Two-dimensional ice shape digital acquisition device and method

Abstract

The invention relates to the technical field of ice shape measurement, and discloses a two-dimensional ice shape digital acquisition device and method. The two-dimensional ice shape digital acquisition device comprises a connecting piece which is provided with a fixing groove attached to the surface of an aircraft; the two stay wire displacement sensors are arranged on the connecting piece, and the stay wire ends of the two stay wire displacement sensors are respectively connected with the spherical hinge of the surveying and mapping pen; the surveying and mapping pen further comprises a surveying and mapping part and a tilt angle sensor; the tilt angle sensor is used for acquiring an included angle between the surveying and mapping pen and the connecting piece in the projection of the surveying and mapping pen in the first direction and acquiring an included angle between the surveying and mapping pen and the connecting piece in the projection of the surveying and mapping pen in the second direction; wherein the first direction and the second direction are configured to be parallel to the connecting piece and perpendicular to each other. The two-dimensional ice shape digital acquisition method is applied to the two-dimensional ice shape digital acquisition device. According to the technical scheme, the technical problems of low efficiency and large error of a hot knife method in related technologies can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of ice shape measurement, and in particular to a two-dimensional ice shape digital acquisition device and method. Background Art

[0002] After the icing wind tunnel test is completed, an ice shape measurement method is required to obtain the ice shape. Existing ice shape measurement methods are divided into two categories: contact measurement and non-contact measurement. Among them, the hot knife method of contact measurement, the hot knife is made of a copper sheet with the same profile as the cross-section of the aircraft model cut on the leading edge. When in use, the heated hot knife is horizontally inserted into the ice accumulated on the leading edge of the aircraft model where the ice shape needs to be obtained, and the residual heat of the copper sheet is used to melt the ice accumulated in the contact area. After the cutting is completed, the hot knife is pulled out, and then the prefabricated graph paper matching the leading edge of the aircraft model is inserted, and the ice shape is traced with a pencil. After that, the traced graph paper records are manually confirmed, scanned again, and digitally identified. This process has a low degree of automation, a slow process, and relatively large errors caused by the superposition of multiple steps.

[0003] Therefore, providing a two-dimensional ice shape digital acquisition device and method that can improve ice shape measurement efficiency and reduce measurement errors is a technical problem that needs to be urgently solved by those skilled in the art. Summary of the invention

[0004] The invention discloses a device and method for digitally collecting dimensional ice shapes, so as to solve the technical problems of low efficiency and large error in the hot knife method in the related art.

[0005] In order to solve the above problems, the present invention adopts the following technical solutions: In a first aspect, a two-dimensional ice shape digital acquisition device is disclosed, comprising: A connecting piece having a fixing groove that fits the surface of the aircraft; Two pull-wire displacement sensors are arranged on the connecting piece, and the pull-wire ends of the two pull-wire displacement sensors are respectively connected to the ball joint of the surveying pen; The surveying pen also has a surveying part and an inclination sensor; The inclination sensor is used to obtain the angle between the surveying pen and the connecting member in the projection of the surveying pen in the first direction, and to obtain the angle between the surveying pen and the connecting member in the projection of the surveying pen in the second direction; The first direction and the second direction are configured to be parallel to the connecting member and perpendicular to each other.

[0006] In some embodiments, the mapping pen has a pressure-sensitive switch and a power switch; When the pressure sensing switch and the power switch are turned on at the same time, the surveying and mapping unit can output data.

[0007] In some embodiments, the length of the stylus is greater than the maximum thickness of ice attached to the aircraft.

[0008] In some embodiments, the length of the stylus is 2-10 times the maximum thickness of the ice layer attached to the aircraft.

[0009] In some embodiments, the length of the stylus is less than 30 cm.

[0010] In some aspects, the resolution of the pull wire displacement sensor is smaller than the diameter of the pull wire end.

[0011] In some embodiments, the surveying and mapping portion is a pressure-sensitive pen tip, and the pressure trigger threshold of the pressure-sensitive pen tip is adjustable.

[0012] In some solutions, the fixing point of the surveying pen has a ball joint, and the two pull wire ends are respectively connected to the ball joint.

[0013] In a second aspect, a two-dimensional ice shape digital acquisition method is disclosed, which is applied to the two-dimensional ice shape digital acquisition device in the first aspect, and includes the following steps: A three-dimensional coordinate system is established with any point of the connecting member as the coordinate origin, the first direction as the X-axis, the second direction as the Y-axis, and the third direction as the Z-axis; Obtain a distance L1 between one of the pull-wire displacement sensors and the fixed point, and a distance L2 between the other pull-wire displacement sensor and the fixed point; obtain an angle α between the surveying pen and the connecting member in the projection of the surveying pen in the first direction, and obtain an angle β between the surveying pen and the connecting member in the projection of the surveying pen in the second direction; According to L1, L2, α, β and the distance L0 from the surveying and mapping department to the fixed point, the real-time coordinate position of the surveying and mapping department is obtained; The coordinate position of the surveying and mapping unit is locally smoothed to obtain the ice shape curve.

[0014] In some embodiments, the step of locally smoothing the coordinate position of the surveying and mapping unit to obtain an ice shape curve also includes: Noise points are eliminated according to the trigger threshold of the surveying and mapping department.

[0015] The technical solution adopted by the present invention can achieve the following beneficial effects: The two-dimensional ice shape digital acquisition device of the present application heats the connecting piece before mapping the ice shape, so that the connecting piece has a certain amount of heat. The ice on the aircraft melts at the part in contact with the connecting piece, and the connecting piece is connected to the aircraft through the fixing groove. In the process of mapping the ice shape, the mapping part of the mapping pen is placed at the junction of the ice layer and the connecting piece, and the data there is output through the mapping part. The operator moves the mapping pen along the outer surface of the ice layer to complete the mapping of the ice shape. In the process of the mapping pen moving along the outer surface of the ice layer, the inclination sensor obtains the angle between the mapping pen and the connecting piece in the projection of the mapping pen in the first direction in real time, and obtains the angle between the mapping pen and the connecting piece in the projection of the mapping pen in the second direction in real time; the two wire displacement sensors obtain the distance between the wire ends and the ball joint of the mapping pen in real time, so as to obtain the real-time position of the fixed point of the mapping pen, and then because the length of the fixed point from the mapping part is fixed, the real-time position of the mapping part can be obtained, and then after later processing, the ice shape curve can be obtained. Compared with the hot knife method in the prior art, the present application does not require hand-drawn ice shapes for secondary manual confirmation, scanning and digital identification, which saves steps, increases surveying and mapping efficiency, and reduces measurement errors caused by cumbersome steps and manual labor. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. 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 paying creative work.

[0017] Figure 1 It is an axial view of the two-dimensional ice shape digital acquisition device of the present invention when it is attached to the surface of the aircraft; Figure 2 yes Figure 1 The enlarged view of point A in the middle; Figure 3 It is a flow chart of the two-dimensional ice shape digital acquisition method of the present invention.

[0018] In the figure: 110-connecting piece, 120-pull wire displacement sensor, 121-pull wire end, 130-surveying pen, 131-surveying unit, 132-tilt sensor, 133-ball joint; 200 - aircraft; 300 - Ice layer. DETAILED DESCRIPTION

[0019] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0020] The terms "first", "second", etc. in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more.

[0021] In the process of mapping the ice shape on the aircraft 200 using the hot knife method, the inventor discovered that the hot knife in the existing hot knife method is made of a copper sheet with the same profile as the cross-section of the aircraft 200 model cut on the leading edge. When in use, the heated hot knife is horizontally inserted into the ice accumulated on the leading edge of the aircraft 200 model where the ice shape needs to be obtained, and the residual heat of the copper sheet is used to melt the ice accumulated at the contact part. After the cutting is completed, the hot knife is pulled out, and then the prefabricated graph paper matching the leading edge of the aircraft 200 model is inserted and the ice shape is traced with a pencil. Afterwards, the traced graph paper records are manually confirmed, scanned twice, and digitally identified. This process has a low degree of automation, a slow process, and relatively large errors caused by the superposition of multiple steps.

[0022] The following is combined with Figures 1 to 3 , a two-dimensional ice shape digital acquisition device and method provided by the present application are described in detail through specific embodiments and application scenarios.

[0023] Some embodiments of the present application provide a two-dimensional ice shape digital acquisition device, such as Figure 2 As shown, it includes a connecting piece 110, a surveying pen 130 and two pull-wire displacement sensors 120.

[0024] like Figure 1 and Figure 2 As shown, the connector 110 has a fixing groove that fits with the surface of the aircraft 200. During processing, a fixing groove that is the same as the surface profile of the aircraft 200 is cut on the connector 110 according to the profile of the surface of the aircraft 200, so that when the connector 110 is installed on the surface of the aircraft 200, the connector 110 can completely fit with the surface of the aircraft 200, thereby increasing the stability of the connector 110 when installed on the surface of the aircraft 200.

[0025] It should be noted that the surface of the aircraft 200 in this embodiment refers to the wing surface.

[0026] As a preferred embodiment of the present invention, the connector 110 is a thin sheet made of copper. Since the connector 110 needs to be heated before the fixing groove of the connector 110 is attached to the surface of the aircraft 200, the connector 110 has enough heat to melt the ice. Therefore, copper material is selected to make the connector 110, and copper has a high thermal conductivity and can heat up quickly during the heating process. In addition, copper material is cheap and the cost of processing it into the connector 110 is low. It is reasonable that the connector 110 can also be made of other materials, and this embodiment does not limit this.

[0027] In addition, the connector 110 is made into a thin sheet, so that the connector 110 has a small thickness. During the process of melting ice, the contact area of ​​the connector 110 with the ice layer 300 is relatively reduced, so the amount of ice that needs to be melted during melting ice is also correspondingly reduced, which can increase the melting speed. In addition, the heat generated by the thin sheet connector 110 during the melting process is relatively small, and the surrounding ice layer 300 has little effect, so as to reduce the error generated by mapping the surface of the ice layer 300.

[0028] like Figure 2 As shown, the surveying pen 130 has a surveying portion 131. The surveying pen 130 is a main tool for surveying the surface curve of the ice layer 300. In the process of surveying the ice shape, the surveying portion 131 of the surveying pen 130 is placed at the junction of the ice layer 300 and the connecting member 110, and outputs data. The operator moves the surveying pen 130 along the outer surface of the ice layer 300 to complete the surveying of the ice shape.

[0029] Specifically, the surveying pen 130 has a sensing switch and a power switch. When the sensing switch and the power switch are turned on at the same time, the surveying unit 131 can output data. The sensing switch is used to detect whether the surveying unit 131 contacts the surface of the ice layer 300. When the sensing switch is triggered, it indicates that the surveying pen 130 is already in the correct surveying position. At this time, turning on the power switch can ensure that the surveying pen 130 starts surveying at the correct position, thereby improving the accuracy of surveying.

[0030] In addition, if the surveying and mapping unit 131 starts to output data without properly contacting the surface of the ice layer 300, the data will be redundant and may even be wrong. This situation can be avoided by the dual control of the induction switch and the power switch.

[0031] In this embodiment, the mapping unit 131 is a pressure-sensitive pen tip. A pressure sensor is provided inside the pressure-sensitive pen tip, which can sense the pressure change generated when the pen tip contacts the surface of the ice layer 300 and convert it into an electrical signal, which is processed and transmitted by the circuit inside the mapping pen 130.

[0032] By utilizing the pressure-sensitive property of the pressure-sensitive pen tip, detailed features of the surface of the ice layer 300, such as tiny depressions and protrusions, can be more accurately reflected, thereby better mapping the curve of the surface of the ice layer 300.

[0033] In this embodiment, the pressure trigger threshold of the pressure-sensitive pen tip is adjustable. For example, the pressure trigger threshold can be adjusted between 0.5N-5N, and the pressure trigger threshold can be flexibly adjusted according to the usage habits of different operators.

[0034] It should be noted that this embodiment uses a pressure-sensitive pen tip with an adjustable pressure trigger threshold in the prior art. Therefore, this embodiment does not elaborate on how to adjust the pressure trigger threshold of the pressure-sensitive pen tip.

[0035] The pressure-sensitive pen tip is provided with a pressure trigger threshold, so that the pressure-sensitive pen tip needs to touch the surface of the ice layer 300 and a certain force is required for the pressure-sensitive pen tip to output data. This ensures that data is recorded only when the pressure-sensitive pen tip actually touches the ice layer 300 and applies a certain pressure, thereby avoiding accidental touches or misoperations and reducing the generation of redundant data.

[0036] like Figure 2 As shown, the wire ends 121 of the two wire displacement sensors 120 are respectively connected to the fixed points of the surveying pen 130. When the surveying pen 130 moves along the surface of the ice layer 300, the lengths of the two wire ends 121 change in real time, and the lengths of the wire ends 121 are obtained in real time through the wire displacement sensors 120.

[0037] Specifically, Figure 2 As shown, the fixed point of the surveying pen 130 has a ball joint 133, and the two cable ends 121 are respectively connected to the ball joint 133. The ball joint 133 allows the cable ends 121 to be relatively turned within a certain range, thereby increasing the flexibility of the surveying pen 130 during use. At the same time, due to the existence of the ball joint 133, during the turning process of the surveying pen 130, there will be no situation where one cable end 121 is tightened and the other cable end 121 is relaxed, thereby ensuring that the two cable displacement sensors 120 can accurately obtain the correct real-time lengths of the two cable ends 121.

[0038] As a preferred embodiment of the present invention, the ball joint 133 is disposed on the top of the surveying and mapping pen 130 , which can further reduce operational obstacles when the surveying and mapping pen 130 moves.

[0039] like Figure 2As shown, the length of the surveying pen 130 is greater than the maximum thickness of the ice layer 300 attached to the aircraft 200. When the length of the surveying pen 130 is greater than the maximum thickness of the ice layer 300 attached to the aircraft 200, it can be ensured that the surveying pen 130 will not collide with the ice layer 300 in other places during the process of surveying the surface of the ice layer 300, so as to improve the surveying efficiency.

[0040] In some embodiments, the length of the surveying pen 130 is 2-10 times the maximum thickness of the ice layer 300 attached to the aircraft 200. During the process of the surveying pen 130 surveying the surface of the ice layer 300, since the length of the surveying pen 130 is 2-10 times the maximum thickness of the ice layer 300 attached to the aircraft 200, the ball joint 133 and the two pull wire ends 121 can always maintain a certain distance from the ice layer 300, so that the pull wire ends 121 can remain stable and unobstructed during the measurement process, thereby ensuring the accuracy and reliability of the surveying data. If the surveying pen 130 is not long enough, the pull wire may bend or change in tension due to the obstruction of the ice layer 300, thereby affecting the measurement results. In some embodiments, the length of the surveying pen 130 is less than 30 cm. By setting the length of the surveying pen 130 to be less than 30 cm, while ensuring that the ball joint 133 and the two pull wire ends 121 can always maintain a certain distance from the ice layer 300, it also avoids the surveying pen 130 being too long, resulting in the pull wire ends 121 being too long.

[0041] In some embodiments, the resolution of the wire displacement sensor 120 is smaller than the diameter of the wire end 121. When the resolution of the wire displacement sensor 120 is smaller than the diameter of the wire end 121, the displacement change of the wire end 121 can be captured more accurately, thereby reducing the measurement error caused by the diameter of the wire end 121. The high-resolution wire displacement sensor 120 is more sensitive to the displacement change of the wire end 121. When the wire end 121 has a slight displacement, the wire displacement sensor 120 can also respond quickly and record it, ensuring that the length value of the wire end 121 can be obtained in real time.

[0042] For example, the resolution of the wire displacement sensor 120 is 0.1 mm. The wire displacement sensor 120 with a resolution of 0.1 mm is more sensitive to the displacement change of the wire end 121. When the wire end 121 has a small displacement, the wire displacement sensor 120 can also respond quickly and record it, ensuring that the length value of the wire end 121 can be obtained in real time.

[0043] like Figure 2As shown, the surveying pen 130 is provided with an inclination sensor 132. The inclination sensor 132 is used to obtain the angle between the surveying pen 130 and the connecting member 110 in the projection of the surveying pen 130 in the first direction, and to obtain the angle between the surveying pen 130 and the connecting member 110 in the projection of the surveying pen 130 in the second direction. The first direction and the second direction are configured to be parallel to the connecting member 110 and perpendicular to each other.

[0044] The inclination sensor 132 obtains the angle between the surveying pen 130 and the connecting member 110 in the projection of the surveying pen 130 in the first direction in real time, and obtains the angle between the surveying pen 130 and the connecting member 110 in the projection of the surveying pen 130 in the second direction in real time. The two wire displacement sensors 120 obtain the distance between the wire end 121 and the ball joint 133 of the surveying pen 130 in real time. According to the above parameters, the real-time position of the fixed point of the pen can be calculated by combining geometric equations. Since the distance between the fixed point and the surveying and mapping part 131 is fixed, the real-time position of the surveying and mapping part 131 can be calculated, and then after later processing, the ice shape curve is obtained.

[0045] Specifically, a three-dimensional coordinate system is established with any point on the connecting member 110 as the coordinate origin, the first direction being the X axis, and the second direction being the Y axis.

[0046] Some embodiments of the present application also provide a two-dimensional ice shape digital acquisition method, such as Figure 3 As shown, the device is applied to a two-dimensional ice shape digital acquisition device, comprising the following steps: Step 100: Establish a three-dimensional coordinate system with any point of the connecting member 110 as the coordinate origin, the first direction as the X-axis, the second direction as the Y-axis, and the third direction as the Z-axis; Step 200: obtaining a distance L1 between one of the wire displacement sensors 120 and the fixed point, and a distance L2 between the other wire displacement sensor 120 and the fixed point; obtaining an angle α between the surveying pen 130 and the connecting member 110 in the projection of the surveying pen 130 in the first direction, and obtaining an angle β between the surveying pen 130 and the connecting member 110 in the projection of the surveying pen 130 in the second direction; Step 300: Obtain the real-time coordinate position of the surveying and mapping unit 131 according to L1, L2, α, β and the distance L0 from the surveying and mapping unit 131 to the fixed point.

[0047] Step 400: Locally smooth the coordinate position of the surveying and mapping unit 131 to obtain an ice shape curve.

[0048] As a preferred embodiment of the present invention, the connector 110 is a rectangle. To better obtain the angle α and the angle β, in step 100, the first direction is preferably parallel to the first side of the connector 110, and the second direction is preferably parallel to the second side of the connector 110. The first side of the connector 110 is perpendicular to the second side.

[0049] In step 200, the wire end 121 of the wire displacement sensor 120 is connected to the fixed point of the surveying pen 130, and as the surveying pen 130 moves, the wire end 121 will stretch and shorten, and the two wire displacement sensors 120 can obtain the real-time lengths L1 and L2 of the two wire ends 121. In addition, as the surveying pen 130 moves, the inclination sensor 132 can obtain in real time the angle α between the surveying pen 130 and the connecting member 110 in the projection of the surveying pen 130 in the first direction, and the angle β between the surveying pen 130 and the connecting member 110 in the projection of the surveying pen 130 in the second direction.

[0050] In step 300, the positions of the two wire displacement sensors 120 are assumed to be point A and point B, the position of the surveying and mapping unit 131 is assumed to be point C, and the position of the fixed point is assumed to be point D, and the following relationship exists: |AD|=L1 |BD|=L2 Suppose the coordinates of the surveying and mapping unit 131C point are (x 0 ,y 0 、z 0 ), the coordinates of the fixed point D are (x 1 ,y 1 、z 1 ), the following relationship exists: Since the mapping pen 130 is in the process of mapping the surface of the ice layer 300, the mapping portion 131 is always in contact with the junction between the ice layer 300 and the connecting member 110, that is, there is a relationship: z 0 =0 Furthermore, the distance from the fixed point to the surveying and mapping unit 131 is fixed, that is, there is a relationship: |CD|=L0 By combining the above six relationship expressions, according to analytic geometry, the real-time coordinates of the fixed point D can be obtained first, and then the real-time coordinates of the surveying and mapping part 131C can be obtained based on the real-time coordinates of the fixed point D.

[0051] In step 400, when the surveying pen 130 moves along the surface of the ice layer 300, the coordinates of the plurality of surveying parts 131 can be obtained according to steps 200 and 300, and the ice shape curve can be obtained by locally smoothing the coordinates of the plurality of surveying parts 131.

[0052] It should be noted that the method for local smoothing of a number of coordinate points is a prior art and is not an improvement of this embodiment, and will not be described in detail here.

[0053] In step 400, noise points are eliminated according to the trigger threshold of the surveying and mapping unit 131. Data points below the trigger threshold are marked as noise points by a computer program and the noise points are deleted. In the process of surveying and mapping the surface of the ice layer 300, eliminating noise points can reduce the impact of these abnormal values ​​on the overall accuracy of the data, making the data closer to the actual situation.

[0054] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0055] In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in a reverse order according to the functions involved. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.

[0056] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A two-dimensional ice shape digital acquisition device, characterized in that: include: A connecting piece having a fixing groove that fits the surface of the aircraft; Two wire displacement sensors are arranged on the connecting member, and the wire ends of the two wire displacement sensors are respectively connected to the fixed points of the surveying pen; The surveying pen also has a surveying part and an inclination sensor; The inclination sensor is used to obtain the angle between the surveying pen and the connecting member in the projection of the surveying pen in the first direction, and to obtain the angle between the surveying pen and the connecting member in the projection of the surveying pen in the second direction; Wherein, the first direction and the second direction are configured to be parallel to the connecting member and perpendicular to each other.

2. A two-dimensional ice shape digital acquisition device according to claim 1, characterized in that: The surveying and mapping pen has an induction switch and a power switch; When the sensing switch and the power switch are turned on at the same time, the surveying and mapping unit can output data.

3. A two-dimensional ice shape digital acquisition device according to claim 1, characterized in that: The length of the surveying pen is greater than the maximum thickness of the ice layer attached to the aircraft.

4. A two-dimensional ice shape digital acquisition device according to claim 3, characterized in that: The length of the surveying pen is 2-10 times the maximum thickness of the ice layer attached to the aircraft.

5. A two-dimensional ice shape digital acquisition device according to claim 3 or 4, characterized in that: The length of the surveying pen is less than 30 cm.

6. The two-dimensional ice shape digital acquisition device according to claim 1, characterized in that: The resolution of the wire displacement sensor is smaller than the diameter of the wire end.

7. The two-dimensional ice shape digital acquisition device according to claim 1, characterized in that: The surveying and mapping part is a pressure-sensitive pen tip, and the pressure triggering threshold of the pressure-sensitive pen tip is adjustable.

8. The two-dimensional ice shape digital acquisition device according to claim 1, characterized in that: The fixing point of the surveying pen has a ball joint, and the two pull wire ends are respectively connected to the ball joint.

9. A two-dimensional ice shape digital acquisition method, characterized in that: The two-dimensional ice shape digital acquisition device as described in any one of claims 1 to 8 comprises the following steps: A three-dimensional coordinate system is established with any point of the connecting member as the coordinate origin, the first direction as the X-axis, the second direction as the Y-axis, and the third direction as the Z-axis; Obtain a distance L1 between one of the pull-wire displacement sensors and the fixed point, and a distance L2 between the other pull-wire displacement sensor and the fixed point; obtain an angle α between the surveying pen and the connecting member in the projection of the surveying pen in the first direction, and obtain an angle β between the surveying pen and the connecting member in the projection of the surveying pen in the second direction; According to L1, L2, α, β and the distance L0 from the surveying and mapping department to the fixed point, the real-time coordinate position of the surveying and mapping department is obtained; The coordinate position of the surveying and mapping unit is locally smoothed to obtain the ice shape curve.

10. A two-dimensional ice shape digital acquisition method according to claim 9, characterized in that: The step of locally smoothing the coordinate position of the surveying and mapping unit to obtain an ice shape curve also includes: Noise points are eliminated according to the trigger threshold of the surveying and mapping department.

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