Intelligent spreading vehicle and spreading method based on ice and snow on road surface

Abstract

The present invention relates to an intelligent spreading vehicle and spreading method based on ice and snow accumulation on a road surface, belonging to the technical field of intelligent spreading vehicles. The intelligent spreading vehicle comprises a spreading vehicle body, a data acquisition system, a snowmelt spraying system and an intelligent spreading controller; the data acquisition system is used to collect road surface data and meteorological data of an un-iced road surface; the cloud platform is used to judge whether the road surface will freeze in the future according to the road surface data and meteorological data, generate a first ice condensation warning signal, and send the first ice condensation warning signal to the intelligent spreading controller; the intelligent spreading controller is used to send a first spraying instruction to the snowmelt spraying system after receiving the first ice condensation warning signal, and control the snowmelt spraying system to spray the snowmelt on the un-iced road surface before the future freezing time. The present invention realizes the prediction of ice condensation on an un-iced road surface, and pre-sprays the snowmelt, so as to prevent the road surface from freezing.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent spreading vehicles, and in particular to an intelligent spreading vehicle and a spreading method based on ice and snow accumulation on a road surface. Background Art

[0002] At present, some highways in my country are equipped with a series of snow removal vehicles, such as large snowplows, snow-throwing vehicles, hand-held multifunctional snowplows, heavy snow shovels, and spreaders, which can ensure the snow removal work in winter to a certain extent. However, these vehicles generally carry out snow removal work after ice and snow occur. For unfrozen roads before snowfall, if ice condensation warning can be achieved in advance for unfrozen roads, and snow melting agents can be sprayed in advance before snowfall and ice formation to reduce the freezing point of the road surface, it can effectively prevent the road surface from icing. Obviously, the existing spreaders cannot do this, and cannot achieve ice condensation warning for unfrozen roads, and cannot pre-spray snow melting agents. Summary of the invention

[0003] The purpose of the present invention is to provide an intelligent spreading vehicle and spreading method based on ice and snow accumulation on the road surface, so as to realize the prediction of ice condensation on the un-iced road surface and pre-spray snow melting agent to achieve the purpose of preventing the road surface from icing.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] On the one hand, the present invention proposes an intelligent spreading vehicle based on ice and snow on the road surface, the intelligent spreading vehicle comprising: a spreading vehicle body and a data acquisition system, a snow melting agent spraying system and an intelligent spreading controller arranged on the spreading vehicle body;

[0006] The data acquisition system and the intelligent spreading controller are both wirelessly connected to the cloud platform; the intelligent spreading controller is also connected to the snow melting agent spraying system;

[0007] The data acquisition system is used to collect road surface data and meteorological data of unfrozen roads, and transmit the road surface data and meteorological data to the cloud platform; the road surface data includes road surface temperature information, snow thickness information and water film thickness information, and the meteorological data includes air temperature information and air humidity information;

[0008] The cloud platform is used to determine whether the road surface will freeze in the future based on the road surface data and the meteorological data, and obtain a first judgment result; and when the first judgment result is yes, generate a first ice condensation warning signal, and send the first ice condensation warning signal to the intelligent spreading controller; the first ice condensation warning signal includes the future freezing start time;

[0009] The intelligent spreading controller is used to send a first spraying instruction to the deicing agent spraying system after receiving the first ice condensation warning signal, so as to control the deicing agent spraying system to spray deicing agent on the uniced road surface before the freezing time starts in the future.

[0010] Optionally, the data acquisition system includes a remote sensing road surface sensor, a mobile weather station and a data acquisition box;

[0011] The remote sensing road surface sensor and the mobile weather station are both connected to the data collection box, and the data collection box is also wirelessly connected to the cloud platform;

[0012] The remote sensing road surface sensor is used to collect snow thickness information and water film thickness information; the mobile weather station is used to collect air temperature information and air humidity information; the data collection box is used to temporarily store various collected data and send them to the cloud platform in a unified manner.

[0013] Optionally, the data acquisition system further comprises a vehicle positioning module, a plurality of side cameras evenly arranged on both sides of the spreading vehicle body, and a plurality of rear cameras evenly arranged at the rear of the spreading vehicle body;

[0014] The vehicle positioning module is connected to the data collection box and is used to collect real-time position information of the spreading vehicle body;

[0015] The side camera is connected to the data acquisition box and is used to collect vehicle side road surface images on both sides of the spreading vehicle body;

[0016] The rear camera is also connected to the data acquisition box and is used to collect rear road surface images of the rear of the spreading vehicle body.

[0017] Optionally, the data acquisition system is further used to: after the deicing agent spraying system sprays the deicing agent on the road surface, collect the vehicle side road surface image and the vehicle rear road surface image of the road surface sprayed with the deicing agent, and transmit them to the cloud platform;

[0018] The cloud platform is also used for: judging whether there is still snow at the rear of the vehicle through video stream analysis based on the rear road surface image, and when there is snow at the rear of the vehicle, marking the snow position at the rear of the vehicle according to the current position information of the spreading vehicle body, generating a second ice condensation warning signal when the spreading vehicle body returns from an adjacent lane and the marked position is within the spraying range of the snow melting agent spraying system, and sending the second ice condensation warning signal to the intelligent spreading controller, so that the intelligent spreading controller sends a second spraying instruction to the snow melting agent spraying system to control the snow melting agent spraying system to spray snow melting agent at the marked position of the previous lane; the second ice condensation warning signal is an ice condensation warning signal indicating that there is snow at the rear of the spreading vehicle body in the previous lane and the snow position has been marked;

[0019] The cloud platform is also used to: determine whether there is snow accumulation in the lanes on both sides through video stream analysis based on the road surface image on the side of the vehicle, and generate a third ice condensation warning signal when there is snow accumulation in the lanes on both sides, and send the third ice condensation warning signal to the intelligent spreading controller, so that the intelligent spreading controller sends a third spraying instruction to the snow melting agent spraying system, and controls the snow melting agent spraying system to spray snow melting agent at the snow accumulation positions on the lanes on both sides; the third ice condensation warning signal is an ice condensation warning signal for the presence of snow on both sides of the spreading vehicle body.

[0020] Optionally, the deicing agent spraying system comprises: a front spray head located at the front of the spreading vehicle body, a rear spray head located at the rear of the spreading vehicle body, side spray heads located at both sides of the spreading vehicle body, a booster pump and a liquid storage tank; the liquid deicing agent is stored in the liquid storage tank;

[0021] The booster pump has an input end connected to the liquid storage tank and an output end connected to each nozzle;

[0022] The booster pump is also connected to the intelligent spreading controller to receive the spraying instruction sent by the intelligent spreading controller, and extract the snow melting agent in the liquid storage tank and transmit it to each nozzle for spraying.

[0023] Optionally, the intelligent spreading controller is also used to adjust the rotation speed of the booster pump according to the snow thickness information to control the spraying amount of each nozzle.

[0024] On the other hand, the present invention also proposes an intelligent spreading method based on ice and snow on the road surface, the intelligent spreading method is applied to the intelligent spreading vehicle as described above, and the intelligent spreading method comprises:

[0025] Collecting road surface data and meteorological data of unfrozen roads, wherein the road surface data includes road surface temperature information, snow thickness information and water film thickness information, and the meteorological data includes air temperature information and air humidity information;

[0026] Judging whether the road surface will freeze in the future based on the road surface data and the meteorological data, and obtaining a first judgment result;

[0027] When the first judgment result is yes, a first ice condensation warning signal is generated, and the first ice condensation warning signal is sent to the intelligent spreading controller; the first ice condensation warning signal includes a future freezing start time;

[0028] After receiving the first ice condensation warning signal, the intelligent spreading controller sends a first spraying instruction to the snow melting agent spraying system to control the snow melting agent spraying system to spray the snow melting agent on the uniced road surface before the future freezing time.

[0029] Optionally, after the step of controlling the deicing agent spraying system to spray deicing agent on the un-iced road surface before the future freezing time, the intelligent spreading method further includes:

[0030] Collect rear-end road surface images of the road surface sprayed with snow-melting agent and real-time position information of the main body of the spreading vehicle;

[0031] According to the rear road surface image, determining whether there is still snow at the rear of the vehicle through video stream analysis to obtain a second determination result;

[0032] When the second judgment result is yes, the snow accumulation position at the rear of the vehicle is marked according to the current position information of the spreading vehicle body, and when the spreading vehicle body returns from the adjacent lane and the marked position is within the spraying range of the snow melting agent spraying system, a second ice condensation warning signal is generated; the second ice condensation warning signal is an ice condensation warning signal indicating that there is snow accumulation at the rear of the spreading vehicle body in the previous lane and the snow accumulation position has been marked;

[0033] The second ice condensation warning signal is sent to the intelligent spreading controller, so that the intelligent spreading controller sends a second spraying instruction to the snow melting agent spraying system to control the snow melting agent spraying system to spray the snow melting agent to the marked position of the upper lane.

[0034] Optionally, after the step of controlling the deicing agent spraying system to spray deicing agent on the un-iced road surface before the future freezing time, the intelligent spreading method further includes:

[0035] Collecting vehicle side road surface images of the road surface sprayed with snow melting agent;

[0036] According to the vehicle side road surface image, determining whether there is snow on both sides of the lanes through video stream analysis to obtain a third determination result;

[0037] When the third judgment result is yes, a third ice condensation warning signal is generated; the third ice condensation warning signal is an ice condensation warning signal indicating that snow is accumulated on both sides of the main body of the spreading vehicle;

[0038] The third ice condensation warning signal is sent to the intelligent spreading controller, so that the intelligent spreading controller sends a third spraying instruction to the snow melting agent spraying system to control the snow melting agent spraying system to spray the snow melting agent to the snow accumulation positions on the lanes on both sides.

[0039] Optionally, the deicing agent spraying system includes: a front spray head located at the front of the spreading vehicle body, a rear spray head located at the rear of the spreading vehicle body, side spray heads located at both sides of the spreading vehicle body, a booster pump and a liquid storage tank; the booster pump has an input end connected to the liquid storage tank and an output end connected to each spray head; the booster pump is also connected to the intelligent spreading controller; the liquid deicing agent is stored in the liquid storage tank;

[0040] The intelligent spreading method also includes:

[0041] According to the snow thickness information, the rotation speed of the booster pump is adjusted by the intelligent spreading controller to control the spraying amount of each nozzle.

[0042] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0043] The present invention provides an intelligent spreading vehicle and spreading method based on ice and snow accumulation on a road surface, wherein the intelligent spreading vehicle comprises: a spreading vehicle body and a data acquisition system, a snowmelt spraying system and an intelligent spreading controller arranged on the spreading vehicle body; the data acquisition system and the intelligent spreading controller are both wirelessly connected to a cloud platform; the intelligent spreading controller is also connected to the snowmelt spraying system; the data acquisition system is used to collect road surface data and meteorological data of an un-iced road surface, and transmit the road surface data and meteorological data to the cloud platform; the road surface data comprises road surface temperature information, snow thickness information and water film thickness information, and the meteorological data comprises air temperature information and air humidity information; the cloud platform is used to judge whether the road surface will freeze in the future according to the road surface data and the meteorological data, and obtain a first judgment result; and when the first judgment result is yes, generate a first ice condensation warning signal and send it to the intelligent spreading controller; the first ice condensation warning signal comprises a future freezing start time; the intelligent spreading controller is used to send a first spraying instruction to the snowmelt spraying system after receiving the first ice condensation warning signal, and control the snowmelt spraying system to spray the snowmelt on the un-iced road surface before the future freezing start time.

[0044] The present invention collects road surface data and meteorological data of uniced roads, and comprehensively determines whether the uniced road surface is likely to freeze under the current state according to the current snow thickness and water film thickness of the uniced road surface and the road surface temperature, combined with meteorological factors such as air temperature and humidity. Once there is a possibility of freezing, an ice condensation warning is immediately issued to the main body of the spreader, so that it can spray snow-melting agent on the uniced road surface in advance, thereby realizing ice condensation warning for the uniced road surface and pre-spraying of snow-melting agent, which can achieve the purpose of preventing the road surface from icing, and solves the problem that the existing spreader can only perform the spraying work mechanically, but cannot realize ice condensation prediction and pre-spraying of snow-melting agent. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. The following drawings are not deliberately scaled according to the actual size, and the focus is on illustrating the main purpose of the present invention.

[0046] Figure 1 A schematic diagram of the overall structure of the intelligent spreading vehicle provided in Example 1 of the present invention;

[0047] Figure 2 A side view of the intelligent spreading vehicle provided in Example 1 of the present invention;

[0048] Figure 3 A top view of the intelligent spreading vehicle provided in Example 1 of the present invention;

[0049] Figure 4 A flow chart of the intelligent spreading method provided in Example 1 of the present invention;

[0050] Figure 5 Schematic diagram of the intelligent spreading method provided in Example 1 of the present invention.

[0051] Description of labels:

[0052] 1- Spreader body; 2- Data acquisition system; 3- Snow melting agent spraying system; 4- Intelligent spreading controller; 5- Cloud platform; 6- Remote sensing road surface sensor; 7- Mobile weather station; 8- Generator; 9- Side camera; 10- Tail camera; 11- Sprinkler. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0054] As shown in the present invention and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not refer to the singular, but also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list, and the method or device may also include other steps or elements.

[0055] Although the present invention has made various references to certain modules in the system according to an embodiment of the present invention, any number of different modules can be used and run on a user terminal and / or server. The modules are only illustrative, and different aspects of the system and method can use different modules.

[0056] The present invention uses a flow chart to illustrate the operations performed by the system according to an embodiment of the present invention. It should be understood that the preceding or following operations are not necessarily performed precisely in order. On the contrary, various steps may be processed in reverse order or simultaneously as required. At the same time, other operations may also be added to these processes, or one or more operations may be removed from these processes.

[0057] The purpose of the present invention is to provide an intelligent spreading vehicle and spreading method based on ice and snow accumulation on the road surface, so as to realize the prediction of ice condensation on the un-iced road surface and pre-spray snow melting agent to achieve the purpose of preventing the road surface from icing.

[0058] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0059] Example 1

[0060] like Figure 1 As shown, this embodiment provides an intelligent spreading vehicle based on ice and snow on the road surface, and the intelligent spreading vehicle specifically includes: a spreading vehicle body 1 and a data acquisition system 2, a snow-melting agent spraying system 3 and an intelligent spreading controller 4 arranged on the spreading vehicle body 1; wherein the data acquisition system 2 and the intelligent spreading controller 4 are both wirelessly connected to a cloud platform 5; the intelligent spreading controller 4 is also connected to the snow-melting agent spraying system 3.

[0061] The data acquisition system 2 is used to collect road surface data and meteorological data of unfrozen roads, and transmit the road surface data and meteorological data to the cloud platform 5; the road surface data includes road surface temperature information, snow thickness information, water film thickness information, etc., and the meteorological data includes air temperature information, air humidity information, etc.

[0062] The cloud platform 5 is used to determine whether the road surface will freeze in the future based on the road surface data and the meteorological data, and obtain a first judgment result.

[0063] Among them, when the first judgment result is yes, a first ice condensation warning signal is generated, and the first ice condensation warning signal is sent to the intelligent spreading controller 4; the first ice condensation warning signal includes the future freezing start time; when the first judgment result is yes, no subsequent processing is performed, and the first ice condensation warning signal is not generated.

[0064] The intelligent spreading controller 4 is used to send a first spraying instruction to the deicing agent spraying system 3 after receiving the first ice condensation warning signal, so as to control the deicing agent spraying system 3 to spray deicing agent on the uniced road surface before the freezing time in the future.

[0065] In this embodiment, the data acquisition system 2 includes a remote sensing road surface sensor 6, a mobile weather station 7 and a data acquisition box. The remote sensing road surface sensor 6 and the mobile weather station 7 are both connected to the data acquisition box, and the data acquisition box is also wirelessly connected to the cloud platform 5.

[0066] like Figure 2 and Figure 3 As shown, the remote sensing road surface sensor 6 is arranged at the front end of the roof of the spreading vehicle body, and is used to collect snow thickness information and water film thickness information in front of the spreading vehicle body.

[0067] In this embodiment, the remote sensing road surface sensor 6 adopts a remote sensing road surface sensor 6 of model TS RCS01, which adopts an integrated infrared sensor probe based on multi-spectral measurement technology, can accurately detect the thickness of snow and water film on the road surface, and can monitor the road surface temperature, etc. The infrared detection range can reach about 10-20 meters, and can be continuously online in real time 24 hours a day, and can be widely used in the monitoring of highways, urban roads, bridges, tunnels, airport runways and various complex road sections.

[0068] It is easy to understand that the present invention does not limit the type and model of the remote sensing road surface sensor 6. It is not fixed and unique and can be determined according to actual needs.

[0069] The mobile weather station 7 is arranged on the roof of the spreading vehicle body and is used to collect weather data around the spreading vehicle body, including air temperature information and air humidity information.

[0070] The data collection box is used to temporarily store various collected data and send them to the cloud platform 5 in a unified manner.

[0071] In this embodiment, various collection devices in the data collection system 2, such as remote sensing road surface sensors 6, mobile weather stations 7, etc., can be connected to the data collection box through RS485 lines respectively. The data collection box can be wirelessly connected to the cloud platform 5 through a 4G network or a WIFI network. Other connection methods can also be used, which can be set according to actual conditions.

[0072] In this embodiment, the data collection frequency of the data collection system 2 can reach 100 times per second. Assuming that the spreader travels at a speed of 50 km / h, data can be collected 7 times for every 1 meter of road surface traveled. Therefore, the collected data can fully represent the true state of the road surface. At the same time, the collected data includes road surface data and meteorological data. After comprehensive analysis of the road surface data and meteorological data, an ice condensation warning signal is generated, so that ice condensation warning can be made more accurately based on the collected data, thereby improving the accuracy of ice condensation warning.

[0073] In this embodiment, the data acquisition system 2 further includes a vehicle positioning module, a plurality of side cameras 9 evenly arranged on both sides of the spreading vehicle body 1, and a plurality of rear cameras 10 evenly arranged at the rear of the spreading vehicle body 1.

[0074] The vehicle positioning module is connected to the data collection box and is used to collect real-time position information of the spreading vehicle body 1. In this embodiment, the vehicle positioning module can be a Beidou positioning module, or other positioning modules.

[0075] The side camera 9 is connected to the data acquisition box and is used to collect the vehicle side road surface images on both sides of the spreading vehicle body 1; the rear camera 10 is also connected to the data acquisition box and is used to collect the vehicle rear road surface images at the rear of the spreading vehicle body 1, wherein the vehicle side road surface images and vehicle rear road surface images are road surface status images, which can be used to assist in determining whether there is snow on the road surface and whether the snow on the road surface is clear and clean through image recognition on the cloud platform 5.

[0076] In this embodiment, a generator 8 is also provided on the intelligent spreading vehicle, and the data acquisition system 2, the snow melting agent spraying system 3 and the intelligent spreading controller 4 can all be powered by the generator 8, and can also be directly connected to the battery of the intelligent spreading vehicle for power supply.

[0077] In this embodiment, the data acquisition system 2 is also used to: after the deicing agent spraying system 3 sprays deicing agent on the road surface, collect the vehicle side road surface image and the vehicle rear road surface image of the road surface sprayed with the deicing agent, and transmit them to the cloud platform 5.

[0078] With respect to the rear road surface image, the cloud platform 5 in this embodiment also has the following functions:

[0079] According to the rear road surface image, it is determined whether there is still snow at the rear of the vehicle through video stream analysis, and when there is snow at the rear of the vehicle, the snow position at the rear of the vehicle is marked according to the current position information of the spreading vehicle body 1, and when the spreading vehicle body 1 returns from the adjacent lane and the marked position is within the spraying range of the snow-melting agent spraying system 3, a second ice condensation warning signal is generated, and the second ice condensation warning signal is sent to the intelligent spreading controller 4, so that the intelligent spreading controller 4 sends a second spraying instruction to the snow-melting agent spraying system 3, and controls the snow-melting agent spraying system 3 to spray the snow-melting agent at the marked position of the previous lane; the second ice condensation warning signal is an ice condensation warning signal indicating that there is snow at the rear of the spreading vehicle body 1 in the previous lane and the snow position has been marked.

[0080] With respect to the vehicle side road surface image, the cloud platform 5 in this embodiment also has the following functions:

[0081] According to the road surface image on the vehicle side, it is determined whether there is snow accumulation in the lanes on both sides through video stream analysis, and a third ice condensation warning signal is generated when there is snow accumulation in the lanes on both sides, and the third ice condensation warning signal is sent to the intelligent spreading controller 4, so that the intelligent spreading controller 4 sends a third spraying instruction to the snow melting agent spraying system 3, and controls the snow melting agent spraying system 3 to spray snow melting agent at the snow accumulation positions on the lanes on both sides; the third ice condensation warning signal is an ice condensation warning signal for the presence of snow on both sides of the spreading vehicle body 1.

[0082] In this embodiment, the mobile ice condensation disposal system software can also be installed on the cloud platform 5, which can intuitively display the vehicle information transmitted by all intelligent spreading vehicles, the road surface conditions of each street, the snow accumulation conditions and other data through the display, which can include the driving speed, status, position of each spreading vehicle, as well as the temperature of the road surface it has traveled, the thickness of the snow accumulation, the thickness of the water film, the time of each spreading operation, the spraying amount and other data, forming a complete system, so that the staff of the cloud platform 5 can easily grasp the snow accumulation status and detailed data of each street. In addition, the entire driving road surface status, temperature, whether there is ice condensation warning and snow accumulation, the spraying amount of the snow melting agent and the spraying process are combined with Beidou positioning, and can be intuitively displayed in the cloud platform 5 through the GIS map. The management personnel can monitor the driving routes and snow melting agent spraying records of all snow melting agent spreading vehicles from the cloud platform 5, which is convenient for monitoring the entire operation process, and can call other vehicles for the road sections with severe snow accumulation to improve the spreading efficiency and snow removal effect.

[0083] In this embodiment, the cloud platform 5, as a background computing and processing center, can determine whether ice will form in the future and calculate the future ice start time according to the road surface data and the meteorological data through the ice condensation warning algorithm after receiving the road surface data and the meteorological data transmitted by the data acquisition system 2. Among them, when judging whether ice will form, firstly, according to the water film thickness information of the road surface, it is judged whether the water film thickness is greater than the preset water film thickness threshold. If it is greater than the preset water film thickness threshold, it is determined that there is a possibility of ice formation in the future under the current water film thickness, that is, the road surface is in a non-dry state and there is a lot of water accumulation, and it is very likely to freeze in winter. At this time, a corresponding ice condensation warning signal is generated and sent to the intelligent spreading vehicle to realize ice condensation warning. When calculating the future freezing time, firstly, at a certain time point, the remote sensing road surface sensor 6 is used to collect the road surface temperature information, and the road surface temperature at the time point a is recorded. After a few minutes, ice condensation detection is performed again and the road surface temperature information is collected, and the road surface temperature at the time point b is recorded. According to the two recorded road surface temperatures, it is determined whether the current temperature is in a continuous downward trend, and the temperature drop rate is calculated according to the difference between the two recorded road surface temperatures and the interval time of the time points. Assuming that the road surface freezing point temperature is the freezing temperature c, if the two recorded road surface temperatures are in a downward trend, the time required for the road surface temperature corresponding to the time point b to reach the freezing temperature c is calculated according to the temperature drop rate in the past hour. When the road surface temperature reaches the freezing temperature c, that is, the freezing point temperature, and there is still water on the road surface, the future freezing time is determined. If the current time to the future freezing time is within 2 hours, the intelligent spreading vehicle automatically starts spraying. Among them, the collection time, the interval time, and the time from the current time to the future freezing time can be set by yourself.

[0084] It should be noted that the ice condensation warning algorithm adopted in this embodiment is only an example. The ice condensation warning algorithm is a mature existing technology, which generally includes an ice condensation warning algorithm using a linear temperature drop method and a machine learning calculation method. The present invention adopts an ice condensation warning algorithm based on a linear temperature drop, which will not be repeated here.

[0085] In this embodiment, the deicing agent spraying system 3 includes: a spray head 11, a booster pump and a liquid storage tank; the liquid deicing agent is stored in the liquid storage tank.

[0086] The nozzles 11 include a front spray nozzle 11 located at the front of the spreading vehicle body 1, a rear spray nozzle 11 located at the rear of the spreading vehicle body 1, and side spray nozzles 11 located at both sides of the spreading vehicle body 1. It should be noted that the front spray nozzle 11 and the rear spray nozzle 11 in this embodiment can be separate nozzles 11, which are located at the front and rear of the vehicle to achieve spraying at the front and rear of the vehicle; or they can be integrated nozzles 11, which can automatically adjust the spraying direction to achieve front spraying and / or rear spraying.

[0087] The booster pump has an input end connected to the liquid storage tank and an output end connected to each nozzle 11, and can be connected to a generator 8 or a battery of a spreading vehicle for power supply. The booster pump is also connected to the intelligent spreading controller 4, and is used to receive a spraying instruction sent by the intelligent spreading controller 4, and extract the snow melting agent in the liquid storage tank and transmit it to each nozzle 11 for spraying.

[0088] It should be noted that the spreading vehicle in this embodiment is also equipped with fire-fighting interfaces, self-flow valves, filters, special water pumps and other equipment that are common to spreading vehicles, forming a complete spraying pipeline with the self-priming and self-draining functions of common spreading vehicles. Since these devices are common to spreading vehicles and belong to the prior art, they are not the focus of the present invention and will not be described in detail here.

[0089] In this embodiment, the intelligent spreading controller 4 adopts a PLC programming control board, and other types of controllers may also be used. The intelligent spreading controller 4 is also used to: adjust the rotation speed of the booster pump according to the snow thickness information to control the spraying amount of each nozzle 11.

[0090] In this embodiment, when there is an ice condensation warning signal or a snow accumulation signal, the intelligent spreading controller 4 automatically turns on the booster pump to start spraying. The booster pump speed is automatically adjusted according to the thickness of the snow, and the spreading amount per square meter can be set according to the recommended dosage of different snow melting agent manufacturers for different thicknesses of snow. In addition, the intelligent spreading controller 4 can adjust the booster pump speed according to the thickness of the snow, thereby controlling the spreading amount, which is not only more intelligent, but also helps to save the cost of snow melting agents.

[0091] The present invention collects road surface data to give an early warning of ice condensation on the road surface where the spreader is traveling, and automatically spreads snow melting agent on high-risk points of ice condensation before ice forms, thereby realizing integrated early warning and spreading. The present invention also automatically measures the snow thickness on the road surface, automatically adjusts the amount of snow melting agent sprayed for different snow thicknesses, realizes accurate and efficient spraying, and detects the spraying effect. If it is found that the rear or both sides of the spreader have not completely cleared the snow, the spreader will continue to spray the snow left at the rear of the vehicle after traveling to the next lane, and can also spray the snow on the lanes on both sides simultaneously.

[0092] Example 2

[0093] Corresponding to the intelligent spreading vehicle in Example 1, this embodiment provides an intelligent spreading method based on ice and snow on the road surface, and the intelligent spreading method is applied to the intelligent spreading vehicle in Example 1. Figure 4 As shown, the overall process is as follows Figure 5 As shown, the following steps are included:

[0094] Step S1, collecting road surface data and meteorological data of an unfrozen road surface, wherein the road surface data includes road surface temperature information, snow thickness information and water film thickness information, and the meteorological data includes air temperature information and air humidity information;

[0095] Step S2, judging whether the road surface will be frozen in the future according to the road surface data and the meteorological data, and obtaining a first judgment result;

[0096] Step S3: when the first judgment result is yes, a first ice condensation warning signal is generated, and the first ice condensation warning signal is sent to the intelligent spreading controller 4; the first ice condensation warning signal includes a future freezing start time;

[0097] Step S4: After receiving the first ice condensation warning signal, the intelligent spreading controller 4 sends a first spraying instruction to the deicing agent spraying system 3 to control the deicing agent spraying system 3 to spray the deicing agent on the unfrozen road surface before the freezing time in the future.

[0098] In this embodiment, when the snow-melting agent spraying system 3 sprays the snow-melting agent onto the un-iced road surface, the intelligent spreading method further includes: adjusting the rotation speed of the booster pump through the intelligent spreading controller 4 according to the snow thickness information to control the spraying amount of each nozzle 11.

[0099] In this embodiment, the remote sensing road surface sensor 6 is installed on the top of the intelligent spreading vehicle body. By adjusting the angle, the road surface data of a fixed distance value in front of the vehicle needs to be detected. By calculating the current vehicle speed (generally recommended not to exceed 30km / h), and the time required for the vehicle to travel to the monitoring point d (generally about 1-2s). If there is an ice warning signal or snow accumulation signal on the road surface that meets the spraying conditions, the PLC control logic of the intelligent spreading controller 4 will issue a spraying instruction, and calculate the time t1 to travel to the monitoring point d that needs to be sprayed according to the current vehicle speed v. Assuming that the length of the spreading vehicle is l, the wind and other resistance factors are not considered, and the nozzle 11 is nearly 90 degrees perpendicular to the horizontal plane of the ground, the time for the snow melting agent to land is t2 (due to the acceleration effect of the booster pump pressure, usually about 0.1-0.3 seconds), the time to start spraying is t1+l / v-t2, the spraying time is 1 / v, and the spraying coverage range is 1 meter. After testing, under the pressure of the booster pump k kg, the flow rate of the liquid snow melting agent is v1 meters / second, then the calculation formula for the spraying amount is:

[0100] p=π*R2*v1*1 / v

[0101] Wherein, p represents the spraying amount, and R represents the outlet radius of the nozzle 11.

[0102] Assuming that the de-icing agent manufacturer recommends that the capacity of de-icing agent used according to the snow thickness at the monitoring point d is s grams, the spraying amount p can be calculated according to the calculation formula of the spraying amount, and the de-icing agent flow rate v1 can be calculated through the de-icing agent capacity s. Then, the required kilograms of pressure can be calculated based on the de-icing agent flow rate v1. From this, the pressure value k that the intelligent spreading controller 4 needs to add to the booster pump can be calculated.

[0103] In this embodiment, the spreading vehicle is equipped with nozzles 11 of different calibers. If the spraying volume p can be achieved by nozzles 11 of other calibers, and the allowable error rate of the general spraying work is within 15%, the pressure does not need to be adjusted at this time, and the nozzles 11 of different calibers can be directly switched.

[0104] If there is snow on the current lane, the present invention automatically adjusts the use of different nozzles 11 according to information such as the thickness of the snow and the vehicle speed, and automatically adjusts the amount of snow-melting agent spread according to the amount of snow-melting agent recommended by the snow-melting agent manufacturer, thereby achieving economical and efficient snow-melting agent spreading. The whole process is carried out automatically, and only one driver is required, reducing labor costs.

[0105] After step S4, the intelligent spreading method may further include:

[0106] Step A1, collecting a rear-end road surface image of a road surface on which the snow-melting agent has been sprayed and real-time position information of the spreading vehicle body 1;

[0107] Step A2: judging whether there is still snow at the rear of the vehicle through video stream analysis based on the rear road surface image, and obtaining a second judgment result;

[0108] Step A3, when the second judgment result is yes, the snow accumulation position at the rear of the vehicle is marked according to the current position information of the spreading vehicle body 1, and when the spreading vehicle body 1 returns from the adjacent lane and the marked position is within the spraying range of the snow melting agent spraying system 3, a second ice condensation warning signal is generated; the second ice condensation warning signal is an ice condensation warning signal indicating that there is snow at the rear of the spreading vehicle body 1 in the previous lane and the snow accumulation position has been marked;

[0109] Step A4, sending the second ice condensation warning signal to the intelligent spreading controller 4, so that the intelligent spreading controller 4 sends a second spraying instruction to the snow melting agent spraying system 3, and controls the snow melting agent spraying system 3 to spray the snow melting agent to the marked position of the upper lane.

[0110] After step S4, the intelligent spreading method may further include:

[0111] Step B1, collecting a vehicle side road surface image of a road surface on which a snow melting agent has been sprayed;

[0112] Step B2: judging whether there is snow on the lanes on both sides through video stream analysis based on the road surface image on the side of the vehicle, and obtaining a third judgment result;

[0113] Step B3: when the third judgment result is yes, a third ice condensation warning signal is generated; the third ice condensation warning signal is an ice condensation warning signal indicating that snow is accumulated on both sides of the spreader body 1;

[0114] Step B4, sending the third ice condensation warning signal to the intelligent spreading controller 4, so that the intelligent spreading controller 4 sends a third spraying instruction to the snow melting agent spraying system 3, and controls the snow melting agent spraying system 3 to spray the snow melting agent to the snow accumulation positions on the lanes on both sides.

[0115] In this embodiment, the cost of the remote sensing road surface sensor 6 is relatively high. Therefore, in this embodiment, only one remote sensing road surface sensor 6 is installed to collect road surface information in front of the vehicle, and the snow removal effect is evaluated by collecting images at the rear and both sides of the vehicle through cameras. In this embodiment, the camera on the spreading vehicle can be powered by a battery, and the captured video stream is automatically transmitted to the cloud platform 5 through the data acquisition box during driving. The cloud platform 5 saves and analyzes the video stream, and the geographical location of the spreading vehicle at the time of shooting can be obtained according to the Beidou positioning when the vehicle transmits the video.

[0116] The video stream on the side of the vehicle is automatically analyzed to see if there is snow accumulation. If there is snow accumulation, the control center of the cloud platform 5 automatically sends an ice condensation warning signal, and the intelligent spreading controller 4 controls the sprinkler 11 on the side of the vehicle to spray. Since the video stream analysis can only monitor whether there is snow accumulation but cannot monitor the thickness of the snow, a quantitative snow-melting agent spraying method is adopted for the snow accumulated on the side of the vehicle.

[0117] After the vehicle has passed, if there is snow that has not been cleared, the camera at the rear of the vehicle will automatically record the disposal situation, and automatically analyze whether there is snow that has not been cleared at the rear of the vehicle through the video stream. If there is snow, the cloud platform 5 will record the current geographical location. The Beidou differential positioning used by the vehicle can achieve centimeter-level positioning. Since the spreader generally sprays back and forth in each lane, when the spreader drives from another adjacent lane, the cloud platform 5 automatically sends instructions to the intelligent spreading controller 4 to turn on the side nozzle 11 to spray the snow on the side, so that the effect of driving in one lane and automatically disposing of three lanes at the same time can be achieved, which is fast and efficient. In addition, the present invention can automatically evaluate the disposal effect of the lanes that have been disposed of. If it has not been disposed of cleanly, the location where there is snow can be automatically marked and recorded. The next time it drives to the adjacent road, the marked location can be memorized and the snow melting agent can be automatically sprayed again, which improves the intelligence of the spreading.

[0118] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the invention belongs. It should also be understood that terms such as those defined in common dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology and should not be interpreted in an idealized or extremely formal sense, unless explicitly defined as such herein.

[0119] The above is an explanation of the present invention and should not be considered as a limitation thereof. Although several exemplary embodiments of the present invention have been described, it will be readily appreciated by those skilled in the art that many modifications may be made to the exemplary embodiments without departing from the novelty and advantages of the present invention. Therefore, all such modifications are intended to be included within the scope of the present invention as defined in the claims. It should be understood that the above is an explanation of the present invention and should not be considered as being limited to the specific embodiments disclosed, and modifications to the disclosed embodiments and other embodiments are intended to be included within the scope of the appended claims. The present invention is defined by the claims and their equivalents.

Claims

1. An intelligent spreading vehicle based on ice and snow on the road, characterized in that: The intelligent spreading vehicle comprises: a spreading vehicle body, and a data acquisition system, a snow melting agent spraying system and an intelligent spreading controller arranged on the spreading vehicle body; The data acquisition system and the intelligent spreading controller are both wirelessly connected to the cloud platform; the intelligent spreading controller is also connected to the snow melting agent spraying system; The data acquisition system is used to collect road surface data and meteorological data of unfrozen roads, and transmit the road surface data and meteorological data to the cloud platform; the road surface data includes road surface temperature information, snow thickness information and water film thickness information, and the meteorological data includes air temperature information and air humidity information; The cloud platform is used to determine whether the road surface will freeze in the future based on the road surface data and the meteorological data, and obtain a first judgment result; and when the first judgment result is yes, generate a first ice condensation warning signal, and send the first ice condensation warning signal to the intelligent spreading controller; the first ice condensation warning signal includes the future freezing start time; The intelligent spreading controller is used to send a first spraying instruction to the deicing agent spraying system after receiving the first ice condensation warning signal, so as to control the deicing agent spraying system to spray deicing agent on the un-iced road surface before the freezing time in the future; The data acquisition system includes a remote sensing road surface sensor, a mobile weather station and a data acquisition box; The remote sensing road surface sensor and the mobile weather station are both connected to the data collection box, and the data collection box is also wirelessly connected to the cloud platform; The remote sensing road surface sensor is used to collect snow thickness information and water film thickness information; the mobile weather station is used to collect air temperature information and air humidity information; the data collection box is used to temporarily store various collected data and send them to the cloud platform in a unified manner; The data acquisition system also includes a vehicle positioning module, a plurality of side cameras evenly arranged on both sides of the spreading vehicle body, and a plurality of rear cameras evenly arranged at the rear of the spreading vehicle body; The vehicle positioning module is connected to the data collection box and is used to collect real-time position information of the spreading vehicle body; The side camera is connected to the data acquisition box and is used to collect vehicle side road surface images on both sides of the spreading vehicle body; The rear camera is also connected to the data acquisition box and is used to collect the rear road surface image of the rear of the spreading vehicle body; The data acquisition system is also used to: after the deicing agent spraying system sprays the deicing agent on the road surface, collect the vehicle side road surface image and the vehicle rear road surface image of the road surface sprayed with the deicing agent, and transmit them to the cloud platform; The cloud platform is also used for: judging whether there is still snow at the rear of the vehicle through video stream analysis based on the rear road surface image, and when there is snow at the rear of the vehicle, marking the snow position at the rear of the vehicle according to the current position information of the spreading vehicle body, generating a second ice condensation warning signal when the spreading vehicle body returns from an adjacent lane and the marked position is within the spraying range of the snow melting agent spraying system, and sending the second ice condensation warning signal to the intelligent spreading controller, so that the intelligent spreading controller sends a second spraying instruction to the snow melting agent spraying system to control the snow melting agent spraying system to spray snow melting agent at the marked position of the previous lane; the second ice condensation warning signal is an ice condensation warning signal indicating that there is snow at the rear of the spreading vehicle body in the previous lane and the snow position has been marked; The cloud platform is also used to: determine whether there is snow accumulation in the lanes on both sides through video stream analysis based on the road surface image on the side of the vehicle, and generate a third ice condensation warning signal when there is snow accumulation in the lanes on both sides, and send the third ice condensation warning signal to the intelligent spreading controller, so that the intelligent spreading controller sends a third spraying instruction to the snow melting agent spraying system, and controls the snow melting agent spraying system to spray snow melting agent at the snow accumulation positions on the lanes on both sides; the third ice condensation warning signal is an ice condensation warning signal for the presence of snow on both sides of the spreading vehicle body.

2. The intelligent spreading vehicle according to claim 1, characterized in that: The deicing agent spraying system comprises: a front spray head located at the front of the spreading vehicle body, a rear spray head located at the rear of the spreading vehicle body, side spray heads located at both sides of the spreading vehicle body, a booster pump and a liquid storage tank; the liquid deicing agent is stored in the liquid storage tank; The booster pump has an input end connected to the liquid storage tank and an output end connected to each nozzle; The booster pump is also connected to the intelligent spreading controller to receive the spraying instruction sent by the intelligent spreading controller, and extract the snow melting agent in the liquid storage tank and transmit it to each nozzle for spraying.

3. The intelligent spreading vehicle according to claim 2, characterized in that: The intelligent spreading controller is also used to adjust the rotation speed of the booster pump according to the snow thickness information to control the spraying amount of each nozzle.

4. An intelligent spreading method based on ice and snow on the road surface, the intelligent spreading method is applied to the intelligent spreading vehicle as described in any one of claims 1 to 3, characterized in that: The intelligent spreading method comprises: Collecting road surface data and meteorological data of unfrozen roads, wherein the road surface data includes road surface temperature information, snow thickness information and water film thickness information, and the meteorological data includes air temperature information and air humidity information; Judging whether the road surface will freeze in the future based on the road surface data and the meteorological data, and obtaining a first judgment result; When the first judgment result is yes, a first ice condensation warning signal is generated, and the first ice condensation warning signal is sent to the intelligent spreading controller; the first ice condensation warning signal includes a future freezing start time; After receiving the first ice condensation warning signal, the intelligent spreading controller sends a first spraying instruction to the deicing agent spraying system to control the deicing agent spraying system to spray deicing agent on the un-iced road surface before the future freezing time. After the step of controlling the deicing agent spraying system to spray deicing agent on the un-iced road surface before the freezing time starts in the future, the intelligent spreading method further includes: Collect rear-end road surface images of the road surface sprayed with snow-melting agent and real-time position information of the main body of the spreading vehicle; According to the rear road surface image, determining whether there is still snow at the rear of the vehicle through video stream analysis to obtain a second determination result; When the second judgment result is yes, the snow accumulation position at the rear of the vehicle is marked according to the current position information of the spreading vehicle body, and when the spreading vehicle body returns from the adjacent lane and the marked position is within the spraying range of the snow melting agent spraying system, a second ice condensation warning signal is generated; the second ice condensation warning signal is an ice condensation warning signal indicating that there is snow accumulation at the rear of the spreading vehicle body in the previous lane and the snow accumulation position has been marked; The second ice condensation warning signal is sent to the intelligent spreading controller, so that the intelligent spreading controller sends a second spraying instruction to the deicing agent spraying system to control the deicing agent spraying system to spray deicing agent at the marked position of the upper lane; After the step of controlling the deicing agent spraying system to spray deicing agent on the un-iced road surface before the freezing time starts in the future, the intelligent spreading method further includes: Collecting vehicle side road surface images of the road surface sprayed with snow melting agent; According to the vehicle side road surface image, determining whether there is snow on both sides of the lanes through video stream analysis to obtain a third determination result; When the third judgment result is yes, a third ice condensation warning signal is generated; the third ice condensation warning signal is an ice condensation warning signal indicating that snow is accumulated on both sides of the main body of the spreading vehicle; The third ice condensation warning signal is sent to the intelligent spreading controller, so that the intelligent spreading controller sends a third spraying instruction to the snow melting agent spraying system to control the snow melting agent spraying system to spray the snow melting agent to the snow accumulation positions on the lanes on both sides.

5. The intelligent spreading method according to claim 4, characterized in that: The deicing agent spraying system comprises: a front spray head located at the front of the spreading vehicle, a rear spray head located at the rear of the spreading vehicle, side spray heads located at both sides of the spreading vehicle, a booster pump and a liquid storage tank; the booster pump has an input end connected to the liquid storage tank and an output end connected to each spray head; the booster pump is also connected to the intelligent spreading controller; the liquid deicing agent is stored in the liquid storage tank; The intelligent spreading method also includes: According to the snow thickness information, the rotation speed of the booster pump is adjusted by the intelligent spreading controller to control the spraying amount of each nozzle.

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