Intelligent control system and method for spraying environment-friendly snow-melting agent

Abstract

The invention relates to the technical field of automatic control, in particular to an intelligent control system and method for spraying of an environment-friendly snow-melting agent. According to the technical scheme, the system comprises a road area environment information collection module, an early warning control module, a snow melting agent storage and conveying module, an intelligent spraying execution module and a cloud management module, data are collected in real time through a sensor, and an early warning module gives out an early warning before icing and carries out treatment in advance. The execution module achieves accurate spraying of the environment-friendly liquid snow-melting agent by adjusting the angles of the spray heads and independently controlling the flow of the spray heads, and the use amount is only 2.5%-5% of that of a traditional mode. The system realizes intelligent early warning, accurate spraying and remote control, can effectively prevent road icing, remarkably improves traffic safety and efficiency, greatly reduces snow-melting agent pollution and operation and maintenance cost, and is suitable for various road sections easy to ice.

Description

Technical Field

[0001] This invention relates to the field of automatic control technology, and in particular to an intelligent control system and method for spraying environmentally friendly de-icing agents. Background Technology

[0002] Icy or snow-covered roads in winter are a major cause of frequent traffic accidents and congestion. Currently, traditional snow removal technologies mostly rely on manual application of solid de-icing agents or mechanical snow removal, methods with significant drawbacks:

[0003] On the one hand, traditional methods are inefficient and slow to respond—manual snow spreading is subject to weather and terrain, making it difficult to achieve advance treatment; mechanical snow removal is not effective for thin ice or shady road sections, and is prone to damaging the road surface.

[0004] On the other hand, traditional chloride-based solid de-icing agents require large quantities, causing serious corrosion and pollution to road structures, vehicles, soil, and water bodies, which does not meet environmental protection requirements. With the increasing environmental protection requirements, existing technologies can no longer meet the dual needs of environmental protection and road safety.

[0005] To address this issue, this technology proposes a de-icing agent spraying system and method based on intelligent control and environmental monitoring. Summary of the Invention

[0006] The purpose of this application is to address the problems existing in the background technology by proposing an environmentally friendly snow-melting agent spraying and de-icing system and method based on intelligent control, which integrates intelligent early warning, precise spraying, and environmental protection and low consumption, so as to comprehensively improve the timeliness, environmental protection and economy of the operation. It combines intelligent monitoring devices and realizes automatic control.

[0007] On the one hand, this application proposes an intelligent control system for environmentally friendly de-icing agent spraying, including a carrier vehicle and an automated snow removal system installed on the carrier vehicle, the automated snow removal system including:

[0008] Road environment information acquisition module for real-time collection of environmental parameters and road surface condition parameters of target road surface;

[0009] Electrically connected to the road environment information acquisition module, the early warning control module is used to receive and analyze the environmental parameters and road surface condition parameters to determine the risk of road icing. When the early warning control module determines that there is a risk of road icing, it issues a spray control command.

[0010] A snow melting agent storage and delivery module is used to store environmentally friendly liquid snow melting agent and pump out the snow melting agent according to the spray control command. The snow melting agent storage and delivery module is electrically connected to the early warning control module.

[0011] An intelligent spraying execution module is fluidly connected to the de-icing agent storage and delivery module and accurately sprays the de-icing agent from the de-icing agent storage and delivery module onto the target road surface.

[0012] Optionally, the road environment information acquisition module includes a temperature sensor and a humidity sensor fixedly installed on the carrier vehicle, and also includes multiple road surface condition sensors installed on the chassis of the carrier vehicle for detecting whether there is snow or ice on the road surface and measuring its thickness. Industrial cameras and supplementary lights are fixedly installed on both sides of the carrier vehicle.

[0013] Optionally, both the temperature sensor and the humidity sensor are fixedly installed with a louvered box. The temperature sensor and the humidity sensor are 1.2m to 1.5m above the ground. The road surface condition sensor is a microwave sensor and is 2cm to 3cm above the road surface.

[0014] Optionally, the de-icing agent storage and delivery module includes a stainless steel storage tank with an insulation layer, a vertical centrifugal pump fixedly installed on the carrier vehicle, and a delivery pipe fixedly installed on the carrier vehicle and connected to the vertical centrifugal pump. A liquid level sensor is fixedly installed inside the storage tank. A spray pipe for spraying de-icing agent onto the bottom of the carrier vehicle and connected to the delivery pipe is fixedly installed on the carrier vehicle. Output interfaces connected to the delivery pipe are fixedly installed on both sides of the carrier vehicle.

[0015] Optionally, the intelligent spray execution module includes multiple nozzles rotatably mounted on a carrier vehicle via support rods. The input end of each nozzle is connected to the output interface via a connecting pipe. A push rod motor is rotatably mounted on the carrier vehicle, and the output shaft of the push rod motor is rotatably connected to the nozzle.

[0016] Optionally, the output end of the nozzle is equipped with a flow regulating module for controlling the nozzle output diameter. The flow regulating module includes a control box fixedly installed on the nozzle. An inner core with elastic deformation capability is installed inside the control box. A liquid cavity is formed between the outer wall of the inner core and the inner wall of the control box. A connector communicating with the liquid cavity is installed on the control box. A drive assembly communicating with the connector and conveying fluid into the liquid cavity is installed on the carrier vehicle.

[0017] Optionally, the drive assembly includes a liquid storage tank fixedly mounted on the carrier vehicle, a sealing plate slidably and sealed inside the liquid storage tank, and a linear motor fixedly mounted on the liquid storage tank. The output shaft of the linear motor is fixedly connected to the sealing plate. The bottom of the liquid storage tank is connected to the connector through a transmission pipe. The liquid chamber, the transmission pipe, and the bottom of the liquid storage tank are all filled with a transmission medium.

[0018] Optionally, a reinforcing member is installed inside the liquid cavity to maintain the inner core in a cylindrical shape. The reinforcing member includes multiple reinforcing rods fixedly installed on the inner core. The reinforcing rods are slidably connected to the inner wall of the control box via telescopic rods. A guide ring is fixedly installed inside the control box. Multiple connecting rods are slidably installed on the guide ring. A retainer is installed on the multiple connecting rods to keep the distance between the roots of the multiple connecting rods constant. The connecting rods correspond to and are rotatably connected to the reinforcing rods.

[0019] Optionally, the control box has a through-hole, and an elastic sealing plate is fixedly installed on the end face of the inner core, with the other end of the sealing plate fixedly connected to the inner wall of the control box.

[0020] On the other hand, this application proposes an environmentally friendly intelligent spraying method for de-icing with de-icing agents, which is applied to the above-mentioned environmentally friendly intelligent spraying system for de-icing with de-icing agents. The method includes the following steps:

[0021] Step 1: Collect data in real time through the road environment information acquisition module, and monitor the ambient temperature and humidity using temperature and humidity sensors;

[0022] Microwave road condition sensors detect whether the road surface is icy and the thickness of the ice layer;

[0023] Industrial cameras and supplemental lighting provide visual assistance;

[0024] Step 2: The early warning control module receives the data and analyzes it using its built-in algorithm. When the ambient temperature is ≤0℃, the humidity is ≥85%, and water or snow is detected on the road surface, or when the road surface condition sensor directly detects icing, it is determined to be a high-risk situation and a spraying command is generated to provide early warning and handling.

[0025] Step 3: The de-icing agent storage and delivery module starts, the vertical centrifugal pump pumps the environmentally friendly de-icing agent out of the storage tank, and the intelligent spraying execution module executes the instructions:

[0026] The push rod motor adjusts the pitch angle of the nozzle to control the coverage area;

[0027] Meanwhile, the flow regulation module changes the nozzle outlet diameter through the drive component, thereby achieving independent and precise control of the flow rate of each nozzle and ensuring uniform dosage.

[0028] In summary, compared with the prior art, this application includes the following beneficial technical effects:

[0029] 1. Achieving early warning and proactive intervention for icing risks, improving road safety: This application uses a road environment information acquisition module to collect multiple parameters in real time, including temperature, humidity, and road surface conditions. The icing risk judgment algorithm built into the early warning control module performs comprehensive analysis. When the ambient temperature is ≤0℃ and the humidity is ≥85%, and water or snow accumulation is detected, or when the initial icing signal is detected, a spray control command is generated. This achieves a shift from traditional passive de-icing to proactive prevention, enabling early intervention before dangerous ice layers form, significantly reducing the risk of road traffic accidents.

[0030] 2. Achieve coordinated control of spray coverage and unit dosage to improve the utilization rate of de-icing agent: Since the intelligent spray execution module includes a nozzle structure with adjustable pitch angle and is combined with an independently electrically controllable flow adjustment module, the flow rate of each nozzle is adjusted differently by changing the nozzle output diameter, so that the change of nozzle coverage and the change of spray flow rate are matched, thereby ensuring a constant de-icing agent dosage per unit area, avoiding overlapping spraying or missed spraying, and improving spray uniformity and de-icing agent utilization efficiency.

[0031] 3. Achieve independent and continuous control of multiple nozzles and improve dynamic operation accuracy: Since each nozzle is equipped with a liquid chamber pressure regulating structure controlled by the drive component, the elastic inner core can be controlled to change the flow cross-sectional area. Thus, under the same pressure supply system, the flow rate of each nozzle can be independently, remotely, and continuously electrically controlled and adjusted. The flow rate can be adjusted in real time according to vehicle speed, wind speed and nozzle angle, improving the control accuracy and adaptability in mobile operation environment.

[0032] 4. Improve spray stability and anti-interference ability, and ensure spray directionality: Since the nozzle outputs the de-icing agent in a jet manner, and the inner core deformation is constrained by the reinforcing component, the spray channel always maintains center alignment and shape stability, thereby enhancing the kinetic energy and directional stability of the liquid column, improving the ability to resist crosswind interference, and ensuring that accurate projection can still be achieved when the vehicle is in motion.

[0033] 5. Reduce environmental corrosion and overall operating costs, achieving green and low-consumption operation: By using environmentally friendly liquid de-icing agents combined with precise spray control technology, the spraying amount per unit area is controlled within a lower range than that of traditional solid salt application methods. While ensuring the de-icing effect, the amount of chloride-based substances used is significantly reduced. For example, environmentally friendly organic salt de-icing agents or environmentally friendly brine solutions are used, thereby reducing corrosion and pollution to road structures, vehicles, and the ecological environment, reducing de-icing agent consumption and labor costs, and improving overall economic efficiency and environmental friendliness. Attached Figure Description

[0034] Figure 1 Schematic diagram of a spray de-icing system Figure 1 ;

[0035] Figure 2 Schematic diagram of a spray de-icing system Figure 2 ;

[0036] Figure 3 for Figure 1 A magnified view of a section at point A in the middle;

[0037] Figure 4 This is a structural diagram of the intelligent sprinkler execution module;

[0038] Figure 5 Schematic diagram of the flow regulation module Figure 1 ;

[0039] Figure 6 for Figure 5 A magnified view of a section at point B in the middle;

[0040] Figure 7 Schematic diagram of the flow regulation module Figure 2 ;

[0041] Figure 8 This is a structural schematic diagram of the reinforcing component;

[0042] Figure 9 This is a schematic diagram of the drive component.

[0043] Figure 10 This is a schematic diagram showing the coverage area of ​​nozzles at different angles.

[0044] Reference numerals: 1. Carrier vehicle; 2. Automated snow removal system; 21. Road environment information acquisition module; 211. Temperature sensor; 212. Humidity sensor; 213. Road surface condition sensor; 214. Industrial camera; 215. Supplemental lighting; 22. Snow melting agent storage and delivery module; 221. Storage tank; 222. Centrifugal pump; 223. Delivery pipe; 224. Spray nozzle; 225. Output interface; 23. Intelligent spraying execution module; 231. Support rod; 232. Nozzle; 233. Connecting pipe; 234. Push rod motor; 24. Flow regulation module; 241. Control box; 242. Inner core; 243. Liquid chamber; 244. Connector; 245. Flow hole; 246. Sealing plate; 25. Reinforcing member; 251. Reinforcing rod; 252. Telescopic rod; 253. Guide ring; 254. Connecting rod; 26. Drive assembly; 261. Liquid storage tank; 262. Sealing plate; 263. Linear motor; 264. Conveying pipe. Detailed Implementation

[0045] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0046] Example: Figures 1 to 3As shown, this application proposes an intelligent control system for spraying environmentally friendly de-icing agents, including a carrier vehicle 1 and an automated snow removal system 2 installed on the carrier vehicle 1. The automated snow removal system 2 includes a road environment information acquisition module 21 for real-time acquisition of environmental parameters and road surface condition parameters of the target road surface. The road environment information acquisition module 21 detects whether the road surface is icy and detects the road surface temperature and humidity.

[0047] Furthermore, the road environment information acquisition module 21 includes a temperature sensor 211 and a humidity sensor 212 fixedly installed on the carrier vehicle 1, and also includes multiple road surface condition sensors 213 installed on the chassis of the carrier vehicle 1 for detecting whether there is snow or ice accumulation on the road surface and measuring its thickness. The road surface condition sensors 213 are microwave sensors, and the height above the road surface is 2cm-3cm. This height is the design height for the experiment. In actual use, it can be appropriately adjusted according to the road conditions. For example, in road sections with poor road surface smoothness, the installation position of the sensor can be appropriately adjusted to avoid damaging the sensor. The temperature sensor 211 is a PT100 platinum resistance sensor. The instrument measures ambient temperature from -40℃ to 50℃ with an accuracy of ±0.2℃. The humidity sensor 212 is a capacitive sensor with a measurement range of 0% to 100%RH and an accuracy of ±3%RH. It is used to collect ambient relative humidity. The microwave-type road surface condition sensor 213 transmits and receives microwave signals. Based on the change in the road surface dielectric constant (dry road surface, wet road surface, ice, and snow have different dielectric constants), it determines whether there is icing, water accumulation, or snow accumulation on the road surface. It can also estimate the thickness of ice and snow cover by the signal reflection time difference. The collaborative work of multiple sensors provides a real-time, multi-dimensional data foundation for the advanced prediction of icing risk.

[0048] Among them, microwave sensors are used for road surface condition monitoring:

[0049] Icing / Water Accumulation Detection: Microwave signals differ from the dielectric constants (electromagnetic properties) of different materials such as ice, water, and dry road surfaces. When ice or water accumulates on a road surface, its dielectric constant differs from that of wet and dry surfaces. Microwave sensors can use this difference to determine whether ice or water accumulation exists on the road surface.

[0050] Snow accumulation detection: The reflection time of microwave signals can be used to measure snow accumulation on the road surface. Microwaves travel at different speeds in different materials (such as ice, snow, and concrete), and the reflected signals can help determine or estimate the snow accumulation.

[0051] Both temperature sensor 211 and humidity sensor 212 are fixedly mounted with Stevenson screens. The height of temperature sensor 211 and humidity sensor 212 from the ground is 1.2m to 1.5m. The Stevenson screens are installed on temperature sensor 211 and humidity sensor 212 at the standard meteorological observation height of 1.2m to 1.5m to ensure the representativeness and accuracy of the collected environmental parameters. Stevenson screens can effectively avoid the undue influence of direct solar radiation, ground reflected radiation, precipitation and strong winds on the sensors, so that they can measure the true temperature and humidity that best represent the overall air conditions of the road section in a well-ventilated and shaded environment.

[0052] Furthermore, industrial cameras 214 and supplementary lights 215 are fixedly installed on both sides of the carrier vehicle 1. The combination of industrial cameras 214 and supplementary lights 215 can form a vision inspection system to determine the icing condition on the side of the carrier vehicle 1 and the distance between the carrier vehicle 1 and the roadside.

[0053] like Figure 1 and Figure 2 As shown, the intelligent spray de-icing and snow removal system in this embodiment also includes an early warning control module electrically connected to the road environment information acquisition module 21, which is used to receive and analyze environmental parameters and road surface condition parameters to determine the risk of road icing. When the early warning control module determines that there is a risk of road icing, it issues a spray control command. The early warning control module receives monitoring data from the temperature sensor 211, humidity sensor 212, and road surface condition sensor 213, and analyzes the data to determine in advance whether the road surface will freeze.

[0054] Furthermore, the early warning control module 21 includes a PLC main controller. Notably, the PLC main controller has a built-in icing risk judgment algorithm. This algorithm determines whether there is an icing risk based on data from the temperature sensor 211 and humidity sensor 212, etc. The icing risk can be any of the following:

[0055] When the ambient temperature is ≤0℃, the ambient humidity is ≥85%, and water or snow is detected on the road surface;

[0056] When the road surface condition sensor 213 detects icing.

[0057] The PLC main controller continuously receives data streams from the road environment information acquisition module 21. Its built-in icing risk judgment algorithm is trained based on physical models and historical data. When the algorithm logic determines that the meteorological icing critical condition of ambient temperature ≤0℃ and ambient humidity ≥85% is met, and at the same time, water or snow accumulation is detected on the road surface, or when any road surface status sensor 213 directly detects the initial icing signal, the PLC main controller immediately determines that the road section has a high icing risk. By comprehensively considering the ambient temperature and humidity trends, it can provide early warning and handle the situation in advance before a dangerous solid ice layer actually forms on the road surface, reserving a critical time window for proactive intervention.

[0058] like Figures 1 to 4 As shown, the intelligent spraying de-icing system also includes a de-icing agent storage and delivery module 22 for storing environmentally friendly liquid de-icing agent and pumping the de-icing agent out according to spraying control commands. The de-icing agent storage and delivery module 22 is electrically connected to the early warning control module. The de-icing agent storage and delivery module 22 includes a stainless steel storage tank 221 with an insulation layer, a vertical centrifugal pump 222 fixedly installed on the carrier vehicle 1, and a delivery pipe 223 fixedly installed on the carrier vehicle 1 and connected to the vertical centrifugal pump 222. A liquid level sensor is fixedly installed inside the storage tank 221, and a spray pipe is fixedly installed on the carrier vehicle 1 to spray de-icing agent onto the bottom of the carrier vehicle 1 and is connected to the delivery pipe 223. 224. Both sides of the carrier vehicle 1 are fixedly equipped with output interfaces 225 that are connected to the delivery pipe 223. When the de-icing agent storage and delivery module 22 receives the spray control command issued by the early warning control module when it determines that there is a risk of icing on the road surface, it will deliver the de-icing agent. After the de-icing agent is delivered to the designated position, it can be sprayed on the road surface to prevent the road surface from freezing or to melt the ice. The de-icing agent is delivered to the spray pipe 224 by the centrifugal pump 222 and sprayed out through the spray pipe 224. It can spray the bottom of the carrier vehicle 1 and spray the sides of the carrier vehicle 1 by spraying out through the output interface 225.

[0059] Among them, the liquid de-icing agent is the EF series liquid de-icing agent without chloride salts, which has an annual corrosion rate of ≤0.01mm on concrete structures and a survival rate of ≥90% for vegetation around roads.

[0060] like Figures 1 to 4 As shown, the intelligent spraying de-icing system of this embodiment also includes an intelligent spraying execution module 23 that is fluidly connected to the de-icing agent storage and delivery module 22 and accurately sprays the de-icing agent from the de-icing agent storage and delivery module 22 onto the target road surface. The intelligent spraying execution module 23 is the precise execution terminal of the system on the mobile platform, which can effectively overcome dynamic interference during driving, such as crosswind interference, and achieve precise spatial allocation of the amount of de-icing agent according to the road width and icing conditions.

[0061] Furthermore, the intelligent spraying execution module 23 includes multiple nozzles 232 rotatably mounted on the carrier vehicle 1 via support rods 231. The input end of the nozzle 232 is connected to the output interface 225 via connecting pipes 233. A push rod motor 234 is rotatably mounted on the carrier vehicle 1. The output shaft of the push rod motor 234 is rotatably connected to the nozzle 232. The de-icing agent that enters the output interface 225 through the delivery pipe 223 will enter the nozzle 232 and be sprayed out in the form of a jet. This can effectively prevent airflow from interfering with the de-icing agent spraying process. The jet is a liquid column with high cohesion and high kinetic energy. Its wind drift resistance is far superior to that of atomized spray, which is a key choice for the mobile platform to ensure projection accuracy under airflow interference.

[0062] When the de-icing agent comes into contact with the ground, it will splash onto the ground, thus covering a large area. The push rod motor 234 drives the nozzle 232 to rotate, which can adjust the spray angle of different nozzles 232, thereby controlling the coverage area of ​​the nozzle 232. This can prevent the spray range of two adjacent nozzles 232 from overlapping and can adapt to road surfaces of different widths.

[0063] By coordinating the angles of all nozzles 232, an equiangular array can be formed, achieving seamless and uniform lateral coverage. It should be noted that angle adjustment must be coordinated with flow rate adjustment, as variations in coverage area require matching different de-icing agent flow rates to maintain a constant dosage per unit area. (Refer to...) Figure 10 When the height L1 of the rotation center of the nozzle 232 from the ground remains constant, and the angle θ between two adjacent nozzles 232 is equal, the coverage range of each nozzle 232 will be different. The closer the nozzle 232 is to the horizontal, the larger its coverage range. Refer to the coverage ranges L2 and L3. This is because the sprayed liquid column will be subjected to a horizontal component force. Therefore, after the de-icing agent comes into contact with the ground, it will continue to move along the ground. The closer the nozzle 232 is to the horizontal, the greater the moving distance. Since the coverage range of the nozzle 232 is large, in order to ensure the uniform distribution of the de-icing agent and prevent the spray range between the nozzles 232 from overlapping and wasting the de-icing agent, it is necessary to increase the output liquid volume of the nozzle 232.

[0064] like Figures 5 to 10As shown, in this embodiment, a flow regulation module 24 for controlling the output diameter of the nozzle 232 is installed at the output end of the nozzle 232. The flow regulation module 24 includes a control box 241 fixedly installed on the nozzle 232. An inner core 242 with elastic deformation capability is installed inside the control box 241. A liquid cavity 243 is formed between the outer wall of the inner core 242 and the inner wall of the control box 241. A connector 244 communicating with the liquid cavity 243 is installed on the control box 241. A drive assembly 26 communicating with the connector 244 and conveying fluid into the liquid cavity 243 is installed on the carrier vehicle 1. Since multiple nozzles 232 are pressurized by the same centrifugal pump 222, the pressure inside multiple nozzles 232 is the same. In order to achieve a larger flow rate for the nozzle with a larger angle, it is necessary to differentiate the effective flow area of ​​each nozzle 232. This is achieved by dynamically changing the nozzle diameter, which is more direct and faster than fixing the diameter or adjusting it only by the front valve.

[0065] Furthermore, the drive assembly 26 includes a liquid storage tank 261 fixedly mounted on the carrier vehicle 1, a sealing plate 262 slidably and sealed inside the liquid storage tank 261, and a linear motor 263 fixedly mounted on the liquid storage tank 261. The output shaft of the linear motor 263 is fixedly connected to the sealing plate 262. The bottom of the liquid storage tank 261 is connected to the connector 244 through a transmission pipe 264. The liquid chamber 243, the transmission pipe 264, and the bottom of the liquid storage tank 261 are all filled with a transmission medium.

[0066] The linear motor 263 drives the sealing plate 262, changing the pressure inside the liquid storage tank 261. The pressure is transmitted to the liquid chamber 243 through the transmission medium. The pressure change inside the liquid chamber 243 forces the inner core 242 to undergo elastic deformation, thereby changing the effective cross-sectional area of ​​its central flow channel. When the diameter increases, the flow rate increases under the working pressure of the nozzle, and vice versa. This system realizes independent, remote, and continuous electrical control of the flow rate of each nozzle 232, enabling the central controller to make precise adjustments based on the flow rate required by each nozzle 232 calculated in real time, specifically determined by factors such as its angle, wind speed, and vehicle speed.

[0067] The control box 241 has a through-hole 245, and the end face of the inner core 242 is fixedly installed with an elastic sealing plate 246. The other end of the sealing plate 246 is fixedly connected to the inner wall of the control box 241. The end face of the inner core 242 is sealed by the sealing plate 246, and the de-icing agent is sprayed out through the through-hole 245.

[0068] Furthermore, a reinforcing member 25 is installed inside the liquid cavity 243 to maintain the cylindrical shape of the inner core 242. The reinforcing member 25 includes multiple reinforcing rods 251 fixedly installed on the inner core 242. The reinforcing rods 251 are slidably connected to the inner wall of the control box 241 through telescopic rods 252. A guide ring 253 is fixedly installed inside the control box 241. Multiple connecting rods 254 are slidably installed on the guide ring 253. A retainer is installed on the multiple connecting rods 254 to keep the distance between the roots of the multiple connecting rods 254 constant. 4. Corresponding to and rotatably connected to the reinforcing rod 251, the reinforcing member 25 constrains the deformation mode of the inner core 242. Under pressure, the unconstrained elastic inner core may undergo irregular twisting, resulting in unpredictable changes in the nozzle diameter and affecting the quality of the jet. The linkage mechanism formed by the reinforcing rod 251 and the connecting rod 254 ensures that the inner core 242 maintains a basically axisymmetric cylindrical contraction or expansion during deformation, thereby making the change in nozzle diameter linear and controllable, and keeping the central flow channel centered, thus maintaining the stability and directionality of the jet.

[0069] This application also proposes an environmentally friendly intelligent spraying method for snow and ice removal using de-icing agents, which is applied to the above-mentioned environmentally friendly intelligent spraying system for snow and ice removal using de-icing agents. The method includes the following steps:

[0070] Step 1: Real-time data is collected through the road environment information collection module 21, and the temperature sensor 211 and humidity sensor 212 monitor the ambient temperature and humidity;

[0071] Microwave road condition sensor 213 detects whether the road surface is icy and the thickness of the ice layer;

[0072] Industrial camera 214 and fill light 215 provide visual assistance;

[0073] Step 2: The early warning control module receives data and analyzes it using its built-in algorithm. When the ambient temperature is ≤0℃, the humidity is ≥85%, and water accumulation is detected on the road surface, it is determined to be high-risk and a spraying command is generated. This enables early warning and handling of road sections with water accumulation that will inevitably freeze within a certain period of time. When the road surface condition sensor 213 directly detects icing, a spraying command is directly generated.

[0074] Step 3: The de-icing agent storage and delivery module 22 is activated, and the vertical centrifugal pump 222 pumps the environmentally friendly de-icing agent out of the storage tank 221. The intelligent spraying execution module 23 executes the command:

[0075] The push rod motor 234 adjusts the pitch angle of the nozzle 232 to control the coverage area;

[0076] Meanwhile, the flow regulation module 24 changes the outlet diameter of the nozzle 232 through the drive component 26, thereby achieving independent and precise control of the flow rate of each nozzle and ensuring uniform dosage.

[0077] Working Principle: The temperature sensor 211, humidity sensor 212, and microwave road surface condition sensor 213 in the road environment information acquisition module 21 collect environmental and road surface data in real time and transmit them to the early warning control module. The PLC main controller with built-in algorithms analyzes the data. When the temperature is ≤0℃, humidity is ≥85%, and water or snow accumulation is detected on the road surface, or ice is detected, it is judged as a high risk and an early warning and spraying command are issued. The de-icing agent storage and delivery module 22 is then started, and the centrifugal pump 222 pumps the environmentally friendly de-icing agent from the storage tank 221. After receiving the command, the intelligent spraying execution module 23 uses the push rod motor 234 to adjust the spray angle of the nozzle 232 to control the coverage area; at the same time, the flow regulation module 24 changes the outlet diameter of the nozzle 232 through the drive component 26 to achieve independent and precise control of the flow rate of each nozzle, ensuring that the de-icing agent is sprayed evenly onto the road surface with the optimal dosage.

[0078] This patented system needs to process data from multiple sensors (such as temperature, humidity, road surface condition, and snow / ice thickness), and then make decisions based on this data, such as whether to start spraying, the amount of spray, and the angle of the nozzles. To achieve these goals, a scheme combining rule-based control algorithms (such as PID control) and machine learning algorithms (such as support vector machines and decision trees) is adopted. The workflow is as follows:

[0079] Data Acquisition: Environmental data is collected in real time through temperature and humidity sensors, road surface condition sensors, and vision sensors.

[0080] Data preprocessing and fusion: Standardize, denoise, and fuse sensor data (using methods such as Kalman filtering and weighted averaging).

[0081] Icing risk assessment: Analyze whether there is a risk of icing on the road surface using decision tree or support vector machine (SVM) algorithms, and predict the possible icing time.

[0082] Control Decision: Based on the icing risk analysis results, a PID control algorithm is used to adjust the spray volume and nozzle angle.

[0083] Spraying execution: The control system executes control commands through the intelligent spraying execution module to ensure accurate spraying and avoid excessive use of de-icing agent.

[0084] The above workflow is as follows:

[0085] 1. Data Acquisition and Preprocessing

[0086] 1.1 Sensor Data Acquisition: Visual data from temperature sensors, humidity sensors, microwave-based road condition sensors, and industrial cameras is acquired in real time and transmitted to the PLC main controller. Sensor data requires preprocessing to remove noise and outliers, ensuring data accuracy.

[0087] Temperature and humidity sensors (such as PT100 platinum resistance sensors and capacitive sensors) standardize the data and perform noise reduction.

[0088] Microwave-type road surface condition sensor: By analyzing the difference between the reflected signal and the known road surface material, it provides data on whether there is ice or snow accumulation.

[0089] 1.2 Data Fusion: Data from different sensors (such as temperature, humidity, road surface conditions, etc.) needs to be fused. Weighted averaging or Kalman filters are used to smooth the data and resolve inconsistencies between different sensors. Weighted Averaging: Different weights are assigned to each sensor based on its accuracy and reliability, and a weighted average is calculated. Alternatively, a Kalman filter is used to reduce noise and improve the accuracy of sensor data, especially in dynamically changing environments such as temperature variations.

[0090] 2. Icing Risk Analysis and Assessment

[0091] By combining multiple data points obtained from sensors, a decision tree algorithm or a support vector machine (SVM) is used to determine the risk of icing. This process involves several steps:

[0092] 2.1 Feature selection: Extract the most relevant features from the sensor data: temperature, humidity, road surface condition (whether it is icy, snow layer thickness).

[0093] 2.2 Decision Tree Classification Algorithm:

[0094] Training: Use historical data to train a decision tree model to determine whether there is a risk of freezing under specific conditions (e.g., temperature ≤ 0℃, humidity ≥ 85%).

[0095] Prediction: When new data is input, a trained decision tree model is used to make a prediction to determine whether there is a risk of icing.

[0096] For example, under the conditions described in this embodiment: if the ambient temperature is ≤0℃ and the humidity is ≥85%, and the road surface condition sensor detects water or snow accumulation, the decision tree judges it as high risk and spraying is required.

[0097] 2.3 Support Vector Machine (SVM) Algorithm:

[0098] Training: The SVM model is trained using historical sample data. Features such as temperature, humidity, and snow thickness are used to distinguish between the two categories of "iced" and "non-iced".

[0099] Classification: When new sensor data arrives, the SVM model can quickly classify and predict road conditions.

[0100] 3. Spraying control strategy

[0101] Based on the predicted icing risk, the control algorithm will determine whether to spray, the spray volume, and the nozzle angle. A PID control algorithm is used to achieve precise control. PID control (proportional-integral-derivative control) is used to adjust the spray flow rate and nozzle angle to maintain the accurate spray volume and coverage of the de-icing agent.

[0102] formula:

[0103]

[0104] Where u(t) is the control signal, representing the adjustment amount of the spray flow rate or nozzle angle. The control signal is the output of the PID controller and is used to control the flow rate and nozzle angle of the de-icing agent sprayed by the intelligent spraying execution module (intelligent nozzle).

[0105] e(t) is the error, which is the difference between the target value and the actual value. In this embodiment, the error can be defined according to different spraying targets. Specifically, it has the following forms:

[0106] Spraying flow rate error: The difference between the target spraying flow rate and the actual spraying flow rate. For example, if the system's preset spraying flow rate is 0.5L per square meter, but the current spraying flow rate is 0.45L, then the error e(t) is 0.5-0.45=0.05L.

[0107] Nozzle angle error: If the target angle is 30 degrees, but the actual nozzle angle is 28 degrees, the error e(t) is 30-28=2 degrees.

[0108] The spray flow rate or nozzle angle should be adjusted according to road conditions (such as icing risk, snow thickness, etc.), so the error represents the difference between the current spraying state and the desired spraying state.

[0109] Integral term: It calculates the cumulative error over time, helping to eliminate long-term deviations in the system. In a spraying system, when the error persists for a period of time, the integral term will gradually increase, thereby correcting the spray volume.

[0110] Differential term: It calculates the rate of error change to predict the trend of system changes and adjust the spraying strategy in a timely manner. For sudden situations such as temperature changes, the differential term can effectively avoid spraying instability.

[0111] K p Proportional gain determines the immediate response of the error to the spray flow rate / angle.

[0112] K i Integral gain, to eliminate long-term bias.

[0113] K d Differential gain helps predict changes in error and reduces oscillations.

[0114] For example: Suppose the target spray flow rate is 0.5 L / m², but the system measures an actual spray flow rate of 0.45 L / m², and the temperature is -2℃ and the humidity is 90%. Through PID control, the system will adjust K... p K i and K d The spraying volume is gradually adjusted to precisely achieve the expected target.

[0115] Through PID control, this embodiment can precisely control the spraying amount and nozzle angle of the de-icing agent, realize intelligent early warning and precise spraying, and ensure road safety without wasting de-icing agent.

[0116] To reduce waste of de-icing agents and ensure coverage, optimization algorithms (such as genetic algorithms and particle swarm optimization) can be used to optimize spraying strategies, thereby optimizing the coverage of the sprayed area to achieve the minimum amount of de-icing agent used while maximizing road safety. For example, genetic algorithms can be used to adjust the nozzle angle and flow rate to find the optimal spraying path and a solution that minimizes the amount of de-icing agent used.

[0117] The above specific embodiments are merely several optional embodiments of the present invention. Based on the technical solutions of the present invention and the relevant teachings of the above embodiments, those skilled in the art can make various alternative improvements and combinations to the above specific embodiments.

Claims

1. An intelligent control system for environmentally friendly de-icing agent spraying, comprising a carrier vehicle (1), characterized in that, It also includes an automated snow removal system (2) installed on the carrier vehicle (1), the automated snow removal system (2) comprising: Road environment information acquisition module (21) for real-time acquisition of environmental parameters and road condition parameters of target road surface; Electrically connected to the road environment information acquisition module (21), the early warning control module is used to receive and analyze the environmental parameters and road surface condition parameters to determine the risk of road icing. When the early warning control module determines that there is a risk of road icing, it issues a spray control command. A snow melting agent storage and delivery module (22) is used to store environmentally friendly liquid snow melting agent and pump out the snow melting agent according to the spray control command. The snow melting agent storage and delivery module (22) is electrically connected to the early warning control module. A smart spraying execution module (23) is fluidly connected to the snow melting agent storage and delivery module (22) and accurately sprays the snow melting agent from the snow melting agent storage and delivery module (22) onto the target road surface.

2. The intelligent control system for environmentally friendly de-icing agent spraying according to claim 1, characterized in that, The road environment information acquisition module (21) includes a temperature sensor (211) and a humidity sensor (212) fixedly installed on the carrier vehicle (1), and also includes multiple road surface status sensors (213) installed on the chassis of the carrier vehicle (1) for detecting whether there is snow or ice on the road surface and measuring its thickness. Industrial cameras (214) and supplementary lights (215) are fixedly installed on both sides of the carrier vehicle (1).

3. The intelligent control system for environmentally friendly de-icing agent spraying according to claim 2, characterized in that, Both the temperature sensor (211) and the humidity sensor (212) are fixedly installed with louvered boxes. The temperature sensor (211) and the humidity sensor (212) are 1.2m to 1.5m above the ground. The road surface condition sensor (213) is a microwave sensor and is 2cm to 3cm above the road surface.

4. The intelligent control system for environmentally friendly de-icing agent spraying according to claim 3, characterized in that, The de-icing agent storage and delivery module (22) includes a stainless steel storage tank (221) with an insulation layer, a vertical centrifugal pump (222) fixedly installed on the carrier vehicle (1), and a delivery pipe (223) fixedly installed on the carrier vehicle (1) and connected to the vertical centrifugal pump (222). A liquid level sensor is fixedly installed inside the storage tank (221). A spray pipe (224) is fixedly installed on the carrier vehicle (1) to spray de-icing agent at the bottom of the carrier vehicle (1) and connected to the delivery pipe (223). Output interfaces (225) connected to the delivery pipe (223) are fixedly installed on both sides of the carrier vehicle (1).

5. The intelligent control system for environmentally friendly de-icing agent spraying according to claim 4, characterized in that, The intelligent spray execution module (23) includes multiple nozzles (232) rotatably mounted on the carrier vehicle (1) via a support rod (231). The input end of the nozzle (232) is connected to the output interface (225) via a connecting pipe (233). A push rod motor (234) is rotatably mounted on the carrier vehicle (1), and the output shaft of the push rod motor (234) is rotatably connected to the nozzle (232).

6. The intelligent control system for environmentally friendly de-icing agent spraying according to claim 5, characterized in that, The output end of the nozzle (232) is equipped with a flow regulation module (24) for controlling the output diameter of the nozzle (232). The flow regulation module (24) includes a control box (241) fixedly installed on the nozzle (232). An inner core (242) with elastic deformation capability is installed inside the control box (241). A liquid cavity (243) is formed between the outer wall of the inner core (242) and the inner wall of the control box (241). A connector (244) communicating with the liquid cavity (243) is installed on the control box (241). A drive assembly (26) communicating with the connector (244) and conveying fluid into the liquid cavity (243) is installed on the carrier (1).

7. The intelligent control system for environmentally friendly de-icing agent spraying according to claim 6, characterized in that, The drive assembly (26) includes a liquid storage tank (261) fixedly mounted on the carrier vehicle (1), a sealing plate (262) slidably and sealed inside the liquid storage tank (261), and a linear motor (263) fixedly mounted on the liquid storage tank (261). The output shaft of the linear motor (263) is fixedly connected to the sealing plate (262). The bottom of the liquid storage tank (261) is connected to the connector (244) through a transmission pipe (264). The liquid chamber (243), the transmission pipe (264), and the bottom of the liquid storage tank (261) are all filled with a transmission medium.

8. The intelligent control system for environmentally friendly de-icing agent spraying according to claim 7, characterized in that, The liquid cavity (243) is equipped with a reinforcing member (25) that keeps the inner core (242) cylindrical. The reinforcing member (25) includes multiple reinforcing rods (251) fixedly installed on the inner core (242). The reinforcing rods (251) are slidably connected to the inner wall of the control box (241) through telescopic rods (252). A guide ring (253) is fixedly installed in the control box (241). Multiple connecting rods (254) are slidably installed on the guide ring (253). A retainer is installed on the multiple connecting rods (254) to keep the distance between the roots of the multiple connecting rods (254) unchanged. The connecting rods (254) correspond to and are rotatably connected to the reinforcing rods (251).

9. The intelligent control system for environmentally friendly de-icing agent spraying according to claim 8, characterized in that, The control box (241) is provided with a through hole (245), and an elastic sealing plate (246) is fixedly installed on the end face of the inner core (242). The other end of the sealing plate (246) is fixedly connected to the inner wall of the control box (241).

10. An intelligent control method for spraying environmentally friendly de-icing agents, applied to the environmentally friendly intelligent spraying and de-icing system for de-icing agents as described in claim 9, characterized in that, The method includes the following steps: Step 1: Data is collected in real time through the road environment information collection module (21), and the temperature sensor (211) and humidity sensor (212) monitor the ambient temperature and humidity; A microwave-type road surface condition sensor (213) detects whether the road surface is icy and the thickness of the ice layer; An industrial camera (214) and a fill light (215) provide visual assistance; Step 2: The early warning control module receives the data and analyzes it using its built-in algorithm. When the ambient temperature is ≤0℃, the humidity is ≥85% and water or snow is detected on the road surface, or when the road surface condition sensor (213) directly detects icing, it is determined to be a high risk and a spraying command is generated to issue an early warning. Step 3: The de-icing agent storage and delivery module (22) is started, and the vertical centrifugal pump (222) pumps the environmentally friendly de-icing agent out of the storage tank (221). The intelligent spraying execution module (23) executes the command: The push rod motor (234) adjusts the pitch angle of the nozzle (232) to control the coverage area; Meanwhile, the flow regulation module (24) changes the outlet diameter of the nozzle (232) through the drive component (26) to achieve independent and precise control of the flow of each nozzle, ensuring uniform dosage.

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