Positioning control method and device for fire truck and its boom

Abstract

The present invention discloses a fire fighting truck and a boom positioning control method and device. According to the present invention, a transition position relative to a target position is introduced, and one action of a boom reaching the target position is divided into two actions; concretely, on a first working condition, the tail end of the boom is moved from the current position to the target position and then is moved from the target position to the transition position; on a second working condition, the tail end of the boom is moved from the current position to the transition position and then is moved from the transition position to the target position. On the actual working conditions of positioning the tail end of the boom to reach a kindling point to extinguish and arrange materials, positioning the boom to take and put a demolishing device, etc., on one hand, by the rapid coarse tuning action, the tail end of the boom can be positioned to the transition position rapidly, and the positioning efficiency of the boom is improved, on the other hand, by the slow fine tuning action, the boom can be protected from being impacted to cause the loss to a great extent, the service life of the boom is prolonged, the probability of the safety accidents, for example the boom impacts other articles, also can be reduced, the efficiency and the safety are considered simultaneously, and the rapidity and the safety are stronger.

Description

technical field [0001] The invention relates to the control field of fire trucks, in particular to a positioning control method and device for a fire truck and its boom. Background technique [0002] The positioning control of the boom in the prior art is generally a one-button positioning control to the target position. If the speed is too fast, the boom may collide with other objects, resulting in boom loss and safety accidents; if the speed is too slow, it will affect the flexibility of the boom. Especially in the boom positioning control of fire trucks, the speed of boom positioning directly affects the fire extinguishing efficiency, which is a key element for timely rescue of personnel and property losses. [0003] Taking the boom of a rescue fire truck as an example, it is easy to collide with other objects due to various reasons, causing unnecessary losses. For example, first, the external environment is harsh, especially when the fire causes a lot of smoke and dust,...

AI Technical Summary

Problems solved by technology

[0002] The positioning control of the boom in the prior art is generally a one-button positioning control to the target position. If the speed is too fast, the boom may collide with other objects, resulting in boom loss and safety accidents; if the speed is too slow, it will affect the flexibility of the boom. Especially in the boom positioning control of fire trucks, the speed of boom positioning directly affects the fire extinguishing efficiency, which is a key element for timely rescue of personnel and property losses

[0003] Taking the arm frame of a demolition fire truck as an example, it is often easy to collide with other objects due to various reasons, causing unnecessary losses

For example, first, the external environment is harsh, especially when the fire causes a lot of smoke and dust, it is difficult for firefighters to see the specific location of the rescue device placement area and cause collisions; The room and other locations are relatively close, and improper operation is likely to cause collisions; 3. When the fire is large and the task is urgent, firefighters may reduce the precision of boom control in order to speed up fire extinguishing, resulting in collisions

Therefore, in the prior art, many methods and devices for positioning the arm frame to replace the demolition device have been proposed, such as the invention patent with the application number 201510096946.7, but most of the methods are to directly position the arm frame from the current position to the target position with one key, without consideration In the actual process of picking and placing the rescue device, it is still difficult to prevent the rescue device from colliding with objects around the placement area

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