Laser load synergistic ice coating removing system

Abstract

The invention provides a laser load collaborative icing removing system, and relates to the technical field of deicing, the laser load collaborative icing removing system comprises a laser module, a mechanical load module and a control module which are arranged on a carrier, the laser module is located in front of the mechanical load module in the deicing direction, and the control module is located in front of the mechanical load module in the deicing direction. The control module is electrically connected with the laser module and the mechanical load module. The laser module is used for emitting a laser beam to ice on a road, so that the ice forms crushed ice with a cavity crack structure; the mechanical load module is used for separating the crushed ice on the road; and the control module is used for respectively controlling the operation of the laser module and the mechanical load module according to the obtained icing thickness and the running speed. According to the invention, the deicing effect can be improved under the condition of ensuring low loss of the road.

Description

Technical Field

[0001] The present invention relates to the technical field of deicing, and more particularly, to a laser load collaborative ice removal system. Background Art

[0002] Frequent occurrences of low-temperature rain and snow weather easily lead to road icing, and road icing is likely to cause traffic accidents, resulting in multi-dimensional economic losses and casualties.

[0003] In related technologies, in order to remove road icing, reduce economic losses and casualties, mechanical deicing and deicing with snow melting agents are mainly used. Mechanical deicing is to use mechanical equipment to perform high-intensity rolling, hammering or rotary cutting on road ice to achieve deicing. Deicing with snow melting agents is to sprinkle snow melting agents on the road to reduce the melting temperature of the ice cover to achieve deicing. However, mechanical deicing is likely to cause rigid damage to the road, and it can only reduce the strength of the ice cover, but cannot reduce the viscosity between the ice cover and the road. The ice cover still adheres to the road, and the deicing effect is poor. Deicing with snow melting agents is likely to corrode the road. Summary of the Invention

[0004] The problem solved by the present invention is how to improve the deicing effect while ensuring low damage to the road.

[0005] To solve the above problems, the present invention provides a laser load collaborative ice removal system, which includes a laser module, a mechanical load module and a control module arranged on a vehicle. The laser module is located in front of the mechanical load module in the deicing direction, and the control module is electrically connected to the laser module and the mechanical load module respectively;

[0006] The laser module is used to emit a laser beam to the ice cover on the road so that the ice cover forms broken ice with a cavity crack structure;

[0007] The mechanical load module is used to separate the broken ice on the road;

[0008] The control module is used to control the operation of the laser module and the mechanical load module respectively according to the obtained ice cover thickness and driving speed.

[0009] Optionally, the laser module includes a plurality of groups of lasers, shutters, optical fiber connection components, laser transmission and shaping components and nozzles connected in sequence;

[0010] The lasers are used to emit the laser beam;

[0011] The shutters are used to control the on-off of the optical path of the laser beam emitted by the lasers;

[0012] The optical fiber connection components are used to transmit the laser beam after passing through the shutters to the laser transmission and shaping components;

[0013] The laser transmission and shaping component is used to adjust the laser data of the laser beam, where the laser data includes laser diameter, propagation direction, scanning trajectory, and focusing parameters;

[0014] The nozzle is used to protect the laser transmission and shaping component.

[0015] Optionally, the optical fiber connection component includes an optical fiber tolerance fine-tuning structure, an optical fiber coupler, and an optical fiber. The optical fiber is respectively connected to the optical fiber tolerance fine-tuning structure, the optical fiber coupler, and the laser transmission and shaping component;

[0016] The optical fiber tolerance fine-tuning structure is used to respectively adjust the positional tolerance between the optical fiber and the optical fiber coupler, and the positional tolerance between the optical fiber and the laser transmission and shaping component;

[0017] The optical fiber coupler is used to couple the laser beam after passing through the shutter to the optical fiber;

[0018] The optical fiber is used to transmit the laser beam to the laser transmission and shaping component.

[0019] Optionally, the laser transmission and shaping component includes a laser beam expander, a laser collimator, and a flat-field focusing lens;

[0020] The laser beam expander is used to expand the laser diameter of the laser beam;

[0021] The laser collimator is used to calibrate the propagation direction of the laser beam after being expanded by the laser beam expander;

[0022] The flat-field focusing lens is used to focus the laser beam after being calibrated by the laser collimator and adjust the focusing parameters of the laser beam.

[0023] Optionally, a scanning galvanometer is further provided between the laser collimator and the flat-field focusing lens;

[0024] The scanning galvanometer is used to dynamically adjust the scanning angle of the laser beam after being calibrated by the laser collimator and transmit the adjusted laser beam to the flat-field focusing lens.

[0025] Optionally, the laser module further includes laser water cooling corresponding to the laser, and the laser water cooling is connected to the laser;

[0026] The laser water cooling is used to dissipate heat from the laser.

[0027] Optionally, the mechanical load module includes a transmission connecting rod and a mechanical de-icing device, and the transmission connecting rod is respectively connected to the control module and the mechanical de-icing device;

[0028] The drive link is used to adjust the position and orientation of the mechanical de-icing device according to the instructions of the control module;

[0029] The mechanical de-icing device is used to separate the broken ice on the road.

[0030] Optionally, the laser payload collaborative ice removal system further includes a vehicle-mounted sensor, and the vehicle-mounted sensor is electrically connected to the control module;

[0031] The vehicle-mounted sensor is used to obtain the ice thickness in front of the laser module in the de-icing direction.

[0032] Optionally, the laser payload collaborative ice removal system further includes a power supply module, and the power supply module is electrically connected to the laser module, the mechanical payload module, and the control module respectively;

[0033] The power supply module is used to supply power to the laser module, the mechanical payload module, and the control module respectively.

[0034] Optionally, the laser payload collaborative ice removal system further includes an electric bracket, the electric bracket is electrically connected to the control module, the laser module is connected to the vehicle through the electric bracket, and the electric bracket is used to adjust the position and orientation of the laser module according to the instructions of the control module.

[0035] The beneficial effects of the laser payload collaborative ice removal system of the present invention are:

[0036] By emitting a laser beam from the laser module to the ice covering the road, the interface between the road and the ice covering and the ice covering on the optical path of the laser beam can be melted. At the same time, the laser beam can generate thermal stress inside the ice covering, so that the ice covering forms broken ice with a cavity crack structure, thereby reducing the strength and viscosity of the ice covering. Then, through the mechanical payload module located behind the laser module in the de-icing direction, applying a low-intensity force to the broken ice can separate the broken ice on the road, achieving a better de-icing effect. Since the laser module only emits a laser beam to the ice covering, the energy of the laser beam is only concentrated on the ice covering, rather than penetrating deep into the road. Moreover, when the ice covering melts, it will absorb the heat of the laser beam, so the laser beam will not damage the road. Also, because the mechanical payload module only needs to apply a low-intensity force, the mechanical payload module will not damage the road either. In addition, the control module controls the operation of the laser module and the mechanical payload module respectively according to the obtained ice thickness and driving speed, so that the laser module and the mechanical payload module can operate according to the actual situation to ensure the best de-icing effect. Description of the Drawings

[0037] Figure 1Schematic structural diagram of the laser load collaborative ice removal system provided by an embodiment of the present invention;

[0038] Figure 2 Schematic structural diagram of the vehicle provided by an embodiment of the present invention;

[0039] Figure 3 Schematic diagram of the laser beam scanning trajectory provided by an embodiment of the present invention.

[0040] Explanation of reference numerals:

[0041] 1. Laser module; 11. Laser; 12. Light gate; 13. Optical fiber connection assembly; 131. Optical fiber tolerance fine-tuning structure; 132. Optical fiber coupler; 133. Optical fiber; 14. Laser transmission and shaping assembly; 141. Laser beam expander; 142. Laser collimator; 143. Scanning galvanometer; 144. Planar field focusing lens; 15. Nozzle; 16. Laser water cooling; 2. Mechanical load module; 21. Transmission connecting rod; 22. Mechanical ice removal equipment; 3. Control module; 4. Vehicle; 5. Vehicle-mounted sensor; 6. Power supply module. Detailed implementation manners

[0042] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following detailed description of the specific embodiments of the present invention is provided in conjunction with the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments described herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not used to limit the protection scope of the present invention.

[0043] It should be understood that the various steps recorded in the method implementation manners of the present invention can be executed in different orders and / or in parallel. In addition, the method implementation manners may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this regard.

[0044] The term "including" and its variants used herein are open-ended, that is, "including but not limited to"; the term "based on" is "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts such as "first" and "second" mentioned in the present invention are only used to distinguish different devices, modules, or units, and are not used to limit the order of functions performed by these devices, modules, or units or their interdependent relationships.

[0045] It should be noted that the modification of "one" and "multiple" mentioned in the present invention is illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly specified in the context, it should be understood as "one or more".

[0046] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are only for illustrative purposes and are not used to limit the scope of these messages or information.

[0047] Regarding the problems existing in the above related technologies, such as Figure 1-2 As shown, a laser payload collaborative icing removal system provided by an embodiment of the present invention includes a laser module 1, a mechanical payload module 2, and a control module 3 disposed on a vehicle 4, and the laser module 1 is located in front of the mechanical payload module 2 in the deicing direction, and the control module 3 is electrically connected to the laser module 1 and the mechanical payload module 2 respectively;

[0048] The laser module 1 is used to emit a laser beam to the icing on the road surface so that the icing forms broken ice with a cavity crack structure;

[0049] The mechanical payload module 2 is used to separate the broken ice on the road;

[0050] The control module 3 is used to respectively control the operations of the laser module 1 and the mechanical payload module 2 according to the obtained icing thickness and driving speed.

[0051] Specifically, the laser module 1, the mechanical load module 2, and the control module 3 are all arranged on the vehicle 4, where the vehicle 4 refers to a mobile tool for deicing, such as a deicing truck or a deicing machine. The laser module 1 is located in front of the mechanical load module 2 in the deicing direction, so as to ensure that after the laser module 1 emits a laser beam towards the ice covering on the road to form crushed ice with a cavity crack structure, the mechanical load module 2 can timely separate the crushed ice on the road, realizing the function of removing the ice covering on the road. The control module 3 is electrically connected to the laser module 1 and the mechanical load module 2 respectively, so that the control module 3 can control the operation of the laser module 1 and the mechanical load module 2 respectively according to the obtained ice covering thickness and driving speed. That is, before performing the deicing task, the control module 3 can start the laser module 1 and the mechanical load module 2 in advance for preheating to ensure the subsequent deicing effect and operation stability. Then, the ice covering thickness can be obtained through a sensor or an emergency command center. According to the ice covering thickness, the laser beam parameters corresponding to the ice covering thickness are matched in a pre-established database. For example, for ice covering with a larger thickness, the laser beam power of the laser module 1 is increased, and the working height of the mechanical load module 2 is adjusted accordingly. The control module 3 can also be connected to the vehicle-mounted computer of the vehicle 4 through a sensor to obtain the driving speed of the vehicle 4, and according to the driving speed, the laser beam parameters corresponding to the driving speed are matched in the pre-established database. For example, when the vehicle speed is 5 km / h, the corresponding laser beam power is 800 W; when the vehicle speed is 10 km / h, the corresponding laser beam power is 1000 W. When the vehicle speed is increased from 10 km / h to 15 km / h, the laser beam power correspondingly increases from 800 W to 1000 W. It should be understood that the database needs to be built according to the actual situation and actual data. Since the environments in different regions are different, the built databases are also different. Therefore, the database is not limited here.

[0052] Exemplarily, the laser module 1, the mechanical load module 2, and the control module 3 can be arranged at any location on the vehicle 4, as long as it is ensured that the laser module 1 is located in front of the mechanical load module 2 in the deicing direction, so as to improve the adaptability of the system.

[0053] In this embodiment, a laser module 1 emits a laser beam towards the ice covering on the road, which can melt the interface between the road and the ice covering and the ice covering on the optical path of the laser beam. At the same time, thermal stress can be generated inside the ice covering, so that the ice covering forms crushed ice with a cavity crack structure, thereby reducing the strength and viscosity of the ice covering. Then, a mechanical load module 2 located behind the laser module 1 in the deicing direction applies a low-intensity force to the crushed ice, and the crushed ice on the road can be separated, achieving a better deicing effect. Since the laser module 1 only emits a laser beam towards the ice covering, the energy of the laser beam is only concentrated on the ice covering, rather than penetrating deep into the road. Moreover, when the ice covering melts, it will absorb the heat of the laser beam. Therefore, the laser beam will not damage the road. Also, because the mechanical load module 2 only needs to apply a low-intensity force, the mechanical load module 2 will not damage the road either. In addition, the control module 3 controls the operations of the laser module 1 and the mechanical load module 2 respectively according to the obtained ice covering thickness and driving speed, enabling the laser module 1 and the mechanical load module 2 to operate according to the actual situation to ensure the best deicing effect.

[0054] Optionally, as Figure 1 shown, the laser module 1 includes a plurality of groups of lasers 11, shutters 12, fiber optic connection components 13, laser transmission and shaping components 14, and nozzles 15 that are connected in sequence;

[0055] The lasers 11 are used to emit the laser beam;

[0056] The shutters 12 are used to control the on / off of the optical path of the laser beam emitted by the lasers 11;

[0057] The fiber optic connection components 13 are used to transmit the laser beam after passing through the shutters 12 to the laser transmission and shaping components 14;

[0058] The laser transmission and shaping components 14 are used to adjust the laser data of the laser beam, where the laser data includes laser diameter, propagation direction, scanning trajectory, and focusing parameters;

[0059] The nozzles 15 are used to protect the laser transmission and shaping components 14.

[0060] Specifically, the laser module 1 includes multiple groups of sequentially connected lasers 11, shutters 12, fiber optic connection components 13, laser transmission shaping components 14, and nozzles 15 to expand the de-icing range. The laser beam emitted by the lasers 11 sequentially passes through the shutter 12, fiber optic connection component 13, laser transmission shaping component 14, and nozzle 15 and irradiates the road ice. The lasers 11 use continuous or quasi-continuous high-power industrial infrared lasers with a wavelength of 1080 nm and support continuous or pulsed modes to provide the energy source required for ice removal. The shutter 12 controls the on / off of the laser beam emitted by the lasers 11 to ensure operational safety. By quickly opening and closing the laser beam output, the waste of light energy during non-operation periods or the risk of mis-irradiation can be avoided. The fiber optic connection component 13 can transmit the laser beam after passing through the shutter 12 to the laser transmission shaping component 14. The laser transmission shaping component 14 is used to adjust the laser data of the laser beam, where the laser data includes laser diameter, propagation direction, scanning trajectory, and focusing parameters. The nozzle 15 protects the optical lens in the laser transmission shaping component 14 to prevent ice chips or contaminants from adhering and at the same time guides the laser beam to accurately output to the road ice.

[0061] Optionally, as Figure 1 shown, the fiber optic connection component 13 includes a fiber optic tolerance fine-tuning structure 131, a fiber optic coupler 132, and a fiber optic 133. The fiber optic 133 is respectively connected to the fiber optic tolerance fine-tuning structure 131, the fiber optic coupler 132, and the laser transmission shaping component 14;

[0062] The fiber optic tolerance fine-tuning structure 131 is used to respectively adjust the positional tolerance between the fiber optic 133 and the fiber optic coupler 132, and the positional tolerance between the fiber optic 133 and the laser transmission shaping component 14;

[0063] The fiber optic coupler 132 is used to couple the laser beam after passing through the shutter 12 to the fiber optic 133;

[0064] The fiber optic 133 is used to transmit the laser beam to the laser transmission shaping component 14.

[0065] Specifically, the fiber optic tolerance fine-tuning structure 131 respectively adjusts the positional tolerance between the fiber optic 133 and the fiber optic coupler 132, and the positional tolerance between the fiber optic 133 and the laser transmission shaping component 14 to ensure accurate optical path docking and reduce transmission loss. The fiber optic coupler 132 efficiently couples the laser beam after passing through the shutter 12 into the fiber optic 133 to improve the energy transmission efficiency. The fiber optic 133, as a flexible transmission medium, remotely transports the laser beam from the lasers 11 to the laser transmission shaping component 14 to adapt to complex operating environments.

[0066] Optionally, as Figure 1As shown, the laser transmission and shaping component 14 includes a laser beam expander 141, a laser collimator 142, and a flat-field focusing lens 144;

[0067] The laser beam expander 141 is used to expand the laser diameter of the laser beam;

[0068] The laser collimator 142 is used to calibrate the propagation direction of the laser beam after being expanded by the laser beam expander 141;

[0069] The flat-field focusing lens 144 is used to focus the laser beam after being calibrated by the laser collimator 142 and adjust the focusing parameters of the laser beam.

[0070] Specifically, the laser beam expander 141 expands the laser diameter of the laser beam, reduces the power density, and avoids damage to optical elements. The laser collimator 142 calibrates the propagation direction of the laser beam after being expanded by the laser beam expander 141, ensures the parallelism of the laser beam, and reduces scattering loss. The flat-field focusing lens 144 focuses the laser beam after being calibrated by the laser collimator 142 into a uniform flat-top light spot (non-Gaussian distribution) to ensure uniform energy distribution on the ice-covered surface and avoid local overheating damage to the road surface.

[0071] Optionally, as Figure 1 shown, a scanning galvanometer 143 is further provided between the laser collimator 142 and the flat-field focusing lens 144;

[0072] The scanning galvanometer 143 is used to dynamically adjust the scanning angle of the laser beam after being calibrated by the laser collimator 142 and transmit the adjusted laser beam to the flat-field focusing lens 144.

[0073] Specifically, the laser beam scanning trajectory is as Figure 3 shown. The scanning galvanometer 143 controls the scanning trajectory of the laser beam on the road ice-covered surface (such as a staggered path) by dynamically adjusting the mirror angle and transmitting the adjusted laser beam to the flat-field focusing lens 144. When the driving speed of the vehicle 4 is zero, the laser beam swings horizontally under the action of the scanning galvanometer 143. During driving, the trajectory of the laser beam on the road surface is the coupling of the driving direction of the vehicle 4 and the horizontal swing of the laser beam. Therefore, the laser beam scanning trajectory is a periodic swing curve, thereby expanding the coverage range of laser de-icing.

[0074] Optionally, as Figure 1-2 shown, the laser module 1 further includes a laser water cooler 16 corresponding to the laser 11, and the laser water cooler 16 is connected to the laser 11;

[0075] The laser water cooler 16 is used to dissipate heat from the laser 11.

[0076] Specifically, 16 pairs of laser water cooling perform circulating water cooling and heat dissipation on the laser 11 to maintain its stable operating temperature and avoid power attenuation or equipment damage caused by overheating.

[0077] Optionally, as Figure 1 shown, the mechanical load module 2 includes a transmission link 21 and a mechanical de-icing device 22, and the transmission link 21 is respectively connected to the control module 3 and the mechanical de-icing device 22;

[0078] The transmission link 21 is used to adjust the position and pose of the mechanical de-icing device 22 according to the instructions of the control module 3;

[0079] The mechanical de-icing device 22 is used to separate the broken ice on the road.

[0080] Specifically, the mechanical load module 2 includes a transmission link 21 and a mechanical de-icing device 22. The transmission link 21 can be an electric link or a hydraulic link, and is used to adjust the position and pose of the mechanical de-icing device 22 according to the instructions of the control module 3. For example, it adjusts the height and the angle in the horizontal direction of the mechanical de-icing device 22. The mechanical de-icing device 22 refers to an existing mechanical de-icing device. Exemplarily, the transmission link 21 includes two first push rods and two second push rods. The two first push rods are symmetrically arranged on the left and right sides of the mechanical de-icing device 22 to adjust the angle of the mechanical de-icing device 22 in the horizontal direction so as to push the broken ice to the edge of the road. The two second push rods are symmetrically arranged on the upper and lower sides of the mechanical de-icing device 22 to adjust and control the angle and distance of the mechanical de-icing device 22 in the vertical direction, control the cutting angle for clearing the broken ice, and realize two states of working and retracting.

[0081] Optionally, as Figure 1 shown, the laser load collaborative ice removal system further includes a vehicle-mounted sensor 5, and the vehicle-mounted sensor 5 is electrically connected to the control module 3;

[0082] The vehicle-mounted sensor 5 is used to obtain the ice thickness in front of the laser module 1 in the ice removal direction.

[0083] Specifically, the vehicle-mounted sensor 5 is electrically connected to the control module 3, and the vehicle-mounted sensor 5 is used to obtain the ice thickness in front of the laser module 1 in the ice removal direction.

[0084] Optionally, as Figure 1-2 shown, the laser load collaborative ice removal system further includes a power supply module 6, and the power supply module 6 is electrically connected to the laser module 1, the mechanical load module 2, and the control module 3 respectively;

[0085] The power supply module 6 is used to supply power to the laser module 1, the mechanical load module 2, and the control module 3 respectively.

[0086] Specifically, the power supply module 6 is electrically connected to the laser module 1, the mechanical load module 2, and the control module 3 respectively. The power supply module 6 is used to supply power to the laser module 1, the mechanical load module 2, and the control module 3 respectively. Exemplarily, the power supply module 6 is also electrically connected to the laser water cooling 16 for supplying power to the laser water cooling 16.

[0087] Optionally, the laser load collaborative ice removal system further includes an electric bracket. The electric bracket is electrically connected to the control module 3. The laser module 1 is connected to the vehicle 4 through the electric bracket. The electric bracket is used to adjust the position and pose of the laser module 1 according to the instruction of the control module 3.

[0088] Specifically, the electric bracket is electrically connected to the control module 3. The laser module 1 is connected to the vehicle 4 through the electric bracket. The electric bracket adjusts the position and pose of the laser module 1 according to the instruction of the control module 3. For example, in an irregular terrain area, an instruction can be issued through the control module 3 to move the laser module 1 in front of the vehicle 4 to the left or right side of the vehicle 4, so as to remove the ice covering in the area where the vehicle 4 cannot drive in.

[0089] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will all fall within the protection scope of the present invention.

Claims

1. A laser payload collaborative ice removal system, characterized in that It includes a laser module (1), a mechanical load module (2), and a control module (3) provided on a vehicle (4). The laser module (1) is located in front of the mechanical load module (2) in the ice removal direction, and the control module (3) is electrically connected to the laser module (1) and the mechanical load module (2) respectively; The laser module (1) is used to emit a laser beam towards the ice covering the road, so that the ice forms broken ice with a cavity crack structure; The mechanical load module (2) is used to separate the broken ice on the road; The control module (3) is used to control the operation of the laser module (1) and the mechanical load module (2) respectively according to the obtained ice thickness and driving speed.

2. The laser payload collaborative ice removal system according to claim 1, wherein The laser module (1) includes multiple groups of lasers (11), shutters (12), fiber optic connection components (13), laser transmission and shaping components (14), and nozzles (15) connected in sequence; The lasers (11) are used to emit the laser beam; The shutter (12) is used to control the on-off of the optical path of the laser beam emitted by the lasers (11); The fiber optic connection component (13) is used to transmit the laser beam after passing through the shutter (12) to the laser transmission and shaping component (14); The laser transmission and shaping component (14) is used to adjust the laser data of the laser beam, where the laser data includes laser diameter, propagation direction, scanning trajectory, and focusing parameters; The nozzle (15) is used to protect the laser transmission and shaping component (14).

3. The laser payload collaborative ice removal system according to claim 2, wherein The fiber optic connection component (13) includes a fiber optic tolerance fine-tuning structure (131), a fiber optic coupler (132), and a fiber optic (133). The fiber optic (133) is connected to the fiber optic tolerance fine-tuning structure (131), the fiber optic coupler (132), and the laser transmission and shaping component (14) respectively; The fiber optic tolerance fine-tuning structure (131) is used to adjust the position tolerance between the fiber optic (133) and the fiber optic coupler (132), and the position tolerance between the fiber optic (133) and the laser transmission and shaping component (14) respectively; The fiber optic coupler (132) is used to couple the laser beam after passing through the shutter (12) to the fiber optic (133); The fiber optic (133) is used to transmit the laser beam to the laser transmission and shaping component (14).

4. The laser payload collaborative ice removal system according to claim 2, wherein, The laser transmission and shaping component (14) includes a laser beam expander (141), a laser collimator (142), and a flat-field focusing lens (144); The laser beam expander (141) is used to expand the laser diameter of the laser beam; The laser collimator (142) is used to calibrate the propagation direction of the laser beam expanded by the laser beam expander (141); The flat-field focusing lens (144) is used to focus the laser beam calibrated by the laser collimator (142) and adjust the focusing parameters of the laser beam.

5. The laser payload collaborative ice removal system according to claim 4, wherein A scanning galvanometer (143) is also provided between the laser collimator (142) and the flat-field focusing lens (144); The scanning galvanometer (143) is used to dynamically adjust the scanning angle of the laser beam calibrated by the laser collimating lens (142), and transmit the adjusted laser beam to the flat-field focusing lens (144).

6. The laser payload collaborative ice removal system according to claim 2, wherein, The laser module (1) further includes a laser water cooler (16) corresponding to the laser (11), and the laser water cooler (16) is connected to the laser (11); The laser water cooler (16) is used to dissipate heat from the laser (11).

7. The laser payload collaborative ice removal system according to claim 1, wherein The mechanical load module (2) includes a transmission link (21) and a mechanical de-icing device (22), and the transmission link (21) is respectively connected to the control module (3) and the mechanical de-icing device (22); The transmission link (21) is used to adjust the position and pose of the mechanical de-icing device (22) according to the instructions of the control module (3); The mechanical de-icing device (22) is used to separate the broken ice on the road.

8. The laser payload collaborative ice removal system according to claim 1, wherein, It further includes a vehicle-mounted sensor (5), and the vehicle-mounted sensor (5) is electrically connected to the control module (3); The vehicle-mounted sensor (5) is used to obtain the ice thickness in front of the laser module (1) in the de-icing direction.

9. The laser payload collaborative ice removal system according to any one of claims 1-8, characterized in that, It further includes a power supply module (6), and the power supply module (6) is respectively electrically connected to the laser module (1), the mechanical load module (2), and the control module (3); The power supply module (6) is used to supply power to the laser module (1), the mechanical load module (2), and the control module (3) respectively.

10. The laser payload collaborative ice removal system according to claim 1, wherein It further includes an electric bracket, the electric bracket is electrically connected to the control module (3), the laser module (1) is connected to the vehicle (4) through the electric bracket, and the electric bracket is used to adjust the position and pose of the laser module (1) according to the instructions of the control module (3).

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