Catenary deicing method, device, equipment and medium

Abstract

The embodiment of the invention relates to an overhead line system deicing method and device, equipment and a medium. The method comprises the steps that icing information of a target overhead line system is acquired; wherein the icing information comprises an icing position and an icing thickness; determining ice melting heat corresponding to an ice layer on the target contact net based on the icing thickness, a preset light spot radius and a preset heating temperature, and determining target power based on the ice melting heat; generating a reagent spraying instruction according to the icing position, and sending the reagent spraying instruction to a reagent spraying unit, so that the reagent spraying unit sprays a laser absorption reagent to the icing position; and generating a laser emission instruction according to the target power and the icing position, and sending the laser emission instruction to a laser emission unit, so that the laser emission unit emits deicing laser to the ice layer sprayed with the laser absorption reagent in the icing position at the target power. Therefore, the power of the deicing laser is proper, the laser can be well absorbed by the ice layer, and the deicing efficiency is improved while the damage of the laser to the contact network is reduced.

Description

Technical Field

[0001] The present disclosure relates to the field of rail transportation technology, and in particular to a contact network deicing method, device, equipment and medium. Background Art

[0002] Railway traction power supply is primarily based on the overhead catenary and traction power distribution equipment. The overhead catenary, installed above the railway lines, transmits the electricity generated by the traction power distribution equipment to the corresponding components of the locomotive. As a specialized high-voltage power supply, the overhead catenary's external insulation and mechanical properties are crucial technical specifications. However, due to its long-term exposure to the external environment, it is prone to icing in harsh weather conditions such as winter cold. This, in turn, affects its external insulation and mechanical properties, causing the pantograph connecting the overhead catenary to the train to malfunction, seriously hindering the normal operation of railway transportation.

[0003] In the related art, methods for deicing the contact network include mechanical deicing, contact network hot sliding deicing, chemical deicing, etc. However, these methods have the problems of damaging the contact network and low deicing efficiency. Summary of the Invention

[0004] In order to solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides a contact network deicing method, device, equipment and medium.

[0005] The present disclosure provides a method for deicing a contact network, comprising:

[0006] Acquiring ice coverage information of the target contact network; wherein the ice coverage information includes ice coverage position and ice coverage thickness;

[0007] Determining the ice melting heat corresponding to the ice layer on the target contact network based on the ice thickness, the preset light spot radius, and the preset heating temperature, and determining the target power based on the ice melting heat;

[0008] generating a reagent spraying instruction according to the ice-covered position, and sending the reagent spraying instruction to a reagent spraying unit so that the reagent spraying unit sprays a laser absorbing reagent toward the ice-covered position;

[0009] A laser emission instruction is generated according to the target power and the ice-covered position, and the laser emission instruction is sent to a laser emission unit so that the laser emission unit emits deicing laser at the target power toward the ice layer sprayed with the laser absorbing agent in the ice-covered position.

[0010] The present disclosure also provides a contact network deicing device, comprising:

[0011] An information acquisition module is used to acquire ice coverage information of a target contact network; wherein the ice coverage information includes ice coverage position and ice coverage thickness;

[0012] a parameter determination module, configured to determine an ice melting heat amount corresponding to the ice layer on the target contact network based on the ice coating thickness, a preset light spot radius, and a preset heating temperature, and to determine a target power based on the ice melting heat amount;

[0013] a first sending module, configured to generate a reagent spraying instruction according to the ice-covered position, and send the reagent spraying instruction to a reagent spraying unit, so that the reagent spraying unit sprays a laser absorbing reagent toward the ice-covered position;

[0014] The second sending module is used to generate a laser emission instruction according to the target power and the ice-covered position, and send the laser emission instruction to the laser emitting unit, so that the laser emitting unit emits deicing laser at the target power toward the ice layer sprayed with the laser absorbing agent in the ice-covered position.

[0015] An embodiment of the present disclosure also provides an electronic device, which includes: a processor; a memory for storing executable instructions of the processor; the processor is used to read the executable instructions from the memory and execute the instructions to implement the contact network de-icing method provided by the embodiment of the present disclosure.

[0016] An embodiment of the present disclosure further provides a computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program is used to execute the contact network deicing method provided by the embodiment of the present disclosure.

[0017] The technical solution provided by the embodiments of the present disclosure has the following advantages over the prior art: the contact network de-icing solution provided in the embodiments of the present disclosure, the method comprising: obtaining ice coverage information of the target contact network; wherein the ice coverage information includes ice coverage position and ice coverage thickness; determining the ice melting heat corresponding to the ice layer on the target contact network based on the ice coverage thickness, a preset light spot radius, and a preset heating temperature, and determining the target power based on the ice melting heat; generating a reagent spraying instruction according to the ice coverage position, and sending the reagent spraying instruction to the reagent spraying unit so that the reagent spraying unit sprays a laser absorbing reagent toward the ice coverage position; generating a laser emission instruction according to the target power and the ice coverage position, and sending the laser emission instruction to the laser emission unit so that the laser emission unit emits a de-icing laser at a target power toward the ice layer sprayed with the laser absorbing reagent in the ice coverage position. By adopting the above technical solution, the ice-covered position and ice-covered thickness are obtained, and the ice-melting heat is determined based on the ice-covered thickness, the preset spot radius, and the preset heating temperature, and the target power is determined based on the ice-melting heat. Then, the instructions generated based on the ice-covered position instruct the reagent spraying unit to spray the laser absorbing reagent to the ice-covered position, and the instructions generated based on the ice-covered position and the target power instruct the laser emitting unit to emit the de-icing laser of the target power to the ice-covered position. This realizes accurate determination of the ice-melting heat based on multiple parameters and accurate determination of the target power based on the heat. After the laser absorbing reagent is sprayed on the ice layer of the contact network, the de-icing laser is used to irradiate the ice layer, so that the power of the de-icing laser is appropriate and the laser can be well absorbed by the ice layer, thereby improving the de-icing efficiency while reducing the damage to the contact network by the laser. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0019] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0020] Figure 1 A schematic flow chart of a method for deicing a contact network provided in an embodiment of the present disclosure;

[0021] Figure 2 A schematic diagram of a catenary deicing device, a reagent spraying unit, and a laser emitting unit provided in an embodiment of the present disclosure;

[0022] Figure 3 A schematic diagram of the front structure of a reagent spraying unit provided in an embodiment of the present disclosure;

[0023] Figure 4A schematic top view of a reagent spraying unit provided in an embodiment of the present invention;

[0024] Figure 5 A schematic diagram of the front structure of an icing information detection unit and a contact network deicing device provided in an embodiment of the present disclosure;

[0025] Figure 6 A schematic diagram of a top view of an ice information detection unit and a contact network deicing device provided in an embodiment of the present disclosure;

[0026] Figure 7 A schematic diagram of the front structure of a laser emitting unit provided in an embodiment of the present disclosure;

[0027] Figure 8 A schematic diagram of a top view of a laser emitting unit provided in an embodiment of the present disclosure;

[0028] Figure 9 A schematic structural diagram of a contact network deicing device provided in an embodiment of the present disclosure;

[0029] Figure 10 A schematic structural diagram of an electronic device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0030] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features therein can be combined with each other in the absence of conflict.

[0031] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0032] In order to solve at least one of the above problems, an embodiment of the present disclosure provides a contact network deicing method, which is introduced below with reference to specific embodiments.

[0033] Figure 1 The present invention provides a schematic flow chart of a method for deicing a contact network provided by an embodiment of the present invention. The method for deicing a contact network can be applied to a contact network deicing device. The contact network deicing device can be implemented using software and / or hardware. The contact network deicing device can be installed on the roof of a train, and the train can provide power to the contact network deicing device. For example, the contact network deicing device can be installed on the roof of a locomotive. The contact network deicing device can generally be integrated into electronic equipment. Figure 1 As shown, the contact network deicing method includes:

[0034] Step 101: Acquire ice coverage information of a target contact network; wherein the ice coverage information includes ice coverage position and ice coverage thickness.

[0035] The target catenary network may be a catenary network currently undergoing deicing, or may be a portion of the entire catenary network. The icing information may be used to characterize the icing condition of the target catenary network. The icing location may be a location of the catenary network where ice is present. If the target catenary network is iced, the icing location may be the location of the target catenary network. The icing thickness may be the thickness of the ice layer on the catenary network.

[0036] In the disclosed embodiment, the icing detection unit can perform icing detection on a catenary image of a target catenary to obtain an icing location and thickness, and transmit the icing location and thickness to a catenary de-icing device, which then receives the icing location and thickness. Alternatively, the catenary de-icing device can receive an image of the catenary captured by a camera and perform image analysis on the image to obtain the icing location and thickness.

[0037] In some embodiments of the present disclosure, when the ice cover recognition result of the contact network image is that ice cover exists, the ice cover position is determined based on the acquisition area corresponding to the contact network image; wherein, the contact network image is acquired by a camera fixedly arranged relative to the target contact network.

[0038] The ice recognition result may indicate whether ice is present on the catenary network within the acquisition area, and may include the presence or absence of ice. The acquisition area may be the spatial region involved in the catenary network image acquisition. The camera may be a camera pre-placed within the spatial region where the target catenary network is located.

[0039] In this embodiment, an ice detection unit is provided for the target contact network. The ice detection unit can capture images of the contact network and determine whether the target contact network is covered with ice based on the image. For the target contact network with ice, the captured contact network image is converted into the ice position and ice thickness, and the above ice information is fed back to the contact network de-icing device in real time.

[0040] Specifically, the ice detection unit may include a camera, an image recognition module, an image processing module, and an information feedback module. The camera can capture images of the contact network. The image recognition module can identify whether ice is present on the corresponding contact network based on the contact network image. The image processing module can demodulate the contact network image determined to be iced by the image recognition module to obtain the ice location and ice thickness. Specifically, the image processing model can determine the location of the contact network within the acquisition area corresponding to the contact network image determined to be iced as the ice location, and determine the droplet falling velocity by performing target recognition and target tracking on the contact network image, and then determine the ice thickness based on the droplet falling velocity.

[0041] Furthermore, the information feedback module can send the ice position and ice thickness obtained by the image processing module to the contact network de-icing device, so that the contact network de-icing device automatically controls the reagent spraying unit and the laser emitting unit to process the ice layer on the target contact network based on the ice position and ice thickness, thereby removing the ice layer on the target contact network through laser energy.

[0042] In the above scheme, a camera fixedly arranged relative to the target contact network is used to monitor whether the target contact network is covered with ice, and if ice is present, the position of the contact network in the acquisition area is determined as the ice position, thereby achieving effective regional monitoring of the contact network based on the fixed camera.

[0043] In some embodiments of the present disclosure, the ice thickness is determined based on a preset water density, a preset ice density, precipitation, wind speed, and a droplet falling speed, and the droplet falling speed is determined based on a contact network image.

[0044] The preset water density may be a preset water density. The preset ice density may be a preset ice density. The precipitation amount may be the precipitation amount detected in real time in the target contact network area. The wind speed may be the wind speed detected in real time in the target contact network area. The droplet falling velocity may be the velocity of droplets such as raindrops and fog droplets falling in the atmospheric environment.

[0045] In an embodiment of the present disclosure, an ice detection unit can identify droplets from multiple catenary images, determine the droplet's falling velocity based on the position of the same droplet in different catenary images and the time difference between the images, and substitute a preset water density, a preset ice density, precipitation, wind speed, and the droplet's falling velocity into a pre-set ice thickness calculation formula to obtain the ice thickness, which is then transmitted to the catenary de-icing device. Alternatively, the catenary de-icing device can determine the droplet's falling velocity based on the catenary images and substitute the preset water density, preset ice density, precipitation, wind speed, and the droplet's falling velocity into a pre-set thickness calculation formula to obtain the ice thickness.

[0046] In an optional implementation, the thickness calculation formula may be:

[0047]

[0048] Where R is the ice thickness, ρ w is the preset water density, ρ i is the preset ice density, H g is the precipitation amount, v is the wind speed, and v0 is the droplet falling speed.

[0049] In the above approach, the real-time droplet falling velocity in the spatial environment of the target contact network is determined based on the real-time collected contact network image, and the real-time ice thickness of the target contact network is determined based on the real-time precipitation and wind speed, realizing the image-based determination of ice thickness.

[0050] Step 102 : determining the ice melting heat corresponding to the ice layer on the target contact network based on the ice coating thickness, the preset light spot radius, and the preset heating temperature, and determining the target power based on the ice melting heat.

[0051] The preset spot radius may be a preset radius of the laser spot for the deicing laser. The preset heating temperature may be a preset temperature to which the deicing laser heats the ice layer. The ice-melting heat may be the heat required to melt the ice layer on the target contact network. Specifically, the ice-melting heat may be the total heat required to heat the ice layer on the target contact network from an initial temperature to the preset heating temperature. The target power may be the energy output by the deicing laser per unit time. The deicing laser may be a laser used to remove ice covering the target contact network.

[0052] In the embodiment of the present disclosure, the contact network de-icing device can input the ice coating thickness, preset light spot radius, and preset heating temperature into a preset heat calculation formula in real time, obtain the ice melting heat determined based on the heat calculation formula, and determine the real-time target power based on the ice melting heat based on the relationship between heat and power.

[0053] In some embodiments of the present disclosure, determining the ice melting heat corresponding to the ice layer on the target contact network based on the ice thickness, the preset light spot radius, and the preset heating temperature includes at least one of the following:

[0054] Determining the ice melting heat corresponding to the ice layer on the target contact network based on the ice thickness, the preset light spot radius, and the preset heating temperature, including: if the preset heating temperature is less than the freezing point temperature, determining the ice melting heat based on the preset ice density, the preset light spot radius, the ice thickness, the preset ice specific heat capacity, the preset heating temperature, and the initial temperature;

[0055] Determining the ice melting heat corresponding to the ice layer on the target contact network based on the ice cover thickness, the preset light spot radius, and the preset heating temperature, including: if the preset heating temperature is not less than the freezing point temperature and less than the boiling point temperature, determining the ice melting heat based on the preset ice density, the preset light spot radius, the ice cover thickness, the preset ice specific heat capacity, the initial temperature, the preset ice melting latent heat, the preset water specific heat capacity, and the preset heating temperature;

[0056] The ice melting heat corresponding to the ice layer on the target contact network is determined based on the ice cover thickness, the preset light spot radius, and the preset heating temperature, including: if the preset heating temperature is not less than the boiling point temperature, the ice melting heat is determined based on the preset ice density, the preset light spot radius, the ice cover thickness, the preset ice specific heat capacity, the initial temperature, the preset ice melting latent heat, the preset water specific heat capacity, the preset water vaporization latent heat, and the preset heating temperature.

[0057] The freezing point temperature may be the temperature at which water changes from liquid to solid, and the freezing point temperature may be 0°C. The boiling point temperature may be the temperature at which water changes from liquid to gas, and the boiling point temperature may be 100°C. The preset ice specific heat capacity may be the amount of heat absorbed or released when the temperature of ice increases or decreases by 1°C. The preset water specific heat capacity may be the amount of heat absorbed or released when the temperature of water increases or decreases by 1°C. The initial temperature may be the initial temperature of the ice layer on the target contact network before laser deicing, and the initial temperature may be pre-set or measured in real time. The preset latent heat of ice melting may be the amount of heat absorbed when a unit mass of ice completely melts into water at the same temperature. The preset latent heat of water vaporization may be the amount of heat absorbed when a unit mass of water completely vaporizes into water vapor at the same temperature.

[0058] In this embodiment, the contact network de-icing device can obtain a preset heating temperature and determine the heat calculation formula to be used based on the numerical range of the preset heating temperature. Specifically, if the preset heating temperature is lower than the freezing point, the preset ice density, preset spot radius, ice cover thickness, preset ice specific heat capacity, heating temperature, and initial temperature are substituted into the first heat calculation formula to obtain the corresponding ice melting heat.

[0059] If the preset heating temperature is not less than the freezing point and less than the boiling point, the preset ice density, the preset light spot radius, the ice cover thickness, the preset ice specific heat, the initial temperature, the preset ice melting latent heat, the preset water specific heat, and the preset heating temperature are substituted into the second heat calculation formula to obtain the corresponding ice melting heat.

[0060] If the preset heating temperature is not less than the boiling point, the preset ice density, preset spot radius, ice thickness, preset ice specific heat, initial temperature, preset ice melting latent heat, preset water specific heat, preset water vaporization latent heat, and preset heating temperature are substituted into the third heat calculation formula to obtain the corresponding ice melting heat. The first heat calculation formula, the second heat calculation formula, and the third heat calculation formula can be configured based on user needs and are not specifically limited in this embodiment.

[0061] For example, the heat calculation formula can be:

[0062]

[0063] Where Q(T) is the heat of ice melting, ρ i is the preset ice density, r is the preset spot radius, R is the ice thickness, c i is the preset specific heat capacity of ice, c w is the preset water specific heat capacity, T is the preset heating temperature, T i is the initial temperature, L i is the default latent heat of ice melting, L w is the preset latent heat of water vaporization.

[0064] In the above solution, corresponding ice melting heat calculation methods are set for different preset heating temperatures, so that the calculation of the ice melting heat is consistent with the physical state change process of the ice layer, thereby improving the accuracy of the ice melting heat.

[0065] In some embodiments of the present disclosure, determining the target power based on the ice melting heat includes: dividing the ice melting heat by the product of the reflectivity difference and the preset ice melting time to obtain the target power; wherein the reflectivity difference is the difference between 1 and the laser reflectivity.

[0066] The laser reflectivity may be the percentage of the laser radiation energy reflected by the ice layer to the total radiation energy. The preset ice melting time may be the preset length of time required to melt the ice layer on the target contact network.

[0067] In this embodiment, the target power calculation formula may be as follows:

[0068]

[0069] Where P is the target power, Q(T) is the ice melting heat, b is the laser reflectivity, and t is the preset ice melting time.

[0070] In the above solution, the target power is determined based on the ice melting heat, thereby achieving the determination of the power suitable for de-icing the ice layer currently covered by the target contact network.

[0071] Step 103 : generating a reagent spraying instruction according to the ice-covered position, and sending the reagent spraying instruction to the reagent spraying unit so that the reagent spraying unit sprays the laser absorbing reagent toward the ice-covered position.

[0072] Among them, the reagent spraying instruction can be an instruction to control the reagent spraying unit to spray the laser absorbing reagent on the ice-covered position. The reagent spraying instruction may include the spraying position and spraying angle required for spraying the laser absorbing reagent to the ice-covered position. The spraying position and spraying angle can change in real time with the movement of the random vehicle. The reagent spraying unit can be used to spray the laser absorbing reagent to the contact network ice layer that needs to be removed. The reagent spraying unit may include a spraying module and a spraying carrying module, the spraying carrying module is used to carry the spraying module, and the spraying carrying module is connected to the locomotive roof, and the movement of the spraying module can be achieved through the spraying carrying module. The reagent spraying unit may also include a reagent storage module for storing the laser absorbing reagent.

[0073] Laser absorbing agents can be used to enhance the absorption rate of laser light by ice layers, thereby reducing the energy loss of the laser and the power requirement of the laser. The laser absorbing agents can be black agents. In some embodiments of the present disclosure, the laser absorbing agents include carbon nanotubes, carbon black, resins, and organic solvents. By spraying the laser absorbing agents, the required laser power can be reduced, thereby reducing the volume and weight of the laser. The laser absorbing agents have good adsorption capacity and photoabsorption vaporization volatilization characteristics, avoiding the impact on the normal operation of the contact network.

[0074] Figure 2 A schematic diagram of a contact network deicing device, a reagent spraying unit, and a laser emitting unit provided in an embodiment of the present disclosure is shown as follows: Figure 2 As shown, device A can be a laser emitting unit, device B can be a reagent spraying unit, and device C can be a catenary deicing device. Device 1 can be a catenary, and device 2 can be a locomotive.

[0075] Figure 3 This is a schematic diagram of the front structure of a reagent spraying unit provided in an embodiment of the present disclosure. Figure 4 A schematic diagram of a top view of a reagent spraying unit provided in an embodiment of the present disclosure is shown as follows: Figure 3 and Figure 4 As shown, the spray module 12 and the reagent storage module 8 are mounted on a spray support module, which includes a base platform 3, a slide rail 14, a support platform 4, a rotating platform 5, a telescopic rod 6, a fixed platform 7, a support platform 9, a rotating shaft 10, and a movable rod 11. The slide rail 14 is fixed to the base platform 3, and the support platform 4 is connected to the bottom of the slide rail 14, allowing the support platform 4 to move on the slide rail 14. The slide rail 14 can be embedded in the base platform 3, allowing the support platform 4 and its supported components to move laterally across the locomotive roof.

[0076] The lower surface of the rotating platform-5 is connected to the upper surface of the carrying platform-4. The telescopic rod-6 can be extended and retracted up and down. The lower end of the telescopic rod-6 is fixed to the rotating platform-5, and the upper end of the telescopic rod-6 is fixed to the fixed platform-7. The number of telescopic rods can be multiple, for example, three distributed in a triangle. Through the telescopic rod-6 and the rotating platform-5, the spray module-12 can move up and down in the vertical and horizontal planes and rotate 360 ​​degrees.

[0077] The support platform 9 is positioned on the fixed platform 7. A rotating shaft 10 and a movable rod 11 are provided on the support platform 9. The movable rod 11 is connected to the support platform 9 via the rotating shaft 10. The lower end of the spray module 12 is connected to the movable rod 11. The rotating shaft 10 and the movable rod 11 can be used to adjust the angle of the spray module 12 to achieve vertical pitch movement, with a pitch angle range of 0 to 90 degrees. The spray bearing module makes the movement of the reagent spray unit more flexible, the spraying of the laser absorption reagent more accurate, and the efficiency of the reagent spraying process is improved.

[0078] Figure 5 This is a front structural diagram of an ice information detection unit and a contact network deicing device provided in an embodiment of the present disclosure. Figure 6 A schematic diagram of a top view of an ice information detection unit and a contact network deicing device provided in an embodiment of the present disclosure is shown in FIG. Figure 5 and Figure 6 As shown, device 15 is an ice information detection unit, and device 16 is a contact network deicing device.

[0079] In this embodiment, the first sending module in the contact network de-icing device may include a first posture submodule and a first instruction submodule. The first posture submodule may determine a first target posture of components such as a slide rail, a rotating platform, a telescopic rod, and a rotating shaft based on the ice-covered position, and generate a reagent spraying instruction based on the first target posture. The first instruction submodule transmits the reagent spraying instruction to the reagent spraying unit. After receiving the reagent spraying instruction, the reagent spraying unit adjusts the slide rail, the rotating platform, the telescopic rod, the rotating shaft, and other components to the corresponding first target posture according to the reagent spraying instruction, so as to adjust the spraying position and spraying angle when the spraying module sprays the reagent, so that the laser absorption reagent accurately acts on the ice-covered position of the target contact network.

[0080] Step 104 , generating a laser emission instruction according to the target power and the ice-covered position, and sending the laser emission instruction to the laser emission unit so that the laser emission unit emits deicing laser at the target power toward the ice layer sprayed with the laser absorbing agent in the ice-covered position.

[0081] The laser emission instruction may be an instruction to control the laser emission unit to emit a deicing laser at a target power at an ice-covered location. The laser emission instruction may include the emission position and emission angle required to emit the laser to the ice-covered location. The emission position and emission angle may change in real time with the movement of the vehicle. The laser emission unit may be used to emit the deicing laser to the contact network ice layer that needs to be removed. The laser emission unit may include a laser and a laser carrying module, wherein the laser carrying module is used to carry the laser, and the laser carrying module is connected to the locomotive roof, and the laser can be moved through the laser carrying module.

[0082] Figure 7 This is a front structural diagram of a laser emitting unit provided in an embodiment of the present disclosure. Figure 8 FIG. 1 is a schematic diagram of a top view of a laser emitting unit according to an embodiment of the present disclosure. Figure 7 and Figure 8 As shown, the laser 13 is mounted on a laser carrier module, which includes a base platform 3', a slide rail 14', a carrier platform 4', a rotating platform 5', a telescopic rod 6', a fixed platform 7', a support platform 9', a rotating shaft 10', and a movable rod 11'. The slide rail 14' is fixed to the base platform 3', and the carrier platform 4' is connected to the bottom of the slide rail 14', allowing the carrier platform 4' to move on the slide rail 14'. The slide rail 14' can be embedded in the base platform 3', and the carrier platform 4' and its supported parts can be moved laterally on the locomotive roof through the slide rail 14'.

[0083] The lower surface of the rotating platform 5' is connected to the upper surface of the carrying platform 4'. The telescopic rod 6' can be extended and retracted. The lower end of the telescopic rod 6' is fixed to the rotating platform 5', and the upper end of the telescopic rod 6' is fixed to the fixed platform 7'. The number of telescopic rods can be multiple, for example, three distributed in a triangle. The telescopic rod 6' and the rotating platform 5' can make the laser 13 move up and down in the vertical and horizontal planes and rotate 360 ​​degrees.

[0084] The support platform 9' is positioned on the fixed platform 7'. A rotating shaft 10' and a movable rod 11' are provided on the support platform 9'. The movable rod 11' is connected to the support platform 9' via the rotating shaft 10'. The lower end of the laser 13 is connected to the movable rod 11'. The rotating shaft 10' and the movable rod 11' allow the angle of the laser 13 to be adjusted to achieve vertical pitch motion, with a pitch angle range of 0 to 90 degrees. The laser carrier module allows for more flexible movement of the laser emitting unit and improves the accuracy of laser emission.

[0085] In this embodiment, the second transmission module in the catenary de-icing device may include a second posture submodule and a second instruction submodule. The second posture submodule can determine a second target posture of corresponding components, such as the slide rail, rotating platform, telescopic rod, and rotating shaft, based on the ice-covered location. Based on this second target posture and target power, it generates a laser firing instruction. The second instruction submodule then transmits this laser firing instruction to the laser emitting unit. After receiving the laser firing instruction, the laser emitting unit adjusts the slide rail, rotating platform, telescopic rod, rotating shaft, and other components to the corresponding second target posture according to the laser firing instruction, thereby adjusting the firing position and firing angle of the laser and emitting the de-icing laser at the target power. This allows the de-icing laser to precisely target the target ice-covered location on the catenary with the appropriate power. Through the reagent spraying instruction and the laser firing instruction, the sequential coordination of spraying the laser absorbent reagent and then emitting the de-icing laser is achieved during the catenary de-icing process, achieving safe and reliable de-icing.

[0086] The contact network de-icing method provided by the embodiment of the present disclosure includes: obtaining ice coverage information of the target contact network; wherein the ice coverage information includes the ice coverage position and the ice coverage thickness; determining the ice melting heat corresponding to the ice layer on the target contact network based on the ice coverage thickness, a preset light spot radius, and a preset heating temperature, and determining the target power based on the ice melting heat; generating a reagent spraying instruction according to the ice coverage position, and sending the reagent spraying instruction to the reagent spraying unit so that the reagent spraying unit sprays a laser absorbing reagent toward the ice coverage position; generating a laser emission instruction according to the target power and the ice coverage position, and sending the laser emission instruction to the laser emission unit so that the laser emission unit emits a de-icing laser at a target power toward the ice layer sprayed with the laser absorbing reagent in the ice coverage position. By adopting the above technical solution, the ice-covered position and ice-covered thickness are obtained, and the ice-melting heat is determined based on the ice-covered thickness, the preset spot radius, and the preset heating temperature, and the target power is determined based on the ice-melting heat. Then, the instructions generated based on the ice-covered position instruct the reagent spraying unit to spray the laser absorbing reagent to the ice-covered position, and the instructions generated based on the ice-covered position and the target power instruct the laser emitting unit to emit the de-icing laser of the target power to the ice-covered position. This realizes accurate determination of the ice-melting heat based on multiple parameters and accurate determination of the target power based on the heat. After the laser absorbing reagent is sprayed on the ice layer of the contact network, the de-icing laser is used to irradiate the ice layer, so that the power of the de-icing laser is appropriate and the laser can be well absorbed by the ice layer, thereby improving the de-icing efficiency while reducing the damage to the contact network by the laser.

[0087] Optionally, the catenary deicing method further comprises: sending a spraying state switching instruction to the reagent spraying unit, so that the reagent spraying unit switches to a spraying state corresponding to the spraying state switching instruction. The spraying state switching instruction includes a spraying on instruction and a spraying off instruction.

[0088] Optionally, the catenary deicing method further comprises: sending an emission state switching instruction to the laser emission unit so that the laser emission unit switches to an emission state corresponding to the emission state switching instruction. The emission state switching instruction includes an emission on instruction and an emission off instruction.

[0089] Thus, the start-up and shutdown control of the reagent spraying unit and the laser emitting unit is realized through instructions, which improves the real-time control of the actual spraying and laser emitting during the contact network de-icing process and improves the de-icing efficiency and safety.

[0090] In some embodiments of the present disclosure, the contact network de-icing method also includes: determining the absorbed heat of the target contact network based on the target power, the preset laser absorption coefficient, the ice cover thickness, and the preset ice melting time; determining the surface temperature of the target contact network based on the absorbed heat; if the surface temperature is greater than the preset temperature, generating damage prompt information of the target contact network.

[0091] The preset laser absorption coefficient may be a preset laser absorption coefficient for ice. The absorbed heat may be the heat absorbed by the target contact network due to deicing laser irradiation. The surface temperature may be the temperature of the target contact network surface after laser irradiation. The preset temperature may be a preset temperature at which damage to the target contact network occurs, such as the melting point of the target contact network surface material. The damage prompt information may be used to indicate that damage has occurred to the target contact network.

[0092] In this embodiment, after determining the target power output by the laser emitting unit, the residual power of the deicing laser after being transmitted in the ice layer and reaching the target contact network device can be further determined, and the absorbed heat of the target contact network can be determined by the residual power. Then, the surface temperature of the target contact network is determined based on the absorbed heat to determine whether the surface temperature reaches the preset temperature and causes damage to the target contact network.

[0093] Specifically, the formula for determining the residual power may be:

[0094] p1=pe (-αR) ;

[0095] Where p1 is the residual power, p is the target power, α is the absorption coefficient, and R is the ice thickness.

[0096] The formula for determining the absorbed heat can be:

[0097] Q1=p1·t;

[0098] Where Q1 is the absorbed heat, p1 is the residual power, and t is the preset ice melting time.

[0099] The formula for determining the target contact network temperature rise can be:

[0100]

[0101] Where T1 is the rising temperature, Q1 is the absorbed heat, m1 is the mass of the target contact network, which can be the instruction of the laser irradiation part, c c is the specific heat capacity of the target contact network.

[0102] Furthermore, the target catenary's surface temperature is calculated by adding the temperature before laser irradiation to the elevated temperature. A determination is then made as to whether this surface temperature is greater than a preset temperature. If so, a damage warning message is generated. This allows prediction of damage to the target catenary during laser deicing, further preventing damage to the target catenary during laser deicing.

[0103] Next, the contact network deicing method in the embodiment of the present disclosure is further explained through a specific example.

[0104] In this embodiment, the ice detection unit can determine ice coverage information and, through an information feedback module within the ice detection unit, provide real-time feedback of this ice coverage information to an information acquisition module within the catenary de-icing device. The information acquisition module receives the ice coverage information from the information feedback module and transmits it to other control modules within the catenary de-icing device. Based on the received ice coverage information, the first and second posture submodules can precisely control the slide rails, rotating platform, telescopic rod, and rotating shaft to adjust the position and angle of the laser and spray device, ensuring that the de-icing laser and laser absorbent precisely target the iced locations on the target catenary.

[0105] The parameter determination module dynamically adjusts the laser's target power based on ice thickness to meet de-icing requirements for varying ice thicknesses. The state switching module manages the activation and deactivation of the laser emission unit and the reagent spraying unit, ensuring efficient and safe de-icing operations. The first and second command submodules integrate and transmit internal and external commands to the overhead contact de-icing device, enabling coordinated de-icing operations based on these commands.

[0106] In this way, the deicing laser emitted by the laser emitting unit acts on the contact layer between the ice cover and the target contact network, melting the ice in the contact layer, causing the ice cover to lose its adhesion and fall under the action of gravity, thereby achieving the purpose of deicing. At the same time, the reagent spraying unit sprays a laser-absorbing reagent on the ice cover before laser deicing, enhancing the ice layer's ability to absorb laser light and improving deicing efficiency.

[0107] In this embodiment, the droplet falling velocity is determined based on the contact network image, and the ice thickness is determined based on the droplet falling velocity. Accurately determining the ice thickness can provide a key technical reference for selecting a suitable target power.

[0108] For example, assuming the density of water is 1g / cm3, the density of ice is 0.913g / cm3, the precipitation is 0.8cm, the wind speed is 250cm / s, and the droplet falling speed determined from the contact network image is 200cm / s. Then the ice thickness R is:

[0109]

[0110] Where, ρ w is the preset water density, ρ i is the preset ice density, H g is the precipitation, v is the wind speed, and v0 is the droplet falling speed. In this embodiment, the ice thickness is 0.45 cm.

[0111] In this embodiment, an example of dynamically adjusting the target power according to the ice thickness is as follows:

[0112] Assume that the temperature of ice is heated from -10°C to 10°C. The density of ice is 913 kg / m³, the density of water is 1000 kg / m³, the specific heat capacity of ice is 2100 J / (kg·K), the specific heat capacity of water is 4200 J / (kg·K), the laser spot radius is 6 mm, the reflectivity of the ice surface is 0.017, the laser irradiation time is 1 second, the laser absorption coefficient of ice is 23.2 / m³, and the mass of the catenary equipment is 1 kg. The heat Q(T) required to heat the ice to 10°C is:

[0113] Q(T)=ρ i ·πr 2 R.[c i ·(-T i )+L i +c w ·(T)]=184J;

[0114] Where Q(T) is the heat of ice melting, ρ i is the preset ice density, r is the preset spot radius, R is the ice thickness, c i is the preset specific heat capacity of ice, c w is the preset water specific heat capacity, T is the preset heating temperature, T i is the initial temperature, L i The default latent heat of ice melting.

[0115] The target power P output by the laser emitting unit is:

[0116]

[0117] Where P is the target power, Q(T) is the ice melting heat, b is the laser reflectivity, and t is the preset ice melting time.

[0118] After determining the target power P, the residual power p1 of the laser reaching the contact network equipment after being transmitted in the ice is further determined. The absorbed heat Q1 of the target contact network can be calculated based on the residual power. Then, the surface temperature of the target contact network equipment is determined to determine whether the melting point has been reached, resulting in damage to the target contact network. The process is as follows:

[0119] The residual power p1 of the laser reaching the contact network equipment after transmitting in the ice is:

[0120] p1=pe (-αR) =168W;

[0121] Where p1 is the residual power, p is the target power, α is the absorption coefficient, and R is the ice thickness.

[0122] The absorbed heat Q1 absorbed by the contact network equipment is:

[0123] Q1=p1·t=168J;

[0124] Where Q1 is the absorbed heat, p1 is the residual power, and t is the preset ice melting time.

[0125] Therefore, the elevated temperature T1 on the surface of the contact network equipment can be expressed as:

[0126]

[0127] Where T1 is the rising temperature, Q1 is the absorbed heat, m1 is the mass of the target contact network, which can be the instruction of the laser irradiation part, c c is the specific heat capacity of the target contact network.

[0128] The material of the contact wire in the contact network is mostly copper or copper-magnesium alloy. The melting point of copper is 1083℃, and the melting point of copper-magnesium alloy varies according to the composition ratio of the alloy, ranging from approximately 650℃ to 720℃. The temperature calculated in this example is much lower than this temperature, so it will not cause damage to the contact wire.

[0129] The catenary deicing method provided by the disclosed embodiments improves deicing efficiency and accuracy without damaging the catenary. It also allows for flexible, real-time online remote control of deicing operations. It boasts a high level of intelligence and adaptability, enabling uninterrupted power deicing. It is suitable for deicing catenary systems with varying degrees of ice coverage and has broad application prospects.

[0130] Figure 9This is a schematic structural diagram of a contact network de-icing device provided in an embodiment of the present disclosure. The device can be implemented by software and / or hardware, and the device can also be integrated into an electronic device.

[0131] like Figure 9 As shown, the contact network deicing device includes:

[0132] The information acquisition module 901 is used to obtain ice coverage information of the target contact network; wherein the ice coverage information includes ice coverage position and ice coverage thickness;

[0133] a parameter determination module 902 for determining an ice melting heat quantity corresponding to the ice layer on the target contact network based on the ice coating thickness, a preset light spot radius, and a preset heating temperature, and determining a target power based on the ice melting heat quantity;

[0134] A first sending module 903 is configured to generate a reagent spraying instruction according to the ice-covered position, and send the reagent spraying instruction to a reagent spraying unit, so that the reagent spraying unit sprays a laser absorbing reagent toward the ice-covered position;

[0135] The second sending module 904 is used to generate a laser emission instruction according to the target power and the ice-covered position, and send the laser emission instruction to the laser emission unit, so that the laser emission unit emits deicing laser at the target power toward the ice layer sprayed with the laser absorbing agent in the ice-covered position.

[0136] Optionally, when the ice coverage recognition result of the contact network image is that ice coverage exists, the ice coverage position is determined according to the acquisition area corresponding to the contact network image; wherein, the contact network image is acquired by a camera fixedly arranged relative to the target contact network.

[0137] Optionally, the ice coating thickness is determined based on a preset water density, a preset ice density, precipitation, wind speed, and a droplet falling speed, and the droplet falling speed is determined based on a contact network image.

[0138] Optionally, the determining of the ice melting heat corresponding to the ice layer on the target contact network based on the ice coating thickness, the preset light spot radius, and the preset heating temperature includes:

[0139] If the preset heating temperature is lower than the freezing point, the ice melting heat is determined according to the preset ice density, the preset light spot radius, the ice cover thickness, the preset ice specific heat capacity, the heating temperature, and the initial temperature;

[0140] If the preset heating temperature is not less than the freezing point and less than the boiling point, the ice melting heat is determined according to the preset ice density, the preset light spot radius, the ice cover thickness, the preset ice specific heat, the initial temperature, the preset ice melting latent heat, the preset water specific heat, and the preset heating temperature;

[0141] If the preset heating temperature is not less than the boiling point, the ice melting heat is determined according to the preset ice density, the preset light spot radius, the ice cover thickness, the preset ice specific heat, the initial temperature, the preset ice melting latent heat, the preset water specific heat, the preset water vaporization latent heat, and the preset heating temperature.

[0142] Optionally, determining the target power based on the ice melting heat includes:

[0143] The target power is obtained by dividing the ice melting heat by the product of the reflectivity difference and the preset ice melting time; wherein the reflectivity difference is the difference between 1 and the laser reflectivity.

[0144] Optionally, the laser absorbing agent includes carbon nanotubes, carbon black, resin, and organic solvent.

[0145] Optionally, the contact network deicing device further includes:

[0146] a heat determination module, configured to determine the absorbed heat of the target contact network according to the target power, a preset laser absorption coefficient, the ice thickness, and a preset ice melting time;

[0147] a temperature determination module, configured to determine the surface temperature of the target contact network according to the absorbed heat;

[0148] The prompt module is used to generate damage prompt information of the target contact network if the surface temperature is greater than a preset temperature.

[0149] The contact network deicing device provided in the embodiments of the present disclosure can execute the contact network deicing method provided in any embodiment of the present disclosure, and has the corresponding functional modules and beneficial effects of the execution method.

[0150] Figure 10 This is a schematic diagram of the structure of an electronic device provided by an embodiment of the present disclosure. Figure 10 As shown, the electronic device 1000 includes one or more processors 1001 and a memory 1002 .

[0151] The processor 1001 may be a central processing unit (CPU) or other forms of processing units having contact network de-icing capability and / or instruction execution capability, and may control other components in the electronic device 1000 to perform desired functions.

[0152] Memory 1002 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Non-volatile memory may include, for example, read-only memory (ROM), a hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and processor 1001 may execute the program instructions to implement the contact network deicing method of the embodiments of the present disclosure described above and / or other desired functions. Various contents, such as input signals, signal components, and noise components, may also be stored in the computer-readable storage medium.

[0153] In one example, the electronic device 1000 may further include an input device 1003 and an output device 1004 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0154] In addition, the input device 1003 may also include, for example, a keyboard, a mouse, and the like.

[0155] The output device 1004 can output various information to the outside, including determined distance information, direction information, etc. The output device 1004 can include, for example, a display, a speaker, a printer, a communication network and its connected remote output device, etc.

[0156] Of course, to simplify, Figure 10 Only some of the components related to the present disclosure in the electronic device 1000 are shown, and components such as buses, input / output interfaces, etc. are omitted. In addition, according to specific application scenarios, the electronic device 1000 may further include any other appropriate components.

[0157] In addition to the above-mentioned method and apparatus, the embodiments of the present disclosure may also be a computer program product, which includes computer program instructions. When the computer program instructions are executed by a processor, the processor executes the contact network deicing method provided by the embodiments of the present disclosure.

[0158] The computer program product may be written in any combination of one or more programming languages ​​to implement the operations of the disclosed embodiments, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as C or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0159] In addition, the embodiment of the present disclosure may also be a computer-readable storage medium having computer program instructions stored thereon. When the computer program instructions are executed by a processor, the processor executes the contact network deicing method provided by the embodiment of the present disclosure.

[0160] The computer-readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can, for example, include but is not limited to a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0161] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0162] The foregoing description is intended only to provide specific embodiments of the present disclosure, intended to enable those skilled in the art to understand and implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the embodiments described herein, but rather to be construed in the broadest manner consistent with the principles and novel features disclosed herein.

Claims

1. A method for deicing a contact network, characterized in that: include: Acquiring ice coverage information of the target contact network; wherein the ice coverage information includes ice coverage position and ice coverage thickness; Determining the ice melting heat corresponding to the ice layer on the target contact network based on the ice thickness, the preset light spot radius, and the preset heating temperature, and determining the target power based on the ice melting heat; generating a reagent spraying instruction according to the ice-covered position, and sending the reagent spraying instruction to a reagent spraying unit so that the reagent spraying unit sprays a laser absorbing reagent toward the ice-covered position; A laser emission instruction is generated according to the target power and the ice-covered position, and the laser emission instruction is sent to a laser emission unit so that the laser emission unit emits deicing laser at the target power toward the ice layer sprayed with the laser absorbing agent in the ice-covered position.

2. The method according to claim 1, characterized in that When the ice coverage recognition result of the contact network image is that ice coverage exists, the ice coverage position is determined according to the acquisition area corresponding to the contact network image; wherein, the contact network image is acquired by a camera fixedly arranged relative to the target contact network.

3. The method according to claim 1, characterized in that The ice thickness is determined based on a preset water density, a preset ice density, precipitation, wind speed, and a droplet falling speed, and the droplet falling speed is determined based on a contact network image.

4. The method according to claim 1, wherein The step of determining the ice melting heat corresponding to the ice layer on the target contact network based on the ice thickness, the preset light spot radius, and the preset heating temperature includes: If the preset heating temperature is lower than the freezing point, the ice melting heat is determined according to the preset ice density, the preset light spot radius, the ice cover thickness, the preset ice specific heat capacity, the heating temperature, and the initial temperature; If the preset heating temperature is not less than the freezing point and less than the boiling point, the ice melting heat is determined according to the preset ice density, the preset light spot radius, the ice cover thickness, the preset ice specific heat, the initial temperature, the preset ice melting latent heat, the preset water specific heat, and the preset heating temperature; If the preset heating temperature is not less than the boiling point, the ice melting heat is determined according to the preset ice density, the preset light spot radius, the ice cover thickness, the preset ice specific heat, the initial temperature, the preset ice melting latent heat, the preset water specific heat, the preset water vaporization latent heat, and the preset heating temperature.

5. The method according to claim 1, wherein The determining of the target power based on the ice melting heat comprises: The target power is obtained by dividing the ice melting heat by the product of the reflectivity difference and the preset ice melting time; wherein the reflectivity difference is the difference between 1 and the laser reflectivity.

6. The method according to claim 1, characterized in that The laser absorption agent comprises carbon nanotubes, carbon black, resin and organic solvent.

7. The method according to claim 1, characterized in that The method further comprises: Determining the absorbed heat of the target contact network according to the target power, the preset laser absorption coefficient, the ice thickness, and the preset ice melting time; determining a surface temperature of the target contact network based on the absorbed heat; If the surface temperature is greater than a preset temperature, damage prompt information of the target contact network is generated.

8. A contact network deicing device, characterized in that: include: An information acquisition module is used to acquire ice coverage information of a target contact network; wherein the ice coverage information includes ice coverage position and ice coverage thickness; a parameter determination module, configured to determine an ice melting heat amount corresponding to the ice layer on the target contact network based on the ice coating thickness, a preset light spot radius, and a preset heating temperature, and to determine a target power based on the ice melting heat amount; a first sending module, configured to generate a reagent spraying instruction according to the ice-covered position, and send the reagent spraying instruction to a reagent spraying unit, so that the reagent spraying unit sprays a laser absorbing reagent toward the ice-covered position; The second sending module is used to generate a laser emission instruction according to the target power and the ice-covered position, and send the laser emission instruction to the laser emitting unit, so that the laser emitting unit emits deicing laser at the target power toward the ice layer sprayed with the laser absorbing agent in the ice-covered position.

9. An electronic device, characterized in that: The electronic device comprises: processor; a memory for storing instructions executable by the processor; The processor is configured to read the executable instructions from the memory and execute the instructions to implement the contact network deicing method described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The storage medium stores a computer program, and the computer program is used to execute the contact network deicing method according to any one of claims 1 to 7.

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