Ice surface repairing vehicle based on deformable material and laser range finder

Abstract

The invention discloses an ice surface repairing vehicle based on a deformable material and a laser range finder, and belongs to the technical field of target detection. According to the ice surface repairing vehicle based on the deformable material and the laser range finder, a plurality of flatness measuring assemblies are arranged at the tail of a repairing vehicle body and arranged in the width direction of the repairing vehicle body, each flatness measuring assembly comprises a shell, a laser range finding sensor, a telescopic piece and a light barrier, and the shell is fixedly connected to the upper bottom of the repairing vehicle body and is open; the laser ranging sensor is fixedly arranged at the top of the inner side of the shell, the telescopic piece is vertically and fixedly connected to the top of the inner side of the shell, and the light barrier is fixedly connected with the end, away from the shell, of the telescopic piece. And the ice surface of the marked area is repaired by the repairing module, so that the use is convenient and the accuracy is high.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of target detection, and particularly relates to an ice surface repairing vehicle based on a deformable material and a laser range finder. BACKGROUND

[0002] With the development of the field of ice and snow sports in China, uneven ice surfaces are an important cause of injuries of sportsmen, and ice surface leveling and repairing have become one of important research directions in the field of ski field equipment, and the leveling mode based on laser ranging is novel and effective and has good detection effect in complex scenes.

[0003] The existing ice surface repairing vehicle measures the concave-convex degree of the ice surface by means of laser ranging at the bottom of the repairing vehicle or by means of a ground pressure ranging sensor, however, some problems still exist in actual use, the laser ranging mode will cause scattering when the laser beam is shot on the ice surface, thus causing deviation between the distance accepted by the laser range finder and the actually measured distance, and further causing insufficient accuracy during repairing; the measurement by means of the ground pressure ranging sensor will cause damage to the ice surface, and therefore, it is very necessary to design a reasonable ice surface repairing vehicle. SUMMARY

[0004] The application aims to overcome the problems in the prior art, and provides an ice surface repairing vehicle based on a deformable material and a laser range finder, which repairs the broken ice surface.

[0005] The application provides an ice surface repairing vehicle based on a deformable material and a laser range finder, which comprises a repairing vehicle body, a flatness measuring assembly integrated by a plurality of ranging modules and a repairing module; the ranging module comprises: an outer shell fixedly connected to the bottom of the repairing vehicle body; a laser ranging sensor fixedly connected to the inner top of the outer shell; an extension piece vertically arranged and fixed to the inner top of the outer shell and parallel to the laser emitted by the laser ranging sensor, which is a deformable material and is initially in a compressed state; a light shield fixedly connected to one side of the extension piece and located below the laser ranging sensor, a through hole is formed in the bottom of the outer shell for the extension piece to pass through; a flexible protective pad fixedly connected to the bottom of the extension piece; a control module arranged at the top of the repairing vehicle body, the signal value of each laser ranging sensor, when the signal value of each laser ranging sensor is greater than or less than the distance between the laser range finder and the initial position of the light shield, the position is the ice surface to be repaired, the control module is used for obtaining the three-dimensional coordinates of the ice surface to be repaired, and the repairing module is controlled to move to the position of the ice surface to be repaired according to the three-dimensional coordinates, and the repairing module is used for repairing the ice surface to be repaired.

[0006] Preferably, the light barrier is located at the middle of the telescopic member, the control module calculates the depth of the depression by detecting the data of the laser range finder and the difference between the distance of the laser range finder and the initial position of the light barrier, obtains the water injection volume of the depression according to the depth and the area, and controls the repair module to inject the corresponding water injection volume into the depression.

[0007] Preferably, the shell is made of light-proof material.

[0008] Preferably, the inner side wall of the through hole cooperates with the outer side wall of the telescopic member to slide.

[0009] Preferably, the plurality of distance measuring modules are arranged in an array along the width direction of the repair vehicle body, and the distance measuring modules adjacent in the length direction of the repair vehicle body are staggered.

[0010] Preferably, the repair module is arranged at the bottom of the rear end of the repair vehicle body and comprises a cross moving track, a moving mechanical arm and a water outlet pipe controller, the cross moving track is fixedly arranged at the bottom of the repair vehicle body, the moving mechanical arm is arranged to slide along the cross moving track, the moving mechanical arm is provided with the water outlet pipe controller, and the control module controls the moving mechanical arm to move to the position of the ice surface to be repaired along the cross moving track and controls the water outlet pipe controller to repair the ice surface after obtaining the three-dimensional coordinates of the ice surface to be repaired.

[0011] Preferably, the repair vehicle body is provided with an obstacle avoidance module, the obstacle avoidance module comprises two groups of infrared sensor arrays and an integrated image recognition unit, each group of infrared sensor arrays is arranged in a row N, and is arranged at the front end and the rear end of the repair vehicle body, respectively, and the image recognition unit comprises a camera and a computer vision algorithm and is used to execute a parking waiting instruction when detecting personnel.

[0012] Preferably, the repair vehicle body is provided with a moving wheel, the moving wheel is arranged as a tracked moving chassis, adopts an independent triangular tracked wheel, the contact surface is a sawtooth anti-skid texture, and the track is made of rubber.

[0013] Compared with the prior art, the beneficial effects of the ice surface repair vehicle based on the deformable material and the laser range finder are that the distance measuring module enhances the detection accuracy of the ice surface depression and protrusion, when the ice surface is depressed, the telescopic member moves downward and drives the light barrier to move downward at the same time, the depth of the depressed ice surface can be obtained by calculating the moving distance of the telescopic member and the light barrier when the bottom of the telescopic member contacts the ice surface, the light barrier can shield the laser emitted by the laser range finder, which can avoid the scattering of the ordinary laser range finder on the ice surface, and the flexible protective pad arranged at the bottom of the telescopic member can solve the problem that the ordinary ground pressure distance measuring sensor damages the ice surface. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the present application.

[0015] Figure 2 It is a schematic diagram of the ranging module structure of the present application.

[0016] Figure 3 It is a schematic diagram of the repairing module structure of the present application.

[0017] Figure 4 It is a schematic diagram of the obstacle avoidance module structure of the present application.

[0018] Figure 5 It is a schematic diagram of the moving wheel structure of the present application.

[0019] Explanation of reference numerals: 1, repairing vehicle body; 2, ranging module; 21, shell; 22, laser ranging sensor; 23, telescopic part; 24, light shield; 3, repairing module; 31, cross moving track; 32, moving mechanical arm; 33, water outlet pipe controller; 4, obstacle avoidance module; 5, control module; 6, moving wheel. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings of the embodiments of the present application to clearly and completely describe the technical solutions of the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the described embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without any creative effort belong to the scope of protection of the present application, unless otherwise defined, and the technical terms or scientific terms used herein should be understood as the usual meanings understood by those of ordinary skill in the art to which the present application belongs. Figures 1 to 5 The "first", "second" and similar words used in the patent application specification and claims of the present application do not represent any order, quantity or importance, but are only used to distinguish different components, and "including" or "containing" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "In", "out", "up", "down", "far", "near", "front", "back" and the like are only used to represent relative positional relationships, and when the absolute position of the described object changes, the relative positional relationship may also change accordingly. The drawings in the present application are not strictly drawn according to the actual proportions, and the specific sizes and quantities of the structures can be determined according to actual needs. The drawings described in the present application are only schematic diagrams of the structures.

[0021]

[0022] ​The application provides an ice surface repairing vehicle based on a deformable material and a laser range finder. Figures 1 to 3 As shown, the ice surface repairing vehicle comprises a repairing vehicle body 1, a flatness measuring assembly integrated by a plurality of range finding modules 2, and a repairing module 3; the range finding module 2 comprises: an outer shell 21 fixedly connected to the bottom of the repairing vehicle body 1; a laser range finding sensor 22 fixedly connected to the inner top of the outer shell 21; a telescopic part 23 vertically arranged and fixed to the inner top of the outer shell 21 and parallel to the laser emitted by the laser range finding sensor 22, which is a deformable material and is initially in a compressed state; a light barrier 24 fixedly connected to one side of the telescopic part 23 and located below the laser range finding sensor 22, and a through hole is formed in the bottom of the outer shell 21 for the telescopic part 23 to pass through; a flexible protective pad fixedly connected to the bottom of the telescopic part 23; and a control module 5 arranged at the top of the repairing vehicle body 1, the signal value of each laser range finding sensor 22, when the signal value of each laser range finding sensor 22 is greater than or less than the distance between the laser range finder and the initial position of the light barrier, the position is the ice surface to be repaired, the control module 5 is used to obtain the three-dimensional coordinates of the ice surface to be repaired, and the repairing module 3 is controlled to move to the position of the ice surface to be repaired according to the three-dimensional coordinates, the repairing module 3 is used to repair the ice surface to be repaired, the light barrier 24 is located at the middle position of the telescopic part 23, the control module 5 calculates the depth of the depression by detecting the data of the laser range finder and the difference between the distance between the laser range finder and the initial position of the light barrier, and obtains the water injection volume of the depression according to the depth and the area, and the control module 5 controls the repairing module 3 to inject the corresponding water injection volume into the depression.

[0023] In the embodiment, the independent track mobile wheel 6 enhances the mobility stability and controllability of the repairing vehicle body 1 in the ice surface environment and improves the problem that the ordinary repairing vehicle causes damage to the ice surface when driving. The designed range finding module 2 enhances the detection accuracy of the ice surface depression and protrusion, when the ice surface is depressed, the telescopic part 23 will move downward and drive the light barrier 24 to move downward at the same time, when the bottom of the telescopic part 23 contacts the ice surface, the depth of the depressed ice surface can be obtained by calculating the moving distance of the telescopic part 23 and the light barrier 24, the light barrier 24 can avoid the laser emitted by the laser range finder from being blocked, and the flexible protective pad arranged at the bottom of the telescopic part 23 can solve the problem that the ordinary ground pressure range finding sensor damages the ice surface.

[0024] By integrating the flatness measuring assembly, the repairing module 3, the obstacle avoidance module 4 and the control module 5, and combining the track type mobile chassis, full automation operation is realized, the independent triangular mobile wheel 6 design enhances the ice surface grip, avoids the rolling damage to the ice surface, enables the repairing vehicle body 1 to run smoothly on the ice surface, and improves the operation stability.

[0025] The shell is preferably made of light-proof material, the inner side wall of the through hole is matched with the outer side wall of the telescopic member to slide, a plurality of distance measuring modules 2 are arranged in an array along the width direction of the repair vehicle body 1, and adjacent distance measuring modules 2 along the length direction of the repair vehicle body 1 are staggered, the repair module 3 is arranged at the bottom of the rear end of the repair vehicle body 1, and includes a cross moving track 31, a moving mechanical arm 32 and a water outlet pipe controller 33, the cross moving track 31 is fixedly arranged at the bottom of the repair vehicle body 1, the moving mechanical arm 32 is arranged to slide along the cross moving track 31, the moving mechanical arm 32 is provided with the water outlet pipe controller 33, after the control module 5 obtains the three-dimensional coordinates of the ice surface to be repaired, the moving mechanical arm 32 is controlled to move to the position of the ice surface to be repaired along the cross moving track 31, and the water outlet pipe controller 33 is controlled to repair the ice surface.

[0026] The array laser distance measuring sensor 22 is combined with the deformable material under the cooperation of the light barrier 24, the scattering interference of the ice surface is reduced, and then the detection accuracy of small depressions and large-area shallow depressions is increased, which is significantly improved compared with the traditional method; the cross moving mechanical arm 32 module realizes accurate positioning and water injection, reduces the waste of repair materials, and shortens the time consumption of single repair. The front and rear infrared sensor arrays support non-clearing operation, reduce the risk of collision, and quickly, accurately and stably repair the damaged ice surface. In the application, the telescopic member 23 is provided as a spring.

[0027] In the embodiment, the repair material is sand ice, which solidifies quickly, and the flatness change can be detected immediately after filling. After one detection and one repair according to the algorithm, the trolley moves forward by the total width of the detection module.

[0028] The flatness of the ice surface to be repaired is measured, and the formula is as follows: H (depression) = ; H (projection) = ; Wherein H is the depth of depression / projection, h is the detection data of the laser range finder, and h0 is the initial data of the laser range finder detection light barrier; ; Wherein V is the repair volume, H i为 The depth detection result of the depression / projection at the i-th position; ; Wherein S is the single detection area, and T is the flatness; When the flatness detection module detects the ice surface to be repaired, the data is transmitted to the controller, and the controller controls the repair assembly to repair the damaged ice surface.

[0029] In this embodiment, the existing measurement methods such as the level meter have complicated data processing and cannot quantize the ice surface defects in real time, resulting in slow and large error repair decision. In this application, h is the detection data of the laser range finder, and h0 is the initial data of the laser range finder detection light barrier. For example, if the ice surface is concave, h0-h is the distance moved by the light barrier 24. Since the light barrier 24 is fixedly connected to the middle position of the telescopic part, the actual depth of the concave ice surface is twice h0-h. Taking the detection range of a flatness detection module as a unit area, directly calculate how many connected modules detect the concave, quantity*unit area=cross-sectional area, and then multiply the cross-sectional area of the ice surface to be repaired by the depth of the concave to obtain the volume of the ice surface to be repaired.

[0030] The formula quantifies local defects, the response time of repair judgment is low, the repair is automatically triggered based on the T value threshold, the material consumption is reduced, and the overall flatness error of the ice surface is controlled within a certain range.

[0031] Measure the degree of concave or convex at this location. If it is below a certain value, do not repair it. If it is above, repair it. The flatness will be displayed and recorded, and feedback will be given to the user. After the repair is completed, the results are detected to determine whether to continue According to the algorithm, the detected convex position is reported after each entire work is completed. According to the investigation, the number of convexities is small, and the convexities that reach the repair level are basically firm. After reporting, manual processing is performed.

[0032] Control module execution: Action trajectory main program, PID algorithm is used to control the moving path; Resource monitoring subroutine, when the power or water quantity is below the threshold, the return path is planned through the algorithm; Real-time obstacle avoidance instruction, respond to infrared sensor array signals to execute turning or stopping.

[0033] Through the execution of PID path control, resource monitoring subroutine and real-time obstacle avoidance instruction, intelligent decision-making is realized. PID algorithm controls the travel trajectory, reduces the moving deviation, improves the efficiency compared with traditional random path planning, ensures full coverage detection, and triggers the return algorithm through power / water quantity threshold monitoring. To avoid mid-flight shutdown and manual intervention, the infrared sensor linkage turning / stopping instruction executes the action within 0.3 seconds when an obstacle is detected, and the accident rate is reduced to support continuous 8-hour operation.

[0034] Return to original position function: through real-time monitoring of power and water quantity, when the preset threshold is reached, the path regression function is executed, usually A* path planning or reverse path calculation is used to return to the starting point.

[0035] Preferably, as shown in Figures 1 to 4 The telescopic part 23 is a deformable material, which is a low-temperature resistant elastic polymer in an initial state of compression.

[0036] In this embodiment, the low-temperature-resistant elastic polymer stretch piece 23 is adopted, the initial compression state is self-adaptive to the ice surface, the micron-level undulations of the ice surface are compensated, the measurement data fluctuation is reduced, and the detection rate of shallow and thin depressions is improved. The-40°C resistance performance avoids freezing or deformation, prolongs the service life of the assembly, and reduces the maintenance cost. It is suitable to work under complex ice surface, the deformation rate is stable, and the continuous working reliability is ensured.

[0037] Preferably, as shown in Figures 1 to 3 The cross-moving track 31 includes X-direction and Y-direction bidirectional sliding rails, the moving mechanical arm 32 is driven by a stepping motor, and the water outlet pipe controller 33 includes an electromagnetic valve and a controller.

[0038] In this embodiment, the X and Y direction bidirectional sliding rails, the stepping motor drive and the electromagnetic valve control are defined to realize precise movement. The stepping motor drive cooperates with the cross-moving track 31 to cover the whole range, the position error of repair is small, and the positioning accuracy is improved compared with manual positioning. The response time of the electromagnetic valve quantitative water injection system is small, the time consumption of single repair is shortened to 8 seconds, the efficiency is improved compared with the traditional watering vehicle, and material waste is reduced. In the vibration environment, the mechanical arm has small deviation rate, and the consistency of continuous repair is ensured.

[0039] Preferably, as shown in Figures 1 to 4 The obstacle avoidance module 4 integrates an image recognition unit, including a camera and a computer vision algorithm, which is used to execute a parking waiting instruction when a person is detected.

[0040] The claim integrates the image recognition unit: the camera and the computer vision algorithm, and the computer vision algorithm realizes high human shape recognition accuracy, and the safe parking distance is 1.5 m, so as to avoid collision accidents.

[0041] The infrared sensor array linkage image recognition has small response time, allows normal use of the ice rink, and improves work efficiency. In low light or haze conditions, the obstacle avoidance success rate is high, and all-weather safe operation is ensured.

[0042] Preferably, as shown in Figure 5 The moving wheel 6 is a triangular track wheel of a track-type mobile chassis, the contact surface is a sawtooth anti-skid texture, and the track is made of rubber.

[0043] In this embodiment, the sawtooth anti-skid texture rubber track is adopted, the sawtooth texture increases the friction coefficient, the ice surface slip rate is reduced, the moving stability is improved, and scratches on the ice surface are avoided.

[0044] The rubber material is resistant to-30°C low temperature, the wear rate is reduced, the track life is prolonged, the energy consumption is reduced compared with the traditional wheel, and longer endurance is supported.

[0045] The use method of the ice surface repair vehicle based on the deformable material and the laser range finder is as follows: S1: measure the distance between the array laser ranging sensor 22 arranged on the bottom of the repair vehicle body 1 and the light shield 24, calculate the concave / convex depth in real time, and transmit the data to the sensor data receiver; S2: after the sensor data receiver receives the receipt, it is processed by the processor, and when the flatness T value exceeds the set threshold, the defect coordinates are located; S3: move the cross-moving mechanical arm 32 to the target position by the controller, and start the quantitative water injection repair of the water outlet pipe; S4: during the travel of the repair vehicle body 1, real-time obstacle avoidance is performed by the obstacle avoidance module, and the working position data is saved when interrupted.

[0046] Although embodiments of the present application have been shown and described, it will be understood by those having ordinary skill in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An ice repair vehicle based on deformable materials and a laser rangefinder, characterized in that: The invention comprises a repair vehicle body (1), a flatness measuring assembly integrated by a plurality of distance measuring modules (2), and a repair module (3); the distance measuring module (2) comprises: a housing (21) fixedly connected to the bottom of the repair vehicle body (1); a laser distance measuring sensor (22) fixedly connected to the top inner side of the housing (21); a telescopic member (23) vertically arranged and fixed to the top inner side of the housing (21), parallel to the laser emitted by the laser distance measuring sensor (22), made of a deformable material, and initially in a compressed state; a light shield (24) fixedly connected to one side of the telescopic member (23), located below the laser distance measuring sensor (22), and the light shield (24) fixedly connected to one side of the telescopic member (23). The bottom of the housing (21) is provided with a through hole for the telescopic member (23) to pass through; a flexible protective pad is fixedly connected to the bottom of the telescopic member (23); a control module (5) is arranged on the top of the repair vehicle body (1), and the signal value of each laser distance sensor (22) is greater than or less than the distance between the laser distance meter and the initial position of the light shielding plate, then the position is the ice surface to be repaired, the control module (5) is used to obtain the three-dimensional coordinates of the ice surface to be repaired, and control the repair module (3) to move to the position of the ice surface to be repaired according to the three-dimensional coordinates, and the repair module (3) repairs the ice surface to be repaired.

2. The ice repair vehicle based on deformable material and laser rangefinder according to claim 1, characterized in that: The light shield (24) is located in the middle of the telescopic member (23). The control module (5) calculates the depth of the depression through the difference between the detection data of the laser rangefinder and the distance between the laser rangefinder and the initial position of the light shield. The water injection volume of the depression is obtained according to the depth and area of ​​the depression. The control module (5) controls the repair module (3) to inject the corresponding water injection volume into the depression.

3. The ice repair vehicle based on deformable material and laser rangefinder according to claim 1, characterized in that: The shell is made of opaque material.

4. The ice repair vehicle based on deformable material and laser rangefinder according to claim 1, characterized in that: The inner side wall of the through hole slides in cooperation with the outer side wall of the telescopic member.

5. The ice repair vehicle based on deformable material and laser rangefinder according to claim 1, characterized in that: A plurality of the distance measuring modules (2) are arranged in an array along the width direction of the repair vehicle body (1), while the distance measuring modules (2) adjacent to each other in the front and rear directions along the length direction of the repair vehicle body (1) are arranged in a staggered manner.

6. The ice repair vehicle based on deformable material and laser rangefinder according to claim 1, characterized in that: The repair module (3) is arranged at the bottom of the rear end of the repair vehicle body (1), and includes a cross movable track (31), a mobile mechanical arm (32) and a water outlet pipe controller (33). The cross movable track (31) is fixedly arranged at the bottom of the repair vehicle body (1), the mobile mechanical arm (32) is slidably arranged along the cross movable track (31), and the mobile mechanical arm (32) is provided with the water outlet pipe controller (33). After the control module (5) obtains the three-dimensional coordinates of the ice surface to be repaired, it controls the mobile mechanical arm (32) to move along the cross movable track (31) to the position of the ice surface to be repaired, and controls the water outlet pipe controller (33) to repair the ice surface.

7. The ice repair vehicle based on deformable material and laser rangefinder according to claim 1, characterized in that: The repair vehicle body (1) is provided with an obstacle avoidance module (4), which comprises two groups of infrared sensor arrays and an integrated image recognition unit. Each group of the infrared sensor arrays is arranged in 1 row×N and is respectively provided at the front end and the rear end of the repair vehicle body. The image recognition unit comprises a camera and a computer vision algorithm, which is used to execute a stop and wait instruction when detecting personnel.

8. The ice repair vehicle based on deformable material and laser rangefinder according to claim 1, characterized in that: The bottom of the repair vehicle body (1) is provided with a moving wheel (6), and the moving wheel (6) is configured as a crawler-type moving chassis, and the contact surface of the independent triangular crawler wheel is a serrated anti-skid texture, and the crawler is made of rubber.

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