CN113753186B - Fault cooperative processing method, system and storage medium for floating water show platform - Google Patents
Fault cooperative processing method, system and storage medium for floating water show platform Download PDFInfo
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Abstract
The application discloses a fault cooperation processing method, a system and a storage medium for a floating water show platform, which comprise the following steps: acquiring fault trigger information generated by a problem platform; acquiring normal position information corresponding to all normal platforms, analyzing moving path information of each normal platform moving to a problem platform according to the normal position information and fault position information, selecting a plurality of rescue platforms and transmitting the moving path information to the corresponding rescue platforms; and obtaining standby information generated after the rescue platform finishes moving, and completing the connection between the rescue platform and the problem platform by a preset connection method according to the standby information. When the showy water show platform breaks down, control close normal platform in order being close to the problem platform and link together with the problem platform, normal platform provides power and removes in order to drive the problem platform, and the staff waits for the problem platform to take one's place at the destination and need not to go specially to the trouble position and retrieve the problem platform, reduces staff's work burden.
Description
Technical Field
The present application relates to the field of floating water show platforms, and in particular, to a method, a system, and a storage medium for fault coordination processing for a floating water show platform.
Background
The water show platform is a floating platform with various performance functions such as a fountain, a laser, a flame spraying device, a computer shaking head lamp, an artificial fog system, a projector, a water curtain device and the like. The water show platform can move in a ship dragging mode to meet the performance requirements of different flow areas of the same river channel. Just because the characteristics that float the water show platform and can remove wantonly, can use a plurality of showy water show platforms of showy water show platform when the performance of same scene, can come arbitrary connection or disconnection through the manipulator between the showy water show platform, through the position between the adjustment showy water show platform, produce multiple performance form.
However, in the process of transferring the floating water show platform between different performance places, some paths needing to be passed through are often narrow river channels and are not suitable for the same ship. Some manufacturers abandon the ship hauling mode, but directly add a power source on the floating water show platform, and then equip a GPS positioning device and a communication module, so that the floating water show platform can move on the water surface by the power provided by the respective power source. During the actual transfer, a plurality of floating water show platforms are arranged in a specific queue and move to the destination received by the communication module.
However, when a certain floating water show platform is wound by sundries or has a power source failure in the moving process, the floating water show platform can be separated from the queue and cannot smoothly reach the destination, and workers need to take the boat according to GPS signals to recover the floating water show platform, so that the whole recovery process is time-consuming and labor-consuming.
Disclosure of Invention
In order to reduce manual participation when a floating water show platform is recovered after a fault occurs, the application provides a fault cooperation processing method, a system and a storage medium for the floating water show platform.
In a first aspect, the present application provides a fault coordination processing method for a floating water show platform, which adopts the following technical solutions:
a fault co-ordination handling method for a floating water show platform, comprising the steps of:
defining the floating water show platform with faults as a problem platform, and defining the floating water show platform without faults as a normal platform;
acquiring fault trigger information generated by a problem platform, wherein the fault trigger information comprises fault position information corresponding to the problem platform;
acquiring normal position information corresponding to all normal platforms, analyzing moving path information of each normal platform moving to a problem platform according to the normal position information and fault position information, sequencing the moving path information in the order from short to long of a path corresponding to the moving path information, selecting a plurality of normal platforms corresponding to the moving path information sequenced in the front to define as rescue platforms,
transmitting the moving path information to a corresponding rescue platform;
obtaining standby information generated after the rescue platform moves according to the moving path information,
and completing the connection of the rescue platform and the problem platform by a preset connection method according to the standby information.
Through adopting above-mentioned technical scheme, when floating the water show platform and break down and break away from the queue, the control is in the same place with being close to the problem platform and linking together with the problem platform with the similar normal platform of problem platform, provides power by normal platform and removes together in order to drive the problem platform, and the staff can wait for the problem platform to take one's place at the destination and need not specially go the trouble position and retrieve the problem platform, reduces staff's work burden.
Optionally, the moving path is transmitted to a corresponding rescue platform, and the following method is specifically adopted:
judging whether the paths corresponding to the moving path information have partial overlap or not,
if the paths corresponding to the moving path information are overlapped, sequentially transmitting the moving path information to the corresponding rescue platforms from front to back according to the sequence of the moving path information;
and if the paths corresponding to the moving path information are not overlapped, transmitting the moving path information to the corresponding rescue platform.
By adopting the technical scheme, the movement among the rescue platforms cannot cause interference, when the paths corresponding to the moving path information are overlapped, the sequence of the movement of the rescue platforms is enabled to appear by controlling the sending sequence of the moving path information, and the rescue platform with the short path moves firstly to eliminate the interference on the rescue platform with the long path, so that the safety and the sequence of the rescue platform in the moving process are improved.
Optionally, defining a normal platform which receives the moving path information in sequence as a related platform, and defining a floating water show platform connected with the rescue platform as a target platform, wherein the rest normal platforms are non-related platforms;
determining a corresponding target platform according to whether the current rescue platform is a related platform;
if the current rescue platform is a non-associated platform, the target platform connected with the non-associated platform is a problem platform;
if the current rescue platform is the association platform, further judging whether the current rescue platform is the first association platform receiving the moving path information in the same sequence;
if the current rescue platform is the first correlation platform which receives the moving path information in the same sequence, the target platform connected with the correlation platform is a problem platform;
if the current rescue platform is not the first associated platform receiving the moving path information in the same sequence, the target platform connected with the associated platform is the previous associated platform receiving the moving path information in the same sequence.
Through adopting above-mentioned technical scheme, the hookup location that can provide on the problem platform is limited, and the space around the problem platform is also limited, and all direct and problem platform connections of rescue platform that is not fit for are not fit for, consequently will divide the connection object of rescue platform according to the difference of the route of rescue platform to problem platform, the rescue platform that does not have the barrier on the route is direct to be connected with the problem platform, the rescue platform that has other rescue platforms to block on the route then through being connected with the rescue platform that blocks and realize indirectly being connected with the problem platform.
Optionally, the preset connection method includes:
acquiring current position information of a rescue platform and first distribution information corresponding to a connecting seat on a target platform for a manipulator to grab;
judging whether a connecting seat facing the rescue platform exists on the target platform according to the first distribution information and the current position information,
if the connecting seat facing the rescue platform does not exist, adjusting the position of the rescue platform according to a first adjusting method to enable the connecting seat on the target platform to face the rescue platform, then obtaining second distribution information corresponding to the manipulator on the corresponding rescue platform, and judging whether the manipulator opposite to the connecting seat exists on the rescue platform or not;
if a connecting seat facing the rescue platform exists, second distribution information corresponding to the manipulator on the corresponding rescue platform is obtained, and whether the manipulator opposite to the connecting seat exists on the rescue platform is judged;
if the manipulator opposite to the connecting seat does not exist on the rescue platform, the orientation of the manipulator on the rescue platform is changed according to a second adjusting method so that one manipulator on the rescue platform is opposite to the connecting seat on the target platform, and then the manipulator is started to be connected to the opposite connecting seat;
if the rescue platform is provided with a manipulator opposite to the connecting seat; the manipulator is actuated to connect to the connecting sockets opposite the target platform.
By adopting the technical scheme, the manipulator on the rescue platform is ensured to be opposite to the connecting seat on the problem platform in a mode of adjusting the position of the rescue platform and the position of the manipulator on the rescue platform, and the problem platform possibly needs to be connected with a plurality of rescue platforms, so that the adjustment object is only the rescue platform without moving the problem platform.
Optionally, the first adjusting method includes:
identifying first distribution sub-information of a connecting seat closest to the rescue platform from the first distribution information according to the current position information;
analyzing orientation information of the connecting seat according to the first distribution sub-information and the fault position information;
and generating adjusted position information according to the orientation information and the current position information and transmitting the adjusted position information to the corresponding rescue platform.
By adopting the technical scheme, the connecting seat at a proper position on the problem platform is selected to serve as an object matched with the manipulator on the rescue platform, so that the adjustment range of the rescue platform can be effectively reduced, and the connection efficiency of the rescue platform and the problem platform is improved.
Optionally, the second adjusting method includes:
identifying second distribution sub information corresponding to the manipulator closest to the connecting seat from the second distribution information according to the orientation information of the connecting seat;
and analyzing the rotation angle information according to the second distribution sub information and the orientation information and transmitting the rotation angle information to a corresponding rescue platform.
Through adopting above-mentioned technical scheme, select the manipulator of suitable position on the rescue platform to come with the connecting seat cooperation of problem platform, further reduce rescue platform adjustment range, further improve the connection efficiency of rescue platform and problem platform.
Optionally, the method further includes:
presetting a route gradiometer, wherein the route gradiometer comprises different route ranges and the number of corresponding rescue platforms;
analyzing the remaining distance information according to the fault position information and the prestored destination position information;
and acquiring the number of the rescue platforms according to the remaining distance information and the distance gradient table, and selecting the same number of normal platforms from front to back in the sequence of the moving path information to define the normal platforms as the rescue platforms.
By adopting the technical scheme, the number of the rescue platforms is determined according to the remaining distance, so that appropriate power can be provided for driving the problem platforms, and excessive burden on the participated rescue platforms can be avoided.
In a second aspect, the present application provides a fault cooperative processing system for a floating water show platform, which adopts the following technical solutions:
a fault co-processing system for a floating water show platform, comprising:
the information acquisition module is used for acquiring fault trigger information generated by the problem platform, normal position information corresponding to all normal platforms and standby information generated after the rescue platform moves according to the moving path information;
the information analysis module is used for analyzing the moving path information of each normal platform moving to the problem platform according to the normal position information and the fault position information, sequencing the moving path information in the sequence from short to long according to the path corresponding to the moving path information, and selecting a plurality of normal platforms corresponding to the moving path information sequenced at the front to define as rescue platforms;
the information transmission module is used for transmitting the moving path information to the corresponding rescue platform;
and the connection control module is used for completing the connection of the rescue platform and the problem platform according to the standby information by a preset connection method.
In a third aspect, the present application provides a computer-readable storage medium, which adopts the following technical solutions:
a computer-readable storage medium storing a computer program that can be loaded by a processor and executes the above-mentioned method.
In summary, the present application includes at least one of the following beneficial technical effects:
the problem platform is assisted to move together by using the normal platform, so that the problem platform can still smoothly reach a destination, a worker does not need to rush to a fault occurrence point, and the workload of the worker is reduced;
according to different positions of the problem platform in the queue, a proper normal platform is arranged to rescue the problem platform, interference on the normal platform during moving is reduced, and connection with the problem platform is orderly and efficiently completed.
Drawings
Fig. 1 is a schematic structural diagram of a floating water show platform in an embodiment of the present application.
Fig. 2 is a block flow diagram of an embodiment of the present application.
Fig. 3 is a system block diagram of an embodiment of the present application.
Description of reference numerals: 1. a floating platform; 2. a power plant; 3. a GPS positioning device; 4. a processing terminal; 41. an information acquisition module; 42. an information analysis module; 43. an information transmission module; 44. and connecting the control module.
Detailed Description
The present application is described in further detail below with reference to figures 1-3.
The embodiment of the application discloses a trouble cooperative processing method for showy water show platform, uses in the queue that a plurality of showy water show platforms are constituteed, refers to fig. 1, and showy water show platform includes floating platform 1, installs processing terminal 4, power device 2, GPS positioner 3, a plurality of connecting seat and a plurality of manipulator on floating platform 1. The processing terminal 4 is respectively electrically connected with the power device 2, the GPS positioning device 3 and the manipulator. Certainly, one or more of performance equipment such as a fountain, a laser, a flaming device, a computer shaking head lamp, an artificial fog system, a projector, a water curtain device and the like can be additionally arranged on the floating platform 1 according to the performance requirement.
When a certain floating water show platform in the queue breaks down, the floating water show platform which breaks down is a problem platform, and a processing terminal 4 corresponding to the problem platform is defined as a first sub-controller; the rest of the platforms are normal platforms, one processing terminal 4 in the normal platform is defined as a master controller, and the rest of the processing terminals 4 are defined as second branch controllers. The master controller obtains fault trigger information generated by the problem platform and normal position information corresponding to all the normal platforms, wherein the fault trigger information comprises fault position information corresponding to the problem platform. The master controller analyzes the moving path information of each normal platform moving to the problem platform according to the normal position information and the fault position information, the moving path information is sequenced from short to long according to the paths corresponding to the moving path information, a plurality of normal platforms corresponding to the moving path information sequenced in the front are selected to be defined as rescue platforms, and the master controller transmits the moving path information to a second sub-controller in the corresponding rescue platform. And the second sub-controller acquires standby information generated after the rescue platform moves according to the moving path information, and completes the connection between the rescue platform and the problem platform by a preset connection method according to the standby information.
The processing terminals 4 have a short-range wireless communication function therebetween. There is not any difference in the function between total controller, first branch accuse ware and the second branch accuse ware, and the purpose that sets up total controller is only for conveniently gathering the information of each processing terminal 4 production to total controller, first branch accuse ware and second branch accuse ware can be according to the nimble conversion of actual conditions. All processing terminals 4 are numbered before use, the processing terminal 4 with the number 1 is tentatively the master controller, if the floating water show platform where the processing terminal 4 with the number 1 is located breaks down, then the processing terminal 4 with the number 1 becomes the first branch controller from the master controller, and the master controller continues one bit backward according to the sequence of the numbers, namely the processing terminal 4 with the number 2 becomes the master controller.
When two showy water show platforms need link together through the manipulator, make two showy water show platforms keep suitable distance to a manipulator on one of them showy water show platform is towards a connecting seat on another showy water show platform, then control manipulator extension, can connect after the manipulator is close to relative connecting seat, and specific connected mode has the multiple, can be multiple realization modes such as centre gripping connection, joint connection, electromagnetic connection, buckle connection.
Referring to fig. 2, a fault cooperation processing method for a floating water show platform specifically includes the following steps:
s100, acquiring fault trigger information generated by the problem platform.
The fault trigger information includes fault location information corresponding to the problem platform, and the fault location information is GPS data information of a current location acquired from the corresponding GPS positioning device 3 when the floating water show platform is determined to be the problem platform. The generation of the failure trigger information is also generated when the floating water show platform is determined as a problem platform by the processing terminal 4.
In one embodiment, when the power plant 2 in normal operation suddenly does not work or the power output suddenly falls below a preset power warning value, the processing terminal 4 detects the phenomenon without giving instructions like shutdown, deceleration and the like, the processing terminal 4 determines that the floating water show platform is a problem platform, and at the moment, if the power plant 2 is still in operation, the processing terminal 4 gives a shutdown instruction to stop the power plant 2. The processing terminal 4 reacquires the GPS data information in the GPS positioning device 3 to generate the fail-over information.
In one embodiment, the power device 2 of the floating water show platform is in normal operation, but according to the GPS data information provided by the GPS positioning device 3, the processing terminal 4 determines that the floating water show platform is not moving or the distance between the floating water show platform and the adjacent floating water show platform is continuously increased to exceed the preset upper limit value of the alert distance or is continuously decreased to be lower than the preset lower limit value of the alert distance, and then the processing terminal 4 determines that the floating water show platform is the problem platform. Another purpose of the distance warning value setting is to avoid problems with the communication between the processing terminal 4 on the platform and the master controller being interrupted by too long a distance.
S200, acquiring normal position information corresponding to all normal platforms, analyzing the moving path information of each normal platform moving to a problem platform according to the normal position information and the fault position information, sequencing the moving path information in the sequence from short to long of the path corresponding to the moving path information, and selecting a plurality of normal platforms corresponding to the moving path information in the front of the sequence to define as rescue platforms.
When the processing terminal 4 on the problem platform transmits the fault triggering information to the master controller, the master controller sends a shutdown instruction to all the processing terminals 4, so that all the floating water show platforms stop moving. The normal position information is GPS data information acquired from the corresponding GPS positioning device 3 when the normal platform stops moving. The path corresponding to the movement path information is a theoretical shortest path from the position corresponding to the normal position information to the position corresponding to the failure position information. The shorter the path corresponding to the moving path information is, the shorter the time for the corresponding floating water show platform to move to the problem platform is, and the lower the probability of the occurrence of the variable during the moving process is. As for the specific number of the rescue platforms, the specific number needs to be determined based on a preset matching method, which specifically includes:
a route gradiometer is preset, and the route gradiometer comprises different route ranges and the number of corresponding rescue platforms;
and analyzing the remaining distance information according to the fault position information and the prestored destination position information.
And acquiring the number of rescue platforms according to the remaining distance information and the distance gradient table, and selecting the same number of normal platforms from front to back in the sequence of the moving path information to define the normal platforms as the rescue platforms.
Each processing terminal 4 stores therein a trip gradient table and destination position information. The matching method can be executed by the processing terminal 4 of the problem platform or can be executed after the master controller acquires the fault position information. When the rescue platform moves together with a problem platform, due to the fact that load is increased, the power device 2 of the rescue platform needs to enter an overload state to output power higher than rated power, the overload state of the rescue platform cannot last, the power device 2 is easily damaged after the overload state lasts for a certain time, the safety duration time of the overload state is related to the power excess amount of the rescue platform in the overload state, and the larger the excess amount is, the shorter the safety duration time is. Therefore, when the remaining distance is longer and the time required for movement is longer, the power excess of each power unit 2 is reduced, that is, the number of rescue platforms is increased, in order to improve the safety duration. For example, the range gradient table includes range ranges of 2km or less, 2km to 5km, and 5 to 8km, which correspond to 1, 2, and 3, respectively. And the actually calculated remaining distance is 4.4km, which corresponds to a distance range of 2km-5km, so that the number of the rescue platforms is 2, and the first two pieces of mobile path information are selected from the sequence of the mobile path information.
And S300, transmitting the moving path information to a corresponding rescue platform.
In fact, other rescue platforms may exist on the shortest path, so that the movement sequence of the rescue platforms needs to be formulated in order to eliminate the interference of other floating water show platforms, and a method for controlling the movement sequence of the rescue platforms more simply is to control the time for transmitting the movement path information to the corresponding rescue platforms by the master controller. The method specifically comprises the following steps:
judging whether the paths corresponding to the moving path information have partial overlap or not,
if the paths corresponding to the moving path information are overlapped, sequentially transmitting the moving path information to the corresponding rescue platforms from front to back according to the sequence of the moving path information;
and if the paths corresponding to the moving path information are not overlapped, transmitting the moving path information to the corresponding rescue platform.
In order to be suitable for riverways with different widths, the floating water show platforms move in a single-row arrangement mode in the transfer process, and paths of the rescue platforms are necessarily overlapped as long as a plurality of rescue platforms exist on one side of the problem platform. And when the problem platform is positioned in the middle of the queue and the floating water show platforms positioned on two sides of the problem platform are rescue platforms, the two rescue platforms can receive corresponding moving path information at the same time.
The quantity of connecting seat is limited on the beautiful platform of a showy water, when rescue platform quantity is more, and not all rescue platforms can all be connected on the problem platform. And the width of the river channel for the floating water show platform to pass through has uncertainty, and the moving amplitude of the rescue platform in the width direction of the river channel needs to be reduced as much as possible. Consequently, the showy water show platform that the rescue platform is connected is not necessarily all problem platforms, also can be other rescue platforms of homonymy. The method for determining the floating water show platform connected with different rescue platforms comprises the following steps:
and defining a normal platform which receives the moving path information in sequence as an associated platform, and defining the rest normal platforms as non-associated platforms. And defining a floating water show platform connected with the rescue platform as a target platform.
Connecting different target platforms according to the type of the current rescue platform;
if the current rescue platform is a non-associated platform, the target platform connected with the non-associated platform is a problem platform;
if the current rescue platform is the association platform, further judging whether the current rescue platform is the first association platform receiving the moving path information in the same sequence;
if the current rescue platform is the first correlation platform which receives the moving path information in the same sequence, the target platform connected with the correlation platform is a problem platform;
if the current rescue platform is not the first correlation platform receiving the moving path information in the same sequence, the target platform connected with the correlation platform is the previous correlation platform receiving the moving path information in the same sequence.
The floating water show platform can move orderly in a queue mode, the problem platform is connected with at most two rescue platforms on two sides, the associated platforms on the corresponding sides are sequentially connected end to end, and except that the first associated platform receiving moving path information is directly connected with the problem platform, the rest associated platforms are indirectly connected with the problem platform.
It should be noted that if the rescue platform that determines according to the length of route all is in the rear side of problem platform, according to foretell flow, the rescue platform only can provide thrust to the problem platform to do not benefit to the control of problem platform direction of advance, therefore under this kind of circumstances, need guarantee that at least one rescue platform is in the front side of problem platform, the mode of its realization is to adjusting the route of the rescue platform that is closest to the problem platform, make this rescue platform through the mode of walking around the problem platform in order to move the front side of problem platform.
S400, standby information generated after the rescue platform moves according to the moving path information is obtained, and connection between the rescue platform and the problem platform is completed according to the standby information by a preset connection method.
The standby information is information sent to the processing terminal 4 of the target platform by the corresponding second sub-controller after the rescue platform finishes moving, and the processing terminal 4 of the target platform transmits the current position information of the target platform to the corresponding second sub-controller after receiving the standby information. The target platform may have a certain offset in the moving process of the rescue platform due to the influence of external factors such as water waves, and the second sub-controller needs to acquire real-time more accurate data in order to realize subsequent connection.
The connection object of the rescue platform may be a problem platform or other rescue platforms, but the connection modes in these two cases are the same, and for easy understanding, the specific connection process is explained by taking the connection between the rescue platform and the problem platform as an example in this embodiment.
The preset connection method specifically comprises the following steps:
the current position information of the rescue platform and first distribution information corresponding to a connecting seat on the target platform for the manipulator to grab are obtained.
Judging whether a connecting seat facing to the rescue platform exists on the target platform according to the first distribution information and the current position information,
if the connecting seat facing the rescue platform does not exist, the position of the rescue platform is adjusted according to the first adjusting method so that the connecting seat on the target platform faces the rescue platform, second distribution information corresponding to the manipulator on the corresponding rescue platform is obtained, and whether the manipulator opposite to the connecting seat exists on the rescue platform is judged.
And if the connecting seat facing the rescue platform exists, acquiring second distribution information corresponding to the manipulator on the corresponding rescue platform, and judging whether the manipulator opposite to the connecting seat exists on the rescue platform.
If the manipulator opposite to the connecting seat does not exist on the rescue platform, the orientation of the manipulator on the rescue platform is changed according to a second adjusting method so that one manipulator on the rescue platform is opposite to the connecting seat on the target platform, and then the manipulator is started to be connected to the opposite connecting seat.
If the rescue platform is provided with a manipulator opposite to the connecting seat; the manipulator is actuated to connect to the connecting sockets opposite the target platform.
The first adjusting method comprises the following steps:
identifying first distribution sub-information of a connecting seat closest to the rescue platform from the first distribution information according to the current position information;
analyzing orientation information of the connecting seat according to the first distribution sub information and the fault position information;
and generating adjusted position information according to the orientation information and the current position information and transmitting the adjusted position information to the corresponding rescue platform.
The second adjustment method includes:
identifying second distribution sub-information corresponding to the manipulator nearest to the connecting seat from the second distribution information according to the orientation information of the connecting seat;
and analyzing the rotation angle information according to the second distribution sub information and the orientation information and transmitting the rotation angle information to a corresponding rescue platform.
First distribution information is the distribution condition of all connecting seats on this showy water show platform of same showy water show platform, and first distribution sub-information is the distribution condition of a certain connecting seat on showy water show platform. The second distribution information is the distribution situation of all manipulators on the same floating water show platform, and the second distribution sub-information is the distribution situation of a certain manipulator on the floating water show platform. The position relation between manipulator and the connecting seat on the same showy water show platform is fixed, consequently can obtain the first distribution information that the connecting seat corresponds on the same showy water show platform through second distribution information. The manipulator is provided with an orientation positioning module, the orientation positioning module is used for providing the orientation of the manipulator for the processing terminal 4, and the orientation of all the manipulators can be calculated by combining the distribution situation of the manipulators on the floating platform 1, so that second distribution information is obtained.
Need cooperate the current position information of the showy water show platform of connecting seat place just can accurately acquire the orientation of each connecting seat in the actual river course when using first distribution information, then judge whether the position of rescue platform is in on the orientation direction of arbitrary connecting seat on the rescue platform. When the rescue platform is not located in the direction of any connecting seat, the rescue platform needs to be adjusted to the direction of one connecting seat, in order to reduce the moving distance of the rescue platform, the connecting seat of the nearest rescue platform on the problem platform needs to be determined first, and then the rescue platform is moved to the direction of the connecting seat. In order to flexibly adjust the position of the rescue platform, a plurality of power devices 2 can be arranged to provide power in different directions; of course, the power unit 2 may be rotatably provided with the floating platform 1, and the power in different directions may be generated by rotating the orientation of the power unit 2.
When the rescue platform is in the direction that a connecting seat of problem platform was faced, whether the manipulator on the rescue platform is just in time relative with this connecting seat just to see, if manipulator on the rescue platform does not relative with the connecting seat on the problem platform, the position of manipulator on the rescue platform that should adjust earlier, there are two kinds of modes of adjustment manipulator position, one kind is that power device 2 drives whole showy water beautiful platform and rotates, another kind is to rotate on showy platform 1 and set up an electronic platform that rotates, manipulator and connecting seat are all installed on rotating the platform, rotate the motion that changes the manipulator through the electronic platform that rotates of drive. Before the position of the manipulator on the rescue platform is changed, the manipulator with the minimum rotation amplitude is selected according to the position relation between the manipulator on the rescue platform and the connecting seat on the problem platform, and then the specific rotation amplitude is determined to realize quick adjustment. And finally, after the manipulator on the rescue platform is opposite to the connecting seat on the problem platform, the manipulator is extended to connect the connecting seat.
The embodiment of the application further discloses a fault cooperative processing system for the floating water show platform, which comprises a processing terminal 4, wherein the processing terminal 4 comprises the following modules:
the information obtaining module 41 is configured to obtain fault trigger information generated by the problem platform, normal position information corresponding to all normal platforms, and standby information generated after the rescue platform moves according to the moving path information.
And the information analysis module 42 is configured to analyze the moving path information of each normal platform moving to the problem platform according to the normal position information and the fault position information, sort the moving path information in the order from short to long according to the path corresponding to the moving path information, and select a plurality of normal platforms corresponding to the moving path information sorted in the front to define as the rescue platform.
And the information transmission module 43 is configured to transmit the moving path information to the processing terminal 4 of the corresponding rescue platform.
And the connection control module 44 is used for completing the connection between the rescue platform and the problem platform according to the standby information by a preset connection method.
The application also discloses a computer readable storage medium storing a computer program that can be loaded by a processor and execute the above method.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (9)
1. A fault co-processing method for a floating water show platform, comprising the steps of:
defining the floating water show platform with faults as a problem platform, and defining the floating water show platform without faults as a normal platform;
acquiring fault trigger information generated by a problem platform, wherein the fault trigger information comprises fault position information corresponding to the problem platform;
acquiring normal position information corresponding to all normal platforms, analyzing moving path information of each normal platform moving to a problem platform according to the normal position information and fault position information, sequencing the moving path information in the order from short to long of a path corresponding to the moving path information, selecting a plurality of normal platforms corresponding to the moving path information sequenced in the front to define as rescue platforms,
transmitting the moving path information to a corresponding rescue platform;
obtaining standby information generated after the rescue platform moves according to the moving path information,
and completing the connection between the rescue platform and the problem platform by a preset connection method according to the standby information.
2. The fault co-ordination handling method for floating water show platforms according to claim 1, characterized by: and transmitting the moving path to a corresponding rescue platform, and specifically adopting the following method:
judging whether the paths corresponding to the moving path information have partial overlap or not,
if the paths corresponding to the moving path information are overlapped, sequentially transmitting the moving path information to the corresponding rescue platforms from front to back according to the sequence of the moving path information;
and if the paths corresponding to the moving path information are not overlapped, transmitting the moving path information to the corresponding rescue platform.
3. The fault co-ordination handling method for floating water show platforms according to claim 2, characterized in that:
defining a normal platform which receives the moving path information in sequence as a related platform, the rest normal platforms as non-related platforms, and defining a floating water show platform connected with a rescue platform as a target platform;
determining a corresponding target platform according to whether the current rescue platform is a related platform;
if the current rescue platform is a non-associated platform, the target platform connected with the non-associated platform is a problem platform;
if the current rescue platform is the correlation platform, further judging whether the current rescue platform is the first correlation platform receiving the moving path information in the same sequence;
if the current rescue platform is the first correlation platform which receives the moving path information in the same sequence, the target platform connected with the correlation platform is a problem platform;
if the current rescue platform is not the first associated platform receiving the moving path information in the same sequence, the target platform connected with the associated platform is the previous associated platform receiving the moving path information in the same sequence.
4. The fault co-ordination handling method for floating water show platforms as claimed in claim 3, wherein the preset connection method comprises:
acquiring current position information of a rescue platform and first distribution information corresponding to a connecting seat on a target platform for a manipulator to grab;
judging whether a connecting seat facing the rescue platform exists on the target platform according to the first distribution information and the current position information,
if the connecting seat facing the rescue platform does not exist, adjusting the position of the rescue platform according to a first adjusting method to enable the connecting seat on the target platform to face the rescue platform, then obtaining second distribution information corresponding to the manipulator on the corresponding rescue platform, and judging whether the manipulator opposite to the connecting seat exists on the rescue platform or not;
if a connecting seat facing the rescue platform exists, second distribution information corresponding to the manipulator on the corresponding rescue platform is obtained, and whether the manipulator opposite to the connecting seat exists on the rescue platform is judged;
if the manipulator opposite to the connecting seat does not exist on the rescue platform, the orientation of the manipulator on the rescue platform is changed according to a second adjusting method so that one manipulator on the rescue platform is opposite to the connecting seat on the target platform, and then the manipulator is started to be connected to the opposite connecting seat;
if the rescue platform is provided with a manipulator opposite to the connecting seat; the manipulator is actuated to connect to the connecting sockets opposite the target platform.
5. The fault co-ordination handling method for floating water show platforms according to claim 4, wherein: the first adjustment method includes:
identifying first distribution sub-information of a connecting seat closest to the rescue platform from the first distribution information according to the current position information;
analyzing orientation information of the connecting seat according to the first distribution sub information and the fault position information;
and generating adjusted position information according to the orientation information and the current position information and transmitting the adjusted position information to the corresponding rescue platform.
6. The fault co-ordination handling method for floating water show platforms according to claim 5, wherein: the second adjustment method includes:
identifying second distribution sub-information corresponding to the manipulator nearest to the connecting seat from the second distribution information according to the orientation information of the connecting seat;
and analyzing the rotation angle information according to the second distribution sub information and the orientation information and transmitting the rotation angle information to a corresponding rescue platform.
7. The fault co-ordination handling method for a floating water show platform as claimed in claim 1, further comprising:
presetting a route gradiometer, wherein the route gradiometer comprises different route ranges and the number of corresponding rescue platforms;
analyzing the remaining distance information according to the fault position information and the prestored destination position information;
and acquiring the number of rescue platforms according to the remaining distance information and the distance gradient table, and selecting the same number of normal platforms from front to back in the sequence of the moving path information to define the normal platforms as the rescue platforms.
8. A fault co-ordination handling system for a floating water show platform, comprising:
the information acquisition module (41) is used for acquiring fault trigger information generated by the problem platform, normal position information corresponding to all normal platforms and standby information generated after the rescue platform moves according to the moving path information;
the information analysis module (42) is used for analyzing the moving path information of each normal platform moving to the problem platform according to the normal position information and the fault position information, sequencing the moving path information from short to long according to the path corresponding to the moving path information, and selecting a plurality of normal platforms corresponding to the moving path information sequenced in the front to define as rescue platforms;
the information transmission module (43) transmits the moving path information to the corresponding rescue platform;
and the connection control module (44) is used for completing the connection of the rescue platform and the problem platform according to the standby information by a preset connection method.
9. A computer-readable storage medium, in which a computer program is stored which can be loaded by a processor and which executes the method of any one of claims 1 to 7.
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| FR2582047B1 (en) * | 1985-05-17 | 1988-04-08 | Inst Francais Du Petrole | DEVICE FOR THE REMOTE ASSEMBLY OF TWO ORGANS |
| CN101261134B (en) * | 2008-01-04 | 2011-05-18 | 北京航空航天大学 | Vehicle mounted positioning navigation terminal facing emergent rescuing |
| US8998666B1 (en) * | 2013-08-02 | 2015-04-07 | Steven Albright | Rescue method and system for an overboard passenger |
| CN108674602A (en) * | 2018-05-30 | 2018-10-19 | 佛山市神风航空科技有限公司 | Rescue at sea system |
| CN110302933B (en) * | 2019-07-11 | 2020-08-14 | 浙江国际海运职业技术学院 | Manufacturing method of elegance platform |
| CN112004279B (en) * | 2020-09-07 | 2023-04-07 | 杭州西湖喷泉设备成套有限公司 | Water show light control system based on LORA wireless technology |
| CN112261574B (en) * | 2020-10-20 | 2023-04-07 | 中移雄安信息通信科技有限公司 | Method, device and equipment for determining target rescue object and computer storage medium |
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Denomination of invention: Fault collaborative processing method, system, and storage medium for floating water show platforms Granted publication date: 20220705 Pledgee: Hangzhou High-tech Financing Guarantee Co.,Ltd. Pledgor: HANGZHOU WEST-LAKE FOUNTAIN INSTALLATION SERIALS Co.,Ltd. Registration number: Y2024980003668 |
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