Mechanical-heating collaborative deicing device under machine vision guidance

Abstract

The application provides a mechanical-heating cooperative deicing device under machine vision guidance, which comprises an assembling table, a driving mechanism, a heating mechanism and an ice breaking mechanism. The driving mechanism comprises a lifting frame, a first rotary driver and a driving wheel. The lifting frame is above the assembling table and can be lifted and moved. The driving wheel is connected to the lifting frame. The first rotary driver is connected to the driving wheel. The heating mechanism comprises an electric heating wire. The electric heating wire is connected to a power supply device. The ice breaking mechanism comprises a second rotary driver and a knocking rod. The knocking rod is connected to the working end of the second rotary driver. The ice breaking mechanism in the application can preferentially perform physical ice breaking on the overhead contact line, and then perform hot melting deicing through the heating mechanism, so that a double deicing process of the overhead contact line is realized. Compared with the existing conventional deicing device, the application has the advantages of compact structure, strong controllability, high automation degree, complete deicing effect, high efficiency, wide application scene, low manufacturing cost and flexible operation process.

Description

Technical Field

[0001] This invention relates to the field of de-icing equipment technology, specifically to a machine vision-guided mechanical-heating co-processing de-icing device. Background Technology

[0002] In the current railway operating environment, the problem of icing on the overhead contact line has always been a pressing technical challenge. Especially in winter or cold regions, icing not only affects the normal operation of trains, but also poses a serious threat to passenger safety and the safe operation of trains.

[0003] To address the issue of ice removal, current mainstream de-icing technologies include mechanical de-icing, electric heating de-icing, chemical de-icing, drone de-icing, and robotic de-icing. Mechanical de-icing uses mechanical cutting equipment on a contact network de-icing vehicle to directly act on the iced area, quickly reducing or cutting the ice layer, which is particularly effective for thicker ice layers. However, this method involves complex and costly equipment, and mechanical cutting can cause wear and structural damage to the contact network, making it unsuitable for frequent use.

[0004] Current heating de-icing involves applying current to the contact network to raise the temperature of the conductors, causing the ice layer to melt and fall off. It is suitable for areas affected by ice and snow for extended periods. However, it is costly and energy-intensive for large-area de-icing, and prolonged heating may affect the lifespan of the contact network materials.

[0005] Chemical de-icing involves spraying chemical de-icing agents onto the surface of the overhead contact line. The chemical reaction lowers the freezing point, melting the ice layer. This method is particularly suitable for rapid de-icing under low-temperature conditions. However, chemical de-icing agents can corrode the contact line structure, affecting its lifespan, and the chemicals can easily pollute the environment. Drone de-icing utilizes its high mobility for rapid de-icing operations. However, drones are expensive, including research and development, maintenance costs, and personnel training expenses. Furthermore, each operation is short-lived, consumes a large amount of energy, and the flames can damage the contact line.

[0006] Robotic de-icing technology, as a rapidly developing automated de-icing method in recent years, utilizes specialized de-icing robots equipped with cutting, heating, and other functional modules. These robots can automatically move along the overhead contact line and remove ice layers, effectively reducing manual labor and lowering operational risks. However, high research and development costs and complex equipment structures still limit its large-scale adoption.

[0007] In conclusion, existing icing removal technologies all have certain limitations in practical applications, and there is an urgent need for a more efficient, safe, environmentally friendly, and economical solution to overcome these challenges and ensure the smooth and safe operation of railway transportation. Summary of the Invention

[0008] Therefore, the technical problem to be solved by the present invention is to overcome the problem that the efficiency and quality of de-icing of the rail contact network in the prior art need to be improved, and to provide a mechanical-heating coordinated de-icing device guided by machine vision.

[0009] To address the aforementioned technical problems, this invention provides a machine vision-guided mechanical-heating coordinated de-icing device for de-icing track contact networks. The device includes: an assembly table; a drive mechanism disposed on the assembly table, comprising a lifting frame, a first rotary driver, and at least one drive wheel; the lifting frame being above the assembly table and movable vertically along its height; at least one drive wheel connected to the lifting frame and moving synchronously with it to suspend the track contact network; the first rotary driver connected to at least one drive wheel to drive the drive wheel to move along the track contact network; a heating mechanism connected to the lifting frame, comprising a heating wire connected to a power supply device, forming a heating space in which the track contact network is located; and at least one ice-breaking mechanism connected to the assembly table, comprising a second rotary driver and a striking rod connected to the working end of the second rotary driver to strike the track contact network.

[0010] In one embodiment of the present invention, the driving mechanism further includes at least one driven wheel and at least one first fixed frame, one end of the first fixed frame is fixed 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 wire.

[0011] In one embodiment of the present invention, both the driving wheel and the driven wheel are provided with a fitting groove at their centers, and the two sides of the track contact wire are correspondingly arranged in the fitting groove.

[0012] In one embodiment of the present invention, the lifting frame includes a connecting part, an adjusting part, a supporting part, and a fall arrestor. The driving wheel is disposed on the connecting part. The adjusting part extends from the connecting part toward the assembly table and has an adjusting groove extending along the height direction of the assembly table. The supporting part is connected to the connecting part and extends horizontally. The heating mechanism is supported and connected to the supporting part. The fall arrestor is disposed at the top of the connecting part and extends horizontally toward the track contact network.

[0013] In one embodiment of the present invention, the driving mechanism further includes a locking component, which includes a mounting bracket, a rotating component, a connecting shaft, and a pressing component. The mounting bracket is fixedly connected to the assembly table. One end of the connecting shaft is threadedly engaged with the mounting bracket, and the other end passes through the adjusting groove and the pressing component in sequence before connecting to the rotating component. The rotating component drives the connecting shaft to rotate, so that the connecting shaft moves along the thickness direction of the support portion. The pressing component presses / releases relative to the adjusting portion through the connecting shaft to fix / adjust the lifting frame.

[0014] In one embodiment of the present invention, the heating mechanism further includes a connecting plate connected to the lifting frame, and the heating wire is disposed on the connecting plate; the ice-breaking mechanism further includes a second fixing frame connected to the assembly table, and the striking rod passes through the second fixing 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 body, and a plurality of ice-breaking rods. The mounting rod is connected to the second rotary driver, the body is sleeved and connected to the mounting rod, and the plurality of ice-breaking rods extend outward from the surface of the body. Each ice-breaking rod has a plurality of ice-breaking protrusions on its surface, and the plurality of ice-breaking protrusions extend outward from the surface of the ice-breaking rod.

[0016] In one embodiment of the present invention, it further includes an anti-icing mechanism connected to the assembly table. The anti-icing mechanism includes a storage tank, a spray pump, and a nozzle assembly. The anti-icing material is buffered in the storage tank. The spray pump is connected to the storage tank. The nozzle is detachably connected to the nozzle assembly and is positioned towards the track contact network. The nozzle and the storage tank are connected via a supply pipe. The anti-icing material is sprayed from the storage tank through the spray pump and then from the nozzle towards the track contact network.

[0017] In one embodiment of the present invention, the assembly platform includes a support surface at its top and an installation space inside it, the drive mechanism, the heating mechanism and the ice-breaking mechanism are all connected to the support surface, and the anti-icing mechanism is disposed in the installation space.

[0018] In one embodiment of the present invention, it further includes a power supply device and a control mechanism. The power supply device is connected to the first rotary driver and the second rotary driver. The control mechanism includes an identification module, a data processing module and a central control module that are sequentially connected by signals. The central control module is connected to the power supply device.

[0019] The technical solution of the present invention has the following advantages compared with the prior art: The machine vision-guided mechanical-heating coordinated de-icing equipment described in this invention can be suspended on a track contact network and moved along the network via a drive mechanism. Its ice-breaking mechanism prioritizes physical ice breaking of the contact network, followed by thermal melting de-icing via a heating mechanism. This achieves a dual de-icing process for the contact network, with each process proceeding in an orderly and non-interfering manner, resulting in a more efficient and thorough de-icing process. Compared to existing conventional de-icing equipment, this application offers significant advantages such as compact structure, strong controllability, high degree of automation, thorough de-icing effect, high efficiency, wide applicability, low manufacturing cost, and flexible operation. Attached Figure Description

[0020] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0021] Figure 1 This is a three-dimensional structural diagram of the machine vision-guided mechanical-heating coordinated de-icing device in a preferred embodiment of the present invention; Figure 2 yes Figure 1 The diagram shows a three-dimensional structural schematic of the drive mechanism in a machine vision-guided mechanical-heating co-processing de-icing device. Figure 3 yes Figure 1 The diagram shows a three-dimensional structural schematic of the heating mechanism in a machine vision-guided mechanical-heating collaborative de-icing device. Figure 4 yes Figure 1 The diagram shows a three-dimensional structural schematic of the ice-breaking mechanism in a machine vision-guided mechanical-heating co-processing de-icing device. Figure 5 yes Figure 1 The diagram shows the signal transmission circuit of the control mechanism in a machine vision-guided mechanical-heating co-processing de-icing device.

[0022] Explanation of reference numerals in the accompanying drawings: 100, Assembly table; 110, Support surface; 120, Installation space; 200, Drive mechanism; 210, Drive wheel; 211, Fitting groove; 220, First rotary actuator; 230, Lifting frame; 231, Connecting part; 232, Adjusting part; 233, Support part; 234, Anti-fall plate; 235, Adjusting groove; 240, Driven wheel; 250, First fixed frame; 260, Locking assembly; 261, Mounting frame; 262, Rotating component; 263, Connecting shaft; 264, Pressing component; 300. Heating mechanism; 310, connecting plate; 320, heating wire; 330, heating space; 400, ice-breaking mechanism; 410, second fixing frame; 420, second rotary actuator; 430, striking rod; 431, mounting rod; 432, body; 433, ice-breaking column; 434, ice-breaking protrusion; 500, anti-icing mechanism; 510, storage box; 520, spray pump; 530, nozzle assembly; 600, control mechanism; 610, identification module; 620, data processing module; 630, central control module; 700, power supply equipment. Detailed Implementation

[0023] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0024] Example

[0025] See Figure 1 As shown, this embodiment provides a machine vision-guided mechanical-heating co-processing de-icing device for de-icing track contact networks. Specifically, it includes: an assembly table 100; and a drive mechanism 200, which is mounted on the assembly table 100 and includes a lifting frame 230, a first rotary driver 220, and at least one drive wheel 210. The lifting frame 230 is above the assembly table 100 and can move up and down along its height. At least one drive wheel 210 is connected to the lifting frame 230 and moves synchronously with the lifting frame 230 to suspend the track contact network. The first rotary driver 220 is connected to... At least one drive wheel 210 is provided to drive the drive wheel 210 to move along the track contact network; a heating mechanism 300 is connected to the lifting frame 230, which includes an electric heating wire 320 connected to a power supply device 700, which encloses a heating space 330, in which the track contact network is located; at least one ice-breaking mechanism 400 is connected to the assembly table 100, which includes a second rotary driver 420 and a striking rod 430, the striking rod 430 being connected to the working end of the second rotary driver 420 to strike the track contact network.

[0026] The machine vision-guided mechanical-heating co-processing de-icing equipment described in this embodiment can be suspended on the overhead contact line and moved along the contact line by a drive mechanism 200. The ice-breaking mechanism 400 on it can first physically break the ice on the contact line, followed by thermal melting de-icing by a heating mechanism 300. This achieves a dual de-icing process for the contact line, with the above processes proceeding in an orderly manner without interference, thus achieving a more efficient and thorough de-icing process. Compared with existing conventional de-icing equipment, this application has significant advantages such as compact structure, strong controllability, high degree of automation, thorough de-icing effect, high efficiency, wide applicability, low manufacturing cost, and flexible operation.

[0027] See Figure 1 As shown, the assembly platform 100 in this embodiment provides an installation and connection platform for other structures. It includes a support surface 110 on top and an installation space 120 inside. The drive mechanism 200, the heating mechanism 300, and the ice-breaking mechanism 400 are all connected to the support surface 110. The drive mechanism 200 drives the device to move along the track contact network. The ice-breaking mechanism 400 physically removes large areas of ice by rotating and striking. Then, the heating mechanism 300 thermally melts and removes small areas of residual ice on the contact network, thus achieving a dual de-icing effect during movement.

[0028] Specifically, see Figure 2 As shown, the drive mechanism 200 in this embodiment includes two drive wheels 210 spaced apart along its moving direction. Each drive wheel 210 is connected to a first rotary driver 220. During the movement, the drive wheel 210 is supported on the contact wire and achieves the linear movement of the entire device through its own rotation.

[0029] Furthermore, to improve stability during movement and prevent the drive wheel 210 from detaching from the contact network due to external interference, the drive 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 fixed to the assembly table 100, and the other end is connected to the driven wheel 240. At least one driven wheel 240 and at least one drive wheel 210 respectively abut against and clamp opposite sides of the track contact network. Correspondingly, in this embodiment, two driven wheels 240 are provided for each of the two drive wheels 210. During installation, the drive wheel 210 needs to be moved away from the driven wheel 240. When the contact network is located between the drive wheel 210 and the driven wheel 240, the drive wheel 210 is then moved closer to the driven wheel 240 until both abut against the contact network, thus completing the suspension installation process. Therefore, during movement, the drive wheel 210 and the driven wheel 240 can simultaneously limit and fix the contact network from both the top and bottom.

[0030] Furthermore, in this embodiment, each of the driving wheel 210 and the driven wheel 240 has a fitting groove 211 at its center, and the two sides of the track contact wire are correspondingly arranged in the fitting groove 211, thereby preventing the contact wire from slipping laterally during movement. In different embodiments, the specific number of driving wheels 210 and driven wheels 240 can be adaptively adjusted according to actual usage requirements, and the present invention does not impose specific limitations on this.

[0031] In this embodiment, the drive wheel 210 is moved via the lifting frame 230 to achieve its connection and disconnection with the contact wire. Specifically, the lifting frame 230 includes a connecting part 231, an adjusting part 232, a supporting part 233, and a fall arrestor 234. The drive wheel 210 is disposed on the connecting part 231. The adjusting part 232 extends from the connecting part 231 toward the assembly platform 100 and has an adjusting groove 235 extending along the height direction of the assembly platform 100. The supporting part 233 is connected to the connecting part 231 and extends horizontally. The heating mechanism 300 is supported and connected to the supporting part 233. The fall arrestor 234 is disposed at the top of the connecting part 231 and extends horizontally toward the track contact wire. The connecting part 231 is used to connect the drive wheel 210 and the first rotary drive 220. The anti-fall plate 234 is disposed above the connecting part 231 and extends toward the contact wire to prevent the equipment from falling during movement. The adjusting part 232 is used to realize the overall lifting adjustment of the lifting plate. The supporting part 233 is used to connect the heating mechanism 300 to the lifting frame 230. Furthermore, the drive mechanism 200 in this embodiment also includes a locking component 260, which includes a mounting bracket 261, a rotating component 262, a connecting shaft 263, and a pressing component 264. The mounting bracket 261 is fixedly connected to the assembly table 100. One end of the connecting shaft 263 is threaded into the mounting bracket 261, and the other end passes through the adjusting groove 235 and the pressing component 264 before connecting to the rotating component 262. The rotating component 262 drives the connecting shaft 263 to rotate, causing the connecting shaft 263 to move along the thickness direction of the support portion 233. The pressing component 264 presses / releases relative to the adjusting portion 232 through the connecting shaft 263 to fix / adjust the lifting frame 230. The pressing component 264 is preferably an elastic element to improve the frictional fixing effect while avoiding crush damage to the lifting frame 230.

[0032] See Figure 3 As shown, the heating mechanism 300 in this embodiment further includes a connecting plate 310, which is connected to the lifting frame 230, and the heating wire is disposed on the connecting plate 310. Specifically, the heating mechanism 300 in this embodiment is disposed on a support plate and located between the two drive wheels 210.

[0033] See Figure 4 As shown, this embodiment includes two ice-breaking mechanisms 400, both disposed at the ends of the support surface 110. Each ice-breaking mechanism 400 further includes a second fixing frame 410 connected to the assembly table 100. The striking rod 430 passes through the second fixing frame 410 and is connected to the second rotary driver 420. Further, the striking rod 430 includes a mounting rod 431, a body 432, and multiple ice-breaking pillars 433. The mounting rod 431 is connected to the second rotary driver 420, and the body 432 is sleeved and connected to the mounting rod 431. The multiple ice-breaking pillars 433 extend radially outward from the surface of the body 432. Each ice-breaking pillar 433 has multiple ice-breaking protrusions 434 on its surface, which extend radially outward from the surface of the ice-breaking pillar 433. Among them, multiple ice-breaking pillars 433 can continuously strike the ice surface during rotation, and multiple ice-breaking protrusions 434 set on them can further increase the contact area and striking frequency with the ice surface, thereby achieving a more efficient and thorough ice-breaking operation.

[0034] To prevent the contact wire from re-icing after de-icing, this embodiment also includes an anti-icing mechanism 500. The anti-icing mechanism 500 is connected to the assembly platform 100 and disposed in the installation space 120. It 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 positioned towards the track contact wire. The nozzle and the storage box 510 are connected through a supply pipe. The anti-icing material is sprayed from the storage box 510 through the nozzle towards the track contact wire by the spray pump 520.

[0035] See Figure 5As shown, this embodiment also includes a power supply device 700 and a control mechanism 600. The power supply device 700 is connected to the first rotary driver 220 and the second rotary driver 420. The control mechanism 600 includes an identification module 610, a data processing module 620, and a central control module 630 connected in sequence. The central control module 630 is connected to the power supply device 700. Specifically, the embodiment uses a SAM model to automatically identify the icing condition on the contact wire to provide accurate ice layer information. It uses an identification camera set on the assembly table 100 to scan the ice layer thickness. The identification information is transmitted to the identification module 610, and after signal conversion, it is sent to the data processing module 620 for SAM detection processing. The resulting decision command is 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. Through the above process, differentiated processing of ice layers of different thicknesses can be achieved, thus achieving a more flexible processing effect. Specifically: when encountering thick ice, the control mechanism 600 can adjust the drive mechanism 200 to reduce the moving speed, increase the rotation speed of the ice-breaking mechanism 400, and increase the heating temperature of the heating mechanism 300; when the contact wire surface is only covered with a thin layer of ice, the control mechanism 600 can adjust the drive mechanism 200 to increase the moving speed, appropriately reduce the rotation speed of the ice-breaking mechanism 400, and appropriately reduce the heating temperature of the heating mechanism 300.

[0036] In summary, the machine vision-guided mechanical-heating coordinated de-icing equipment described in this application can be suspended on the overhead contact line and moved along the contact line by a drive mechanism 200. The ice-breaking mechanism 400 on it can first physically break the ice on the contact line, followed by thermal de-icing by a heating mechanism 300. This achieves a dual de-icing process for the contact line, with the above processes proceeding in an orderly manner without interference, thus enabling a more efficient and thorough de-icing process. Compared with existing conventional de-icing equipment, this application has significant advantages such as compact structure, strong controllability, high degree of automation, thorough de-icing effect, high efficiency, wide applicability, low manufacturing cost, and flexible operation.

[0037] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. A machine vision-guided mechanical-heating co-processing de-icing device, characterized in that: Used for de-icing the overhead contact line, including: Assembly table; A drive mechanism, mounted on the assembly platform, includes a lifting frame, a first rotary driver, at least one drive wheel, a locking assembly, at least one driven wheel, and at least one first fixed frame. The lifting frame is above the assembly platform and can move up and down along its height. At least one drive wheel is connected to the lifting frame and moves synchronously with it to be suspended from the track contact network. The first rotary driver is connected to at least one drive wheel to drive it to move along the track contact network. The lifting frame includes a connecting part, an adjusting part, a supporting part, and a fall arrestor. The drive wheel is mounted on the connecting part. The adjusting part extends from the connecting part toward the assembly platform and has 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 is supported and connected to the supporting part. The fall arrestor is located at the top of the connecting part and extends horizontally toward the track contact network. The locking assembly includes a mounting frame, a rotating component, a connecting shaft, and a pressing component. The mounting frame is fixed to the assembly table. One end of the connecting shaft is threaded into the mounting frame, and the other end passes through the adjusting groove and the pressing component before connecting to the rotating component. The rotating component drives the connecting shaft to rotate, so that the connecting shaft moves along the thickness direction of the support part. The pressing component presses / releases relative to the adjusting part through the connecting shaft to fix / adjust the lifting frame. One end of the first fixing frame is fixed to the assembly table, and the other end is connected to the driven wheel. At least one driven wheel and at least one driving wheel respectively abut against and clamp the opposite sides of the track contact network. The driving wheel and the driven wheel are each provided with a fitting groove at their center, and the two sides of the track contact network are correspondingly arranged in the fitting groove. A heating mechanism is connected to the lifting frame and includes a heating wire connected to a power supply device, which encloses a heating space, and the track contact wire is located in the heating space; At least one ice-breaking mechanism is connected to the assembly table, and includes a second rotary driver and a striking rod connected to the working end of the second rotary driver to strike the track contact wire. The control mechanism includes an identification module, a data processing module, and a central control module connected in sequence. The central control module is connected to the first rotary driver and the second rotary driver. An identification camera is set on the assembly table to scan the ice thickness and transmit the identification information to the identification module. When the contact wire surface is covered with a thick layer of ice, the control mechanism adjusts the drive mechanism to reduce the moving speed, increase the rotation speed of the ice-breaking mechanism, and increase the heating temperature of the heating mechanism. When the contact wire surface is covered with a thin layer of ice, the control mechanism adjusts the drive mechanism to increase the moving speed, appropriately reduce the rotation speed of the ice-breaking mechanism, and appropriately reduce the heating temperature of the heating mechanism.

2. The machine vision-guided mechanical-heating co-processing de-icing device according to claim 1, characterized in that: The heating mechanism further includes a connecting plate connected to the lifting frame, and the heating wire is disposed on the connecting plate; the ice-breaking mechanism further includes a second fixing frame connected to the assembly table, and the striking rod passes through the second fixing frame and is connected to the second rotary driver.

3. The machine vision-guided mechanical-heating co-processing de-icing device according to claim 1, characterized in that: The striking rod includes a mounting rod, a body, and multiple ice-breaking rods. The mounting rod is connected to the second rotary driver, and the body is sleeved and connected to the mounting rod. The multiple ice-breaking rods extend outward from the surface of the body. Each ice-breaking rod has multiple ice-breaking protrusions on its surface, and the multiple ice-breaking protrusions extend outward from the surface of the ice-breaking rod.

4. The machine vision-guided mechanical-heating co-processing de-icing device according to claim 1, characterized in that: It also includes an anti-icing mechanism connected to the assembly platform. The anti-icing mechanism includes a storage tank, a spray pump, and a nozzle assembly. The anti-icing material is buffered in the storage tank. The spray pump is connected to the storage tank. The nozzle is detachably connected to the nozzle assembly and is positioned towards the track contact network. The nozzle and the storage tank are connected by a supply pipe. The anti-icing material is sprayed from the storage tank through the spray pump and then through the nozzle towards the track contact network.

5. The machine vision-guided mechanical-heating co-processing de-icing device according to claim 4, characterized in that: The assembly platform includes a support surface on its top and an installation space inside it. The drive mechanism, the heating mechanism, and the ice-breaking mechanism are all connected to the support surface, and the anti-icing mechanism is disposed in the installation space.

6. The machine vision-guided mechanical-heating co-processing de-icing device according to claim 1, characterized in that: It also includes power supply equipment and control mechanism, wherein the power supply equipment is connected to the first rotary drive and the second rotary drive, and the central control module is connected to the power supply equipment.

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