Real-time positioning and safety early warning method and system for electric power operation machine tool

Abstract

The invention discloses a real-time positioning and safety early warning method and system for an electric power operation machine tool. According to the positioning method and system, a positioning terminal is placed at each of the head and the tail of a large machine tool, two groups of coordinates of the head and the tail can be collected, and the position and the orientation of the vehicle on a three-dimensional map are determined by calculating a central point and steering parameters. According to the safety early warning method and system, accurate positioning is carried out based on the positioning method and system, and therefore accurate early warning is achieved. The method is high in positioning and early warning precision and high in accuracy.

Description

Technical Field

[0001] The present invention relates to power management and control, and in particular to a real-time positioning and safety warning method and system for power operation tools. Background Art

[0002] The UHV AC / DC stations in the power grid have large equipment, wide-ranging maintenance operations, and many operational risk points. The traditional "human control over machine control" management and control model has problems such as insufficient management and control coverage and insufficient ability to discover hidden dangers in operations. On-site operation control based on positioning technology mostly supervises personnel, and rarely considers risk warnings for machine operations. Once the machine approaches live equipment, it is easy to cause safety accidents. Even if a positioning terminal is used to locate large machines in real time, it is easy to cause the direction in the three-dimensional map to swing frequently during travel due to positioning accuracy errors, resulting in inaccurate positioning and other situations, making it impossible to accurately issue risk warnings. Summary of the invention

[0003] In view of the problems existing in the prior art, the purpose of the present invention is to provide a real-time positioning and safety warning method and system for electric power working tools with more accurate positioning and warning.

[0004] In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions:

[0005] In a first aspect, a real-time positioning method for an electric power tool is provided, comprising the following steps:

[0006] (1) When the initial positioning coordinate pair of the electric working machine is received for the first time, the initial center point coordinates are calculated according to the initial positioning coordinate pair, and the initial center point coordinates are added to the regression point set PC1; wherein the positioning coordinate pair includes the head positioning coordinates and the tail positioning coordinates, and the initial value of the regression point set PC1 is an empty set;

[0007] (2) when the positioning coordinate pair of the electric working machine is not received for the first time, the center point coordinates and the machine orientation at the current moment are calculated according to the positioning coordinate pair and the turning anchor point at the current moment;

[0008] (3) Determine whether this is the second time to receive the positioning coordinate pair. If so, execute step (4); if not, execute step (5);

[0009] (4) Add the center point coordinates at the current moment to the regression point set PC1, regress and calculate the current driving direction based on the initial center point coordinates and the center point coordinates at the current moment, correct the positioning coordinates at the current moment to the projection point coordinates of the center point at the current moment in the current driving direction, correct the steering anchor point to the projection point of the initial center point in the current driving direction, correct the direction of the electric working machine to the current driving direction, and execute step (8);

[0010] (5) Calculate the distance between the center point coordinates at the current moment and the center point coordinates at the previous moment in the regression point set PC1, and determine whether it exceeds the preset distance threshold DIST. If not, the power working machine is considered to be in a stationary state and step (6) is executed. If so, it is considered to be in a moving state and step (7) is executed.

[0011] (6) Add the center point coordinates at the current moment to the regression point set PC1, and correct the positioning coordinates at the current moment to the center point coordinates at the previous moment, correct the steering anchor point at the current moment to the steering anchor point at the previous moment, and correct the direction of the power working machine to the direction of the machine at the previous moment, and execute step (8);

[0012] (7) judging whether the electric working machine is moving in a straight line, turning, or unable to determine the direction based on the potential moving direction of the electric working machine, the machine orientation, the current driving direction, and the possible driving direction, and correcting the current positioning coordinates, the turning anchor point, and the electric working machine orientation based on the judgment result, and then executing step (8);

[0013] (8) The corrected positioning coordinates and orientation of the electric power working tool are output as real-time positioning, and the process returns to step (2).

[0014] Furthermore, step (7) specifically includes:

[0015] (7.1) Take the direction of the center point at the previous moment and the center point at the current moment as the potential moving direction, calculate the angle θ between the potential moving direction and the machine orientation, and determine whether the angle θ exceeds the threshold ANGLE. If not, execute step (7.2), otherwise execute step (7.7);

[0016] (7.2) Add the center point of the current moment as a potential point to the potential point set PC2, and determine whether the center point of the previous moment is in the potential point set PC2. If not, execute step (7.3); if yes, execute step (7.4); wherein the initial value of the potential point set PC2 is an empty set;

[0017] (7.3) Add the center point of the previous moment and the center point of the current moment to the potential point set PC2, add the center point of the current moment to the regression point set PC1, keep the driving direction unchanged, correct the positioning coordinates of the current moment to the projection point coordinates of the center point in the driving direction, correct the turning anchor point of the current moment to the turning point of the previous moment, and execute step (8); wherein, the initial value of the dispute point set PC3 is an empty set;

[0018] (7.4) Add the center point at the current moment to the potential point set PC2, take the direction of the center point at the previous moment and the center point at the current moment as the potential moving direction, and determine whether the potential moving direction and the angle γ between the potential moving direction and the current driving direction exceed the threshold ANGLE. If not, it is considered as straight-line walking and execute step (7.5). Otherwise, it is considered as turning and execute step (7.6).

[0019] (7.5) Add the center point at the current moment to the regression point set PC1, calculate the current driving direction based on the regression point set PC1, correct the positioning coordinates at the current moment to the projection point of the center point in the current driving direction, correct the steering anchor point to the projection point of the steering anchor point at the previous moment in the current driving direction, and execute step (8);

[0020] (7.6) Update the regression point set PC1 = potential point set PC2, obtain the current driving direction based on the regression point set PC1, and correct the current positioning coordinates to the projection point coordinates of the center point in the current driving direction, update the steering anchor point to the projection point of the first point in the potential point set PC2 in the current driving direction, and execute step (8);

[0021] (7.7) Based on the direction of the power working tool, the current driving direction and the possible driving direction, determine whether the power working tool is unable to determine the direction, and correct the current positioning coordinates, steering anchor point and direction of the power working tool based on the judgment result, and then execute step (8).

[0022] Furthermore, step (7.7) specifically includes:

[0023] (7.7.1) Determine whether the center point at the previous moment is in the disputed point set PC3. If not, execute step (7.7.2). If yes, execute step (7.7.3).

[0024] (7.7.2) Clear the potential point set PC2, and add the center point coordinates at the current moment to the regression point set PC1. According to the regression calculation of the regression point set PC1, the current driving direction is obtained, and the positioning coordinates at the current moment are corrected to the projection point coordinates of the center point in the current driving direction. The steering anchor point is updated to the projection point of the steering anchor point at the previous moment in the current driving direction. The direction of the power working tool is corrected to the current driving direction, and the current center point is added as a dispute point to the dispute point set PC3, and then step (8) is executed;

[0025] (7.7.3) Take the most recently added dispute point from the dispute point set PC3, take the direction from the dispute point to the center point at the current moment as the possible driving direction, calculate the angle β between the possible driving direction and the current machine orientation, and determine whether the angle β exceeds the angle threshold ANGLE. If not, execute step (7.7.4). If it is considered that the direction cannot be determined, execute step (7.7.5);

[0026] (7.7.4) Obtain the current driving direction by regression calculation based on the regression point set PC1, and correct the current positioning coordinates to the projection point coordinates of the center point in the current driving direction, update the steering anchor point to the projection point of the steering anchor point in the previous moment in the current driving direction, correct the direction of the power working machine to the current driving direction, and then execute step (8);

[0027] (7.7.5) Keep the driving direction unchanged, correct the current positioning coordinates to the projection point coordinates of the center point in the current driving direction, correct the current turning anchor point to the turning point at the previous moment, add the current center point as a dispute point to the dispute point set PC3, and then execute step (8).

[0028] In a second aspect, a real-time positioning system for an electric working tool is provided, comprising:

[0029] An initial positioning processing module is used to calculate the initial center point coordinates according to the initial positioning coordinate pair when the initial positioning coordinate pair of the electric working machine is received for the first time, and add the initial center point coordinates to the regression point set PC1; wherein the positioning coordinate pair includes the head positioning coordinates and the tail positioning coordinates, and the initial value of the regression point set PC1 is an empty set;

[0030] A non-first positioning processing module, for calculating the center point coordinates and the orientation of the machine tool at the current moment according to the positioning coordinate pair and the steering anchor point at the current moment when the positioning coordinate pair of the electric working machine tool is received for the non-first time;

[0031] The first judgment module is used to judge whether this is the second time to receive the positioning coordinate pair. If so, the secondary positioning processing module is executed, otherwise the non-secondary positioning processing module is executed;

[0032] The secondary positioning processing module is used to add the center point coordinates at the current moment to the regression point set PC1, regress and calculate the current driving direction based on the initial center point coordinates and the center point coordinates at the current moment, correct the positioning coordinates at the current moment to the projection point coordinates of the center point at the current moment in the current driving direction, correct the steering anchor point to the projection point of the initial center point in the current driving direction, correct the direction of the electric working machine to the current driving direction, and execute the positioning result output module;

[0033] The non-secondary positioning processing module is used to calculate the distance between the center point coordinates at the current moment and the center point coordinates at the previous moment in the regression point set PC1, and determine whether it exceeds the preset distance threshold DIST. If not, the power working machine is considered to be in a stationary state and the stationary positioning correction module is executed. If yes, it is considered to be in a moving state and the moving positioning processing module is executed;

[0034] The static positioning correction module is used to add the center point coordinates at the current moment to the regression point set PC1, and correct the positioning coordinates at the current moment to the center point coordinates at the previous moment, correct the steering anchor point at the current moment to the steering anchor point at the previous moment, and correct the direction of the power working machine to the direction of the machine at the previous moment, and execute the positioning result output module;

[0035] The mobile positioning processing module is used to determine whether the electric working machine is moving in a straight line, turning, or unable to determine the direction according to the potential moving direction of the electric working machine, the machine orientation, the current driving direction, and the possible driving direction, and correct the current positioning coordinates, turning anchor point, and the electric working machine orientation according to the judgment result, and then execute the positioning result output module;

[0036] The positioning result output module is used to output the positioning coordinates and orientation of the corrected electric working machine as real-time positioning, and return to execute the non-first positioning processing module.

[0037] Furthermore, the mobile positioning processing module specifically includes:

[0038] A first potential moving direction judging unit is used to take the direction of the center point at the previous moment and the center point at the current moment as the potential moving direction, calculate the angle θ between the potential moving direction and the tool orientation, and judge whether the angle θ exceeds a threshold value ANGLE, if not, execute the continuous potential point judging unit, otherwise execute the tool direction judging unit;

[0039] A continuous potential point judgment unit is used to add the center point at the current moment as a potential point to the potential point set PC2, and judge whether the center point at the previous moment is in the potential point set PC2. If not, the dispute correction unit is executed, and if yes, the second potential moving direction judgment unit is executed; wherein the initial value of the potential point set PC2 is an empty set;

[0040] The correction unit is used to add the center point of the previous moment and the center point of the current moment to the potential point set PC2, add the center point of the current moment to the regression point set PC1, keep the driving direction unchanged, correct the positioning coordinates of the current moment to the projection point coordinates of the center point in the driving direction, correct the turning anchor point of the current moment to the turning point of the previous moment, and execute the positioning result output module; wherein, the initial value of the dispute point set PC3 is an empty set;

[0041] The second potential moving direction judging unit is used to add the center point at the current moment to the potential point set PC2, take the direction between the center point at the previous moment and the center point at the current moment as the potential moving direction, and judge whether the potential moving direction and the angle γ between the potential moving direction and the current driving direction exceed the threshold ANGLE. If not, it is regarded as a straight line walking and the first positioning correction unit is executed; otherwise, it is regarded as a turn and the second positioning correction unit is executed;

[0042] The first positioning correction unit is used to add the center point at the current moment to the regression point set PC1, obtain the current driving direction according to the regression calculation of the regression point set PC1, correct the positioning coordinates at the current moment to the projection point of the center point in the current driving direction, correct the steering anchor point to the projection point of the steering anchor point at the previous moment in the current driving direction, and execute the positioning result output module;

[0043] The second positioning correction unit is used to update the regression point set PC1 = potential point set PC2, obtain the current driving direction according to the regression calculation of the regression point set PC1, and correct the positioning coordinates at the current moment to the projection point coordinates of the center point in the current driving direction, update the turning anchor point to the projection point of the first point of the potential point set PC2 in the current driving direction, and execute the positioning result output module;

[0044] The machine direction judgment unit is used to judge whether the electric working machine is unable to determine the direction according to the machine direction, current driving direction and possible driving direction of the electric working machine, and correct the current positioning coordinates, steering anchor point and direction of the electric working machine according to the judgment result, and then execute the positioning result output module.

[0045] Furthermore, the tool direction determination unit specifically includes:

[0046] The dispute point judgment subunit is used to judge whether the center point at the previous moment is located in the dispute point set PC3. If not, the first positioning correction subunit is executed. If yes, the possible driving direction judgment subunit is executed.

[0047] The first positioning correction subunit is used to clear the potential point set PC2, and add the center point coordinates at the current moment to the regression point set PC1, obtain the current driving direction according to the regression calculation of the regression point set PC1, and correct the positioning coordinates at the current moment to the projection point coordinates of the center point in the current driving direction, update the steering anchor point to the projection point of the steering anchor point at the previous moment in the current driving direction, correct the direction of the power working machine to the current driving direction, and add the current center point as a dispute point to the dispute point set PC3, and then execute the positioning result output module;

[0048] The possible driving direction judgment subunit is used to take the most recently added dispute point from the dispute point set PC3, take the direction from the dispute point to the center point at the current moment as the possible driving direction, calculate the angle β between the possible driving direction and the current machine orientation, and judge whether the angle β exceeds the angle threshold ANGLE. If not, the second positioning correction subunit is executed. If it is considered that the direction cannot be determined, the third positioning correction subunit is executed;

[0049] The second positioning correction subunit is used to obtain the current driving direction through regression calculation based on the regression point set PC1, and correct the positioning coordinates at the current moment to the coordinates of the projection point of the center point in the current driving direction, update the steering anchor point to the projection point of the steering anchor point in the current driving direction at the previous moment, correct the direction of the power working machine to the current driving direction, and then execute the positioning result output module;

[0050] The third positioning correction subunit is used to keep the driving direction unchanged, correct the positioning coordinates at the current moment to the projection point coordinates of the center point in the current driving direction, correct the turning anchor point at the current moment to the turning point at the previous moment, add the current center point as a dispute point to the dispute point set PC3, and then execute the positioning result output module.

[0051] In a third aspect, a safety early warning method for electric power operation equipment is provided, comprising the following steps:

[0052] Install positioning terminals at the head and tail of the power working machine, and install a positioning base station outdoors;

[0053] The positioning terminal locates the head and tail of the power working tool based on the differential data sent by the positioning base station and sends it to the positioning control center;

[0054] The positioning control center locates the electric power working machine based on the positioning data sent by the positioning terminal using the method described in any one of claims 1 to 5;

[0055] When the positioning control center finds that the electric operating equipment is about to enter the dangerous area, it sends alarm data to the positioning terminal.

[0056] In a fourth aspect, a safety warning system for electric power operation tools is provided, comprising:

[0057] Locating base stations, including outdoor base stations;

[0058] A positioning terminal is installed at the head and tail of the electric working machine and is used to locate the head and tail of the electric working machine based on the positioning base station;

[0059] The positioning access unit communicates with the positioning terminal. On the one hand, it sends the differential data of the positioning base station to the positioning terminal, and on the other hand, it receives and analyzes the positioning coordinate data of the positioning terminal and sends it to the positioning control center;

[0060] The positioning control center is used to locate the power working tool based on the positioning data sent by the power working tool positioning terminal, using the system described in any one of claims 6-8, and sending alarm data to the positioning terminal when the power working tool is about to enter a dangerous area.

[0061] Compared with the prior art, the present invention has the following beneficial effects: the present invention installs the positioning terminal at the head and tail of the machine, and during the travel process, the driving direction, machine orientation, and positioning coordinates are updated in real time according to the coordinates of the head and tail, the positioning accuracy is higher, frequent swings in orientation will not occur, and the positioning and warning accuracy are higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 It is a flow chart of a real-time positioning method for an electric power working tool provided by an embodiment of the present invention;

[0063] Figure 2 It is an example diagram of some steps in the method of the embodiment of the present invention;

[0064] Figure 3 is a schematic diagram of a specific step flow of step S7 in an embodiment of the present invention;

[0065] Figure 4 is an exemplary diagram of another part of the steps in the method of the embodiment of the present invention;

[0066] Figure 5 is a schematic diagram of a specific step flow of step S77 in an embodiment of the present invention;

[0067] Figure 6 It is an example diagram of another part of the steps in the method of the embodiment of the present invention. DETAILED DESCRIPTION

[0068] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0069] Embodiment 1

[0070] The embodiment of the present invention provides a real-time positioning method for electric power tools, such as Figure 1 , 2 As shown, the following steps are included:

[0071] S1. When the initial positioning coordinate pair of the electric working machine is received for the first time, the coordinates of the initial center point P0 are calculated according to the initial positioning coordinate pair, and the coordinates of the initial center point P0 are added to the regression point set PC1; wherein the positioning coordinate pair includes the head positioning coordinates and the tail positioning coordinates, and the initial value of the regression point set PC1 is an empty set; and the potential point set PC2 and the disputed point set PC3 are initialized as empty sets;

[0072] S2. When the positioning coordinate pair of the electric working machine is not received for the first time, the center point coordinates and the machine orientation F at the current moment are calculated according to the positioning coordinate pair and the turning anchor point at the current moment;

[0073] S3, determining whether this is the second time to receive the positioning coordinate pair, if so, executing step S4, otherwise executing step S5;

[0074] S4, add the center point P at the current moment to the regression point set PC1, regress and calculate the current driving direction D according to the coordinates of the initial center point P0 and the coordinates of the center point P at the current moment, correct the steering anchor point TP to the projection point P0' of the initial center point P0 in the current driving direction D, correct the positioning coordinates LC at the current moment to the projection point P' coordinates of the center point P on the current driving direction D, correct the direction F of the electric working machine to the current driving direction D, and execute step S8;

[0075] S5, calculate the distance d between the coordinates of the center point P at the current moment and the coordinates of the center point P1 at the previous moment stored in the regression point set PC1, and determine whether it exceeds the preset distance threshold DIST. If not, the power working machine is deemed to be in a stationary state and step S6 is executed. If yes, it is deemed to be in a moving state and step S7 is executed;

[0076] S6, adding the coordinates of the center point P at the current moment to the regression point set PC1, and correcting the positioning coordinates LC at the current moment to the coordinates of the center point P1 at the previous moment, correcting the steering anchor point TP at the current moment to the steering point TP1 at the previous moment, and correcting the direction of the electric working machine to the current driving direction, and executing step S8;

[0077] S7, judging whether the electric working machine is moving in a straight line, turning, or unable to determine the direction according to the potential moving direction of the electric working machine, the machine orientation, the current driving direction, and the possible driving direction, and correcting the center point coordinates, the turning anchor point, and the electric working machine orientation at the current moment according to the judgment result, and then executing step S8;

[0078] S8. Output the corrected positioning coordinates and orientation of the electric power working tool as real-time positioning, and return to execute step S2.

[0079] When implementing it, Figure 3 , 4 As shown, step S7 can be implemented as follows:

[0080] S71, taking the direction D (P1-P) between the center point P1 at the previous moment and the center point P at the current moment as the potential moving direction, calculating the angle θ between the potential moving direction and the tool orientation F, and determining whether the angle θ exceeds a threshold value ANGLE, if not, executing step S72, otherwise executing step S77;

[0081] S72, adding the center point at the current moment as a potential point to the potential point set PC2, and determining whether the center point at the previous moment is in the potential point set PC2, if not, executing step S73, if yes, executing step S74;

[0082] S73, add the center point P1 at the previous moment and the center point P at the current moment to the potential point set PC2, add the center point P at the current moment to the regression point set PC1, keep the driving direction unchanged, correct the current moment positioning coordinate LC to the projection point P' coordinate of the center point P at the current moment in the driving direction, correct the current moment turning anchor point TP to the turning point TP1 at the previous moment, and execute step S8;

[0083] S74, adding the center point P at the current moment to the potential point set PC2, taking the direction between the center point P1 at the previous moment and the center point P at the current moment as D(PC2) as the potential moving direction, and determining whether the potential moving direction and the angle γ between the potential moving direction and the current driving direction D exceed the threshold ANGLE, if not, it is considered as straight-line walking and executing step S75, otherwise, it is considered as turning and executing step S76;

[0084] S75, adding the current center point P to the regression point set PC1, regressing and calculating the current driving direction D' according to the regression point set PC1, and correcting the current positioning coordinate LC to the projection point P' of the center point P in the current driving direction D', and correcting the turning anchor point TP to the projection point TP1' of the turning anchor point TP1 in the previous moment in the current driving direction D', and executing step S8;

[0085] S76, update the regression point set PC1 = potential point set PC2, obtain the current driving direction D' according to the regression point set PC1 regression calculation, and correct the current moment positioning coordinate LC to the projection point P' of the center point P in the current driving direction D', correct the turning anchor point TP to the projection point TP1' of the first point of the potential point set PC2 in the current driving direction D', and execute step S8;

[0086] S77. According to the direction of the electric working machine, the current driving direction and the possible driving direction, determine whether the electric working machine is unable to determine the direction, and correct the center point coordinates, steering anchor point and direction of the electric working machine at the current moment according to the determination result, and then execute step S8.

[0087] When implementing it, Figure 5 , 6As shown, step S77 can be implemented as follows:

[0088] S771, determine whether the center point P1 at the previous moment is located in the dispute point set PC3, if not, execute step S772, if yes, execute step S773;

[0089] S772, clear the potential point set PC2, and add the coordinates of the center point at the current moment to the regression point set PC1, obtain the current driving direction D' according to the regression calculation of the regression point set PC1, and correct the current positioning coordinates LC to the coordinates of the projection point P' of the center point P in the current driving direction D', update the steering anchor point TP to the projection point TP1' of the steering anchor point TP1 at the previous moment in the current driving direction D', correct the direction of the power working machine to the current driving direction D', and add the current center point as a dispute point to the dispute point set PC3, and then execute step S8;

[0090] S773, take the most recently added dispute point from the dispute point set PC3, take the direction from the dispute point to the center point P at the current moment as the possible driving direction D (PC3), calculate the angle β between the possible driving direction and the current machine orientation F, and determine whether the angle β exceeds the angle threshold ANGLE. If not, execute step S774. If it is considered that the direction cannot be determined, execute step S775.

[0091] S774, obtain the current driving direction D' by regression calculation based on the regression point set PC1, and correct the current positioning coordinate LC to the coordinate of the projection point P' of the center point P in the current driving direction D', update the steering anchor point TP to the projection point TP1' of the steering anchor point TP1 in the current driving direction D' at the previous moment, correct the direction of the electric working machine to the current driving direction D', and then execute step S8;

[0092] S775. Keep the driving direction unchanged, correct the current positioning coordinates LC to the projection point P' coordinates of the center point P in the current driving direction, correct the current turning anchor point TP to the turning point TP1 of the previous moment, add the current center point as a dispute point to the dispute point set PC3, and then execute step S8.

[0093] The step of calculating the center point coordinates and the machine orientation at the current moment according to the positioning coordinate pair and the steering anchor point at the current moment specifically includes:

[0094] The coordinates in the positioning coordinate pair are converted into Mercator plane projection coordinates; and the coordinates of the center point at the current moment are calculated according to the Mercator plane projection coordinates converted from the positioning coordinate pair;

[0095] Calculate the projection point of the center point at the current moment in the current driving direction according to the following formula;

[0096] x′ o=(x o +m(y o -b)) / (1+m 2 )

[0097] y′ o =mx o +b

[0098] In the formula, (x′ o ,y′ o ) represents the coordinates of the projection point of the center point at the current moment in the current driving direction, (x o ,y o ) represents the coordinates of the center point at the current moment, m and b represent the slope and intercept of the current driving direction respectively;

[0099] Calculate the vector of the projection point from the steering anchor point to the center point at the current moment as the machine orientation.

[0100] The step of obtaining the current driving direction by regression calculation based on the regression point set PC1 specifically includes:

[0101] Calculate the average of the x- and y-coordinate values ​​of all points in the regression point set PC1

[0102]

[0103]

[0104] Where n is the number of points in the regression point set PC1, (x i ,y i ) represents the coordinates of the i-th point;

[0105] According to the regression point set PC1 and the mean The slope m is calculated according to the following formula;

[0106]

[0107] Substitute the calculated slope m into the following formula to calculate the intercept b;

[0108]

[0109] Based on the slope m and intercept b, generate the straight line expression of the current driving direction:

[0110] y=mx+b.

[0111] Embodiment 2

[0112] This embodiment provides a real-time positioning system for an electric power tool, including:

[0113] An initial positioning processing module is used to calculate the initial center point coordinates according to the initial positioning coordinate pair when the initial positioning coordinate pair of the electric working machine is received for the first time, and add the initial center point coordinates to the regression point set PC1; wherein the positioning coordinate pair includes the head positioning coordinates and the tail positioning coordinates, and the initial value of the regression point set PC1 is an empty set;

[0114] A non-first positioning processing module, for calculating the center point coordinates and the orientation of the machine tool at the current moment according to the positioning coordinate pair and the steering anchor point at the current moment when the positioning coordinate pair of the electric working machine tool is received for the non-first time;

[0115] The first judgment module is used to judge whether this is the second time to receive the positioning coordinate pair. If so, the secondary positioning processing module is executed, otherwise the non-secondary positioning processing module is executed;

[0116] The secondary positioning processing module is used to add the center point coordinates at the current moment to the regression point set PC1, regress and calculate the current driving direction based on the initial center point coordinates and the center point coordinates at the current moment, correct the positioning coordinates at the current moment to the projection point coordinates of the center point at the current moment in the current driving direction, correct the steering anchor point to the projection point of the initial center point in the current driving direction, correct the direction of the electric working machine to the current driving direction, and execute the positioning result output module;

[0117] The non-secondary positioning processing module is used to calculate the distance between the center point coordinates at the current moment and the center point coordinates at the previous moment in the regression point set PC1, and determine whether it exceeds the preset distance threshold DIST. If not, the power working machine is considered to be in a stationary state and the stationary positioning correction module is executed. If yes, it is considered to be in a moving state and the moving positioning processing module is executed;

[0118] The static positioning correction module is used to add the center point coordinates at the current moment to the regression point set PC1, and correct the positioning coordinates at the current moment to the center point coordinates at the previous moment, correct the steering anchor point at the current moment to the steering anchor point at the previous moment, and correct the direction of the power working machine to the direction of the machine at the previous moment, and execute the positioning result output module;

[0119] The mobile positioning processing module is used to determine whether the electric working machine is moving in a straight line, turning, or unable to determine the direction according to the potential moving direction of the electric working machine, the machine orientation, the current driving direction, and the possible driving direction, and correct the current positioning coordinates, turning anchor point, and the electric working machine orientation according to the judgment result, and then execute the positioning result output module;

[0120] The positioning result output module is used to output the positioning coordinates and orientation of the corrected electric working machine as real-time positioning, and return to execute the non-first positioning processing module.

[0121] Wherein, the mobile positioning processing module specifically includes:

[0122] A first potential moving direction judging unit is used to take the direction of the center point at the previous moment and the center point at the current moment as the potential moving direction, calculate the angle θ between the potential moving direction and the tool orientation, and judge whether the angle θ exceeds a threshold value ANGLE, if not, execute the continuous potential point judging unit, otherwise execute the tool direction judging unit;

[0123] A continuous potential point judgment unit is used to add the center point at the current moment as a potential point to the potential point set PC2, and judge whether the center point at the previous moment is in the potential point set PC2. If not, the dispute correction unit is executed, and if yes, the second potential moving direction judgment unit is executed; wherein the initial value of the potential point set PC2 is an empty set;

[0124] The dispute judgment unit is used to judge whether the center point at the previous moment is in the dispute point set PC3. If so, the dispute point set PC3 is cleared, the center point at the previous moment and the center point at the current moment are added to the potential point set PC2, the center point at the current moment is added to the regression point set PC1, the driving direction is kept unchanged, the positioning coordinates at the current moment are corrected to the projection point coordinates of the center point in the driving direction, the turning anchor point at the current moment is corrected to the turning point at the previous moment, and the positioning result output module is executed; wherein, the initial value of the dispute point set PC3 is an empty set;

[0125] The second potential moving direction judging unit is used to add the center point at the current moment to the potential point set PC2, take the direction between the center point at the previous moment and the center point at the current moment as the potential moving direction, and judge whether the potential moving direction and the angle γ between the potential moving direction and the current driving direction exceed the threshold ANGLE. If not, it is regarded as a straight line walking and the first positioning correction unit is executed; otherwise, it is regarded as a turn and the second positioning correction unit is executed;

[0126] The first positioning correction unit is used to add the center point at the current moment to the regression point set PC1, obtain the current driving direction according to the regression calculation of the regression point set PC1, correct the positioning coordinates at the current moment to the projection point of the center point in the current driving direction, correct the steering anchor point to the projection point of the steering anchor point at the previous moment in the current driving direction, and execute the positioning result output module;

[0127] The second positioning correction unit is used to update the regression point set PC1 = potential point set PC2, obtain the current driving direction according to the regression calculation of the regression point set PC1, and correct the positioning coordinates at the current moment to the projection point coordinates of the center point in the current driving direction, update the turning anchor point to the projection point of the first point of the potential point set PC2 in the current driving direction, and execute the positioning result output module;

[0128] The machine direction judgment unit is used to judge whether the electric working machine is unable to determine the direction according to the machine direction, current driving direction and possible driving direction of the electric working machine, and correct the current positioning coordinates, steering anchor point and direction of the electric working machine according to the judgment result, and then execute the positioning result output module.

[0129] Wherein, the tool direction determination unit specifically includes:

[0130] The dispute point judgment subunit is used to judge whether the center point at the previous moment is located in the dispute point set PC3. If not, the first positioning correction subunit is executed. If yes, the possible driving direction judgment subunit is executed.

[0131] The first positioning correction subunit is used to clear the potential point set PC2, and add the center point coordinates at the current moment to the regression point set PC1, obtain the current driving direction according to the regression calculation of the regression point set PC1, and correct the positioning coordinates at the current moment to the projection point coordinates of the center point in the current driving direction, update the steering anchor point to the projection point of the steering anchor point at the previous moment in the current driving direction, correct the direction of the power working machine to the current driving direction, and add the current center point as a dispute point to the dispute point set PC3, and then execute the positioning result output module;

[0132] The possible driving direction judgment subunit is used to take the most recently added dispute point from the dispute point set PC3, take the direction from the dispute point to the center point at the current moment as the possible driving direction, calculate the angle β between the possible driving direction and the current machine orientation, and judge whether the angle β exceeds the angle threshold ANGLE. If not, the second positioning correction subunit is executed. If it is considered that the direction cannot be determined, the third positioning correction subunit is executed;

[0133] The second positioning correction subunit is used to obtain the current driving direction through regression calculation based on the regression point set PC1, and correct the positioning coordinates at the current moment to the coordinates of the projection point of the center point in the current driving direction, update the steering anchor point to the projection point of the steering anchor point in the current driving direction at the previous moment, correct the direction of the power working machine to the current driving direction, and then execute the positioning result output module;

[0134] The third positioning correction subunit is used to keep the driving direction unchanged, correct the positioning coordinates at the current moment to the projection point coordinates of the center point in the current driving direction, correct the turning anchor point at the current moment to the turning point at the previous moment, add the current center point as a dispute point to the dispute point set PC3, and then execute the positioning result output module.

[0135] The system provided in the embodiment of the present invention can be used to execute the method provided in the first embodiment of the present invention, and has the corresponding functions and beneficial effects of the execution method. For any details not provided, please refer to the method embodiment and will not be described in detail.

[0136] It is worth noting that in the embodiment of the above system, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0137] The embodiments described above are only illustrative, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, i.e., they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, or of course, it can be implemented only by hardware, as long as the function or effect can be achieved.

[0138] Embodiment 3

[0139] An embodiment of the present invention provides a safety warning method for electric power working tools, comprising the following steps:

[0140] Install positioning terminals at the head and tail of the power working machine, and install a positioning base station outdoors;

[0141] The positioning terminal locates the head and tail of the power working tool based on the differential data sent by the positioning base station and sends it to the positioning control center;

[0142] The positioning control center locates the electric power working machine using the method described in the first embodiment based on the positioning data sent by the positioning terminal;

[0143] When the positioning control center finds that the electric operating equipment is about to enter the dangerous area, it sends alarm data to the positioning terminal.

[0144] The embodiment of the present invention realizes safety early warning of electric power working machinery and tools, and adopts the method of the first embodiment during positioning, thereby realizing accurate early warning.

[0145] Embodiment 4

[0146] An embodiment of the present invention provides a safety warning system for electric power working tools, comprising:

[0147] Positioning base stations, including outdoor base stations; outdoor Beidou RTK base stations, in areas covered by the electric power Beidou base station, there is no need to build RTK base stations by yourself, and the electric power Beidou service is used instead;

[0148] The positioning terminal is installed at the head and tail of the power working machine and is used to locate the head and tail of the power working machine based on the positioning base station; the positioning terminal integrates an IC chip to support NFC card reading;

[0149] The positioning access unit communicates with the positioning terminal. On the one hand, it sends the differential data of the positioning base station to the positioning terminal, and on the other hand, it receives and analyzes the positioning coordinate data of the positioning terminal and sends it to the positioning control center;

[0150] The positioning control center is used to locate the power working tool based on the positioning data sent by the power working tool positioning terminal, using the system described in any one of claims 6-8, and sending alarm data to the positioning terminal when the power working tool is about to enter a dangerous area.

[0151] It should be understood that the above embodiments and descriptions only describe the principles, main features and advantages of the present invention. Without departing from the spirit and scope of the present invention, the present invention may be subject to various changes and improvements, and these changes and improvements all fall within the scope of protection of the present invention.

Claims

1. A real-time positioning method for an electric power tool, characterized in that: The steps include: (1) When the initial positioning coordinate pair of the electric working machine is received for the first time, the initial center point coordinates are calculated according to the initial positioning coordinate pair, and the initial center point coordinates are added to the regression point set PC1; wherein the positioning coordinate pair includes the head positioning coordinates and the tail positioning coordinates, and the initial value of the regression point set PC1 is an empty set; (2) when the positioning coordinate pair of the electric working machine is not received for the first time, the center point coordinates and the machine orientation at the current moment are calculated according to the positioning coordinate pair and the turning anchor point at the current moment; (3) Determine whether this is the second time to receive the positioning coordinate pair. If so, execute step (4); if not, execute step (5); (4) Add the coordinates of the center point at the current moment to the regression point set PC1, obtain the current driving direction based on the regression calculation of the regression point set PC1, correct the positioning coordinates at the current moment to the coordinates of the projection point of the center point at the current moment in the current driving direction, correct the steering anchor point to the projection point of the initial center point in the current driving direction, correct the direction of the electric working machine to the current driving direction, and execute step (8); (5) Calculate the distance between the center point coordinates at the current moment and the center point coordinates at the previous moment in the regression point set PC1, and determine whether it exceeds the preset distance threshold DIST. If not, the power working machine is considered to be in a stationary state and step (6) is executed. If so, it is considered to be in a moving state and step (7) is executed. (6) Add the center point coordinates at the current moment to the regression point set PC1, and correct the positioning coordinates at the current moment to the center point coordinates at the previous moment, correct the steering anchor point at the current moment to the steering anchor point at the previous moment, and correct the direction of the power working machine to the direction of the machine at the previous moment, and execute step (8); (7) judging whether the electric working machine is moving in a straight line, turning, or unable to determine the direction based on the potential moving direction of the electric working machine, the machine orientation, the current driving direction, and the possible driving direction, and correcting the current positioning coordinates, the turning anchor point, and the electric working machine orientation based on the judgment result, and then executing step (8); (8) The corrected positioning coordinates and orientation of the electric power working tool are output as real-time positioning, and the process returns to step (2).

2. The real-time positioning method of electric power working tools according to claim 1, characterized in that: Step (7) specifically includes: (7.1) Take the direction of the center point at the previous moment and the center point at the current moment as the potential moving direction, calculate the angle θ between the potential moving direction and the machine orientation, and determine whether the angle θ exceeds the threshold ANGLE. If not, execute step (7.2), otherwise execute step (7.7); (7.2) Add the center point of the current moment as a potential point to the potential point set PC2, and determine whether the center point of the previous moment is in the potential point set PC2. If not, execute step (7.3); if yes, execute step (7.4); wherein the initial value of the potential point set PC2 is an empty set; (7.3) Add the center point of the previous moment and the center point of the current moment to the potential point set PC2, add the center point of the current moment to the regression point set PC1, keep the driving direction unchanged, correct the positioning coordinates of the current moment to the projection point coordinates of the center point in the driving direction, correct the turning anchor point of the current moment to the turning point of the previous moment, and execute step (8); (7.4) Add the center point at the current moment to the potential point set PC2, take the direction of the center point at the previous moment and the center point at the current moment as the potential moving direction, and determine whether the potential moving direction and the angle γ between the potential moving direction and the current driving direction exceed the threshold ANGLE. If not, it is considered as straight-line walking and execute step (7.5). Otherwise, it is considered as turning and execute step (7.6). (7.5) Add the center point at the current moment to the regression point set PC1, calculate the current driving direction based on the regression point set PC1, correct the positioning coordinates at the current moment to the projection point of the center point in the current driving direction, correct the steering anchor point to the projection point of the steering anchor point at the previous moment in the current driving direction, and execute step (8); (7.6) Update the regression point set PC1 = potential point set PC2, obtain the current driving direction based on the regression point set PC1, and correct the current positioning coordinates to the projection point coordinates of the center point in the current driving direction, update the steering anchor point to the projection point of the first point in the potential point set PC2 in the current driving direction, and execute step (8); (7.7) Based on the direction of the power working tool, the current driving direction and the possible driving direction, determine whether the power working tool is unable to determine the direction, and correct the current positioning coordinates, steering anchor point and direction of the power working tool based on the judgment result, and then execute step (8).

3. The real-time positioning method of electric power working tools according to claim 2, characterized in that: Step (7.7) specifically includes: (7.7.1) Determine whether the center point at the previous moment is in the disputed point set PC3. If not, execute step (7.7.2). If yes, execute step (7.7.3). (7.7.2) Clear the potential point set PC2, and add the center point coordinates at the current moment to the regression point set PC1. According to the regression calculation of the regression point set PC1, the current driving direction is obtained, and the positioning coordinates at the current moment are corrected to the projection point coordinates of the center point in the current driving direction. The steering anchor point is updated to the projection point of the steering anchor point at the previous moment in the current driving direction. The direction of the power working machine is corrected to the current driving direction, and the current center point is added as a dispute point to the dispute point set PC3, and then step (8) is executed; wherein the initial value of the dispute point set PC3 is an empty set; (7.7.3) Take the most recently added dispute point from the dispute point set PC3, take the direction from the dispute point to the center point at the current moment as the possible driving direction, calculate the angle β between the possible driving direction and the current machine orientation, and determine whether the angle β exceeds the angle threshold ANGLE. If not, execute step (7.7.4). If it is considered that the direction cannot be determined, execute step (7.7.5); (7.7.4) Obtain the current driving direction by regression calculation based on the regression point set PC1, and correct the current positioning coordinates to the projection point coordinates of the center point in the current driving direction, update the steering anchor point to the projection point of the steering anchor point in the previous moment in the current driving direction, correct the direction of the power working machine to the current driving direction, and then execute step (8); (7.7.5) Keep the driving direction unchanged, correct the current positioning coordinates to the projection point coordinates of the center point in the current driving direction, correct the current turning anchor point to the turning point at the previous moment, add the current center point as a dispute point to the dispute point set PC3, and then execute step (8).

4. The real-time positioning method of electric power working tools according to claim 1, characterized in that: The calculation of the center point coordinates and the machine orientation at the current moment according to the positioning coordinate pair and the steering anchor point at the current moment specifically includes: The coordinates in the positioning coordinate pair are converted into Mercator plane projection coordinates; and the coordinates of the center point at the current moment are calculated according to the Mercator plane projection coordinates converted from the positioning coordinate pair; Calculate the projection point of the center point at the current moment in the current driving direction according to the following formula; x′ o =(x o +m(y o -b)) / (1+m 2 ) t′ o =mx o +b In the formula, (x′ o ,y′ o ) represents the coordinates of the projection point of the center point at the current moment in the current driving direction, (x o ,y o ) represents the coordinates of the center point at the current moment, m and b represent the slope and intercept of the current driving direction respectively; Calculate the vector of the projection point from the steering anchor point to the center point at the current moment as the machine orientation.

5. The real-time positioning method of electric power working tools according to claim 1, characterized in that: The step of obtaining the current driving direction by regression calculation based on the regression point set PC1 specifically includes: Calculate the average of the x- and y-coordinate values ​​of all points in the regression point set PC1 Where n is the number of points in the regression point set PC1, (x i ,y i ) represents the coordinates of the i-th point; According to the regression point set PC1 and the mean The slope m is calculated according to the following formula; Substitute the calculated slope m into the following formula to calculate the intercept b; Based on the slope m and intercept b, generate the straight line expression of the current driving direction: y=mx+b.

6. A real-time positioning system for electric power working tools, characterized in that: include: An initial positioning processing module is used to calculate the initial center point coordinates according to the initial positioning coordinate pair when the initial positioning coordinate pair of the electric working machine is received for the first time, and add the initial center point coordinates to the regression point set PC1; wherein the positioning coordinate pair includes the head positioning coordinates and the tail positioning coordinates, and the initial value of the regression point set PC1 is an empty set; A non-first positioning processing module, for calculating the center point coordinates and the orientation of the machine tool at the current moment according to the positioning coordinate pair and the steering anchor point at the current moment when the positioning coordinate pair of the electric working machine tool is received for the non-first time; The first judgment module is used to judge whether this is the second time to receive the positioning coordinate pair. If so, the secondary positioning processing module is executed, otherwise the non-secondary positioning processing module is executed; The secondary positioning processing module is used to add the center point coordinates at the current moment to the regression point set PC1, regress and calculate the current driving direction based on the initial center point coordinates and the center point coordinates at the current moment, correct the positioning coordinates at the current moment to the projection point coordinates of the center point at the current moment in the current driving direction, correct the steering anchor point to the projection point of the initial center point in the current driving direction, correct the direction of the power working machine to the current driving direction, and execute the positioning result output module; The non-secondary positioning processing module is used to calculate the distance between the center point coordinates at the current moment and the center point coordinates at the previous moment in the regression point set PC1, and determine whether it exceeds the preset distance threshold DIST. If not, the power working machine is considered to be in a stationary state and the stationary positioning correction module is executed. If yes, it is considered to be in a moving state and the moving positioning processing module is executed; The static positioning correction module is used to add the center point coordinates at the current moment to the regression point set PC1, and correct the positioning coordinates at the current moment to the center point coordinates at the previous moment, correct the steering anchor point at the current moment to the steering anchor point at the previous moment, and correct the direction of the power working machine to the direction of the machine at the previous moment, and execute the positioning result output module; The mobile positioning processing module is used to determine whether the electric working machine is moving in a straight line, turning, or unable to determine the direction according to the potential moving direction of the electric working machine, the machine orientation, the current driving direction, and the possible driving direction, and correct the current positioning coordinates, turning anchor point, and the electric working machine orientation according to the judgment result, and then execute the positioning result output module; The positioning result output module is used to output the positioning coordinates and orientation of the corrected electric working machine as real-time positioning, and return to execute the non-first positioning processing module.

7. The real-time positioning system for electric power working tools according to claim 6, characterized in that: The mobile positioning processing module specifically includes: A first potential moving direction judging unit is used to take the direction of the center point at the previous moment and the center point at the current moment as the potential moving direction, calculate the angle θ between the potential moving direction and the tool orientation, and judge whether the angle θ exceeds a threshold value ANGLE, if not, execute the continuous potential point judging unit, otherwise execute the tool direction judging unit; A continuous potential point judgment unit is used to add the center point at the current moment as a potential point to the potential point set PC2, and judge whether the center point at the previous moment is in the potential point set PC2. If not, the dispute correction unit is executed, and if yes, the second potential moving direction judgment unit is executed; wherein the initial value of the potential point set PC2 is an empty set; The correction unit is used to add the center point of the previous moment and the center point of the current moment to the potential point set PC2, add the center point of the current moment to the regression point set PC1, keep the driving direction unchanged, correct the positioning coordinates of the current moment to the projection point coordinates of the center point in the driving direction, correct the turning anchor point of the current moment to the turning point of the previous moment, and execute the positioning result output module; wherein, the initial value of the dispute point set PC3 is an empty set; The second potential moving direction judging unit is used to add the center point at the current moment to the potential point set PC2, take the direction between the center point at the previous moment and the center point at the current moment as the potential moving direction, and judge whether the potential moving direction and the angle γ between the potential moving direction and the current driving direction exceed the threshold ANGLE. If not, it is regarded as a straight line walking and the first positioning correction unit is executed; otherwise, it is regarded as a turn and the second positioning correction unit is executed; The first positioning correction unit is used to add the center point at the current moment to the regression point set PC1, obtain the current driving direction according to the regression calculation of the regression point set PC1, correct the positioning coordinates at the current moment to the projection point of the center point in the current driving direction, correct the steering anchor point to the projection point of the steering anchor point at the previous moment in the current driving direction, and execute the positioning result output module; The second positioning correction unit is used to update the regression point set PC1 = potential point set PC2, obtain the current driving direction according to the regression calculation of the regression point set PC1, and correct the positioning coordinates at the current moment to the projection point coordinates of the center point in the current driving direction, update the turning anchor point to the projection point of the first point of the potential point set PC2 in the current driving direction, and execute the positioning result output module; The machine direction judgment unit is used to judge whether the electric working machine is unable to determine the direction according to the machine direction, current driving direction and possible driving direction of the electric working machine, and correct the current positioning coordinates, steering anchor point and direction of the electric working machine according to the judgment result, and then execute the positioning result output module.

8. The real-time positioning system for electric power working tools according to claim 7, characterized in that: The tool direction determination unit specifically includes: The dispute point judgment subunit is used to judge whether the center point at the previous moment is located in the dispute point set PC3. If not, the first positioning correction subunit is executed. If yes, the possible driving direction judgment subunit is executed. The first positioning correction subunit is used to clear the potential point set PC2, and add the center point coordinates at the current moment to the regression point set PC1, obtain the current driving direction according to the regression calculation of the regression point set PC1, and correct the positioning coordinates at the current moment to the projection point coordinates of the center point in the current driving direction, update the steering anchor point to the projection point of the steering anchor point at the previous moment in the current driving direction, correct the direction of the power working machine to the current driving direction, and add the current center point as a dispute point to the dispute point set PC3, and then execute the positioning result output module; The possible driving direction judgment subunit is used to take the most recently added dispute point from the dispute point set PC3, take the direction from the dispute point to the center point at the current moment as the possible driving direction, calculate the angle β between the possible driving direction and the current machine orientation, and judge whether the angle β exceeds the angle threshold ANGLE. If not, the second positioning correction subunit is executed. If it is considered that the direction cannot be determined, the third positioning correction subunit is executed; The second positioning correction subunit is used to obtain the current driving direction through regression calculation based on the regression point set PC1, and correct the positioning coordinates at the current moment to the coordinates of the projection point of the center point in the current driving direction, update the steering anchor point to the projection point of the steering anchor point in the current driving direction at the previous moment, correct the direction of the power working machine to the current driving direction, and then execute the positioning result output module; The third positioning correction subunit is used to keep the driving direction unchanged, correct the positioning coordinates at the current moment to the projection point coordinates of the center point in the current driving direction, correct the turning anchor point at the current moment to the turning point at the previous moment, add the current center point as a dispute point to the dispute point set PC3, and then execute the positioning result output module.

9. A safety warning method for electric power working tools, characterized in that: The steps include: Install positioning terminals at the head and tail of the power working machine, and install a positioning base station outdoors; The positioning terminal locates the head and tail of the power working tool based on the differential data sent by the positioning base station and sends it to the positioning control center; The positioning control center locates the electric power working machine using the method described in any one of claims 1 to 5 based on the positioning data sent by the positioning terminal; When the positioning control center finds that the electric operating equipment is about to enter the dangerous area, it sends alarm data to the positioning terminal.

10. A safety warning system for electric power working tools, characterized in that: include: Locating base stations, including outdoor base stations; A positioning terminal is installed at the head and tail of the electric working machine and is used to locate the head and tail of the electric working machine based on the positioning base station; The positioning access unit communicates with the positioning terminal. On the one hand, it sends the differential data of the positioning base station to the positioning terminal, and on the other hand, it receives and analyzes the positioning coordinate data of the positioning terminal and sends it to the positioning control center; The positioning control center is used to locate the power working tool based on the positioning data sent by the power working tool positioning terminal, using the system described in any one of claims 6-8, and sending alarm data to the positioning terminal when the power working tool is about to enter a dangerous area.

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