CN102566582B - Location method, device and system - Google Patents
Location method, device and system Download PDFInfo
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- CN102566582B CN102566582B CN201110430605.0A CN201110430605A CN102566582B CN 102566582 B CN102566582 B CN 102566582B CN 201110430605 A CN201110430605 A CN 201110430605A CN 102566582 B CN102566582 B CN 102566582B
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Abstract
The invention relates to the technical fields of machinery and electricity and particularly relates to a location method, device and system. The method comprises the following steps: determining initial coordinates of a processing device on a cross shaft in a reference coordinate system according to the current horizontal distance between the current position of the processing device and a target area; matching the coordinates of each endpoint of the target area with a preset operation curve to determine the moving distance of the preset operation curve; setting the initial intersection, having the largest distance with the target area, of the preset operation curve and a transverse axis as the initial coordinates of the processing device; and adjusting the horizontal distance between the processing device and the target area according to the moving distance of the preset operation curve. The location method provided by the embodiment of the invention can be used for accurately locating the parking position of a fire truck, thereby improving the fire-fighting operation efficiency.
Description
Technical field
The present invention relates to mechanical electric art, relate in particular to a kind of localization method, Apparatus and system.
Background technology
When high-rise building with fire disaster, how putting out fast and effectively big fire, is one of the major issue that must face.In the time putting out a fire to save life and property skyscraper, water tower fire truck has unique advantage.When this water tower fire truck operation, mainly contain four steps: 1) selected erect-position stops; 2) supporting leg operation and car load leveling; 3) luffing range of cantilever support, flexible, revolution operation; 4) jetting operation.Wherein, the selected suitable erect-position of the first step is the basis of subsequent operation, plays a part very important to whole fire extinguishing procedure.
At present, water tower fire truck operation erect-position takes manually to determine that method, the method depend primarily on operating personnel's experience.Therefore, easily occur because erect-position is improper, cause the water cannon of water tower fire truck cannot cover the floor situation generation that the condition of a fire occurs comprehensively.As shown in Figure 1, cross time far away when the water tower fire truck distance buildings that catches fire, can only put out the intensity of a fire within the scope of part (in figure within the scope of curve L); As shown in Figure 2, cross when near when the water tower fire truck distance buildings that catches fire, also can only put out the intensity of a fire within the scope of part (in figure in curve ranges M).For this reason, in operation process, operating personnel are usually repeatedly stopped expansion equipment to find suitable position, affect operating efficiency, delay the condition of a fire and dispose.
Summary of the invention
The embodiment of the present invention provides a kind of localization method, Apparatus and system, can orient accurately the parking spot of fire truck, improves fire-fighting operation efficiency.
The embodiment of the present invention provides a kind of localization method, comprising:
According to the present level distance in treatment facility current location distance objective region, determine described treatment facility initial coordinate on transverse axis in reference frame;
The coordinate of each end points of described target area is mated with described preset performance curve, determine the displacement of described preset performance curve; Initial coordinate described preset performance curve and described transverse axis, that the described target area of distance initial intersection is farthest described treatment facility;
According to the displacement of described preset performance curve, regulate the horizontal range of described treatment facility and described target area.
Accordingly, the embodiment of the present invention also provides a kind of locating device, comprising:
Detecting module, for according to the present level distance in treatment facility current location distance objective region, determines described treatment facility initial coordinate on transverse axis in reference frame;
Matching module, for the coordinate of each end points of described target area is mated with described preset performance curve, determines the displacement of described preset performance curve; Initial coordinate described preset performance curve and described transverse axis, that the described target area of distance initial intersection is farthest described treatment facility;
Adjustment module, for according to the displacement of described preset performance curve, regulates the horizontal range of described treatment facility and described target area.
Accordingly, the embodiment of the present invention also provides a kind of positioning system, comprising: detector and controller;
Described detector, for surveying the present level distance in treatment facility current location distance objective region;
Described controller, for according to the present level distance in treatment facility current location distance objective region, determines described treatment facility initial coordinate on transverse axis in reference frame; The coordinate of each end points of described target area is mated with described preset performance curve, determine the displacement of described preset performance curve; Initial coordinate described preset performance curve and described transverse axis, that the described target area of distance initial intersection is farthest described treatment facility; According to the displacement of described preset performance curve, regulate the horizontal range of described treatment facility and described target area.
The embodiment of the present invention provides a kind of localization method, Apparatus and system, for according to the present level distance in treatment facility current location distance objective region, determines described treatment facility initial coordinate on transverse axis in reference frame; The coordinate of each end points of described target area is mated with described preset performance curve, determine the displacement of described preset performance curve; Initial coordinate described preset performance curve and described transverse axis, that the described target area of distance initial intersection is farthest described treatment facility; According to the displacement of described preset performance curve, regulate the horizontal range of described treatment facility and described target area.Therefore, the localization method, the Apparatus and system that use the embodiment of the present invention to provide, can be according to the overlay area of the particular location of breaking out of fire (target area) and fire truck water cannon (performance curve), orient accurately the parking spot of fire truck, improve fire-fighting operation efficiency.
Accompanying drawing explanation
Fig. 1 is that the water tower fire truck distance buildings that catches fire is crossed the intensity of a fire scope schematic diagram of putting out a fire to save life and property time far away;
Fig. 2 is that the water tower fire truck distance buildings that catches fire is crossed the intensity of a fire scope schematic diagram of putting out a fire to save life and property when near;
Fig. 3 is the schematic flow sheet of localization method in the embodiment of the present invention;
Fig. 4 is application scenarios schematic diagram in the embodiment of the present invention;
Fig. 5 is the preset performance curve of different angles in the embodiment of the present invention and the position relationship schematic diagram of target area;
Fig. 6 is the schematic diagram of preset performance curve moving direction in the embodiment of the present invention;
Fig. 7 is the schematic flow sheet of localization method in the embodiment of the present invention;
Fig. 8 is the structural representation of locating device in the embodiment of the present invention;
Fig. 9 is the structural representation of positioning system in the embodiment of the present invention.
Embodiment
Below in conjunction with each accompanying drawing, embodiment of the present invention technical scheme main realized to principle, embodiment and the beneficial effect that should be able to reach is at length set forth.
The problem existing in order to solve prior art, the embodiment of the present invention provides a kind of localization method, as shown in Figure 3, comprises the following steps:
Concrete, by infrared sensor, survey the present level distance in treatment facility current location distance objective region, in reference frame, on transverse axis, determine the initial coordinate for the treatment of facility.This infrared sensor can be arranged on treatment facility, also can be positioned on other equipment of independent test.The initial point of this reference frame can preset as required, to facilitate the coordinate position that calculates target area and treatment facility as good, for example, can be using the horizontal line at this treatment facility place and target area near the intersection point of the perpendicular line for the treatment of facility as initial point.As shown in Figure 4, region B1B2 B3B4 in target object A1A2 A3A4 is target area, the present level distance for the treatment of facility M current location distance objective region B1B2 B3B4 is L (transverse coordinate axis directions X), wherein can be using A4 point as initial point.
Then, the coordinate of each end points of target area is mated with preset performance curve, determine the displacement of preset performance curve, for example: move horizontally the lateral coordinates of the preset performance curve of selection, until the coordinate of each end points of target area is all positioned at preset performance curve coverage; After obtaining preset performance curve after mobile and moving and transverse axis, distance objective region current intersection point farthest, the horizontal difference between current intersection point and initial intersection is defined as to the displacement of preset performance curve; Or
Obtain two intersection points of the preset performance curve of the ray in the horizontal direction of end points that closes on preset performance curve most in target area and selection; Obtain the distance of end points and described two intersection points, horizontal difference larger in two distances is defined as to the displacement of preset performance curve.As shown in Figure 4, after determining that reference frame initial point O is A4 point, determine respectively the coordinate of B1, B2, B3, B4, and in many preset performance curves, select a preset performance curve C1C2C3C4C5C6.Move in the horizontal direction the preset performance curve of selection, make target area all be arranged in the overlay area of this preset performance curve and transverse coordinate axis formation.
Due to different from transverse coordinate axis angle, the coverage of different preset performance curves is also different.Using the horizontal straight line at the highest along slope coordinate place of target area as standard lines; In at least two the preset performance curves different from transverse coordinate axis angle, select one and standard lines to there is the preset performance curve that distance between preset performance curve and two intersection points of two intersection points is greater than the transverse width of target area.As shown in Figure 5, in the time being G1 with transverse coordinate axis angle, preset performance curve 1 is C1C2C3C4C5C6, in the time being G2 with transverse coordinate axis angle, preset performance curve 2 is D1D2D3D4 D5D6, and in the time being G3 with transverse coordinate axis angle, preset performance curve 3 is E1E2E3E4 E5E6.The horizontal straight line N at the highest along slope coordinate place of target area B1B2B3B4 and preset performance curve 1 have the length that distance between two intersection point C7, C8 and two intersection points is greater than B1B2; Laterally straight line N and preset performance curve 2 have two intersection point D7, D8, but the distance between these two intersection points is less than the length of B1B2; Laterally straight line N and preset performance curve 3 do not have intersection point.Therefore, should select preset performance curve 1 to do follow-up mating with target area B1B1B3B4.
Then, positive and negative according to above-mentioned transversal discrepancy moved treatment facility on lateral shaft to corresponding direction, and mobile distance equals the absolute value of transversal discrepancy.For example, in the time that the coordinate of each end points of target area is all positioned at preset performance curve coverage, obtain the current coordinate of preset performance curve; The initial coordinate of coordinate current preset performance curve and preset performance curve is compared, obtain both transversal discrepancies; Positive and negative according to transversal discrepancy moved treatment facility on lateral shaft to corresponding direction, mobile distance equals the absolute value of transversal discrepancy.As shown in Figure 6, hypothetical target region is B1B2B3B4, preset performance curve after coupling is curve a, if the reference position of this preset performance curve is curve b (being positioned at the right side of curve a), the coordinate of curve a and curve b is compared, the transversal discrepancy obtaining, for negative, now moves treatment facility on lateral shaft to negative direction of principal axis; If the reference position of this preset performance curve is curve c (being positioned at the left side of curve a), the coordinate of curve a and curve c is compared, the transversal discrepancy of acquisition, for just, now moves treatment facility on lateral shaft to positive direction of principal axis.
In addition,, before regulating the horizontal range for the treatment of facility and target area, can also send adjusting information; The form of this adjusting information comprises: word, figure, color, light, audio frequency, video and vibrations etc.For example, in the time that the position for the treatment of facility does not move to the position after coupling, sending prompt tone prompting advances or retreats, advance XX rice or retreat XX rice of screen display can also shown, can also point out according to the color of light, as green, representative is advanced, yellow light representative retreats, red light representative stops.Certainly, above-mentioned various forms can integrated use, reaching in time, the accurate effect of prompting operation.
Pass through foregoing description, can find out, the localization method that uses the embodiment of the present invention to provide, by according to the overlay area of the particular location of breaking out of fire (target area) and fire truck water cannon (performance curve), orient accurately the parking spot of fire truck (treatment facility), and fire truck is operated accordingly, thus, can determine fast and accurately the parking spot of fire truck, save and put out a fire to save life and property the time, improve fire-fighting operation efficiency.
The localization method embodiment of the present invention being provided below by specific embodiment is described in detail, to determine that fire truck parking spot, as example, as shown in Figure 7, comprises the following steps:
The present level distance in step 701, detection fire truck current location distance objective region; Concrete, can use the infrared sensor of installing on fire truck to survey this current horizontal range.
Horizontal range between step 703, the altitude information that obtains each end points of target area and each end points of target area, determines the coordinate of each end points of target area in reference frame; Concrete, can be according to the design drawing of this place, target area buildings, obtain the horizontal range between altitude information and each end points of target area of this each end points of target area.And, can scan in advance and preserve this design drawing.
Pass through foregoing description, can find out, the localization method that uses the embodiment of the present invention to provide, by according to the overlay area of the particular location of breaking out of fire and fire truck water cannon, orient accurately the parking spot of fire truck, and fire truck is operated accordingly, thus, can determine fast and accurately the parking spot of fire truck, save and put out a fire to save life and property the time, improve fire-fighting operation efficiency.
Based on same invention conception, the embodiment of the present invention also provides a kind of locating device, as shown in Figure 8, comprising:
Detecting module 801, for according to the present level distance in treatment facility current location distance objective region, determines described treatment facility initial coordinate on transverse axis in reference frame;
Preferably, detecting module 801 described in said apparatus, specifically for by infrared sensor, surveys the present level distance in described treatment facility current location distance objective region, determines the initial seat of described treatment facility in reference frame on transverse axis.
Preferably, also comprise: select module 804, for obtaining the horizontal range between altitude information and each end points of described target area of each end points of described target area, determine the coordinate of each end points of described target area in reference frame; Coordinate according to each end points of described target area in reference frame is selected a preset performance curve at least two preset performance curves different from transverse coordinate axis angle.
Preferably, described matching module 802, specifically for moving horizontally the lateral coordinates of preset performance curve of described selection, until the coordinate of each end points of described target area is all positioned at described preset performance curve coverage; After obtaining described preset performance curve after mobile and moving with transverse axis, apart from described target area current intersection point farthest, the horizontal difference between described current intersection point and described initial intersection is defined as to the displacement of described preset performance curve; Or
Obtain two intersection points of the preset performance curve of the ray in the horizontal direction of end points that closes on described preset performance curve most in described target area and described selection; Obtain the distance of described end points and described two intersection points, horizontal difference larger in two distances is defined as to the displacement of described preset performance curve.
Preferably, described adjustment module 803, positive and negative specifically for according to described horizontal difference moved described treatment facility on lateral shaft to corresponding direction, and mobile distance equals the absolute value of described transversal discrepancy.
Preferably, said apparatus also comprises: reminding module 805, for before regulating the horizontal range of described treatment facility and described target area, sends adjusting information; The form of described adjusting information comprises: word, figure, color, light, audio frequency, video and vibrations.
Pass through foregoing description, can find out, the locating device that uses the embodiment of the present invention to provide, by according to the overlay area of the particular location of breaking out of fire and fire truck water cannon, orient accurately the parking spot of fire truck, and fire truck is operated accordingly, thus, can determine fast and accurately the parking spot of fire truck, save and put out a fire to save life and property the time, improve fire-fighting operation efficiency.
Based on same invention conception, the embodiment of the present invention also provides a kind of positioning system, as shown in Figure 9, comprising: detector 901 and controller 902;
Described detector 901, for surveying the present level distance in treatment facility current location distance objective region;
Described controller 902, for according to the present level distance in treatment facility current location distance objective region, determines described treatment facility initial coordinate on transverse axis in reference frame; The coordinate of each end points of described target area is mated with described preset performance curve, determine the displacement of described preset performance curve; Initial coordinate described preset performance curve and described transverse axis, that the described target area of distance initial intersection is farthest described treatment facility; According to the displacement of described preset performance curve, regulate the horizontal range of described treatment facility and described target area.
Preferably, above-mentioned positioning system also comprises:
Pass through foregoing description, can find out, the localization method, the Apparatus and system that use the embodiment of the present invention to provide, by according to the overlay area of the particular location of breaking out of fire and fire truck water cannon, orient accurately the parking spot of fire truck, and fire truck is operated accordingly, thus, can determine fast and accurately the parking spot of fire truck, save and put out a fire to save life and property the time, improve fire-fighting operation efficiency.
The application is with reference to describing according to process flow diagram and/or the block scheme of the method for the embodiment of the present application, equipment (system) and computer program.Should understand can be by the flow process in each flow process in computer program instructions realization flow figure and/or block scheme and/or square frame and process flow diagram and/or block scheme and/or the combination of square frame.Can provide these computer program instructions to the processor of multi-purpose computer, special purpose computer, Embedded Processor or other programmable data processing device to produce a machine, the instruction that makes to carry out by the processor of computing machine or other programmable data processing device produces the device for realizing the function of specifying at flow process of process flow diagram or multiple flow process and/or square frame of block scheme or multiple square frame.
These computer program instructions also can be stored in energy vectoring computer or the computer-readable memory of other programmable data processing device with ad hoc fashion work, the instruction that makes to be stored in this computer-readable memory produces the manufacture that comprises command device, and this command device is realized the function of specifying in flow process of process flow diagram or multiple flow process and/or square frame of block scheme or multiple square frame.
These computer program instructions also can be loaded in computing machine or other programmable data processing device, make to carry out sequence of operations step to produce computer implemented processing on computing machine or other programmable devices, thereby the instruction of carrying out is provided for realizing the step of the function of specifying in flow process of process flow diagram or multiple flow process and/or square frame of block scheme or multiple square frame on computing machine or other programmable devices.
Obviously, those skilled in the art can carry out various changes and modification and the spirit and scope that do not depart from the application to the application.Like this, if within these of the application are revised and modification belongs to the scope of the application's claim and equivalent technologies thereof, the application is also intended to comprise these changes and modification interior.
Claims (12)
1. a localization method, is characterized in that, comprising:
According to the present level distance in treatment facility current location distance objective region, determine described treatment facility initial coordinate on transverse axis in reference frame;
Obtain the horizontal range between altitude information and each end points of described target area of each end points of described target area, determine the coordinate of each end points of described target area in reference frame;
Using the horizontal straight line at the highest along slope coordinate place of described target area as standard lines;
In at least two the preset performance curves different from transverse axis angle, select one and described standard lines to there is the preset performance curve that distance between preset performance curve and described two intersection points of two intersection points is greater than the transverse width of described target area;
The coordinate of each end points of described target area is mated with described preset performance curve, determine the displacement of described preset performance curve; Initial coordinate described preset performance curve and described transverse axis, that the described target area of distance initial intersection is farthest described treatment facility;
According to the displacement of described preset performance curve, regulate the horizontal range of described treatment facility and described target area.
2. localization method as claimed in claim 1, is characterized in that, according to the present level distance in treatment facility current location distance objective region, determines described treatment facility initial coordinate on transverse axis in reference frame, comprising:
By infrared sensor, survey the present level distance in described treatment facility current location distance objective region, in reference frame, on transverse axis, determine the initial coordinate of described treatment facility.
3. localization method as claimed in claim 1, is characterized in that, the coordinate of each end points of described target area is mated with described preset performance curve, determines the displacement of described preset performance curve, comprising:
Move horizontally the lateral coordinates of the preset performance curve of described selection, until the coordinate of each end points of described target area is all positioned at described preset performance curve coverage; After obtaining described preset performance curve after mobile and moving with transverse axis, apart from described target area current intersection point farthest, the horizontal difference between described current intersection point and described initial intersection is defined as to the displacement of described preset performance curve; Or
Obtain two intersection points of the preset performance curve of the ray in the horizontal direction of end points that closes on described preset performance curve most in described target area and described selection; Obtain the distance of described end points and described two intersection points, horizontal difference larger in two distances is defined as to the displacement of described preset performance curve.
4. localization method as claimed in claim 3, is characterized in that, according to the displacement of described preset performance curve, regulates the horizontal range of described treatment facility and described target area, comprising:
Positive and negative according to described horizontal difference moved described treatment facility on transverse axis to corresponding direction, mobile distance equals the absolute value of described transversal discrepancy.
5. localization method as claimed in claim 1, is characterized in that, also comprises:
Before regulating the horizontal range of described treatment facility and described target area, send adjusting information; The form of described adjusting information comprises: word, figure, color, light, audio frequency, video and vibrations.
6. a locating device, is characterized in that, comprising:
Detecting module, for according to the present level distance in treatment facility current location distance objective region, determines described treatment facility initial coordinate on transverse axis in reference frame;
Select module, for obtaining the horizontal range between altitude information and each end points of described target area of each end points of described target area, determine the coordinate of each end points of described target area in reference frame; Coordinate according to each end points of described target area in reference frame is selected a preset performance curve at least two preset performance curves different from transverse axis angle;
Matching module, for the coordinate of each end points of described target area is mated with described preset performance curve, determines the displacement of described preset performance curve; Initial coordinate described preset performance curve and described transverse axis, that the described target area of distance initial intersection is farthest described treatment facility;
Adjustment module, for according to the displacement of described preset performance curve, regulates the horizontal range of described treatment facility and described target area.
7. device as claimed in claim 6, it is characterized in that, described detecting module, specifically for passing through infrared sensor, survey the present level distance in described treatment facility current location distance objective region, in reference frame, on transverse axis, determine the initial coordinate of described treatment facility.
8. device as claimed in claim 6, it is characterized in that, described matching module, specifically for moving horizontally the lateral coordinates of preset performance curve of described selection, until the coordinate of each end points of described target area is all positioned at described preset performance curve coverage; After obtaining described preset performance curve after mobile and moving with transverse axis, apart from described target area current intersection point farthest, the horizontal difference between described current intersection point and described initial intersection is defined as to the displacement of described preset performance curve; Or
Obtain two intersection points of the preset performance curve of the ray in the horizontal direction of end points that closes on described preset performance curve most in described target area and described selection; Obtain the distance of described end points and described two intersection points, horizontal difference larger in two distances is defined as to the displacement of described preset performance curve.
9. device as claimed in claim 8, is characterized in that, described adjustment module, and positive and negative specifically for according to described horizontal difference moved described treatment facility on transverse axis to corresponding direction, and mobile distance equals the absolute value of described transversal discrepancy.
10. device as claimed in claim 6, is characterized in that, also comprises:
Reminding module, for before regulating the horizontal range of described treatment facility and described target area, sends adjusting information; The form of described adjusting information comprises: word, figure, color, light, audio frequency, video and vibrations.
11. 1 kinds of positioning systems, is characterized in that, comprising: detector and controller;
Described detector, for surveying the present level distance in treatment facility current location distance objective region;
Described controller, for according to the present level distance in treatment facility current location distance objective region, determines described treatment facility initial coordinate on transverse axis in reference frame; Obtain the horizontal range between altitude information and each end points of described target area of each end points of described target area, determine the coordinate of each end points of described target area in reference frame; Using the horizontal straight line at the highest along slope coordinate place of described target area as standard lines; In at least two the preset performance curves different from transverse axis angle, select one and described standard lines to there is the preset performance curve that distance between preset performance curve and described two intersection points of two intersection points is greater than the transverse width of described target area; The coordinate of each end points of described target area is mated with described preset performance curve, determine the displacement of described preset performance curve; Initial coordinate described preset performance curve and described transverse axis, that the described target area of distance initial intersection is farthest described treatment facility; According to the displacement of described preset performance curve, regulate the horizontal range of described treatment facility and described target area.
12. positioning systems as claimed in claim 11, is characterized in that, also comprise:
Display sent adjusting information for receiving described controller before the horizontal range that regulates described treatment facility and described target area, and demonstration and/or play described adjusting information.
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| CN201110430605.0A CN102566582B (en) | 2011-12-20 | 2011-12-20 | Location method, device and system |
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| CN201110430605.0A CN102566582B (en) | 2011-12-20 | 2011-12-20 | Location method, device and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102929290B (en) * | 2012-10-10 | 2016-02-17 | 中联重科股份有限公司 | Be applied to spraying machine control system, method and device that tunnel concrete sprays |
| CN104424364B (en) * | 2013-08-19 | 2018-10-30 | 珠海格力电器股份有限公司 | A kind of method and apparatus that air conditioner connecting pipe walks pipe automatically |
| CN104424366B (en) * | 2013-08-19 | 2019-03-22 | 珠海格力电器股份有限公司 | A kind of method and apparatus that air conditioner connecting pipe walks pipe |
| CN104424365B (en) * | 2013-08-19 | 2018-12-21 | 珠海格力电器股份有限公司 | A kind of method and apparatus that air conditioner connecting pipe walks pipe automatically |
| CN108501801A (en) * | 2018-03-16 | 2018-09-07 | 北汽福田汽车股份有限公司 | Seek vehicle system and vehicle |
| CN111080956B (en) * | 2019-12-12 | 2021-09-24 | 西安蓝豆新能源科技有限公司 | Two-stage fire-fighting early warning system and method for electric automobile parking charging stereo garage |
| CN113128742B (en) * | 2020-01-14 | 2024-03-22 | 中联重科股份有限公司 | Construction method and device for engineering machinery, readable storage medium and processor |
| CN112053340B (en) * | 2020-08-28 | 2023-03-14 | 安徽江淮汽车集团股份有限公司 | Performance test method, equipment, storage medium and device of automobile display equipment |
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