Mechanical-heating cooperative deicing equipment under machine vision guidance

Abstract

The invention provides mechanical-heating cooperative deicing equipment under machine vision guidance. The mechanical-heating cooperative deicing equipment comprises an assembly table; the driving mechanism comprises a lifting frame, a first rotary driver and a driving wheel, the lifting frame is arranged above the assembly table and can move in a lifting mode, the driving wheel is connected to the lifting frame, and the first rotary driver is connected to the driving wheel; the heating mechanism comprises an electric heating wire which is connected with power supply equipment; and the ice breaking mechanism comprises a second rotary driver and a knocking rod, and the knocking rod is connected to the working end of the second rotary driver. The ice breaking mechanism can conduct physical ice breaking on the contact network preferentially, then hot melting ice removing is conducted through the heating mechanism, and therefore the double ice removing process of the contact network is achieved. Compared with existing conventional deicing equipment, the device has the advantages of being compact in structure, high in controllability, high in automation degree, thorough in deicing effect, high in efficiency, wide in application scene, low in manufacturing cost, flexible in operation process and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of deicing equipment, and in particular to a mechanical-heating coordinated deicing equipment guided by machine vision. Background Art

[0002] In the current railway operation environment, the icing problem of track contact network has always been a technical problem that needs to be solved urgently. Especially in winter or cold areas, icing not only affects the normal operation of trains, but also poses a serious threat to the safety of passengers and the safe operation of trains.

[0003] To address the problem of ice removal, the current mainstream deicing technologies include mechanical deicing, electric current heating and ice melting, chemical deicing, drone deicing, and robot deicing. Mechanical deicing uses the mechanical cutting equipment on the contact network deicing vehicle to directly act on the iced area, quickly reducing or breaking the ice layer, which is particularly effective for thicker ice layers. However, this method has complex equipment and high cost, and mechanical cutting may cause certain wear and structural damage to the contact network, so it should not be used frequently.

[0004] Electric current heating deicing applies electric current to the contact network, which increases the temperature of the conductor, causing the ice to melt and fall off. It is suitable for areas affected by ice and snow for a long time, but the cost of deicing large areas is high, the energy consumption is large, and long-term heating may affect the life of the contact network material.

[0005] Chemical deicing uses chemical deicing agents to spray on the surface of the contact network, which lowers the freezing point through chemical reactions to melt the ice layer. It is especially suitable for rapid deicing under low temperature conditions, but chemical deicing agents may corrode the contact network structure, affecting its lifespan, and chemical substances are prone to pollute the environment. Drone deicing uses its high mobility to quickly perform deicing operations, but drones are expensive, including R&D and maintenance costs and personnel training costs, and the single operation time is short, energy consumption is huge, and flames also cause certain damage to the contact network.

[0006] Robotic deicing technology is a rapidly developing automated deicing method in recent years. It uses a dedicated deicing robot equipped with cutting, heating and other functional modules to automatically move on the contact network and remove ice, effectively reducing labor input and reducing operational risks. However, at this stage, there are still problems such as high R&D costs and complex equipment structure, which limit its large-scale promotion and use.

[0007] In summary, the existing ice removal technologies have certain limitations in practical applications. There is an urgent need for a more efficient, safe, environmentally friendly and economical solution to overcome these problems in order to ensure the smooth and safe railway transportation. Summary of the invention

[0008] To this end, the technical problem to be solved by the present invention is to overcome the problem in the prior art that the de-icing efficiency and quality of the track contact network need to be improved, and to provide a mechanical-heating collaborative de-icing device under the guidance of machine vision.

[0009] To solve the above technical problems, the present invention provides a mechanical-heating collaborative deicing device under the guidance of machine vision, which is used for deicing the track contact network, comprising: an assembly table; a driving mechanism, the driving mechanism is arranged on the assembly table, and comprises a lifting frame, a first rotary driver and at least one driving wheel, the lifting frame is above the assembly table, and can be lifted and moved along its height direction, at least one driving wheel is connected to the lifting frame, and moves synchronously with the lifting frame to be suspended on the track contact network, the first rotary driver is connected to at least one driving wheel to drive the driving wheel to move along the track contact network; a heating mechanism, the heating mechanism is connected to the lifting frame, and comprises a heating wire, the heating wire is connected to a power supply device, and a heating space is enclosed, and the track contact network is located in the heating space; at least one ice-breaking mechanism, the ice-breaking mechanism is connected to the assembly table, and comprises a second rotary driver and a knocking rod, and the knocking rod is connected to the working end of the second rotary driver to knock the track contact network.

[0010] In one embodiment of the present invention, the driving mechanism also includes at least one driven wheel and at least one first fixed frame, one end of the first fixed frame is fixedly connected to the assembly table, and the other end is connected to the driven wheel, and at least one driven wheel and at least one driving wheel respectively abut against and clamp the opposite sides of the track contact network.

[0011] In one embodiment of the present invention, the centers of the driving wheel and the driven wheel are both provided with an embedding groove, and the two sides of the track contact network are correspondingly arranged in the embedding groove.

[0012] In one embodiment of the present invention, the lifting frame includes a connecting part, an adjusting part, a supporting part and an anti-falling plate, the driving wheel is arranged on the connecting part, the adjusting part extends from the connecting part toward the assembly platform, and is provided with an adjusting groove extending along the height direction of the assembly platform, the supporting part is connected to the connecting part and extends horizontally, the heating mechanism support is connected to the supporting part, and the anti-falling plate is arranged at the top end of the connecting part and extends horizontally toward the direction of the track contact network.

[0013] In one embodiment of the present invention, the driving mechanism also includes a locking assembly, which includes a mounting frame, a rotating member, a connecting shaft and an extrusion member, wherein the mounting frame is fixedly connected to the assembly table, one end of the connecting shaft is threadedly engaged with the mounting frame, and the other end is sequentially passed through the adjustment groove and the extrusion member and then connected to the rotating member, the rotating member drives the connecting shaft to rotate so that the connecting shaft moves along the thickness direction of the support part, and the extrusion member is relatively squeezed / released with the adjustment part through the connecting shaft to fix / adjust the lifting frame.

[0014] In one embodiment of the present invention, the heating mechanism also includes a connecting plate, which is connected to the lifting frame, and the heating wire is arranged on the connecting plate; the ice-breaking mechanism also includes a second fixed frame, which is connected to the assembly table, and the knocking rod passes through the second fixed frame and is connected to the second rotary driver.

[0015] In one embodiment of the present invention, the striking rod includes a mounting rod, a main body and a plurality of ice-breaking columns, the mounting rod is connected to the second rotary driver, the main body is sleeved and connected to the mounting rod, a plurality of ice-breaking columns extend radiating outward from the surface of the main body, a plurality of ice-breaking protrusions are provided on the surface of any of the ice-breaking columns, and a plurality of the ice-breaking protrusions extend radiating outward from the surface of the ice-breaking column.

[0016] In one embodiment of the present invention, it also includes an anti-icing mechanism, which is connected to the assembly table and includes a storage box, a spray pump and a nozzle assembly. The anti-icing material is buffered in the storage box, the spray pump is connected to the storage box, the nozzle is detachably connected to the nozzle assembly and is arranged toward the track contact network, the nozzle and the storage box are connected by a supply pipe, and the anti-icing material is sprayed from the storage box through the nozzle toward the track contact network through the spray pump.

[0017] In one embodiment of the present invention, the assembly table includes a support surface located on the top thereof and an installation space located therein, the driving mechanism, the heating mechanism and the ice-breaking mechanism are all connected to the support surface, and the anti-icing mechanism is arranged in the installation space.

[0018] In one embodiment of the present invention, it also includes a power supply device and a control system, the power supply device is connected to the first rotation driver and the second rotation driver, the control system includes an identification module, a data processing module and a central control module which are signal-connected in sequence, and the central control module is connected to the power supply device.

[0019] The above technical solution of the present invention has the following advantages compared with the prior art: The mechanical-heating collaborative deicing device under the guidance of machine vision described in the present invention can be suspended on the track contact network and moved along the contact network through a driving mechanism. The ice-breaking mechanism on it can first physically break the ice on the contact network, and then perform hot-melt deicing through a heating mechanism, thereby realizing a double deicing process for the contact network. The above processes are carried out in an orderly manner and do not interfere with each other, thereby achieving a more efficient and thorough deicing process. Compared with existing conventional deicing equipment, the present application has significant advantages such as compact structure, strong controllability, high degree of automation, thorough deicing effect, high efficiency, wide application scenarios, low manufacturing cost, and flexible operation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings.

[0021] Figure 1 is a schematic diagram of the three-dimensional structure of a mechanical-heating coordinated deicing device under the guidance of machine vision in a preferred embodiment of the present invention; Figure 2 yes Figure 1 A schematic diagram of the three-dimensional structure of the driving mechanism in the mechanical-heating cooperative deicing device under the guidance of machine vision is shown; Figure 3 yes Figure 1 A schematic diagram of the three-dimensional structure of the heating mechanism in the mechanical-heating cooperative deicing equipment under the guidance of machine vision is shown; Figure 4 yes Figure 1 A schematic diagram of the three-dimensional structure of the ice-breaking mechanism in the mechanical-heating cooperative deicing equipment under the guidance of machine vision is shown; Figure 5 yes Figure 1 The signal transmission circuit diagram of the control system in the mechanical-heating collaborative de-icing equipment under machine vision guidance is shown.

[0022] Description of the accompanying drawings: 100, assembly table; 110, support surface; 120, installation space; 200, driving mechanism; 210, driving wheel; 211, fitting groove; 220, first rotary driver; 230, lifting frame; 231, connecting part; 232, adjusting part; 233, supporting part; 234, anti-fall plate; 235, adjusting groove; 240, driven wheel; 250, first fixed frame; 260, locking assembly; 261, mounting frame; 262, rotating member; 263, connecting shaft; 264, extrusion member; 300, Heating mechanism; 310, connecting plate; 320, heating wire; 330, heating space; 400, ice-breaking mechanism; 410, second fixing frame; 420, second rotary drive; 430, knocking rod; 431, mounting rod; 432, main body; 433, ice-breaking column; 434, ice-breaking protrusion; 500, anti-icing mechanism; 510, storage box; 520, spray pump; 530, nozzle assembly; 600, control system; 610, identification module; 620, data processing module; 630, central control module; 700, power supply equipment. DETAILED DESCRIPTION

[0023] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention. Example

[0024] See also Figure 1 As shown, the present embodiment provides a mechanical-heating coordinated deicing device under the guidance of machine vision, which is used for deicing the track contact network, and specifically includes: an assembly platform 100; a driving mechanism 200, wherein the driving mechanism 200 is arranged on the assembly platform 100, and includes a lifting frame 230, a first rotary driver 220 and at least one driving wheel 210, wherein the lifting frame 230 is above the assembly platform 100 and can be lifted and moved along its height direction, wherein at least one driving wheel 210 is connected to the lifting frame 230 and moves synchronously with the lifting frame 230 to be suspended on the track contact network, wherein the first rotary driver 220 is connected to the lifting frame 230 ... At least one of the driving wheels 210 is used to drive the driving wheel 210 to move along the track contact network; a heating mechanism 300, the heating mechanism 300 is connected to the lifting frame 230, and includes a heating wire 320, the heating wire 320 is connected to the power supply device 700, which encloses a heating space 330, and the track contact network is located in the heating space 330; at least one ice-breaking mechanism 400, the ice-breaking mechanism 400 is connected to the assembly table 100, and includes a second rotary driver 420 and a knocking rod 430, the knocking rod 430 is connected to the working end of the second rotary driver 420, so as to knock the track contact network.

[0025] The mechanical-heating collaborative deicing equipment under the guidance of machine vision described in this embodiment can be suspended on the track contact network, and move along the contact network through the driving mechanism 200. The ice-breaking mechanism 400 thereon can first physically break the ice on the contact network, and then perform hot-melt deicing through the heating mechanism 300, thereby realizing a double deicing process for the contact network. The above processes are carried out in an orderly manner and do not interfere with each other, thereby achieving a more efficient and thorough deicing process. Compared with existing conventional deicing equipment, this application has significant advantages such as compact structure, strong controllability, high degree of automation, thorough deicing effect, high efficiency, wide application scenarios, low manufacturing cost and flexible operation process.

[0026] See also Figure 1 As shown, the assembly platform 100 in this embodiment is used to provide an installation connection platform for other structures, and includes a support surface 110 located on the top thereof and an installation space 120 located inside thereof, and the driving mechanism 200, the heating mechanism 300 and the ice-breaking mechanism 400 are all connected to the support surface 110. Among them, the driving mechanism 200 is used to drive the device to move along the track contact network, and the ice-breaking mechanism 400 is used to physically remove large surfaces and ice by rotating and knocking, and then the heating mechanism 300 is used to heat and melt the small range of ice remaining on the contact network, thereby achieving a double deicing effect during the movement.

[0027] Specifically, see Figure 2 As shown, the driving mechanism 200 in this embodiment includes two driving wheels 210 spaced apart along the moving direction thereof, and any driving wheel 210 is connected to a first rotation driver 220. During the movement, the driving wheel 210 is supported on the contact network and realizes the overall linear movement process of the device through its own rotation.

[0028] Furthermore, in order to improve the stability during the movement and avoid the driving wheel 210 from being separated from the contact network due to interference from external factors, the driving mechanism 200 in this embodiment also includes at least one driven wheel 240 and at least one first fixing frame 250, one end of the first fixing frame 250 is fixedly connected to the assembly platform 100, and the other end is connected to the driven wheel 240, and at least one driven wheel 240 and at least one driving wheel 210 respectively abut against and clamp the two opposite sides of the track contact network. Correspondingly, in this embodiment, two driven wheels 240 are provided corresponding to two driving wheels 210. During installation, it is necessary to keep the driving wheel 210 away from the driven wheel 240, and when the contact network is located between the driving wheel 210 and the driven wheel 240, the driving wheel 210 is moved closer to the driven wheel 240 until the two abut against the contact network and then stop, so as to complete the suspension installation process, thereby, during the movement process, the driving wheel 210 and the driven wheel 240 can simultaneously limit and fix the contact network from the upper and lower sides.

[0029] Furthermore, in this embodiment, any of the driving wheels 210 and the driven wheels 240 are provided with an engaging groove 211 in the center, and the two sides of the track contact network are correspondingly arranged in the engaging groove 211, thereby preventing the contact network from lateral slipping during movement. In different implementations, the specific number of driving wheels 210 and driven wheels 240 can be adaptively adjusted according to actual use requirements, and the present invention does not impose specific restrictions on this.

[0030] In this embodiment, the driving wheel 210 is moved by the lifting frame 230 to realize the disassembly and assembly between it and the contact network. Specifically, the lifting frame 230 includes a connecting portion 231, an adjusting portion 232, a supporting portion 233 and an anti-falling plate 234, the driving wheel 210 is arranged on the connecting portion 231, the adjusting portion 232 extends from the connecting portion 231 toward the assembly platform 100, and is provided with an adjusting slot 235 extending along the height direction of the assembly platform 100, the supporting portion 233 is connected to the connecting portion 231 and extends horizontally, the heating mechanism 300 is supported and connected to the supporting portion 233, and the anti-falling plate 234 is arranged at the top of the connecting portion 231 and extends horizontally toward the track contact network. Among them, the connecting part 231 is used to connect the driving wheel 210 and the first rotation driver 220, the anti-fall plate 234 is arranged above the connecting part 231 and extends toward the contact network to prevent the equipment from falling during movement, the adjusting part 232 is used to realize the overall lifting and lowering adjustment of the lifting plate, and the supporting part 233 is used to connect the heating mechanism 300 to the lifting frame 230. Furthermore, the driving mechanism 200 in this embodiment further includes a locking assembly 260, which includes a mounting frame 261, a rotating member 262, a connecting shaft 263 and an extruding member 264, wherein the mounting frame 261 is fixedly connected to the assembly platform 100, one end of the connecting shaft 263 is threadedly matched with the mounting frame 261, and the other end is sequentially penetrated through the adjusting slot 235 and the extruding member 264 and then connected to the rotating member 262, the rotating member 262 drives the connecting shaft 263 to rotate so that the connecting shaft 263 moves along the thickness direction of the supporting portion 233, and the extruding member 264 is relatively extruded / released by the connecting shaft 263 and the adjusting portion 232 to fix / adjust the lifting frame 230. The extruding member 264 is preferably an elastic member to improve the friction fixing effect while avoiding extrusion damage to the lifting frame 230.

[0031] See also Figure 3 As shown, the heating mechanism 300 in this embodiment further includes a connecting plate 310, the connecting plate 310 is connected to the lifting frame 230, and the heating wire is arranged on the connecting plate 310. Specifically, the heating mechanism 300 in this embodiment is arranged on a supporting plate and is located between two driving wheels 210.

[0032] See also Figure 4 As shown, the present embodiment includes two ice-breaking mechanisms 400, which are both arranged at the end of the support surface 110, and any of the ice-breaking mechanisms 400 also includes a second fixing frame 410, which is connected to the assembly platform 100, and the knocking rod 430 passes through the second fixing frame 410 and is connected to the second rotating driver 420. Further, the knocking rod 430 includes a mounting rod 431, a body 432, and a plurality of ice-breaking columns 433, the mounting rod 431 is connected to the second rotating driver 420, the body 432 is sleeved and connected to the mounting rod 431, and a plurality of ice-breaking columns 433 have the surface of the body 432 extending radially outward, and any of the ice-breaking columns 433 are provided with a plurality of ice-breaking protrusions 434 on the surface, and a plurality of ice-breaking protrusions 434 extend radially outward from the surface of the ice-breaking column 433. Among them, multiple ice-breaking columns 433 can continuously hit the ice surface during the rotation process, and multiple ice-breaking protrusions 434 arranged thereon can further increase the contact area and the knocking frequency with the ice surface, thereby achieving more efficient and thorough ice-breaking operations.

[0033] In order to avoid repeated icing of the contact network after deicing, the present embodiment also includes an anti-icing mechanism 500, which is connected to the assembly table 100 and arranged in the installation space 120, and includes a storage box 510, a spray pump 520 and a nozzle assembly 530. The anti-icing material is buffered in the storage box 510, the spray pump 520 is connected to the storage box 510, the nozzle is detachably connected to the nozzle assembly 530 and is arranged toward the track contact network, the nozzle is connected to the storage box 510 by a supply pipe, and the anti-icing material is sprayed from the storage box 510 through the nozzle toward the track contact network through the spray pump 520.

[0034] See also Figure 5As shown, this embodiment also includes a power supply device 700 and a control system 600. The power supply device 700 is connected to the first rotary driver 220 and the second rotary driver 420. The control system 600 includes an identification module 610, a data processing module 620 and a central control module 630 which are sequentially connected by signals. The central control module 630 is connected to the power supply device 700. Specifically, the embodiment adopts the SAM model to automatically identify the ice coverage on the contact network to provide accurate ice layer information. It can transmit the identification information to the identification module 610 by setting the identification similarity on the assembly platform 100 to perform the identification scan of the ice layer thickness. After the signal is converted, it is sent to the data processing module 620 for SAM detection processing. The decision instruction obtained by the processing will be sent to the Arduino control board in the central control module 630, thereby realizing the drive adjustment of the first rotary driver 220 or the power supply device 700. After the above process, it can realize the differentiated processing of ice layers of different thicknesses, thereby achieving a more flexible processing effect. Specifically: when encountering heavy ice, the control system 600 can adjust the driving mechanism 200 to reduce the moving speed, increase the rotation speed of the ice-breaking mechanism 400 and simultaneously increase the heating temperature of the heating mechanism 300; when the contact network surface is covered with only a thin layer of ice, the control system 600 can adjust the driving mechanism 200 to increase the moving speed, appropriately reduce the rotation speed of the ice-breaking mechanism 400 and simultaneously appropriately reduce the heating temperature of the heating mechanism 300.

[0035] In summary, the mechanical-heating collaborative deicing equipment under the guidance of machine vision described in the present application can be suspended on the track contact network, and move along the contact network through the driving mechanism 200. The ice-breaking mechanism 400 thereon can first physically break the ice on the contact network, and then perform hot-melt deicing through the heating mechanism 300, thereby realizing a double deicing process for the contact network. The above processes are carried out in an orderly manner and do not interfere with each other, thereby achieving a more efficient and thorough deicing process. Compared with existing conventional deicing equipment, the present application has significant advantages such as compact structure, strong controllability, high degree of automation, thorough deicing effect, high efficiency, wide application scenarios, low manufacturing cost and flexible operation process.

[0036] Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the protection scope of the invention.

Claims

1. A mechanical-heating coordinated deicing device guided by machine vision, characterized in that: Used for deicing of track contact network, including: Assembly table; A driving mechanism, the driving mechanism is arranged on the assembly platform, and comprises a lifting frame, a first rotary driver and at least one driving wheel. The lifting frame is above the assembly platform and can be lifted and moved along its height direction. At least one driving wheel is connected to the lifting frame and moves synchronously with the lifting frame to be suspended on the track contact network. The first rotary driver is connected to at least one driving wheel to drive the driving wheel to move along the track contact network. A heating mechanism, the heating mechanism is connected to the lifting frame, and includes a heating wire, the heating wire is connected to a power supply device, and a heating space is enclosed by the heating mechanism, and the track contact network is located in the heating space; At least one ice-breaking mechanism is connected to the assembly platform, and comprises a second rotary drive and a knocking rod, wherein the knocking rod is connected to the working end of the second rotary drive to knock the track contact network.

2. The mechanical-heating coordinated deicing device guided by machine vision according to claim 1 is characterized in that: The driving mechanism also includes at least one driven wheel and at least one first fixing frame, one end of the first fixing frame is fixedly connected to the assembly table, and the other end is connected to the driven wheel, and at least one driven wheel and at least one driving wheel respectively abut against and clamp the opposite sides of the track contact network.

3. The mechanical-heating coordinated deicing device under machine vision guidance according to claim 2 is characterized in that: The centers of the driving wheel and the driven wheel are both provided with an embedding groove, and the two sides of the track contact network are correspondingly arranged in the embedding groove.

4. The mechanical-heating coordinated deicing device under machine vision guidance according to claim 1, characterized in that: The lifting frame includes a connecting part, an adjusting part, a supporting part and an anti-falling plate, the driving wheel is arranged on the connecting part, the adjusting part extends from the connecting part toward the assembly platform, and is provided with an adjusting groove extending along the height direction of the assembly platform, the supporting part is connected to the connecting part and extends horizontally, the heating mechanism support is connected to the supporting part, and the anti-falling plate is arranged at the top end of the connecting part and extends horizontally toward the direction of the track contact network.

5. The mechanical-heating coordinated deicing device under machine vision guidance according to claim 4 is characterized in that: The driving mechanism also includes a locking component, which includes a mounting frame, a rotating member, a connecting shaft and an extrusion member, wherein the mounting frame is fixedly connected to the assembly table, one end of the connecting shaft is threadedly engaged with the mounting frame, and the other end is sequentially passed through the adjustment groove and the extrusion member and then connected to the rotating member, the rotating member drives the connecting shaft to rotate so that the connecting shaft moves along the thickness direction of the support part, and the extrusion member is relatively squeezed / released with the adjustment part through the connecting shaft to fix / adjust the lifting frame.

6. The mechanical-heating coordinated deicing device guided by machine vision according to claim 1, characterized in that: The heating mechanism also includes a connecting plate, which is connected to the lifting frame, and the heating wire is arranged on the connecting plate; the ice-breaking mechanism also includes a second fixing frame, which is connected to the assembly table, and the knocking rod passes through the second fixing frame and is connected to the second rotating driver.

7. The mechanical-heating coordinated deicing device guided by machine vision according to claim 1, characterized in that: The knocking rod includes a mounting rod, a body and a plurality of ice-breaking columns, the mounting rod is connected to the second rotating driver, the body is sleeved and connected to the mounting rod, the plurality of ice-breaking columns extend radiating outward from the surface of the body, and a plurality of ice-breaking protrusions are provided on the surface of any of the ice-breaking columns, and the plurality of ice-breaking protrusions extend radiating outward from the surface of the ice-breaking column.

8. The mechanical-heating coordinated deicing device guided by machine vision according to claim 1, characterized in that: It also includes an anti-icing mechanism, which is connected to the assembly table and includes a storage box, a spray pump and a nozzle assembly. The anti-icing material is buffered in the storage box, the spray pump is connected to the storage box, the nozzle is detachably connected to the nozzle assembly and is arranged toward the track contact network, the nozzle and the storage box are connected by a supply pipe, and the anti-icing material is sprayed from the storage box through the nozzle toward the track contact network through the spray pump.

9. The mechanical-heating coordinated deicing device guided by machine vision according to claim 8, characterized in that: The assembly platform comprises a support surface at the top thereof and an installation space inside thereof; the driving mechanism, the heating mechanism and the ice-breaking mechanism are all connected to the support surface; and the anti-icing mechanism is arranged in the installation space.

10. The mechanical-heating coordinated deicing device guided by machine vision according to claim 1, characterized in that: It also includes a power supply device and a control system, the power supply device is connected to the first rotation driver and the second rotation driver, the control system includes an identification module, a data processing module and a central control module which are sequentially signal-connected, and the central control module is connected to the power supply device.

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