Method, device, storage medium and processor for determining hose recovery length

Abstract

The present application provides a method, device, storage medium, and processor for determining the recovery length of a water hose. The method includes: during a recovery operation of multiple water hoses, controlling a take-up frame to operate so as to convey the multiple water hoses via a conveyor belt; obtaining the effective detection time point of the last joint detected by a joint detection device at a target time point; determining the number of joints that the joint detection device has detected at the target time point; determining a first actual recovery length of the water hose at the target time point based on the number of detected joints and a preset length of the water hose; determining an interval between the target time point and the effective detection time point; determining a second actual recovery length of the water hose within the interval; and determining the sum of the first actual recovery length and the second actual recovery length as the actual recovery length of the water hose at the target time point, thereby improving the accuracy of determining the recovery length of the water hose and reducing labor costs and time costs.

Description

Technical Field

[0001] The present application relates to the field of fire trucks, and in particular to a method, device, storage medium, and processor for determining a hose recovery length. Background Art

[0002] Currently, the laying and recovery of fire hoses is primarily a manual process. The actual length of recovered hose is typically determined based on fire truck mileage or manual estimation. However, these two methods are time- and labor-intensive, resulting in low recovery efficiency. If the actual length of the recovered hose is determined based on the number of detected joints, the detection process may result in inaccurate joint counts due to pauses in the hose recovery operation or errors in the detection, making it difficult to accurately determine the actual length of the hose recovered. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a method, device, storage medium and processor for determining the length of a water hose recovery.

[0004] To achieve the above-mentioned objectives, the present application provides, in a first aspect, a method for determining the length of a hose recovery. The method is applied to a fire truck, wherein the fire truck includes a plurality of hoses connected by joints and a take-up mechanism, wherein the take-up mechanism includes a take-up frame, a conveyor belt, and a joint detection device, wherein the joint detection device is mounted on the take-up frame and is used to detect the joint of the hose. The method comprises:

[0005] During the recycling operation of the plurality of water hoses, the belt take-up rack is controlled to operate so as to convey the plurality of water hoses through the conveyor belt;

[0006] Obtaining the effective detection time point of the joint last detected by the joint detection device at the target time point, the effective detection time point being the time point when the joint reaches a preset position in the detection area of ​​the joint detection device;

[0007] Determining the number of joints that have been detected by the joint detection device at the target time point;

[0008] Determining a first actual recovery length of the hose at a target time point based on the detected number of joints and a preset length of the hose;

[0009] Determine the interval between the target time point and the effective detection time point;

[0010] Determine the second actual recovery length of the hose within the interval time;

[0011] The sum of the first actual recovery length and the second actual recovery length is determined as the actual recovery length of the hose at the target time point.

[0012] In an embodiment of the present application, determining the number of joints that the joint detection device has detected at the target time point includes: for any joint, obtaining the effective detection time point of the joint; starting from the effective detection time point, determining the transmission length of the water hose according to the transmission speed of the conveyor belt; when the transmission length is greater than the first value, the value of the counter of the joint detection device is increased by one; and the value of the counter at the target time point is determined as the number of joints that the joint detection device has detected at the target time point.

[0013] In an embodiment of the present application, determining the number of joints that the joint detection device has detected at the target time point includes: obtaining the mark status value of the joint at the target time point; when the mark status value is the first status value, determining that the second number of joints detected by the joint detection device at the target time point is the first number of joints detected last time; when the mark status value is the second status value, determining that the second number of joints is one increased based on the first number of joints.

[0014] In an embodiment of the present application, the default value of the mark status value is the second status value, and the method also includes: when the joint enters the detection area of ​​the joint detection device for the first time, the mark status value is modified from the second status value to the first status value; starting from the effective detection time point, when the transmission length of the water hose is greater than the second value, the mark status value is modified from the first status value to the second status value.

[0015] In an embodiment of the present application, determining the second actual recovery length of the water hose within the interval time includes: when performing a lay-out operation on multiple water hoses within the interval time, determining the first recovery length and the lay-out length of the water hose within the interval time; and determining the second actual recovery length of the water hose within the interval time based on the first recovery length and the lay-out length.

[0016] In an embodiment of the present application, determining the first recovery length and the unwinding length of the water hose within the interval duration includes: determining the first operation duration for performing the recovery operation and the second operation duration for performing the unwinding operation within the interval duration; determining the first recovery length of the water hose within the interval duration based on the first operation duration and the recovery length of the water hose in each cycle; determining the unwinding length of the water hose within the interval duration based on the second operation duration and the unwinding length of the water hose in each cycle.

[0017] In an embodiment of the present application, the fire truck also includes a take-up solenoid valve and a release solenoid valve, and determining the first operation duration for performing the recovery operation and the second operation duration for performing the release operation within the interval duration includes: when the output current of the take-up solenoid valve or the release solenoid valve is zero, determining that the fire truck stops the recovery operation or stops the release operation; when the output current of the take-up solenoid valve or the release solenoid valve is greater than zero, determining that the fire truck performs the recovery operation or performs the release operation; determining the time period during which the output current of the take-up solenoid valve is greater than zero as the first operation duration for the water hose to perform the recovery operation within the interval duration; determining the time period during which the output current of the release solenoid valve is greater than zero as the second operation duration for the water hose to perform the release operation within the interval duration.

[0018] In an embodiment of the present application, the fire truck also includes a belt-taking solenoid valve and a belt-releasing solenoid valve, and the method also includes: periodically obtaining the belt-taking current of the belt-taking solenoid valve within the first operation duration, and / or periodically obtaining the belt-releasing current of the belt-releasing solenoid valve within the second operation duration; determining the belt-taking speed corresponding to the belt-taking current of each cycle, and / or the belt-releasing speed corresponding to the belt-releasing current of each cycle; determining the recovery length of the water hose of each cycle according to the belt-taking speed, and / or determining the belt-releasing length of the water hose of each cycle according to the belt-releasing speed.

[0019] A second aspect of the present application provides a machine-readable storage medium having instructions stored thereon, which, when executed by a processor, causes the processor to be configured to execute the aforementioned method for determining the hose retraction length. A third aspect of the present application provides a processor configured to execute the aforementioned method for determining the hose retraction length.

[0020] A fourth aspect of the present application provides a device for determining the recovery length of a water hose, comprising the above-mentioned processor.

[0021] A fifth aspect of the present application provides a fire truck, comprising:

[0022] Multiple hoses connected by joints;

[0023] The belt taking-up mechanism comprises a belt taking-up frame, a conveyor belt and a joint detection device, wherein the joint detection device is installed on the belt taking-up frame and is used to detect the joint of the water hose; and

[0024] The above-mentioned device for determining the length of the water hose recovery.

[0025] In an embodiment of the present application, the fire truck further includes: a belt-rewinding solenoid valve for outputting a belt-rewinding current to perform a belt-recovery operation; and a belt-releasing solenoid valve for outputting a belt-releasing current to perform a belt-releasing operation.

[0026] Through the above technical solution, it is possible to avoid inaccurate number of joints caused by complex belt-recovering conditions, accurately determine the number of joints detected by the joint detection device at the target time point, and determine the actual recovery length of the water hose at the target time point based on the number of joints, thereby greatly improving the accuracy of determining the recovery length of the water hose and reducing the labor cost and time cost required to determine the recovery length of the water hose.

[0027] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present application but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0029] Figure 1 The structure diagram of a fire truck according to an embodiment of the present application is schematically shown;

[0030] Figure 2 The following schematically illustrates a flow chart of a method for determining a hose recovery length according to an embodiment of the present application;

[0031] Figure 3 The following schematically shows a flow chart of a method for determining a hose recovery length according to another embodiment of the present application;

[0032] Figure 4 The internal structure diagram of a computer device according to an embodiment of the present application is schematically shown.

[0033] Reference numerals

[0034] 1. Chassis; 2. Belt taking-up mechanism; 3. Belt sorting mechanism;

[0035] 4. Hose box; 21. Take-up rack; 22. Conveyor belt;

[0036] 23. Clamping device; 24. Hydraulic motor; 25. Hose joint detector;

[0037] 31. Motor; 32. Chain drive mechanism; 33. Torsion bar;

[0038] 34. Tape handling machine head. DETAILED DESCRIPTION

[0039] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0040] In one embodiment, a fire truck is provided, comprising:

[0041] Multiple hoses connected by joints;

[0042] The belt taking-up mechanism comprises a belt taking-up frame, a conveyor belt and a joint detection device, wherein the joint detection device is installed on the belt taking-up frame and is used to detect the joint of the water hose; and

[0043] Device for determining hose recovery length.

[0044] In one embodiment, the fire truck further includes: a belt-receiving solenoid valve for outputting a belt-receiving current to perform a belt-recovering operation; and a belt-releasing solenoid valve for outputting a belt-releasing current to perform a belt-releasing operation.

[0045] The water hose may refer to a fire hose, which is a flexible tube used to transport flame-retardant liquids such as high-pressure water or foam. The water hose may be connected via connectors. The connector detection device may refer to a detection device capable of detecting a target object. The connector detection device is mounted on a take-up frame and may be used to detect the connectors of the water hose. The conveyor belt may be used to transport multiple water hoses. If the take-up solenoid valve outputs a take-up current, the fire truck may be performing a recovery operation, and multiple water hoses may be recovered via the conveyor belt. During the hose recovery process, the water hose may be misplaced. In this case, the water hose may be released for a certain distance and then recovered again to eliminate the misplacement caused by the take-up process. Specifically, the release solenoid valve may output a release current to perform the release operation. That is, if the release solenoid valve outputs a release current, the fire truck may be performing a release operation, and multiple water hoses may be released via the conveyor belt.

[0046] In one embodiment, Figure 1 As shown, a structural schematic diagram of a fire truck is provided.

[0047] A fire truck can be a hose laying truck. It includes a chassis 1, a hose take-up mechanism 2, a hose management mechanism 3, and a hose box 4. The hose take-up mechanism 2 is mounted directly above the cab where the chassis 1 is located and is used to transfer the hose to the hose box 4. The hose box 4 is used to store the hose.

[0048] The belt taking-up mechanism 2 includes a belt taking-up frame 21, a conveyor belt 22, a clamping device 23, a hydraulic motor 24 and a hose joint detector 25. The hydraulic motor 24 can be used to drive the conveyor belt 22 to rotate. The direction of rotation of the conveyor belt 22 can be a first direction from the front to the rear of the fire truck, or a second direction from the rear to the front of the fire truck. If the direction of rotation of the conveyor belt 22 is the first direction, the water hose can be conveyed to the water hose box 4. If the direction of rotation of the conveyor belt 22 is the second direction, the water hose can be transferred out of the water hose box 4. The clamping device 23 can be used to clamp the water hose to provide sufficient recovery force so that as much water hose as possible can be stored in the water hose box 4. The water hose joint detector 25 can be used to detect water hose joints.

[0049] The tape handling mechanism 3 includes a motor 31, a chain transmission mechanism 32, a torsion bar 33 and a tape handling head 34. The tape handling mechanism 3 can be used to place the water hose into the water hose box 4. Among them, the motor 31 can drive the chain transmission mechanism 32 to operate. The chain transmission mechanism 32 includes a left chain and a right chain. The head end of each chain is close to the tape taking-up mechanism 2, and the end is connected to the torsion bar 33. That is, the end of the left chain and the end of the right chain are connected by the torsion bar 33. The two ends of the tape handling head 34 are respectively installed on the left chain and the right chain of the chain transmission mechanism 32. When the motor 31 drives the chain transmission mechanism 32 to operate, it can drive the tape handling head 34 to move toward the head end of the chain, and can also drive the tape handling head 34 to move toward the end of the chain.

[0050] When the fire truck performs a recycling operation, the conveyor belt 22 rotates in a first direction, the clamping device 23 is activated, and the tape unwinding head 34 can move toward the beginning and end of the chain. At this time, the tape rewinding speed is the linear velocity of the conveyor belt 22 rotating in the first direction. Furthermore, if the tape unwinding mechanism 3 fails to neatly arrange the hose during the recycling operation, the conveyor belt 22 can be controlled to rotate in a second direction to recycle the hose. At this time, the tape unwinding speed is the linear velocity of the conveyor belt 22 rotating in the second direction.

[0051] Figure 2 The following schematically shows a flow chart of a method for determining the length of a hose recovery according to an embodiment of the present application. Figure 2 As shown, in one embodiment of the present application, a method for determining the recovery length of a water hose is provided. The method is applied to a fire truck. The fire truck includes a plurality of water hoses connected by joints and a belt take-up mechanism. The belt take-up mechanism includes a belt take-up frame, a conveyor belt, and a joint detection device. The joint detection device is installed on the belt take-up frame and is used to detect the joints of the water hose. The method includes the following steps:

[0052] Step 201 : During the recycling operation of a plurality of water hoses, the belt take-up frame is controlled to operate so as to convey the plurality of water hoses via a conveyor belt.

[0053] Step 202: Obtain the valid detection time point of the joint detected by the joint detection device for the last time at the target time point. The valid detection time point refers to the time point when the joint reaches a preset position in the detection area of ​​the joint detection device.

[0054] Step 203: Determine the number of joints that have been detected by the joint detection device at the target time point.

[0055] Step 204 : determining a first actual recovery length of the hose at a target time point based on the detected number of joints and the preset length of the hose.

[0056] Step 205: Determine the interval between the target time point and the valid detection time point.

[0057] Step 206, determining a second actual recovery length of the hose within the interval time;

[0058] Step 207 : Determine the sum of the first actual recovery length and the second actual recovery length as the actual recovery length of the hose at the target time point.

[0059] During the recycling operation of multiple water hoses, the processor can control the movement of the belt take-up frame to transport multiple water hoses through the conveyor belt. Before the target time point, the joint can be detected by the joint detection device. The joint detection device has a certain detection area, that is, the joint detection device can detect the joint multiple times from the time the joint enters the detection area to the time the joint leaves the detection area. The processor can obtain the effective detection time point of the joint that was last detected by the joint detection device at the target time point. The effective detection time point refers to the time point when the joint reaches the preset position in the detection area of ​​the joint detection device. Specifically, the preset position can be set to the center point of the detection area of ​​the joint detection device. If the joint detection device also detects the joint at other time points, at this time, although the joint is in the detection area, its detection time point is an invalid detection time point.

[0060] For example, the time point when connector A enters the detection area of ​​the connector detection device is 9:00, the time point when it arrives at the center point of the detection area is 9:05, the time point when it leaves the detection area is 9:10, and 9:15 is the target time point. The connector detection device does not detect the connector between 9:10 and 9:15. Then, it can be determined that connector A is the connector detected by the connector detection device for the last time, and the valid detection time point when the connector is detected is 9:05. If the connector detection device detects the connector between 9:00 and 9:05 (excluding 9:05), or detects the connector between 9:05 and 9:10 (excluding 9:05), the time points when the connectors are detected are all invalid detection time points. If connector A stays after arriving at the center point of the detection area, then the connector detection device will still detect the connector A. For example, the time point when connector A arrives at the center point of the detection area is 9:05. At 9:06, connector A is still in the center of the detection area and the connector detection device detects the connector A. At this time, the time point when the connector A is detected, 9:06, is also an invalid detection time point.

[0061] The processor can determine the number of joints detected by the joint detection device at the target time point, and can determine the first actual recovery length of the water hose at the target time point based on the number of detected joints and the preset length of the water hose. The preset length can refer to the standard length of each water hose. The processor can determine the interval between the target time point and the effective detection time point, and can determine the second actual recovery length of the water hose within the interval. When determining the first actual recovery length and the second actual recovery length of the water hose at the target time point, the processor can determine the sum of the first actual recovery length and the second actual recovery length, and can determine the sum as the actual recovery length of the water hose at the target time point.

[0062] Through the above technical solution, it is possible to avoid inaccurate number of joints caused by complex belt-recovering conditions, accurately determine the number of joints detected by the joint detection device at the target time point, and determine the actual recovery length of the water hose at the target time point based on the number of joints, thereby greatly improving the accuracy of determining the recovery length of the water hose and reducing the labor cost and time cost required to determine the recovery length of the water hose.

[0063] In one embodiment, determining the number of joints that the joint detection device has detected at the target time point includes: for any joint, obtaining the effective detection time point of the joint; starting from the effective detection time point, determining the transmission length of the water hose according to the transmission speed of the conveyor belt; when the transmission length is greater than the first value, the value of the counter of the joint detection device is increased by one; and the value of the counter at the target time point is determined as the number of joints that the joint detection device has detected at the target time point.

[0064] For any joint, the processor can obtain the effective detection time point of the joint. Starting from the effective detection time point, the processor can determine the transmission speed of the conveyor belt, and can determine the transmission length of the water hose based on the transmission speed of the conveyor belt. Then, the processor can further compare the transmission length with the first value. When the transmission length is greater than the first value, the value of the counter of the joint detection device increases by one. The first value can be customized according to actual conditions. For example, the first value can be 90m. When the transmission length is greater than 90m, the distance between the joint and the joint detection device is far enough, so the value of the counter can be increased by one to ensure the accuracy of the number of joints. The processor can determine the value of the counter at the target time point as the number of joints that the joint detection device has detected at the target time point.

[0065] In one embodiment, determining the number of joints that the joint detection device has detected at the target time point includes: obtaining the mark status value of the joint at the target time point; when the mark status value is the first status value, determining that the second number of joints detected by the joint detection device at the target time point is the first number of joints detected last time; when the mark status value is the second status value, determining that the second number of joints is one increased based on the first number of joints.

[0066] The processor can obtain the mark state value of the joint at the target time point. When the mark state value is a first state value, the processor can determine that the number of second joints detected by the joint detection device at the target time point is the number of first joints detected last time. When the mark state value is a second state value, the processor can determine that the number of second joints is one more than the number of first joints. The first state value can be set to 1, and the second state value can be set to 0.

[0067] In one embodiment, the default value of the mark status value is the second status value, and the method also includes: when the joint enters the detection area of ​​the joint detection device for the first time, the mark status value is modified from the second status value to the first status value; starting from the effective detection time point, when the transmission length of the water hose is greater than the second value, the mark status value is modified from the first status value to the second status value.

[0068] The default value of the mark state value is the second state value. When the joint enters the detection area of ​​the joint detection device for the first time, the processor can modify the mark state value from the second state value to the first state value. That is, it can indicate that the joint is detected for the first time by the joint detection device at this time. Starting from the effective detection time point, the processor can determine the transmission length of the water hose. When the transmission length of the water hose is greater than the second value, the processor can modify the mark state value from the first state value to the second state value. That is, it can indicate that the joint first detected by the joint detection at this time has been recovered. The second value can be customized according to actual conditions. For example, the second value can be 10m. Starting from the effective detection time point, the processor can obtain the take-up current of the take-up solenoid valve at every preset time length, and can determine the speed corresponding to the take-up current, so as to determine the recovery length of the water hose within each preset time length according to the speed, so that when the transmission length of the water hose is greater than 10m, the mark state value can be modified from 1 to 0.

[0069] In one embodiment, determining the second actual recovery length of the water hose within the interval time includes: when performing a lay-out operation on multiple water hoses within the interval time, determining the first recovery length and the lay-out length of the water hose within the interval time; and determining the second actual recovery length of the water hose within the interval time based on the first recovery length and the lay-out length.

[0070] Because the fire truck is still performing the recovery operation after the effective detection time point, the hose may be unevenly recovered during the recovery process. Consequently, the fire truck may perform the unwinding operation after the recovery operation. Therefore, when performing unwinding operations on multiple hoses within an interval, the processor can first determine the first recovered length and unwinding length of the hose within the interval, and then determine the second actual recovered length of the hose within the interval based on the first recovered length and the unwinding length. This solution better accommodates the complex operating conditions of hose recovery and more accurately determines the actual recovered length of the hose.

[0071] In one embodiment, if the fire truck continues to perform the recovery operation after the effective detection time point and does not perform the hose release operation, the recovery length of the hose after the effective detection time point can be determined as the second actual recovery length.

[0072] In one embodiment, determining the first recovery length and the unwinding length of the water hose within the interval time includes: determining the first operation time for performing the recovery operation and the second operation time for performing the unwinding operation within the interval time; determining the first recovery length of the water hose within the interval time based on the first operation time and the recovery length of the water hose in each cycle; determining the unwinding length of the water hose within the interval time based on the second operation time and the unwinding length of the water hose in each cycle.

[0073] When determining a first retrieving length and a payout length of the hose within the interval, the processor may determine a first operation duration for performing a retrieving operation and a second operation duration for performing a payout operation within the interval. The processor may determine the first retrieving length of the hose within the interval based on the first operation duration and the retrieving length of the hose per cycle, and may determine the payout length of the hose within the interval based on the second operation duration and the payout length of the hose per cycle.

[0074] In one embodiment, the fire truck also includes a take-up solenoid valve and a release solenoid valve, and determining the first operation duration for performing the recovery operation and the second operation duration for performing the release operation within the interval duration includes: when the output current of the take-up solenoid valve or the release solenoid valve is zero, determining that the fire truck stops the recovery operation or stops the release operation; when the output current of the take-up solenoid valve or the release solenoid valve is greater than zero, determining that the fire truck performs the recovery operation or performs the release operation; determining the time period when the output current of the take-up solenoid valve is greater than zero as the first operation duration for the water hose to perform the recovery operation within the interval duration; determining the time period when the output current of the release solenoid valve is greater than zero as the second operation duration for the water hose to perform the release operation within the interval duration.

[0075] The fire truck further includes a take-up solenoid valve and a release solenoid valve. When the output current of the take-up solenoid valve or the release solenoid valve is zero, the processor can determine that the fire truck stops the recovery operation or stops the release operation. When the output current of the take-up solenoid valve or the release solenoid valve is greater than zero, the processor can determine that the fire truck performs the recovery operation or performs the release operation. Furthermore, the processor can determine the duration during which the output current of the take-up solenoid valve is greater than zero as the first operation duration during which the hose performs the recovery operation within the interval duration, and can determine the duration during which the output current of the release solenoid valve is greater than zero as the second operation duration during which the hose performs the release operation within the interval duration.

[0076] In one embodiment, the fire truck also includes a belt-taking solenoid valve and a belt-releasing solenoid valve, and the method also includes: periodically obtaining the belt-taking current of the belt-taking solenoid valve within the first operation duration, and / or periodically obtaining the belt-releasing current of the belt-releasing solenoid valve within the second operation duration; determining the belt-taking speed corresponding to the belt-taking current of each cycle, and / or the belt-releasing speed corresponding to the belt-releasing current of each cycle; determining the recovery length of the water hose of each cycle according to the belt-taking speed, and / or determining the belt-releasing length of the water hose of each cycle according to the belt-releasing speed.

[0077] The processor can periodically acquire the take-up current of the take-up solenoid valve during a first operation duration, and / or periodically acquire the release current of the unwinding solenoid valve during a second operation duration. Periodic acquisition can refer to acquisition at preset intervals. If the speed of the unwinding or retrieving operation is uniform, its instantaneous speed and actual speed are consistent. If the time interval is sufficiently short, the instantaneous speed of the unwinding or retrieving operation can be used as the average speed to determine the actual rewinding length and actual unwinding length of the hose based on the instantaneous speeds during the rewinding and unwinding operations within the sufficiently short time interval. Thus, the preset interval can be set as short as possible. For example, the take-up current and / or release current can be acquired every 1 second. The processor can determine the take-up speed corresponding to the take-up current in each cycle, and / or the release speed corresponding to the release current in each cycle. The processor can then determine the rewinding length of the hose in each cycle based on the take-up speed in each cycle, and / or determine the unwinding length of the hose in each cycle based on the release speed in each cycle.

[0078] In one embodiment, before starting the unwinding operation or the retrieving operation, the processor may first obtain the historical unwinding current of the fire truck and the historical unwinding speed corresponding to the historical unwinding current, and the historical rewinding current and the historical rewinding speed corresponding to the historical rewinding current. Then, the processor may establish a first comparison table based on the historical unwinding current and the historical unwinding speed, and establish a second comparison table based on the historical rewinding current and the historical rewinding speed. The first comparison table includes each historical unwinding current and the historical unwinding speed corresponding to each historical unwinding current, and the second comparison table includes each historical rewinding current and the historical rewinding speed corresponding to each historical rewinding current. Then, after determining the unwinding current of each cycle within the second operation duration, the unwinding speed corresponding to the unwinding current of each cycle may be determined according to the historical data in the first comparison table. After determining the rewinding current of each cycle within the first operation duration, the rewinding speed corresponding to the rewinding current of each cycle may be determined according to the historical data in the second comparison table.

[0079] For example, if the take-up current for a cycle is 10.5A, and the second comparison table includes a historical take-up speed of 6m / s corresponding to a historical take-up current of 10A, and a historical take-up speed of 8m / s corresponding to a historical take-up current of 11A, the processor can determine the take-up speed corresponding to a take-up current of 10.5A based on the historical take-up speeds of 6m / s and 8m / s, and through interpolation. That is, the take-up speed corresponding to a take-up current of 10.5A is 7m / s. If the cycle is 1s, the reclaimed length of the hose for that cycle can be determined to be 7m. If the second comparison table includes a historical pay-out speed of 7m / s corresponding to a historical pay-out current of 10.5A, the pay-out speed corresponding to the pay-out current for that cycle can be determined to be 7m / s.

[0080] For example, the effective detection time point of the joint detected by the joint detection device for the last time is 9:05, the target time point is 9:15, the fire truck performs the recovery operation in the time period of 9:05-9:12, performs the tape release operation in the time period of 9:12-9:13, and performs the recovery operation in the time period of 9:13-9:15. Then, the first operation duration includes the time period between 9:05-9:12 and the time period between 9:13-9:15, and the second operation duration includes the time period between 9:12-9:13. At this time, the processor can obtain the tape-taking current once every Δt time interval starting from 9:05. If Δt is 1s, the tape-taking current can be obtained 420 times between 9:05 and 9:12, and the processor can determine the tape-taking speed corresponding to each tape-taking current. Thus, the processor can determine the length of each retraction based on the retraction speed corresponding to each retraction current, and determine the total retraction length corresponding to 420 retraction currents as the hose retraction length between 9:05 and 9:12. The hose retraction length between 9:13 and 9:15 can also be determined based on the method for determining the hose retraction length between 9:05 and 9:12, which will not be described in detail here. Thus, the sum of the hose retraction length between 9:05 and 9:12 and the hose retraction length between 9:13 and 9:15 can be determined as the first hose retraction length between 9:05 and 9:15. The processor can obtain the retraction current at intervals of Δt starting at 9:12. If Δt is 1 second, the retraction current can be obtained 60 times between 9:12 and 9:13, and the processor can determine the payout speed corresponding to each payout current. Therefore, the length of each tape release can be determined based on the tape release speed corresponding to each tape release current, and the total tape release length corresponding to 60 tape release currents can be determined as the tape release length of the water hose between 9:05 and 9:15.

[0081] In one embodiment, Figure 3 As shown, a flow chart of another method for determining the hose recovery length is provided.

[0082] After starting to reel in the hose, if it continues to reel in within a certain period of time and the reel proportional valve is open, the fire truck can be determined to be currently performing a reeling operation. At this point, the processor can determine the reeling current of the reeling solenoid valve corresponding to each interval Δt. Based on the reeling current, the reeling speed for each interval Δt can be determined, and the reeling length for each interval Δt can be determined based on the reeling speed. If the reel proportional valve is not open and the reeling proportional valve is open, the fire truck can be determined to be currently performing a reeling operation. At this point, the processor can determine the reeling current of the reeling solenoid valve corresponding to each interval Δt. Based on the reeling current, the reeling speed for each interval Δt can be determined, and the reeling length for each interval Δt can be determined based on the reeling speed. After determining the reeling and reeling lengths for each interval Δt, the marked reeling length Lb can be further calculated. Lb represents the reeled length of the hose currently being reeled. The reeling length La can then be further calculated. After determining the retracted hose length La, the cumulative retracted hose length L can be calculated. The cumulative retracted hose length L = the preset length of the hose × the number of retracted hoses + La.

[0083] If both the reeling proportional valve and the unreeling proportional valve are closed, the fire truck can be determined to be temporarily pausing hose retrieving. If the joint detection device detects a hose joint, the mark status value of the hose joint marker A can be determined to be N or Y. For example, N can be 0 and Y can be 1. If the mark status value of marker A is N (the N branch of marker A), it can be determined that the hose joint has entered the detection area of ​​the joint detection device for the first time. The mark status value is modified from N to Y (marker A=Y), and the hose count counter can be incremented by one. Increasing the hose count counter by one clears the value of Lb, and the reeling length La can be corrected to the hose length, i.e., the preset hose length. If the mark status value of marker A is Y (the Y branch of marker A), it can be determined that the hose count counter remains unchanged, and it can be determined whether Lb is greater than 10. If Lb is greater than 10, the mark status value can be modified from Y to N (marker A=N). At this point, the mark status value is reset to the default value, and the number of joints can be changed after the joint detection device detects the joint. When Lb is less than or equal to 10, the flag status value is kept Y.

[0084] In one embodiment, after determining the actual hose recovery length at the target time, the processor may transmit the actual recovery length to a display device for display. The display device may be a touch screen or display screen with display capabilities. Displaying the actual recovery length on the display device facilitates recovery supervisors to understand the hose recovery status.

[0085] Through the above technical solution, it is possible to avoid inaccurate number of joints caused by complex belt-recovering conditions, accurately determine the number of joints detected by the joint detection device at the target time point, and determine the actual recovery length of the water hose at the target time point based on the number of joints, thereby greatly improving the accuracy of determining the recovery length of the water hose and reducing the labor cost and time cost required to determine the recovery length of the water hose.

[0086] Figure 2 and Figure 3 FIG. 1 is a flow chart of a method for determining the length of a hose recovery in one embodiment. Figure 2 and Figure 3 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 2 and Figure 3 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0087] In one embodiment, a storage medium is provided, on which a program is stored. When the program is executed by a processor, the method for determining the hose recovery length is implemented.

[0088] In one embodiment, a processor is provided, and the processor is configured to run a program, wherein the program executes the above-mentioned method for determining the hose recovery length when running.

[0089] In one embodiment, a device for determining a hose recovery length is provided, comprising the processor described above.

[0090] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 4As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure) and a database (not shown in the figure) connected via a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02 and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device is used to store data such as the actual recovery length of the water hose at the target time point. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program B02 is executed by the processor A01, a method for determining the recovery length of the water hose is implemented.

[0091] Those skilled in the art will understand that Figure 4 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0092] An embodiment of the present application provides a device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, the following steps are implemented: in the process of recovering multiple water hoses, controlling the operation of a belt-receiving rack to convey multiple water hoses through a conveyor belt; obtaining the effective detection time point of the joint detected by the joint detection device for the last time at the target time point, the effective detection time point being the time point when the joint reaches a preset position in the detection area of ​​the joint detection device; determining the number of joints that the joint detection device has detected at the target time point; determining the first actual recovery length of the water hose at the target time point based on the number of detected joints and the preset length of the water hose; determining the interval between the target time point and the effective detection time point; determining the second actual recovery length of the water hose within the interval; and determining the sum of the first actual recovery length and the second actual recovery length as the actual recovery length of the water hose at the target time point.

[0093] In one embodiment, determining the number of joints that the joint detection device has detected at the target time point includes: for any joint, obtaining the effective detection time point of the joint; starting from the effective detection time point, determining the transmission length of the water hose according to the transmission speed of the conveyor belt; when the transmission length is greater than the first value, the value of the counter of the joint detection device is increased by one; and the value of the counter at the target time point is determined as the number of joints that the joint detection device has detected at the target time point.

[0094] In one embodiment, determining the number of joints that the joint detection device has detected at the target time point includes: obtaining the mark status value of the joint at the target time point; when the mark status value is the first status value, determining that the second number of joints detected by the joint detection device at the target time point is the first number of joints detected last time; when the mark status value is the second status value, determining that the second number of joints is one increased based on the first number of joints.

[0095] In one embodiment, the default value of the mark status value is the second status value, and the method also includes: when the joint enters the detection area of ​​the joint detection device for the first time, the mark status value is modified from the second status value to the first status value; starting from the effective detection time point, when the transmission length of the water hose is greater than the second value, the mark status value is modified from the first status value to the second status value.

[0096] In one embodiment, determining the second actual recovery length of the water hose within the interval time includes: when performing a lay-out operation on multiple water hoses within the interval time, determining the first recovery length and the lay-out length of the water hose within the interval time; and determining the second actual recovery length of the water hose within the interval time based on the first recovery length and the lay-out length.

[0097] In one embodiment, determining the first recovery length and the unwinding length of the water hose within the interval time includes: determining the first operation time for performing the recovery operation and the second operation time for performing the unwinding operation within the interval time; determining the first recovery length of the water hose within the interval time based on the first operation time and the recovery length of the water hose in each cycle; determining the unwinding length of the water hose within the interval time based on the second operation time and the unwinding length of the water hose in each cycle.

[0098] In one embodiment, the fire truck also includes a take-up solenoid valve and a release solenoid valve, and determining the first operation duration for performing the recovery operation and the second operation duration for performing the release operation within the interval duration includes: when the output current of the take-up solenoid valve or the release solenoid valve is zero, determining that the fire truck stops the recovery operation or stops the release operation; when the output current of the take-up solenoid valve or the release solenoid valve is greater than zero, determining that the fire truck performs the recovery operation or performs the release operation; determining the time period when the output current of the take-up solenoid valve is greater than zero as the first operation duration for the water hose to perform the recovery operation within the interval duration; determining the time period when the output current of the release solenoid valve is greater than zero as the second operation duration for the water hose to perform the release operation within the interval duration.

[0099] In one embodiment, the fire truck also includes a belt-taking solenoid valve and a belt-releasing solenoid valve, and the method also includes: periodically obtaining the belt-taking current of the belt-taking solenoid valve within the first operation duration, and / or periodically obtaining the belt-releasing current of the belt-releasing solenoid valve within the second operation duration; determining the belt-taking speed corresponding to the belt-taking current of each cycle, and / or the belt-releasing speed corresponding to the belt-releasing current of each cycle; determining the recovery length of the water hose of each cycle according to the belt-taking speed, and / or determining the belt-releasing length of the water hose of each cycle according to the belt-releasing speed.

[0100] The present application also provides a computer program product, which, when executed on a data processing device, is adapted to execute a program that initiates the steps of the method for determining the hose recovery length.

[0101] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0102] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0103] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0104] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0105] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0106] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0107] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0108] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0109] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A method for determining the length of a hose recovery, characterized in that: The method is applied to a fire truck, which includes a plurality of hoses connected by joints and a belt take-up mechanism, wherein the belt take-up mechanism includes a belt take-up frame, a conveyor belt, and a joint detection device, wherein the joint detection device is mounted on the belt take-up frame and is used to detect the joints of the hoses. The method includes: During the recycling operation of the plurality of water hoses, controlling the belt take-up frame to operate so as to convey the plurality of water hoses via the conveyor belt; Obtaining the effective detection time point of the joint detected by the joint detection device for the last time at the target time point, wherein the effective detection time point refers to the time point when the joint reaches a preset position in the detection area of ​​the joint detection device; Determining the number of joints that the joint detection device has detected at the target time point; determining a first actual recovery length of the hose at the target time point based on the detected number of joints and a preset length of the hose; Determining the interval between the target time point and the effective detection time point; determining a second actual recovered length of the hose within the interval time; Determine the sum of the first actual recovery length and the second actual recovery length as the actual recovery length of the hose at the target time point; Wherein, determining the number of joints that the joint detection device has detected at the target time point includes: For any joint, obtaining the effective detection time point of the joint; Starting from the effective detection time point, determining the conveying length of the water belt according to the conveying speed of the conveyor belt; When the transmission length is greater than a first value, the value of the counter of the joint detection device is increased by one; The value of the counter at the target time point is determined as the number of joints that have been detected by the joint detection device at the target time point.

2. The method for determining the hose recovery length according to claim 1, characterized in that: Determining the number of joints that have been detected by the joint detection device at the target time point includes: Obtaining a marking state value of the joint at the target time point; When the mark state value is the first state value, determining that the second number of joints detected by the joint detection device at the target time point is the first number of joints detected last time; When the flag state value is the second state value, the second connector quantity is determined to be one more than the first connector quantity.

3. The method for determining the hose recovery length according to claim 2, characterized in that: The default value of the mark state value is the second state value, and the method further includes: When a joint enters the detection area of ​​the joint detection device for the first time, modifying the flag state value from the second state value to the first state value; Starting from the effective detection time point, when the transmission length of the water hose is greater than a second value, the mark status value is modified from the first status value to the second status value.

4. The method for determining the hose recovery length according to claim 1, wherein: Determining the second actual recovery length of the hose within the interval time includes: When a plurality of hoses are unwinding during the time interval, determining a first recovery length and an unwinding length of the hoses during the time interval; A second actual recovered length of the hose within the interval is determined according to the first recovered length and the unwinding length.

5. The method for determining the hose recovery length according to claim 4, characterized in that: Determining a first recovery length and a first unwinding length of the hose within the time interval includes: Determine a first operation duration for performing a recovery operation and a second operation duration for performing the tape unwinding operation within the interval duration; Determine a first recovery length of the hose within the interval time according to the first operation time and the recovery length of the hose in each cycle; The unwinding length of the water hose within the interval duration is determined according to the second operation duration and the unwinding length of the water hose in each cycle.

6. The method for determining the hose recovery length according to claim 5, characterized in that: The fire truck further includes a belt rewinding solenoid valve and a belt unwinding solenoid valve, and determining a first operation duration for performing a rewinding operation and a second operation duration for performing the belt unwinding operation within the interval time includes: When the output current of the tape-receiving solenoid valve or the tape-releasing solenoid valve is zero, determining that the fire truck stops the retrieving operation or stops the tape-releasing operation; When the output current of the tape-retrieving solenoid valve or the tape-releasing solenoid valve is greater than zero, determining that the fire truck performs the retrieving operation or the tape-releasing operation; Determining the duration during which the output current of the belt-receiving solenoid valve is greater than zero as the first operation duration for the water hose to perform the recovery operation within the interval duration; The duration during which the output current of the unwinding solenoid valve is greater than zero is determined as a second operation duration during which the water hose performs the unwinding operation within the interval duration.

7. The method for determining the hose recovery length according to claim 5, characterized in that: The fire truck further includes a belt take-up solenoid valve and a belt unwinding solenoid valve, and the method further includes: Periodically acquiring a take-up current of the take-up solenoid valve during the first operation duration, and / or periodically acquiring a pay-out current of the pay-out solenoid valve during the second operation duration; determining a take-up speed corresponding to the take-up current of each cycle, and / or a pay-out speed corresponding to the pay-out current of each cycle; The reclaimed length of the water hose in each cycle is determined according to the rewinding speed, and / or the unwinding length of the water hose in each cycle is determined according to the unwinding speed.

8. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instructions are executed by a processor, the processor is configured to perform the method for determining the hose recovery length according to any one of claims 1 to 7.

9. A processor, characterized in that: The method is configured to perform the method for determining the hose recovery length according to any one of claims 1 to 7.

10. A device for determining the length of a hose recovery, characterized in that: The apparatus comprises: a processor according to claim 9.

11. A fire truck, characterized in that: The fire truck comprises: Multiple hoses connected by joints; The belt taking-up mechanism comprises a belt taking-up frame, a conveyor belt and a joint detection device, wherein the joint detection device is mounted on the belt taking-up frame and is used to detect the joint of the water hose; and The device for determining the hose recovery length according to claim 10.

12. The fire truck according to claim 11, characterized in that: The fire truck also includes: a take-up solenoid valve, configured to output a take-up current to perform a retrieving operation; and The unwinding solenoid valve is used to output unwinding current to perform unwinding operation.

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