CN203672380U - Positioning navigation device for working platform of elevating platform fire truck and fire truck - Google Patents
Positioning navigation device for working platform of elevating platform fire truck and fire truck Download PDFInfo
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- CN203672380U CN203672380U CN201320731638.3U CN201320731638U CN203672380U CN 203672380 U CN203672380 U CN 203672380U CN 201320731638 U CN201320731638 U CN 201320731638U CN 203672380 U CN203672380 U CN 203672380U
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- jib
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- 230000009471 action Effects 0.000 claims description 5
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- 230000005540 biological transmission Effects 0.000 claims description 2
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- 238000000034 method Methods 0.000 abstract description 24
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- 238000001514 detection method Methods 0.000 abstract 2
- 230000000875 corresponding effect Effects 0.000 description 7
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- 230000004888 barrier function Effects 0.000 description 3
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- 241000876443 Varanus salvator Species 0.000 description 1
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Abstract
The utility model discloses a positioning navigation device for a working platform of an elevating platform fire truck and a fire truck. Both a display device and a boom detection device are electrically connected with a controller. The display device sends an input target point message to the controller; the boom detection device sends a status message obtained from the boom of the elevating platform fire truck to the controller in real time; the controller calculates a navigation message of working platform movement to a target point in real time and sends the navigation message into the display device for display. Through the adoption of the positioning navigation device and the elevating platform fire truck, the route of the target point can be planned in real time according to the current status of the boom so as to ensure that the target point can be reached in an optimal way; the adopted navigation strategy only provides route guidance for an operator without intervening the actual operation process, so that obstacle touch and other dangerous working conditions are effectively avoided in the process of boom movement, and the safe working coefficient and the rescue efficiency of the elevating platform fire truck are improved.
Description
Technical field
The utility model relates to location and navigation technology field, relates in particular to a kind of positioning navigation device, Elevating platform fire truck of Elevating platform fire truck workbench.
Background technology
Elevating platform fire truck is collapsible or the folding and telescopic combined jib of equipment, manned platform, display turntable and extinguishing device, for putting out the special purpose vehicle of fire of high-rise building and rescue.Car is provided with workbench and fire water monitor (hydraulic giant), and for fire fighter's fire such as skyscraper, tall and big facility of putting out a fire to save life and property of ascending a height, rescue trapped personnel, rescues the specific installation of valuable goods and materials and protection citizen's the security of the lives and property.In view of its singularity and importance, the work efficiency of Elevating platform fire truck in rescue process is even more important, and the key of raising the efficiency is to reduce fire truck from the time of standby condition arrival impact point and promotes the levels of precision that arrives impact point position.
At present, Elevating platform fire truck lacks the guidance information to operator in rescue process, if thinking to arrive fast impact point, operator need to have more deep understanding to truck amplitude curve, otherwise probably, because the many factors such as improper of improper, the jib angle of vehicle parking position and jib elongation causes arriving impact point, this will have a strong impact on the efficiency of rescue.Or, can calculate corresponding jib state, then reach impact point by a key control.But this method exists two kinds of defects, on the one hand due to the uniqueness of its path planning, cause jib likely can run into the barrier such as electric pole, house in the process of operation, thereby cause arriving impact point.Vehicle can stop current action in the time approaching the target jib state calculating on the other hand, but consider that stationarity all can have certain action buffering, thereby cause the phenomenon that exceedes theoretical jib state to occur, and the method can't be carried out final jib state revision according to the value exceeding, make system cannot accurately arrive impact point, affect the efficiency of rescue, can not in actual rescue process, have very high success ratio.
Utility model content
In view of this, a technical matters to be solved in the utility model is to provide a kind of positioning navigation device of Elevating platform fire truck workbench, and navigation information can be provided in real time.
A positioning navigation device for Elevating platform fire truck workbench, comprising: controller, jib pick-up unit and display device; Described display device and described jib pick-up unit are all electrically connected with described controller; The impact point information of input is sent to described controller by described display device; The status information of the jib of the Elevating platform fire truck obtaining is sent in real time described controller by described jib pick-up unit; Described controller is according to the status information of described impact point information and described jib, and evaluation work platform movement is to the navigation information of impact point in real time, and this navigation information is sent in described display device and shown; Described impact point information comprises: the horizontal range of impact point, highly, the anglec of rotation.
According to device of the present utility model embodiment, further, described jib pick-up unit comprises: jib angular transducer; Described jib angular transducer is electrically connected with described controller.
According to device of the present utility model embodiment, further, also comprise jib topworks; Described controller is electrically connected with described jib topworks; Described controller sends and carries out instruction to described jib topworks, and the boom device of described jib actuating mechanism controls Elevating platform fire truck completes the action corresponding with described instruction.
According to device of the present utility model embodiment, further, described controller is electrically connected with handle; Wherein, by operating described handle to described controller transmit operation instruction, described controller is to described jib topworks's transmission execution instruction corresponding with described operational order.
According to device of the present utility model embodiment, further, described display is connected by CAN bus with described controller.
According to device of the present utility model embodiment, further, the display screen of described display device is touching display screen.
A technical matters to be solved in the utility model is to provide a kind of Elevating platform fire truck, comprises the positioning navigation device of Elevating platform fire truck workbench as above.
The positioning navigation device of Elevating platform fire truck workbench of the present utility model, Elevating platform fire truck, can carry out path planning according to jib current state to impact point in real time, guarantees to arrive impact point with optimum way; The navigation strategy adopting only carries out Route guiding to operator, actual operating process is not intervened, and effectively avoids touching the dangerous working conditions such as barrier in jib motion process and occurs, improves truck trouble free service coefficient and rescue efficiency.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only embodiment more of the present utility model, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is according to the schematic diagram of the positioning navigation device of Elevating platform fire truck workbench of the present utility model embodiment;
Fig. 2 is according to the schematic diagram of another embodiment of the positioning navigation device of Elevating platform fire truck workbench of the present utility model;
Fig. 3 is according to the schematic diagram of Elevating platform fire truck of the present utility model embodiment;
Fig. 4 is according to the schematic diagram of the positioning navigation method of the positioning navigation device of Elevating platform fire truck workbench of the present utility model embodiment;
Fig. 5 is jib angle and the length relation schematic diagram of Elevating platform fire truck of the present utility model;
Fig. 6 is the schematic diagram of an embodiment of fire truck amplitude curve.
Embodiment
With reference to the accompanying drawings the utility model is described more fully, exemplary embodiment of the present utility model is wherein described.Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is clearly and completely described, obviously, described embodiment is only the utility model part embodiment, rather than whole embodiment.Based on the embodiment in the utility model, those of ordinary skills are not making the every other embodiment obtaining under creative work prerequisite, all belong to the scope of the utility model protection.
As shown in Figure 1, the positioning navigation device of Elevating platform fire truck workbench comprises: controller 2, jib pick-up unit 3 and display device 1.
According to an embodiment of the present utility model, jib pick-up unit 3 comprises: jib angular transducer.Jib angular transducer is electrically connected with controller 2.
According to an embodiment of the present utility model, controller 2 is electrically connected with jib topworks 4.Controller 2 sends and carries out instruction to jib topworks 4, and the boom device that jib topworks 4 controls Elevating platform fire truck completes the corresponding action of and instruction.The navigation information showing in display device instructs operator's operating grip to carry out correct operation, drives the action of jib topworks to arrive impact point.
According to an embodiment of the present utility model, controller 2 is electrically connected with handle 5.By operating grip 5, to controller 2 transmit operation instructions, controller 2 sends the execution instruction corresponding with operational order to jib topworks 4.
According to an embodiment of the present utility model, display 1 is connected by CAN bus with controller 2.The display screen of display device 1 is touching display screen.
As shown in Figure 2, controller comprises: communication unit 221, signal input unit 222, signal output unit 224 and navigation computing unit 223.
Controller completes data communication by communication unit 221 and interactively display device 21, monitor the real-time jib parameter information from jib pick-up unit 23 by signal input unit 222, calculate in real time by navigation computing unit 223 navigation information that arrives impact point, drive jib topworks 24 to carry out corresponding actions to reach impact point by signal output unit 224;
Jib topworks 24 carries out the electric signal instruction of self-controller, completes corresponding actions by certain hydraulic power unit actuating arm shelf structure.
The positioning navigation device of Elevating platform fire truck workbench of the present utility model, can carry out the planning again in path in real time according to current arm support state, guarantee real-time, the optimality of navigation results.Adopt the navigation strategy that only operator is carried out Route guiding, still rely on operator's observe and decide in actual operating process, the unknown unsafe condition of effectively evading in Elevating platform fire truck motion process occurs.
As shown in Figure 3, provide a kind of Elevating platform fire truck, comprise the positioning navigation device of Elevating platform fire truck workbench as above.
Fig. 4 is a kind of positioning navigation method of positioning navigation device of Elevating platform fire truck workbench as above, as shown in Figure 4:
Step S1, inputs impact point information by display device, and impact point information is sent to controller.
Step S2, controller judges the validity of this input impact point, if impact point position is unreachable, returns to unreachable information to display device.
If step S3 impact point position can reach, controller calculates principal arm and can arrive the maximum effective coverage scope of impact point in real time.
Step S4, according to the current principal arm angle detecting, calculates the current principal arm navigation angle that needs recommendation.
Step S5, according to definite principal arm navigation angle and the angle of cranking arm detecting, principal arm length information, the calculating navigation angle of cranking arm, last according to definite principal arm angle, the required principal arm length of the angle calculation of cranking arm, calculate rear continuation and monitored current jib motion state and carry out S6.
Step S6, is delivered to display device by navigation information, comprises and can arrive the principal arm angle of impact point, the angle of cranking arm, principal arm length and rotation angle information.
According to method of the present utility model embodiment, the jib angle of Elevating platform fire truck and the relation of jib length are as follows:
Wherein, as shown in Figure 5, L is principal arm length, r is the length of cranking arm, and β is the principal arm angle of cranking arm, and α is principal arm angle, radius(radius or amplitude) for twisted point after principal arm is to twisted point horizontal range before cranking arm, height(height) be to twisted point vertical range after principal arm bottom platform.
According to an embodiment of the present utility model, according to the current principal arm angle detecting, first determine the current principal arm navigation angle that needs recommendation according to the optimum navigation of principal arm principle.
After the optimum navigation of principal arm principle refers to that navigation target point is inputted and confirmed the validity, the general principal arm angular range of navigation algorithm according to the jib angle of above-described embodiment and the relation of jib length, while arriving impact point in conjunction with Elevating platform fire truck structural limitations computing platform, finally on the basis of amplitude curve and in above-mentioned angular range determining effective principal arm angular range, is finally the principal arm angle of final navigation while arriving impact point according to the current principal arm angle of fire truck from selecting (little) angle recently in effective principal arm angular range.
According to previously definite principal arm angle and the angle of cranking arm detecting, principal arm length information, according to cranking arm, optimum navigation principle is calculated the current navigation angle of cranking arm that need to recommend, then calculate the required principal arm length information of navigation according to the jib angle of definite principal arm navigation angle, crank arm navigation angle and above-described embodiment and jib length relation, after calculating successfully, carry out on the one hand S6 and communicate information to display device and show, return on the other hand S4 and continue monitoring current arm support motion state.
The optimum navigation principle of cranking arm refers to be determined under the prerequisite of navigation principal arm angle, the angle of effectively cranking arm when navigation algorithm computing platform arrives impact point, after principal arm angle is determined, utilize the jib angle of above-described embodiment and the relation of jib length to calculate the angle of cranking arm and have multiple efficient solutions, according to the current principal arm length of fire truck, the angle information of cranking arm, adopt critical path method (CPM) to select the optimum solution of cranking arm and navigate.
As shown in Figure 6, for according to a kind of fire truck amplitude curve figure of concrete vehicle of fire truck, in order to determine the opereating specification of jib in operation, amplitude refers to the horizontal range from rotation of rotary table center to workbench forward position.In figure, dash area represents fire truck range of safety operation, exceedes shade and may cause slide-out; The validity of impact point is that impact point is within the scope of shade.
The positioning navigation device of Elevating platform fire truck workbench of the present utility model, Elevating platform fire truck, can carry out path planning according to jib current state to impact point in real time, thereby guarantee that Elevating platform fire truck can arrive impact point with optimum way in effective jib state range; The navigation strategy adopting only carries out Route guiding to operator, actual operating process is not intervened, and effectively avoids touching the dangerous working conditions such as barrier in jib motion process and occurs, improves truck trouble free service coefficient and rescue efficiency; Accessibility that can evaluating objects point position, is unfamiliar with the whether suitable prompting in the current Elevating platform fire truck parking of operator position of amplitude curve.
May realize in many ways method and system of the present utility model.For example, can realize method and system of the present utility model by any combination of software, hardware, firmware or software, hardware, firmware.The said sequence that is used for the step of method is only in order to describe, and the step of method of the present utility model is not limited to above specifically described order, unless otherwise specified.In addition, in certain embodiments, also the utility model can be embodied as to the program being recorded in recording medium, these programs comprise for realizing the machine readable instructions according to method of the present utility model.Thereby the utility model also covers storage for carrying out according to the recording medium of the program of method of the present utility model.
Description of the present utility model provides for example with for the purpose of describing, and is not exhaustively or by the utility model to be limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Selecting and describing embodiment is for better explanation principle of the present utility model and practical application, thereby and makes those of ordinary skill in the art can understand the utility model design to be suitable for the various enforcements with various modifications of special-purpose.
Claims (7)
1. a positioning navigation device for Elevating platform fire truck workbench, is characterized in that, comprising:
Controller, jib pick-up unit and display device;
Described display device and described jib pick-up unit are all electrically connected with described controller; The impact point information of input is sent to described controller by described display device; The status information of the jib of the Elevating platform fire truck obtaining is sent in real time described controller by described jib pick-up unit;
Described controller is according to the status information of described impact point information and described jib, and evaluation work platform movement is to the navigation information of impact point in real time, and this navigation information is sent in described display device and shown; Described impact point information comprises: the horizontal range of impact point, highly, the anglec of rotation.
2. device as claimed in claim 1, is characterized in that:
Described jib pick-up unit comprises: jib angular transducer;
Described jib angular transducer is electrically connected with described controller.
3. device as claimed in claim 2, is characterized in that:
Also comprise jib topworks; Described controller is electrically connected with described jib topworks;
Described controller sends and carries out instruction to described jib topworks, and the boom device of described jib actuating mechanism controls Elevating platform fire truck completes the action corresponding with described instruction.
4. device as claimed in claim 3, is characterized in that:
Described controller is electrically connected with handle;
Wherein, by operating described handle to described controller transmit operation instruction, described controller is to described jib topworks's transmission execution instruction corresponding with described operational order.
5. device as claimed in claim 4, is characterized in that:
Described display is connected by CAN bus with described controller.
6. device as claimed in claim 5, is characterized in that:
The display screen of described display device is touching display screen.
7. an Elevating platform fire truck, is characterized in that:
Comprise the positioning navigation device of the Elevating platform fire truck workbench as described in claim 1 to 6 any one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320731638.3U CN203672380U (en) | 2013-11-19 | 2013-11-19 | Positioning navigation device for working platform of elevating platform fire truck and fire truck |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201320731638.3U CN203672380U (en) | 2013-11-19 | 2013-11-19 | Positioning navigation device for working platform of elevating platform fire truck and fire truck |
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| CN203672380U true CN203672380U (en) | 2014-06-25 |
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| CN201320731638.3U Expired - Lifetime CN203672380U (en) | 2013-11-19 | 2013-11-19 | Positioning navigation device for working platform of elevating platform fire truck and fire truck |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103727936A (en) * | 2013-11-19 | 2014-04-16 | 徐州重型机械有限公司 | Positioning and navigation device of working platform of elevating platform fire truck, fire truck and method |
| CN106054225A (en) * | 2016-07-30 | 2016-10-26 | 杨超坤 | Fire fighting vehicle capable of accurately positioning |
-
2013
- 2013-11-19 CN CN201320731638.3U patent/CN203672380U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103727936A (en) * | 2013-11-19 | 2014-04-16 | 徐州重型机械有限公司 | Positioning and navigation device of working platform of elevating platform fire truck, fire truck and method |
| CN103727936B (en) * | 2013-11-19 | 2017-03-29 | 徐工消防安全装备有限公司 | The positioning navigation device of Elevating platform fire truck work platformses, fire fighting truck and method |
| CN106054225A (en) * | 2016-07-30 | 2016-10-26 | 杨超坤 | Fire fighting vehicle capable of accurately positioning |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
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Effective date of registration: 20170215 Address after: 221004 Jiangsu Province, Xuzhou City Yunlong District No. 165 Patentee after: XCMG FIRE-FIGHTING SAFETY EQUIPMENT Co.,Ltd. Address before: 221004 Xuzhou, Zhejiang Province, Jiangsu Road No. 165 Patentee before: Xuzhou Heavy Machinery Co.,Ltd. |
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| CX01 | Expiry of patent term |
Granted publication date: 20140625 |
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