Positioning method and device for high-lifting fire truck, terminal, storage medium and fire truck

Abstract

The present application relates to the technical field of aerial fire fighting vehicle operation, and particularly relates to a positioning method and device for aerial fire fighting vehicle, a terminal, a storage medium and a fire fighting vehicle. The method comprises the following steps: firstly, obtaining the position of a rescue area; then, constructing a positioning equation about the position of the fire fighting vehicle, the parameters of the joints of the fire fighting vehicle and the position of the rescue area according to the position of the rescue area and the parameters of the joints of the fire fighting vehicle; next, determining the operation area of the fire fighting vehicle that meets the rescue condition of the rescue area by means of offsetting the coordinate points that meet the rescue condition according to the positioning equation and the constraint conditions of the joints; finally, determining the optimal positioning point according to the operation area of the fire fighting vehicle. The present application can determine whether the position of the fire fighting vehicle meets the rescue condition through the positioning equation, and determine the boundary of the operation area of the fire fighting vehicle by means of offsetting the coordinate points that meet the rescue condition point by point, so as to avoid the problem that the rescue opportunity is delayed due to the inaccurate positioning of the fire fighting vehicle and the extension of the lifting mechanism.

Description

Technical Field

[0001] This invention relates to the field of aerial ladder fire truck operation technology, and in particular to an aerial ladder fire truck positioning method, device, terminal, storage medium, and fire truck. Background Technology

[0002] Aerial fire trucks are fire trucks equipped with aerial ladders and fire extinguishing devices for firefighting or rescue operations at height. They include: ladder trucks, aerial platform trucks, and aerial spray fire trucks. Ladder trucks typically have a telescopic ladder, and may include a lifting platform and fire extinguishing equipment, allowing firefighters to ascend to extinguish fires and rescue trapped individuals; they are suitable for fighting fires in high-rise buildings. Aerial platform trucks typically have a large hydraulic lifting platform, allowing firefighters to ascend to fight fires in high-rise buildings, tall facilities, oil tanks, etc., and to rescue trapped individuals. Aerial spray fire trucks are typically equipped with folding, telescopic, or combined booms, a turntable, and fire spray devices, allowing firefighters to remotely operate the fire spray device at the top of the boom from the ground to spray the target in the air.

[0003] When operating at fire and rescue sites, aerial ladder trucks need to be positioned before extending their lifting structures to facilitate subsequent rescue operations. Related technologies for aerial ladder trucks primarily rely on visual estimation and determination of the height and location of the rescue target to select a suitable operating position.

[0004] When the elevation is high, such as tens of meters or more, the choice of operating location for aerial ladder fire trucks is limited by their working range. Occasionally, the distance between the aerial ladder platform and the rescue target becomes too far, affecting the rescue operation. Furthermore, when repositioning an aerial ladder fire truck, the elevation mechanism needs to be extended and retracted, a process that usually takes several minutes, delaying the rescue opportunity.

[0005] Therefore, it is necessary to develop a positioning method for aerial fire trucks. Summary of the Invention

[0006] The present invention provides a method, device, terminal, storage medium and fire truck for locating aerial ladder fire trucks, which solves the problem of inaccurate positioning of aerial ladder fire trucks in the prior art.

[0007] In a first aspect, embodiments of the present invention provide a method for positioning a fire truck with a raised platform, comprising:

[0008] Obtain the location of the rescue area;

[0009] Based on the location of the rescue area and the parameters of multiple joints of the fire truck, a positioning equation is constructed regarding the location of the fire truck, the parameters of the multiple joints of the fire truck, and the location of the fire truck's rescue area.

[0010] Based on the positioning equation and the constraints of multiple joints, the fire truck operation area that meets the rescue conditions is determined by offsetting the coordinate points that meet the rescue conditions.

[0011] The optimal positioning point is determined based on the fire truck's operating area.

[0012] In one possible implementation, the elevated fire truck has a two-section boom and a slewing support for driving the two sections of the boom to rotate horizontally. A first end of the first boom is hinged to the slewing support, and a first end of the second boom is hinged to a second end of the first boom. The positioning equation is:

[0013]

[0014] In the formula, These are the three coordinates of the vehicle's location. These are three coordinates representing the location of the rescue area. The length of the first arm. The length of the second arm. Let be the angle between the first arm and the horizontal plane. Let be the angle between the second arm and the horizontal plane. The height of the hinge point between the first arm and the slewing support above the ground.

[0015] In one possible implementation, the first arm of the two-section arm has a telescopic function, and the constraints of the plurality of joints are:

[0016]

[0017] In the formula, The maximum lifting angle of the first arm. This is the maximum lifting angle of the second arm. The extension length of the first arm. This is the retraction length of the first arm.

[0018] In one possible implementation, determining the fire truck operating area that meets the rescue conditions of the rescue area by offsetting coordinate points that meet the rescue conditions, based on the positioning equation and the constraints of multiple joints, includes:

[0019] Based on the constraints of the multiple joints and the positioning equation, an initial position that satisfies the rescue conditions of the rescue area is determined.

[0020] Extract the first coordinate axis data of the initial position;

[0021] Use the first coordinate axis data as the first boundary data;

[0022] The first boundary data is offset point by point, and after each offset, the maximum second coordinate axis data and the minimum second coordinate axis data that meet the rescue conditions of the rescue area are determined according to the offset first boundary data, the constraint conditions of the multiple joints and the positioning equation, thereby obtaining multiple boundary coordinate pairs. The boundary coordinate pairs include the maximum position formed by the maximum second coordinate axis data and the offset first boundary data, and the minimum position formed by the minimum second coordinate axis data and the offset first boundary data.

[0023] The operating area of ​​the fire truck is determined based on the multiple boundary coordinate pairs.

[0024] In one possible implementation, the first boundary data is offset point by point, and after each offset, the maximum and minimum second coordinate axis data that satisfy the rescue conditions of the rescue area are determined based on the offset first boundary data, the constraints of the plurality of joints, and the positioning equation, thereby obtaining multiple boundary coordinate pairs, including:

[0025] Substitute the first boundary data into the positioning equation, and solve for the maximum and minimum second coordinate axis data that satisfy the rescue conditions of the rescue area under the constraints of the multiple joints.

[0026] Boundary coordinate pairs are constructed based on the combination of the first boundary data and the largest second coordinate axis data, and the combination of the first boundary data and the smallest second coordinate axis data;

[0027] If the absolute value of the difference between the maximum second coordinate axis data and the minimum second coordinate axis data is greater than a threshold, then the first direction offset and the second direction offset are adjusted, and the first direction offset and the first direction offset are superimposed on the first coordinate axis data respectively. The two superimposed results are used as two first boundary data, and the process jumps to the step of substituting the first boundary data into the positioning equation and solving the maximum second coordinate axis data and the minimum second coordinate axis data that meet the rescue conditions of the rescue area under the constraints of the multiple joints.

[0028] In one possible implementation, the fire truck operating area is an operating area defined by multiple boundary point locations, and determining the optimal positioning point based on the fire truck operating area includes:

[0029] Extract multiple first boundary data corresponding to the first coordinate axis and multiple second boundary data corresponding to the second coordinate axis from the multiple boundary point positions;

[0030] Calculate the average value of the plurality of first boundary data and the average value of the plurality of second boundary data;

[0031] The average value of the plurality of first boundary data and the average value of the plurality of second boundary data are respectively used as the coordinates of the first coordinate axis and the second coordinate axis of the optimal positioning point.

[0032] Secondly, embodiments of the present invention provide a positioning device for aerial ladder trucks, used to implement the aerial ladder truck positioning method as described in the first aspect or any possible implementation thereof, wherein the aerial ladder truck positioning device includes:

[0033] The rescue area acquisition module is used to acquire the location of the rescue area;

[0034] The positioning equation determination module is used to construct positioning equations about the location of the fire truck, the parameters of the multiple joints of the fire truck, and the location of the fire truck's rescue area based on the location of the rescue area and the parameters of the multiple joints of the fire truck.

[0035] The fire truck operation area calculation module is used to determine the fire truck operation area that meets the rescue conditions by offsetting the coordinate points that meet the rescue conditions, based on the positioning equation and the constraints of multiple joints.

[0036] as well as,

[0037] The optimal positioning point determination module is used to determine the optimal positioning point based on the fire truck's operating area.

[0038] Thirdly, embodiments of the present invention provide a terminal, including a memory and a processor, wherein the memory stores a computer program that can run on the processor, and the processor executes the computer program to implement the steps of the method as described in the first aspect or any possible implementation of the first aspect.

[0039] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method as described in the first aspect or any possible implementation thereof.

[0040] Fifthly, embodiments of the present invention provide a fire truck with a raised platform, comprising: a vehicle body and a raised platform fixedly disposed above the vehicle body, the raised platform having two boom sections and a slewing support for driving the two boom sections to rotate horizontally, a first end of the first boom section being hinged to the slewing support, and a first end of the second boom section being hinged to the second end of the first boom section, characterized in that it further comprises a terminal as described in the third aspect above.

[0041] The beneficial effects of the embodiments of the present invention compared with the prior art are as follows:

[0042] This invention discloses a method for locating aerial ladder trucks. First, the location of the rescue area is acquired. Then, based on the location of the rescue area and parameters of multiple joints of the fire truck, a positioning equation is constructed relating the fire truck's location, the parameters of the multiple joints, and the location of the rescue area. Next, based on the positioning equation and the constraints of the multiple joints, the fire truck's operating area, satisfying the rescue conditions, is determined by offsetting coordinate points that meet the rescue conditions. Finally, the optimal positioning point is determined based on the fire truck's operating area. This invention constructs a positioning equation, which can clearly determine whether the fire truck's location meets the rescue conditions. Under constraints, this invention determines the boundary of the fire truck's operating area by offsetting coordinate points that meet the rescue conditions point by point, avoiding the problem of inaccurate fire truck positioning requiring delays in launching and retracting the aerial ladder mechanism. This invention finds the innermost boundary point of the fire truck's operating area as the optimal positioning point, preventing positioning deviations caused by the fire truck positioning system and ensuring that the fire truck can complete positioning in one go, thus guaranteeing timely rescue. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a flowchart of the positioning method for aerial fire trucks provided in the embodiments of the present invention;

[0045] Figure 2 This is a functional block diagram of the aerial fire truck positioning device provided in the embodiments of the present invention;

[0046] Figure 3 This is a terminal function block diagram provided by an embodiment of the present invention;

[0047] Figure 4 This is a schematic diagram of a fire truck with a two-section boom provided by an embodiment of the present invention. Detailed Implementation

[0048] In the following description, specific details such as particular system structures and techniques are set forth for illustrative purposes and not for limitation, so as to provide a thorough understanding of embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, and methods are omitted so as not to obscure the description of the invention with unnecessary detail.

[0049] To make the objectives, technical solutions, and advantages of the present invention clearer, specific embodiments will be described below in conjunction with the accompanying drawings.

[0050] The embodiments of the present invention will be described in detail below. This example is implemented based on the technical solution of the present invention, and provides detailed implementation methods and specific operation processes. However, the protection scope of the present invention is not limited to the following embodiments.

[0051] Figure 1 A flowchart illustrating the positioning method for aerial fire trucks provided in an embodiment of the present invention.

[0052] like Figure 1 As shown, a flowchart illustrating the implementation of the aerial fire truck positioning method provided by an embodiment of the present invention is presented, and is described in detail below:

[0053] In step 101, the location of the rescue area is obtained.

[0054] In step 102, based on the location of the rescue area and the parameters of multiple joints of the fire truck, a positioning equation is constructed regarding the location of the fire truck, the parameters of the multiple joints of the fire truck, and the location of the fire truck's rescue area.

[0055] In some embodiments, the elevated fire truck has a two-section boom and a slewing support for driving the two sections of the boom to rotate horizontally. A first end of the first boom is hinged to the slewing support, and a first end of the second boom is hinged to a second end of the first boom. The positioning equation is:

[0056]

[0057] In the formula, These are the three coordinates of the vehicle's location. These are three coordinates representing the location of the rescue area. The length of the first arm. The length of the second arm. Let be the angle between the first arm and the horizontal plane. Let be the angle between the second arm and the horizontal plane. The height of the hinge point between the first arm and the slewing support above the ground.

[0058] For example, such as Figure 4 As shown in the figure, this is a type of aerial fire truck with a two-section boom. The lower end of the lower boom is rotatably connected to the vehicle body via a slewing support, and the upper end is hinged to the lower end of the upper boom. When raising the vehicle, the lower boom and the upper boom rise separately. In addition, in some scenarios, the lower boom also has a telescopic function to increase the raising height.

[0059] For aerial ladder fire trucks in the above application scenarios, we can establish a relationship equation between the location of the fire truck's operating point, the angle of the outrigger, and the location of the rescue area:

[0060]

[0061] In the formula, These are the three coordinates of the vehicle's location. These are three coordinates representing the location of the rescue area. The length of the first arm. The length of the second arm. Let be the angle between the first arm and the horizontal plane. Let be the angle between the second arm and the horizontal plane. The height of the hinge point between the first arm and the slewing support above the ground.

[0062] In step 103, based on the positioning equation and the constraints of multiple joints, the fire truck operation area that meets the rescue conditions is determined by offsetting the coordinate points that meet the rescue conditions.

[0063] In some embodiments, the first arm of the two-section arm has a telescopic function, and the constraints of the plurality of joints are as follows:

[0064]

[0065] In the formula, The maximum lifting angle of the first arm. This is the maximum lifting angle of the second arm. The extension length of the first arm. This is the retraction length of the first arm.

[0066] In some implementations, determining the fire truck operating area that meets the rescue conditions of the rescue zone by offsetting coordinate points that meet the rescue conditions, based on the positioning equation and the constraints of multiple joints, includes:

[0067] Based on the constraints of the multiple joints and the positioning equation, an initial position that satisfies the rescue conditions of the rescue area is determined.

[0068] Extract the first coordinate axis data of the initial position;

[0069] Use the first coordinate axis data as the first boundary data;

[0070] The first boundary data is offset point by point, and after each offset, the maximum second coordinate axis data and the minimum second coordinate axis data that meet the rescue conditions of the rescue area are determined according to the offset first boundary data, the constraint conditions of the multiple joints and the positioning equation, thereby obtaining multiple boundary coordinate pairs. The boundary coordinate pairs include the maximum position formed by the maximum second coordinate axis data and the offset first boundary data, and the minimum position formed by the minimum second coordinate axis data and the offset first boundary data.

[0071] The operating area of ​​the fire truck is determined based on the multiple boundary coordinate pairs.

[0072] In some implementations, the first boundary data is offset point by point, and after each offset, the maximum and minimum second coordinate axis data that satisfy the rescue conditions of the rescue area are determined based on the offset first boundary data, the constraints of the plurality of joints, and the positioning equation, thereby obtaining multiple boundary coordinate pairs, including:

[0073] Substitute the first boundary data into the positioning equation, and solve for the maximum and minimum second coordinate axis data that satisfy the rescue conditions of the rescue area under the constraints of the multiple joints.

[0074] Boundary coordinate pairs are constructed based on the combination of the first boundary data and the largest second coordinate axis data, and the combination of the first boundary data and the smallest second coordinate axis data;

[0075] If the absolute value of the difference between the maximum second coordinate axis data and the minimum second coordinate axis data is greater than a threshold, then the first direction offset and the second direction offset are adjusted, and the first direction offset and the first direction offset are superimposed on the first coordinate axis data respectively. The two superimposed results are used as two first boundary data, and the process jumps to the step of substituting the first boundary data into the positioning equation and solving the maximum second coordinate axis data and the minimum second coordinate axis data that meet the rescue conditions of the rescue area under the constraints of the multiple joints.

[0076] For example, in determining the fire truck operation area that meets the rescue conditions, the present invention is obtained by acquiring a coordinate point that meets the rescue conditions and shifting that coordinate point point by point.

[0077] Specifically, firstly, based on the constraints of the joints and the aforementioned positioning equations, an initial position that satisfies the rescue conditions is found. The constraint equations are as follows:

[0078]

[0079] In the formula, The maximum lifting angle of the first arm. This is the maximum lifting angle of the second arm. The extension length of the first arm. This is the retraction length of the first arm.

[0080] Then, under the constraints of this constraint equation, a coordinate point that meets the rescue conditions is found according to the positioning equation. Then, the data of one of the coordinate axes, such as the x-axis data, is extracted and substituted into the positioning equation to find the data of the y-axis with the largest and smallest values ​​that meet the rescue conditions. After finding them, the obtained data of the largest and smallest y-axis values ​​are combined with the x-axis data respectively to serve as boundary point data. If the absolute value of the difference between the data of the largest and smallest y-axis values ​​is greater than a preset value, the offset in the first direction and the offset in the second direction are adjusted. For example, the offset is 0.05m each time, that is, two offset values ​​are generated in two directions, which are +0.05 and -0.05 respectively. The above x-axis data is superimposed, and the superimposed data is entered again into the above steps of finding the data of the y-axis with the largest and smallest values ​​that meet the rescue conditions, thereby obtaining the position coordinate data of multiple boundary points. Based on these boundary point position coordinate data, the operating area where the fire truck can carry out rescue can be determined.

[0081] This invention, based on the fire truck's positioning equation and constraints, uses a gridded approach to identify boundary points that meet the rescue conditions, resulting in more reliable boundary point data. Once the rescue area is clearly defined, the problem of inaccurate fire truck positioning requiring the deployment and retraction of aerial ladders, thus delaying rescue efforts, can be avoided.

[0082] In step 104, the optimal positioning point is determined based on the fire truck's operating area.

[0083] In some embodiments, the fire truck operating area is an operating area defined by multiple boundary point locations, and step 104 includes:

[0084] Extract multiple first boundary data corresponding to the first coordinate axis and multiple second boundary data corresponding to the second coordinate axis from the multiple boundary point positions;

[0085] Calculate the average value of the plurality of first boundary data and the average value of the plurality of second boundary data;

[0086] The average value of the plurality of first boundary data and the average value of the plurality of second boundary data are respectively used as the coordinates of the first coordinate axis and the second coordinate axis of the optimal positioning point.

[0087] For example, in determining the optimal positioning point based on the work area, the embodiments of the present invention extract the x-axis coordinate data and y-axis coordinate data from the multiple boundary point position coordinate data obtained in the aforementioned steps, calculate the average value of each, and take the average value of the two axes as the optimal positioning point.

[0088] This invention discloses a method for locating aerial ladder trucks. First, the location of the rescue area is acquired. Then, based on the location of the rescue area and parameters of multiple joints of the fire truck, a positioning equation is constructed relating the fire truck's location, the parameters of the multiple joints, and the location of the rescue area. Next, based on the positioning equation and the constraints of the multiple joints, the fire truck's operating area, satisfying the rescue conditions, is determined by offsetting coordinate points that meet the rescue conditions. Finally, the optimal positioning point is determined based on the fire truck's operating area. This invention constructs a positioning equation, which can clearly determine whether the fire truck's location meets the rescue conditions. Under constraints, this invention determines the boundary of the fire truck's operating area by offsetting coordinate points that meet the rescue conditions point by point, avoiding the problem of inaccurate fire truck positioning requiring delays in launching and retracting the aerial ladder mechanism. This invention finds the innermost boundary point of the fire truck's operating area as the optimal positioning point, preventing positioning deviations caused by the fire truck positioning system and ensuring that the fire truck can complete positioning in one go, thus guaranteeing timely rescue.

[0089] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0090] The following are embodiments of the apparatus of the present invention. For details not described in detail, please refer to the corresponding method embodiments described above.

[0091] Figure 2 This is a functional block diagram of the aerial fire truck positioning device provided in an embodiment of the present invention, with reference to... Figure 2 The positioning device for aerial ladder fire trucks includes: a rescue area acquisition module 201, a positioning equation determination module 202, a fire truck operation area calculation module 203, and an optimal positioning point determination module 204, wherein:

[0092] The rescue area acquisition module 201 is used to acquire the location of the rescue area;

[0093] The positioning equation determination module 202 is used to construct a positioning equation about the position of the fire truck, the parameters of the multiple joints of the fire truck, and the position of the fire truck rescue area based on the location of the rescue area and the parameters of the multiple joints of the fire truck.

[0094] The fire truck operation area calculation module 203 is used to determine the fire truck operation area that meets the rescue conditions by offsetting the coordinate points that meet the rescue conditions, based on the positioning equation and the constraints of multiple joints.

[0095] The optimal positioning point determination module 204 is used to determine the optimal positioning point based on the fire truck's operating area.

[0096] Figure 3 This is a functional block diagram of the terminal provided in an embodiment of the present invention. For example... Figure 3 As shown, the terminal 3 in this embodiment includes a processor 300 and a memory 301, wherein the memory 301 stores a computer program 302 that can run on the processor 300. When the processor 300 executes the computer program 302, it implements the steps in the above-described aerial ladder fire truck positioning methods and embodiments, for example... Figure 1 Steps 101 to 104 are shown.

[0097] For example, the computer program 302 may be divided into one or more modules / units, which are stored in the memory 301 and executed by the processor 300 to complete the present invention.

[0098] The terminal 3 can be a desktop computer, laptop, handheld computer, cloud server, or other computing device. The terminal 3 may include, but is not limited to, a processor 300 and a memory 301. Those skilled in the art will understand that... Figure 3 This is merely an example of terminal 3 and does not constitute a limitation on terminal 3. It may include more or fewer components than shown, or combine certain components, or different components. For example, terminal 3 may also include input / output devices, network access devices, buses, etc.

[0099] The processor 300 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0100] The memory 301 can be an internal storage unit of the terminal 3, such as a hard disk or memory of the terminal 3. The memory 301 can also be an external storage device of the terminal 3, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the terminal 3. Furthermore, the memory 301 can include both internal storage units and external storage devices of the terminal 3. The memory 301 is used to store the computer program 302 and other programs and data required by the terminal 3. The memory 301 can also be used to temporarily store data that has been output or will be output.

[0101] Furthermore, this invention also provides a fire truck with a raised platform, comprising: a vehicle body and a raised platform fixedly mounted above the vehicle body. The raised platform has two boom sections and a slewing support for driving the two boom sections to rotate horizontally. The first end of the first boom section is hinged to the slewing support, and the second end of the second boom section is hinged to the second end of the first boom section. The fire truck also has a terminal as described in the third aspect above, through which the optimal positioning point can be quickly determined, thereby enabling the fire truck to be positioned smoothly and to carry out rescue operations in a timely manner.

[0102] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the aforementioned method embodiments, and will not be repeated here.

[0103] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0104] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0105] In the embodiments provided by this invention, it should be understood that the disclosed devices / terminals and methods can be implemented in other ways. For example, the device / terminal embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0106] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0107] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0108] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above-described embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various methods and apparatus embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0109] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for positioning a fire truck with an aerial ladder, characterized in that, include: Obtain the location of the rescue area; Based on the location of the rescue area and the parameters of multiple joints of the fire truck, a positioning equation is constructed regarding the location of the fire truck, the parameters of the multiple joints of the fire truck, and the location of the fire truck's rescue area. Based on the positioning equation and the constraints of multiple joints, the fire truck operation area that meets the rescue conditions is determined by offsetting the coordinate points that meet the rescue conditions. Determine the optimal positioning point based on the fire truck's operating area; The step of determining the fire truck operating area that meets the rescue conditions of the rescue area by offsetting coordinate points that meet the rescue conditions, based on the positioning equation and the constraints of multiple joints, includes: Based on the constraints of the multiple joints and the positioning equation, an initial position that satisfies the rescue conditions of the rescue area is determined. Extract the first coordinate axis data of the initial position; Use the first coordinate axis data as the first boundary data; The first boundary data is offset point by point, and after each offset, the maximum second coordinate axis data and the minimum second coordinate axis data that meet the rescue conditions of the rescue area are determined according to the offset first boundary data, the constraint conditions of the multiple joints and the positioning equation, thereby obtaining multiple boundary coordinate pairs. The boundary coordinate pairs include the maximum position formed by the maximum second coordinate axis data and the offset first boundary data, and the minimum position formed by the minimum second coordinate axis data and the offset first boundary data. The fire truck's operating area is determined based on the multiple boundary coordinate pairs; The elevated fire truck has a two-section boom and a slewing support for driving the two sections of the boom to rotate horizontally. The first end of the first boom is hinged to the slewing support, and one end of the second boom is hinged to the second end of the first boom. The positioning equation is: In the formula, These are the three coordinates of the vehicle's location. These are three coordinates representing the location of the rescue area. The length of the first arm. The length of the second arm. Let be the angle between the first arm and the horizontal plane. Let be the angle between the second arm and the horizontal plane. The height of the hinge point between the first arm and the slewing support above the ground.

2. The positioning method for aerial ladder fire trucks according to claim 1, characterized in that, The first arm of the two-section arm has a telescopic function, and the constraints of the multiple joints are as follows: In the formula, The maximum lifting angle of the first arm. This is the maximum lifting angle of the second arm. The extension length of the first arm. This is the retraction length of the first arm.

3. The positioning method for aerial ladder fire trucks according to claim 1, characterized in that, The first boundary data is offset point by point, and after each offset, the maximum and minimum second coordinate axis data that satisfy the rescue conditions of the rescue area are determined based on the offset first boundary data, the constraints of the multiple joints, and the positioning equation, thereby obtaining multiple boundary coordinate pairs, including: Substitute the first boundary data into the positioning equation, and solve for the maximum and minimum second coordinate axis data that satisfy the rescue conditions of the rescue area under the constraints of the multiple joints. Boundary coordinate pairs are constructed based on the combination of the first boundary data and the largest second coordinate axis data, and the combination of the first boundary data and the smallest second coordinate axis data; If the absolute value of the difference between the maximum second coordinate axis data and the minimum second coordinate axis data is greater than a threshold, then the first direction offset and the second direction offset are adjusted, and the first direction offset and the first direction offset are superimposed on the first coordinate axis data respectively. The two superimposed results are used as two first boundary data, and the process jumps to the step of substituting the first boundary data into the positioning equation and solving the maximum second coordinate axis data and the minimum second coordinate axis data that meet the rescue conditions of the rescue area under the constraints of the multiple joints.

4. The method for positioning a fire truck with a ladder truck according to any one of claims 1-3, characterized in that, The fire truck's operating area is defined by multiple boundary points. Determining the optimal positioning point based on the fire truck's operating area includes: Extract multiple first boundary data corresponding to the first coordinate axis and multiple second boundary data corresponding to the second coordinate axis from the multiple boundary point positions; Calculate the average value of the plurality of first boundary data and the average value of the plurality of second boundary data; The average value of the plurality of first boundary data and the average value of the plurality of second boundary data are respectively used as the coordinates of the first coordinate axis and the second coordinate axis of the optimal positioning point.

5. A positioning device for elevated fire trucks, characterized in that, For implementing the aerial ladder fire truck positioning method as described in any one of claims 1-4, the aerial ladder fire truck positioning device comprises: The rescue area acquisition module is used to acquire the location of the rescue area; The positioning equation determination module is used to construct positioning equations about the location of the fire truck, the parameters of the multiple joints of the fire truck, and the location of the fire truck's rescue area based on the location of the rescue area and the parameters of the multiple joints of the fire truck. The fire truck operation area calculation module is used to determine the fire truck operation area that meets the rescue conditions by offsetting the coordinate points that meet the rescue conditions, based on the positioning equation and the constraints of multiple joints. as well as, The optimal positioning point determination module is used to determine the optimal positioning point based on the fire truck's operating area.

6. A terminal, comprising a memory and a processor, wherein the memory stores a computer program executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 4 above.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 4 above.

8. A fire truck, comprising: The vehicle body and a lifting unit fixedly mounted above the vehicle body, the lifting unit having two arms and a slewing support for driving the two arms to rotate horizontally, the first end of the first arm of the two arms being hinged to the slewing support, and one end of the second arm of the two arms being hinged to the second end of the first arm of the two arms, characterized in that it further includes the terminal as described in claim 6 above.

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