the shortest two position points as an optimal path, wherein the Euclidean distance of the optimal path is calculated according to the following formula:
wherein,
is the euclidean distance of the optimal path,
is the standard deviation of the map-measured distance, G is the weighted value of the map-measured distance,
is the pose data of the starting position,
the pose data of the end point position.
After the optimal path is determined, as shown in fig. 2, calculating an angle towards the position of the first image, adjusting the static accuracy of a course angle and the static accuracy of an attitude angle through a pose sensor, turning to the position of the first image, performing linear driving along the current point and the position point of the first image, performing angular speed control through a PID (proportion integration differentiation) controller, and rotating for a circle after the position of the first image is reached to obtain an image with a frozen area and a frozen thickness; the method comprises the steps of obtaining sound information through a sound pick-up, obtaining sensitive words from the sound information, setting a corresponding processing mechanism of the sensitive words, obtaining a group of laser data according to each laser beam of a two-dimensional laser radar sensor when the sensitive words are received, calculating the distance between the laser data and an obstacle according to the laser length in the laser data, stopping driving when the distance is close to a preset dangerous distance, and starting a falling prevention sensing device to fix when danger is difficult to avoid in emergency, wherein the laser data comprises a laser angle, a laser angle resolution and a laser length.
The beneficial effects of the above technical scheme are: the central processing module is a transfer station which is responsible for receiving sensor information and executing quality inspection of the anti-freezing module, accurate identification and judgment of frozen images are required, double identification is carried out on the images in the central processing module through two steps, accuracy of image identification can be improved, an optimal path is generated through the driving module, and safety of the machine is improved to a greater extent through the audio sensitive word acquisition unit and the obstacle avoidance unit which are arranged by the same worker.
Example 4:
in an alternative embodiment, an anti-icing module for an anti-icing system for road bridges, as shown in fig. 3, comprises:
a freezing level judging unit: the high-pressure hot air deicing device is used for receiving the first image, analyzing the frozen area and thickness in the first image, starting the high-pressure hot air deicing device when the frozen thickness exceeds a preset thickness value, and starting the spraying device when any value of the frozen area and the frozen thickness is smaller than the preset value;
spraying a deicing unit: the spraying device is used for calculating the spraying time according to the freezing area and the thickness, circularly spraying ice-melting substances at the freezing position, closing the spraying device after the ice removal is finished, and searching the next freezing position;
high-pressure hot gas deicing unit: the device is used for calculating the heat required by the high-pressure hot gas according to the freezing area and the thickness, setting the temperature and the airflow speed of the hot gas according to the heat, and closing the high-pressure hot gas device to find the next freezing position after the deicing is finished.
The invention is implemented as follows:
by analyzing the frozen thickness in the first image, when any value of the frozen area and the frozen thickness is smaller than a preset value, starting a spraying device, calculating spraying time according to the frozen area and the frozen thickness, spraying ice-melting substances at the frozen position in a circulating manner, closing the spraying device after the ice removal is finished, searching the next frozen position, starting a high-pressure hot gas deicing device when the frozen thickness value exceeds the preset thickness value, calculating the heat required by the high-pressure hot gas according to the frozen area and the frozen thickness, and calculating the heat value according to the following formula:
wherein,
in order to release heat for the high-pressure hot gas,
is the rated power of the high-pressure hot gas device,
for the lowest oil consumption of the high-pressure hot gas device,
is the diesel oil low heat value of the high-pressure hot gas device,
the proportion of the heat released by the high-pressure hot gas to the combustion heat is increased; and according to the heat, setting the temperature and the flow rate of the hot gas, closing the high-pressure hot gas device after the deicing is finished, and searching the next freezing position.
The beneficial effects of the above technical scheme are: according to the invention, two deicing devices are arranged, deicing activity is carried out according to the freezing grade, when the freezing thickness and area do not exceed the preset value, the spraying device is started to carry out low-power deicing, when the freezing thickness exceeds the preset value, the high-pressure hot air device is started to carry out high-power deicing, and reasonable selection is carried out through the two deicing devices with different powers, so that resources are saved.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting the protection scope thereof, and although the present invention is described in detail with reference to the above-mentioned embodiments, those skilled in the art should understand that after reading the present invention, they can make various changes, modifications or equivalents to the specific embodiments of the application, but these changes, modifications or equivalents are all within the protection scope of the claims of the application.
Claims (10)
1. An anti-icing system for a road bridge, comprising:
the environment information acquisition module: the system comprises a central processing module, a plurality of sensors and a central processing module, wherein the central processing module is used for acquiring environmental information in real time through the plurality of sensors and transmitting the environmental information to the central processing module;
a central processing module: the system is used for analyzing image information, audio information and position information in the received environment information and searching a freezing position on the highway bridge by combining a pre-constructed driving model;
an anti-freezing module: the device is used for judging the freezing level of the freezing position, when the freezing level is less than or equal to a preset freezing level threshold value, an ice-melting substance is sprayed on the freezing position for deicing, and when the freezing level is greater than the preset freezing level threshold value, high-pressure hot air flow is started for deicing;
wherein the plurality of sensors comprises: two-dimensional laser sensors and ultrasonic sensors.
2. The system of claim 1, wherein the environmental information acquisition module comprises:
an environment image acquisition unit: the system comprises a two-dimensional laser sensor, a data acquisition module, a data processing module and a data processing module, wherein the two-dimensional laser sensor is used for performing real-time horizontal surrounding scanning on the surrounding environment to obtain environment image information;
an ambient audio acquisition unit: the sound collecting device is used for collecting the sound of the surrounding environment through the sound collector to obtain the environmental sound information.
3. The system of claim 1, wherein the central processing module comprises:
an image recognition unit: the system comprises a first image module, a second image module, a third image module and a fourth image module, wherein the first image module is used for screening out a first image with ice and snow characteristics in environment image information transmitted in real time through image rough processing, comparing the first image with images in a pre-constructed ice and snow image library, and determining the position of the first image when the similarity between the first image and any image in the ice and snow image library reaches a preset similarity threshold;
a driving module: the method is used for inputting the position information of the first image into a pre-established optimal path planning model after the position information of the first image is determined on a map, generating an optimal path, and starting navigation to be close to the position of the first image.
4. The system of claim 2, wherein the central processing module further comprises:
an audio-sensitive word acquisition unit: the system is used for presetting a sensitive word bank and a sensitive word corresponding processing mechanism, and when a sensitive word appears in the environmental sound information, carrying out sensitive word corresponding processing according to the sensitive word corresponding processing mechanism;
obstacle avoidance unit: the device is used for receiving the distance between the terrain two-dimensional laser radar sensor and the surrounding environment, and when the sensor collides with an obstacle, the anti-falling induction device is started.
5. The system of claim 3, wherein the optimal path planning model comprises:
a path construction layer: the system comprises a map, a first image and a second image, wherein the map is used for receiving position information of the first image, marking position coordinates on the map and planning a plurality of paths which can be traveled through the map;
optimal path selection layer: the method is used for eliminating the obstructed paths on the map, constructing a position point distance weight matrix table for the plurality of eliminated paths, and selecting the Euclidean distance with the shortest two position points as the optimal path.
6. The system of claim 5, wherein the anti-freeze module comprises:
a freezing level judging unit: the high-pressure hot air deicing device is used for receiving the first image, analyzing the frozen area and thickness in the first image, starting the high-pressure hot air deicing device when the frozen thickness exceeds a preset thickness value, and starting the spraying device when any value of the frozen area and the frozen thickness is smaller than the preset value;
spraying a deicing unit: the spraying device is used for calculating the spraying time according to the freezing area and the thickness, circularly spraying ice-melting substances at the freezing position, closing the spraying device after the ice removal is finished, and searching the next freezing position;
high-pressure hot gas deicing unit: the device is used for calculating the heat required by the high-pressure hot gas according to the freezing area and the thickness, setting the temperature and the airflow speed of the hot gas according to the heat, and closing the high-pressure hot gas device to find the next freezing position after the deicing is finished.
7. The system of claim 3, wherein the driver module initiates navigation near the location of the first image by:
step S1: calculating an angle towards the position of the first image, adjusting the static accuracy of a course angle and the static accuracy of an attitude angle through a pose sensor, and turning to the position of the first image;
step S2: performing linear driving along the current point and the position point of the first image, and performing angular velocity control through a PID controller;
step S3: and when the position of the first image is reached, rotating for a circle to obtain an image of the frozen area and the frozen thickness.
8. The system as claimed in claim 4, wherein the obstacle avoidance unit receives the distance from the surroundings, measured by the topographic two-dimensional lidar sensor, and turns on the fall prevention sensing device when colliding with an obstacle, the specific steps are as follows:
step S1: obtaining a group of laser data according to each laser beam of a two-dimensional laser radar sensor, and calculating the distance between the two-dimensional laser radar sensor and an obstacle according to the laser length in the laser data;
step S2: stopping driving when the distance is close to a preset dangerous distance;
step S3: when emergency situations occur and danger is difficult to avoid, the anti-falling induction device is started for fixing;
the laser data comprises a laser angle, a laser angle resolution and a laser length.
9. The system of claim 6, wherein the high pressure hot gas deicing unit calculates the amount of heat required by the high pressure hot gas based on the frozen area and thickness as follows:
wherein,
in order to release heat for the high-pressure hot gas,
is the rated power of the high-pressure hot gas device,
for the lowest oil consumption of the high-pressure hot gas device,
is the diesel oil low heat value of the high-pressure hot gas device,
the heat released by the high-pressure hot gas accounts for the combustion heat.
10. The system of claim 5, wherein the Euclidean distance is calculated as:
wherein,
is the euclidean distance of the optimal path,
is the standard deviation of the map-measured distance, G is the weighted value of the map-measured distance,
is the pose data of the starting position,
the pose data of the end point position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210754538.6A CN114808830A (en) | 2022-06-30 | 2022-06-30 | Anti-freezing system for highway bridge |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210754538.6A CN114808830A (en) | 2022-06-30 | 2022-06-30 | Anti-freezing system for highway bridge |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114808830A true CN114808830A (en) | 2022-07-29 |
Family
ID=82523240
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210754538.6A Pending CN114808830A (en) | 2022-06-30 | 2022-06-30 | Anti-freezing system for highway bridge |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114808830A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116782431A (en) * | 2023-06-16 | 2023-09-19 | 广州一佳亿网络科技有限公司 | Data processing method and device for electrothermal film control and electrothermal film |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE20202971U1 (en) * | 2002-02-26 | 2002-05-02 | Herring, Peter, 58332 Schwelm | Device for defrosting and defrosting icy road surfaces |
| CN102168409A (en) * | 2011-03-19 | 2011-08-31 | 信会东 | High-pressure hot-blowing deicing and snow removing vehicle |
| CN108360442A (en) * | 2018-02-26 | 2018-08-03 | 深圳市易成自动驾驶技术有限公司 | Intelligent snow-removing method, intelligent snow sweeper and computer readable storage medium |
| CN211498390U (en) * | 2019-07-29 | 2020-09-15 | 哈尔滨工业大学 | Vehicle-mounted ice surface identification and tracking system |
| CN112081056A (en) * | 2020-10-27 | 2020-12-15 | 合肥工业大学 | Electromagnetic heating and microwave heating-based multifunctional pavement ice and snow removing construction method |
| CN112391989A (en) * | 2020-11-11 | 2021-02-23 | 广州和纵科技有限公司 | Ice and snow removing equipment for urban road engineering |
| CN112947406A (en) * | 2021-01-14 | 2021-06-11 | 华南理工大学 | FLOYD and Astar-based hybrid path planning method |
| CN113718673A (en) * | 2021-09-07 | 2021-11-30 | 山西省交通运输安全应急保障技术中心(有限公司) | Road icing early warning and automatic disposal system and method |
| CN114372117A (en) * | 2022-01-07 | 2022-04-19 | 北华航天工业学院 | Multi-scale aggregation mode analysis method for complex traffic network |
| CN114413919A (en) * | 2021-12-30 | 2022-04-29 | 联想(北京)有限公司 | Navigation method, device, equipment and computer storage medium |
-
2022
- 2022-06-30 CN CN202210754538.6A patent/CN114808830A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE20202971U1 (en) * | 2002-02-26 | 2002-05-02 | Herring, Peter, 58332 Schwelm | Device for defrosting and defrosting icy road surfaces |
| CN102168409A (en) * | 2011-03-19 | 2011-08-31 | 信会东 | High-pressure hot-blowing deicing and snow removing vehicle |
| CN108360442A (en) * | 2018-02-26 | 2018-08-03 | 深圳市易成自动驾驶技术有限公司 | Intelligent snow-removing method, intelligent snow sweeper and computer readable storage medium |
| CN211498390U (en) * | 2019-07-29 | 2020-09-15 | 哈尔滨工业大学 | Vehicle-mounted ice surface identification and tracking system |
| CN112081056A (en) * | 2020-10-27 | 2020-12-15 | 合肥工业大学 | Electromagnetic heating and microwave heating-based multifunctional pavement ice and snow removing construction method |
| CN112391989A (en) * | 2020-11-11 | 2021-02-23 | 广州和纵科技有限公司 | Ice and snow removing equipment for urban road engineering |
| CN112947406A (en) * | 2021-01-14 | 2021-06-11 | 华南理工大学 | FLOYD and Astar-based hybrid path planning method |
| CN113718673A (en) * | 2021-09-07 | 2021-11-30 | 山西省交通运输安全应急保障技术中心(有限公司) | Road icing early warning and automatic disposal system and method |
| CN114413919A (en) * | 2021-12-30 | 2022-04-29 | 联想(北京)有限公司 | Navigation method, device, equipment and computer storage medium |
| CN114372117A (en) * | 2022-01-07 | 2022-04-19 | 北华航天工业学院 | Multi-scale aggregation mode analysis method for complex traffic network |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116782431A (en) * | 2023-06-16 | 2023-09-19 | 广州一佳亿网络科技有限公司 | Data processing method and device for electrothermal film control and electrothermal film |
| CN116782431B (en) * | 2023-06-16 | 2024-01-23 | 广州一佳亿网络科技有限公司 | Data processing method and device for electrothermal film control and electrothermal film |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR102136131B1 (en) | Automatic road ice prediction system and operation method of the Same | |
| Cui et al. | Automatic vehicle tracking with roadside LiDAR data for the connected-vehicles system | |
| CN104950313B (en) | Extract and identification of road grade method on a kind of road surface | |
| CN107103775B (en) | Road quality detection method based on crowd-sourcing calculation | |
| WO2016188363A1 (en) | Road condition physical information drawing and inquiring method based on electronic map | |
| CN109552366B (en) | Intelligent detection and alarm system for locomotive-mounted railway obstacles and early warning method thereof | |
| CN106428558B (en) | A kind of track synthesis method for inspecting based on the dual-purpose unmanned plane of sky-rail | |
| CN106394513A (en) | Traveling device and strategy for driverless vehicle in rainy and snowy weather | |
| JP2017041070A (en) | Vehicle control apparatus, vehicle control method, information processing apparatus, and traffic information providing system | |
| JP2022511313A (en) | Systems and methods for determining defects in physical objects | |
| CN113313914B (en) | Group fog monitoring method, device and system and storage medium | |
| CN115331190B (en) | Road hidden danger identification method and device based on radar vision fusion | |
| CN102509067A (en) | Detection method for lane boundary and main vehicle position | |
| CN113247014B (en) | Confidence identification method and system for automatic driving system | |
| CN103345840A (en) | Video detection method of road crossing event at cross road | |
| CN114808830A (en) | Anti-freezing system for highway bridge | |
| CN106741890A (en) | A kind of high-speed railway safety detecting system based on the dual-purpose unmanned plane of empty rail | |
| CN103295401A (en) | Road surface weather condition monitoring system | |
| CN111275957A (en) | Traffic accident information acquisition method, system and camera | |
| CN113869196A (en) | Vehicle type classification method and device based on laser point cloud data multi-feature analysis | |
| CN110271582B (en) | System and method for monitoring safety of cross-road bridge area | |
| JP7298882B2 (en) | Vehicle self-localization device and vehicle | |
| CN117576636B (en) | Logistics transportation process monitoring method and system | |
| WO2022190204A1 (en) | Occurrence risk calculation device, occurrence risk display system, occurrence risk calculation method, and non-transitory computer-readable medium having occurrence risk calculation program stored thereon | |
| CN103149603A (en) | Road weather detection method based on video |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220729 |
|
| RJ01 | Rejection of invention patent application after publication |