Control method, controller, system and emergency vehicle for an emergency vehicle

Abstract

The application relates to the technical field of emergency vehicles, in particular to a control method, a controller, a system and an emergency vehicle for an emergency vehicle. The method comprises the following steps: acquiring a mode switching instruction for the emergency vehicle; controlling the emergency vehicle to enter a corresponding power mode according to the mode switching instruction; acquiring a state control instruction for the emergency vehicle; controlling the emergency vehicle to enter a corresponding working state according to the state control instruction; determining a target clutch in multiple clutches in the power mode and the working state; and controlling the target clutch to be closed, so as to provide corresponding power through a motor and / or a fuel engine connected with the target clutch. Through the technical scheme, the required output power of the fuel engine can be reduced, and the cost of the fuel engine is reduced. In addition, when any one of the motor and the fuel engine fails, the other normal power source can still support the emergency vehicle to continue working, and the emergency vehicle has better adaptability compared with a traditional fuel emergency vehicle.

Description

Technical Field

[0001] This application relates to the field of emergency vehicle technology, specifically to a control method, controller, system, emergency vehicle, and storage medium for emergency vehicles. Background Technology

[0002] In the current technology, vehicles mainly include fuel-powered vehicles that consume fuel and pure electric vehicles that consume electricity. With the depletion of oil resources and the increasing demand for environmental protection, pure electric vehicles are gradually replacing fuel-powered vehicles as the mainstream. However, emergency vehicles often require long operating times and high power output, and the battery range and power output of existing pure electric vehicles are relatively low, failing to meet the needs of emergency vehicles. Therefore, existing emergency vehicles are mainly fuel-powered. Fuel-powered emergency vehicles are often equipped with high-powered fuel engines, which are costly, and the emergency vehicle cannot function if the fuel engine fails. Summary of the Invention

[0003] The purpose of this application is to provide a control method, controller, system, emergency vehicle, and storage medium for emergency vehicles.

[0004] To achieve the above objectives, the first aspect of this application provides a control method for an emergency vehicle, the emergency vehicle including an electric motor, a fuel engine, and multiple clutches, wherein the electric motor and the fuel engine are connected via clutches, and the method includes:

[0005] Obtain mode switching instructions for emergency vehicles;

[0006] Control the emergency vehicle to enter the corresponding power mode according to the mode switching command;

[0007] Obtain status control commands for emergency vehicles;

[0008] The emergency vehicle is controlled to enter the corresponding working state according to the status control command;

[0009] Identify the target clutch among multiple clutches in power mode and operating state;

[0010] Control the engagement of the target clutch to provide corresponding power through the electric motor and / or fuel engine connected to the target clutch.

[0011] In this embodiment, the emergency vehicle further includes a mains power module and an energy storage module. The mains power module is connected to the energy storage module, and the energy storage module is connected to the motor. The power mode includes at least one of hybrid mode, pure fuel mode, pure electric mode, and mains power mode. Controlling the emergency vehicle to enter the corresponding power mode according to the mode switching command includes: when the power mode is hybrid mode, controlling the motor and the fuel engine to start to jointly drive the emergency vehicle; when the power mode is pure fuel mode, controlling the motor to start to drive the emergency vehicle; when the power mode is pure electric mode, controlling the fuel engine to start to drive the emergency vehicle; when the power mode is mains power mode, controlling the mains power module to charge the energy storage module so as to provide power to the motor through the energy storage module, and controlling the motor to start to drive the emergency vehicle.

[0012] In this embodiment of the application, the emergency vehicle also includes an energy storage module, and the method further includes: obtaining the current motion state of the emergency vehicle; when the emergency vehicle is going downhill or decelerating, controlling the motor to convert the kinetic energy of the actuator and the fuel engine into electrical energy and transmitting it to the energy storage module.

[0013] In this embodiment, the emergency vehicle also includes a superstructure power take-off (PTO), a gearbox, a motor gearbox, a water pump PTO, and a transfer case. Multiple clutches are included, such as a first clutch, a second clutch, a third clutch, a fourth clutch, a fifth clutch, a sixth clutch, a seventh clutch, an eighth clutch, and a ninth clutch. The motor includes a main motor and a secondary motor. The fuel engine is connected to the gearbox via the first clutch, the main motor to the motor gearbox via the second clutch, the gearbox to the motor gearbox via the third clutch, the main motor to the water pump PTO via the fourth clutch, the motor gearbox to the transfer case via the fifth clutch, the gearbox to the superstructure PTO via the sixth clutch, the main motor to the secondary motor via the seventh clutch, the secondary motor to the superstructure PTO via the eighth clutch, and the secondary motor to the fuel engine via the ninth clutch.

[0014] In this embodiment, determining the target clutch among multiple clutches in different power modes and operating states includes: when the emergency vehicle is in hybrid mode startup state, the target clutches are the second, third, and fifth clutches; when the emergency vehicle is in hybrid mode driving state, the target clutches are the first, second, third, and fifth clutches; when the emergency vehicle is in hybrid mode and performing water spraying operation during driving, and the driving speed is lower than a preset speed, the target clutches are the first, second, third, and fifth clutches. The target clutches are the fourth, fifth, and sixth clutches; when the emergency vehicle is in hybrid mode and performing water spraying while driving, and the driving speed is higher than or equal to the preset speed, the target clutches are the first, second, third, fourth, and fifth clutches; when the emergency vehicle is in hybrid mode and performing water spraying while parked, the target clutches are the first, fourth, and sixth clutches; when the emergency vehicle is starting or driving in pure electric mode, the target clutches are the second and fifth clutches; when the emergency vehicle is in pure electric mode... When the emergency vehicle is in pure electric mode and performing water spraying while driving, and the driving speed is lower than the preset speed, the target clutches are the second, fourth, fifth, and eighth clutches; when the emergency vehicle is in pure electric mode and performing water spraying while driving, and the driving speed is higher than or equal to the preset speed, the target clutches are the second, fourth, fifth, and seventh clutches; when the emergency vehicle is in pure electric mode and performing water spraying while parked, the target clutches are the fourth, seventh, and eighth clutches; when the emergency vehicle is in pure electric mode... When driving or starting in fuel mode, the target clutches are the first, third, and fifth clutches; when the emergency vehicle is in pure fuel mode and water spraying is performed during driving, the target clutches are the first, third, fourth, fifth, sixth, seventh, and ninth clutches; when the emergency vehicle is cruising in mains power mode, the target clutches are the second and fifth clutches; when the emergency vehicle is parked in mains power mode and water spraying is performed, the target clutches are the fourth, seventh, and eighth clutches.

[0015] In this embodiment of the application, the method further includes: when the emergency vehicle is in hybrid mode and switches from driving state to temporary parking state, controlling the main motor and fuel engine to stop, the ninth clutch to close, and the first clutch to disengage, so that the secondary motor provides power to the fuel engine for idling; when the emergency vehicle is in hybrid mode and switches from temporary parking state to driving state, controlling the main motor and fuel engine to work, the ninth clutch to disengage, and the first clutch to close, so that the emergency vehicle can start quickly.

[0016] In this embodiment of the application, the emergency vehicle also includes an energy storage device, and the method further includes: determining that the emergency vehicle is in an energy feedback mode when it is determined that the emergency vehicle is going downhill or decelerating; in the energy feedback mode, determining that the target clutches are the second clutch, the fifth clutch, and the ninth clutch; controlling the second clutch, the fifth clutch, and the ninth clutch to close, so that the main motor converts the kinetic energy of the actuator into electrical energy and transmits it to the energy storage device, and the secondary motor converts the kinetic energy of the fuel engine into electrical energy and transmits it to the energy storage device.

[0017] In this embodiment, the emergency vehicle also includes a superstructure power take-off (PTO), a gearbox, a motor gearbox, a water pump PTO, and a transfer case. Multiple clutches are included, such as a first clutch, a second clutch, a third clutch, a fourth clutch, a fifth clutch, a sixth clutch, an eighth clutch, and a ninth clutch. The fuel engine is connected to the gearbox via the first clutch, the main motor to the motor gearbox via the second clutch, the gearbox to the motor gearbox via the third clutch, the main motor to the water pump PTO via the fourth clutch, the motor gearbox to the transfer case via the fifth clutch, the gearbox to the superstructure PTO via the sixth clutch, the main motor to the superstructure PTO via the eighth clutch, and the main motor to the fuel engine via the ninth clutch.

[0018] In this embodiment, determining the target clutch among multiple clutches in power mode and operating state includes: when the emergency vehicle is in hybrid mode startup state, the target clutches are the second, third, and fifth clutches; when the emergency vehicle is in hybrid mode driving state, the target clutches are the first, second, third, and fifth clutches; when the emergency vehicle is in hybrid mode and performing water spraying operation during driving, and the driving speed is lower than a preset speed, the target clutches are the first, second, third, fourth, fifth, and sixth clutches; when the emergency vehicle is in hybrid mode and performing water spraying operation during driving, and the driving speed is higher than or equal to a preset speed, the target clutches are the first, second, third, fourth, and fifth clutches; when the emergency vehicle is in hybrid mode and performing water spraying operation during parking, the target clutches are the first, fourth, and sixth clutches; when the emergency vehicle is in pure electric mode starting or driving, the target clutches are the second and fifth clutches. The target clutches are: 1. When the emergency vehicle is in pure electric mode and performing water spraying while driving at a speed lower than the preset speed; 2. When the emergency vehicle is in pure electric mode and performing water spraying while driving at a speed higher than or equal to the preset speed; 3. When the emergency vehicle is in pure electric mode and performing water spraying while parked, the target clutches are the fourth and eighth clutches; 4. When the emergency vehicle is in pure fuel mode and driving or starting, the target clutches are the first, third, and fifth clutches; 5. When the emergency vehicle is in pure fuel mode and performing water spraying while driving, the target clutches are the first, third, fourth, fifth, sixth, and ninth clutches; 6. When the emergency vehicle is cruising in mains power mode, the target clutches are the second and fifth clutches; 7. When the emergency vehicle is in mains power mode and performing water spraying while parked, the target clutches are the fourth and eighth clutches.

[0019] In this embodiment of the application, the method further includes: when the emergency vehicle is in hybrid mode and switches from driving state to temporary parking state, controlling the main motor and fuel engine to stop, the ninth clutch to close, and the first clutch to disengage, so that the main motor provides power to the fuel engine for idling; when the emergency vehicle is in hybrid mode and switches from temporary parking state to driving state, controlling the main motor and fuel engine to operate, the ninth clutch to disengage, and the first clutch to close, so that the emergency vehicle can start quickly.

[0020] In this embodiment of the application, the emergency vehicle also includes an energy storage device, and the method further includes: determining that the emergency vehicle is in an energy feedback mode when it is determined that the emergency vehicle is going downhill or decelerating; in the energy feedback mode, determining that the target clutch is the second clutch, the fifth clutch, and the ninth clutch; controlling the second clutch, the fifth clutch, and the ninth clutch to close so that the main motor converts the kinetic energy of the actuator and the fuel engine into electrical energy and transmits it to the energy storage device.

[0021] A second aspect of this application provides a controller configured to perform the control method described above for emergency vehicles.

[0022] A third aspect of this application provides a control system for an emergency vehicle, the system comprising: multiple clutches; a fuel engine connected to an actuator via clutches for consuming fuel and providing power to the control system; an electric motor connected to the fuel engine via clutches and connected to an energy storage device for consuming electrical energy, providing power to the control system, and acquiring excess kinetic energy in the emergency vehicle and converting it into electrical energy for transmission to the energy storage device; an energy storage device connected to the electric motor for providing power to the electric motor and acquiring the electrical energy transmitted by the electric motor; and the aforementioned controller.

[0023] The fourth aspect of this application provides an emergency vehicle, which includes the aforementioned control system for the emergency vehicle.

[0024] A fifth aspect of this application provides a machine-readable storage medium storing instructions, characterized in that, when executed by a processor, the instructions cause the processor to be configured to perform the aforementioned control method for an emergency vehicle.

[0025] The above technical solution allows for control of the clutch engagement / disengagement based on user commands, enabling the electric motor and fuel engine to provide power to different actuators. This reduces the required output power of the fuel engine, thereby lowering its cost. The emergency vehicle described in this application can continue operating even if either the electric motor or the fuel engine fails, thanks to clever clutch control. This allows the emergency vehicle to output power from another power source, providing better adaptability compared to traditional fuel-powered emergency vehicles.

[0026] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0027] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0028] Figure 1 A schematic flowchart of a control method for an emergency vehicle according to an embodiment of this application is shown.

[0029] Figure 2 A schematic diagram of a control system for an emergency vehicle according to an embodiment of this application is shown.

[0030] Figure 3 A schematic block diagram of a control system for an emergency vehicle according to an embodiment of this application is shown.

[0031] Figure 4 The diagram illustrates the internal structure of a computer device according to an embodiment of this application.

[0032] Figure Labels

[0033] L1 First clutch, L2 Second clutch

[0034] L3 is the third clutch, and L4 is the fourth clutch.

[0035] L5 (Fifth Clutch) L6 (Sixth Clutch)

[0036] L7 (Seventh Clutch) L8 (Eighth Clutch)

[0037] L9 Ninth Clutch Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0039] Figure 1 A schematic flowchart illustrating a control method for an emergency vehicle according to an embodiment of this application is shown. Figure 1 As shown in one embodiment of this application, a control method for an emergency vehicle is provided, comprising the following steps:

[0040] S102, Obtain mode switching instructions for emergency vehicles.

[0041] S104 controls the emergency vehicle to enter the corresponding power mode according to the mode switching command.

[0042] S106, Obtain status control instructions for emergency vehicles.

[0043] S108 controls emergency vehicles to enter the corresponding working state according to status control instructions.

[0044] S110 identifies the target clutch among multiple clutches in power mode and operating state.

[0045] S112 controls the target clutch to close, so as to provide corresponding power through the electric motor and / or fuel engine connected to the target clutch.

[0046] Traditional fuel-powered emergency vehicles rely on their engines to power both the axles and the vehicle's superstructure. For example, the engine in an emergency fire truck powers the axles, water pump, and lifting components. In some situations, these vehicles need to perform water spraying operations while in motion. Therefore, emergency vehicles require high-powered fuel engines, which are expensive and consume a lot of fuel. Furthermore, if the fuel engine fails, the emergency vehicle cannot operate. This solution, however, uses both an electric motor and a fuel engine to power the vehicle's actuators, reducing the load on the fuel engine. The electric motor and fuel engine work together to provide power to the emergency vehicle.

[0047] In this embodiment, the emergency vehicle includes a motor, a fuel engine, and multiple clutches, with the motor and fuel engine connected via clutches. First, the controller receives a mode switching command for the emergency vehicle, allowing the user to switch modes to enable more energy-efficient and effective operation. Upon receiving the mode switching command, the controller can control the emergency vehicle to enter the corresponding power mode. For example, the controller can switch the emergency vehicle from hybrid mode to pure electric mode based on the user's command. The controller also receives a status control command for the emergency vehicle, allowing it to enter the corresponding operating state. The controller can determine a target clutch among the multiple clutches in the power mode and operating state. Since the emergency vehicle includes multiple clutches, the controller can control the vehicle's power transmission by controlling the closing or opening of these clutches. After determining the power mode and operating state, the controller can determine the target clutch among the multiple clutches. The controller controls the target clutch to close, providing corresponding power through the electrode and / or fuel engine connected to the target clutch.

[0048] Using the above method, the target clutch engagement can be controlled according to user instructions, allowing the electric motor and the fuel engine to provide power to different actuators. This reduces the required output power of the fuel engine, thereby lowering its cost. The emergency vehicle described in this application can still operate even if either the electric motor or the fuel engine fails, thanks to clever clutch control, by utilizing another power source. This provides better adaptability compared to traditional fuel-powered emergency vehicles.

[0049] In one embodiment, the emergency vehicle further includes a mains power module and an energy storage module, the mains power module being connected to the energy storage module, and the energy storage module being connected to the motor. The power mode includes at least one of a hybrid mode, a pure fuel mode, a pure electric mode, and a mains power mode. Controlling the emergency vehicle to enter the corresponding power mode according to the mode switching command includes: in the hybrid mode, controlling the motor and the fuel engine to start together to drive the emergency vehicle; in the pure fuel mode, controlling the motor to start to drive the emergency vehicle; in the pure electric mode, controlling the fuel engine to start to drive the emergency vehicle; and in the mains power mode, controlling the mains power module to charge the energy storage module to provide power to the motor through the energy storage module, and controlling the motor to start to drive the emergency vehicle.

[0050] A mains power module is a module that can accept external power. In mains power mode, it charges the emergency vehicle, allowing it to operate for extended periods. An energy storage module stores electrical energy. It receives and stores energy from the mains power module and provides power to the motor when it starts. Hybrid mode means both the motor and the combustion engine power the emergency vehicle. Power is supplied to different actuators based on the controller's clutch control to meet the high-power demands of the emergency vehicle. Pure fuel mode means the controller powers the combustion engine, transmitting power to the actuators and motor to drive the emergency vehicle. Pure fuel mode is suitable for situations where the energy storage device or motor is damaged. Pure electric mode means the controller powers the emergency vehicle through the motor, transmitting power to the actuators to drive the vehicle. Pure electric mode is suitable for low-power conditions such as maintenance, slow driving, and cruising. Mains power mode refers to emergency vehicles connected to an external power source. Electrical energy is transmitted to the motor through the mains power module and energy storage device, and the controller controls the motor to provide power to the emergency vehicle. Mains power mode can be used for emergency vehicles that are parked or have cruise circuits installed for cruising.

[0051] In one embodiment, the emergency vehicle further includes an energy storage module. The method further includes: acquiring the current motion state of the emergency vehicle; when the emergency vehicle is going downhill or decelerating, controlling the motor to convert the kinetic energy of the actuator and the fuel engine into electrical energy and transmitting it to the energy storage module. When the controller determines that the emergency vehicle is going downhill or decelerating, the controller can control the motor to acquire the kinetic energy of the actuator and the fuel engine, convert it into electrical energy, and store the converted electrical energy in the storage module. When the controller controls the motor to move, the motor can acquire electrical energy from the storage module. This method enables efficient use of energy and reduces resource consumption.

[0052] In one embodiment, such as Figure 2 The diagram shown is a schematic of the control system 200 of an emergency vehicle. The emergency vehicle also includes a power take-off (PTO), a gearbox, a motor gearbox, a water pump PTO, and a transfer case. Multiple clutches are included, such as clutch L1, clutch L2, clutch L3, clutch L4, clutch L5, clutch L6, clutch L7, clutch L8, and clutch L9. The motors include a main motor and a secondary motor. The fuel engine is connected to the gearbox via clutch L1, the main motor to the motor gearbox via clutch L2, the gearbox to the motor gearbox via clutch L3, the main motor to the water pump PTO via clutch L4, the motor gearbox to the transfer case via clutch L5, the gearbox to the PTO via clutch L6, the main motor to the secondary motor via clutch L7, the secondary motor to the PTO via clutch L8, and the secondary motor to the fuel engine via clutch L9. The superstructure power take-off (PTO) transmits the acquired power to the hydraulic pump, driving the movement of the superstructure components of the emergency vehicle. The gearbox is a power transmission device that acquires power from the internal combustion engine and converts and transmits it to the superstructure controller and the motor gearbox. The motor gearbox acquires power from the main motor and / or the gearbox and transmits it to the transfer case. The transfer case is a power transmission device that distributes the power from the motor gearbox to actuators connected to the transfer case, such as the emergency steering pump, the first steering drive axle, the second drive axle, and the third drive axle. The water pump PTO acquires power from the main motor and transmits it to the water pump. The controllers include the motor drive controller and the vehicle controller, and the energy storage module includes the on-board charger and the energy storage system. Power from an external source can be transmitted to the energy storage system via the mains power module and the on-board charger. The energy storage system can supply power to the motor drive controller, the vehicle controller, the main motor, and the secondary motor.

[0053] In one embodiment, determining the target clutch among multiple clutches in a power mode and operating state includes: when the emergency vehicle is in hybrid mode startup state, the target clutches are the second clutch L2, the third clutch L3, and the fifth clutch L5. When the emergency vehicle is in hybrid mode startup state, the second clutch L2, the third clutch L3, and the fifth clutch L5 are engaged, so that the power of the main motor is transmitted through the motor gearbox to the motor gearbox and the transfer case, and then through the transfer case to the drive axle to start the vehicle.

[0054] In one embodiment, determining the target clutch among multiple clutches in different power modes and operating states includes, when the emergency vehicle is in hybrid mode, the target clutches are the first clutch L1, the second clutch L2, the third clutch L3, and the fifth clutch L5. After the first clutch L1, the second clutch L2, the third clutch L3, and the fifth clutch L5 are engaged, the fuel engine and the electrode work together to provide power to the drive axle, which can provide higher drive power to the axle, enabling the emergency vehicle to start at high speed or climb hills.

[0055] In one embodiment, determining the target clutch among multiple clutches in a power mode and operating state includes: when the emergency vehicle is in hybrid mode and performing water spraying operation while driving, and the driving speed is lower than a preset speed, the target clutches are the first clutch L1, the second clutch L2, the third clutch L3, the fourth clutch L4, the fifth clutch L5, and the sixth clutch L6. When the emergency vehicle is in hybrid mode and performing water spraying operation while driving, and the driving speed is lower than a preset speed, the controller controls the first clutch L1, the second clutch L2, the third clutch L3, the fourth clutch L4, the fifth clutch L5, and the sixth clutch L6 to close. Part of the power from the fuel engine is transmitted to the superstructure components through the gearbox and the superstructure power take-off. The fuel engine transmits part of its power through the gearbox to the transfer case through the gearbox and the motor gearbox, so that the transfer case transmits power to the drive axle. The main motor transmits power to the water pump power take-off and the motor gearbox, and the motor gearbox transmits the power obtained from the gearbox and the main motor to the transfer case. This method allows emergency vehicles to perform water spraying while traveling at speeds below a preset level, maximizing the use of the output power of the electric motor and the fuel engine, and avoiding slow movement caused by insufficient output power from a single power source.

[0056] In one embodiment, determining the target clutch among multiple clutches in a power mode and operating state includes: when the emergency vehicle is in hybrid mode and performing water spraying operation during driving, and the driving speed is higher than or equal to a preset speed, the target clutches are the first clutch L1, the second clutch L2, the third clutch L3, the fourth clutch L4, and the fifth clutch L5. At speeds higher than or equal to the preset speed, continued driving of the superstructure components by the emergency vehicle may pose a danger; therefore, the controller can disengage the sixth clutch L6 between the transmission and the superstructure power take-off to ensure safe driving of the emergency vehicle.

[0057] In one embodiment, determining the target clutch among multiple clutches in different power modes and operating states includes: when the emergency vehicle is in hybrid mode and water spraying is performed while parked, the target clutches are the first clutch L1, the fourth clutch L4, and the sixth clutch L6. When the emergency vehicle is parked, the fuel engine transmits power to the superstructure power take-off via the first clutch L1, the transmission, and the sixth clutch L6, while the main motor transmits power to the water pump power take-off via the fourth clutch L4.

[0058] In one embodiment, determining the target clutch among multiple clutches in power mode and operating state includes: when the emergency vehicle is started or driven in pure electric mode, the target clutches are the second clutch L2 and the fifth clutch L5. When the emergency vehicle is started or driven in pure electric mode, the main motor transmits power to the drive axle through the second clutch L2, the motor gearbox, the fifth clutch L5, and the transfer case to enable the emergency vehicle to start and drive.

[0059] In one embodiment, determining the target clutch among multiple clutches in the power mode and operating state includes: when the emergency vehicle is in pure electric mode and performing water spraying operation while driving, and the driving speed is lower than a preset speed, the target clutches are the second clutch L2, the fourth clutch L4, the fifth clutch L5, and the eighth clutch L8. When the emergency vehicle is in pure electric mode and performing water spraying operation while driving, and the driving speed is lower than the preset speed, the controller controls the second clutch L2, the fourth clutch L4, the fifth clutch L5, and the eighth clutch L8 to close, and controls the main motor and the secondary motor to work, transmitting the power of the main motor to the water pump power take-off and the speed distribution box, and transmitting the power of the secondary motor to the superstructure power take-off.

[0060] In one embodiment, determining the target clutch among multiple clutches in power mode and operating state includes: when the emergency vehicle is in pure electric mode and performing water spraying operation while driving at a speed higher than or equal to a preset speed, the target clutches are the second clutch L2, the fourth clutch L4, the fifth clutch L5, and the seventh clutch L7. When the emergency vehicle is in pure electric mode and performing water spraying operation while driving at a speed higher than or equal to a preset speed, if there is a danger in the movement of the emergency vehicle's drive superstructure components, the controller controls the second clutch L2, the fourth clutch L4, the fifth clutch L5, and the seventh clutch L7 to close, and the eighth clutch L8 to disengage. Power from the secondary motor is transmitted to the transfer case and the water pump power take-off via the main motor, enabling the emergency vehicle to perform water spraying operation at a speed higher than or equal to the preset speed.

[0061] In one embodiment, determining the target clutch among multiple clutches in power mode and operating state includes: when the emergency vehicle is in pure electric mode and performing water spraying operation while parked, the target clutches are the fourth clutch L4, the seventh clutch L7, and the eighth clutch L8. When the emergency vehicle is in pure electric mode and performing water spraying operation while parked, the controller controls the fourth clutch L4, the seventh clutch L7, and the eighth clutch L8 to close, so that power from the main motor and the secondary motor is transmitted to the water pump power take-off and the superstructure power take-off, supporting the emergency vehicle's parking operation.

[0062] In one embodiment, determining the target clutch among multiple clutches in power mode and operating state includes: when the emergency vehicle is driving or starting in pure fuel mode, the target clutches are the first clutch L1, the third clutch L3, and the fifth clutch L5. When the emergency vehicle is driving or starting in pure fuel mode, the controller controls the first clutch L1, the third clutch L3, and the fifth clutch L5 to close, so that the power of the fuel engine is transmitted to the drive electric axle through the first clutch L1, the transmission, the third clutch L3, the electric motor transmission, the fifth clutch L5, and the gearbox, thereby controlling the movement of the emergency vehicle.

[0063] In one embodiment, determining the target clutch among multiple clutches in power mode and operating state includes: when the emergency vehicle is in pure fuel mode and water spraying is performed during driving, the target clutch is the first clutch L1, the third clutch L3, the fourth clutch L4, the fifth clutch L5, the sixth clutch L6, the seventh clutch L7, and the ninth clutch L9, so that the power of the fuel engine is transmitted to the superstructure power take-off, the drive axle, and the water pump power take-off.

[0064] In one embodiment, determining the target clutch among multiple clutches in power mode and operating state includes: when the emergency vehicle is cruising in mains power mode, the target clutches are the second clutch L2 and the fifth clutch L5. Emergency vehicles in locations such as airports have fixed mains power lines, allowing the emergency vehicle to charge during cruising. When the emergency vehicle is in mains power mode, the external power source charges the energy storage module, which powers the main motor. The power from the main motor is then transmitted to the drive axle through the second clutch L2, the motor gearbox, the fifth clutch L5, and the transfer case, enabling the emergency vehicle to complete long-term cruising in mains power mode.

[0065] In one embodiment, determining the target clutch among multiple clutches in power mode and operating state includes: when the emergency vehicle is in mains power mode parking state and performing water spraying operation, the target clutches are the fourth clutch L4, the seventh clutch L7, and the eighth clutch L8. When the emergency vehicle is in mains power mode parking state and performing water spraying operation, the controller controls the fourth clutch L4, the seventh clutch L7, and the eighth clutch L8 to close, so that the power of the main motor is transmitted to the water pump power take-off, and the power of the secondary motor is transmitted to the superstructure power take-off. In addition, the main motor and the secondary motor are connected through the seventh clutch L7, so that the main motor and the secondary motor can complement each other's power, and the emergency vehicle can operate for a long time by connecting to an external power source through the mains power module.

[0066] In one embodiment, the method further includes: when the emergency vehicle is in hybrid mode and switches from a driving state to a temporary parking state, controlling the main motor and fuel engine to shut down, disengaging the ninth clutch L9, and disengaging the first clutch L1, so that the secondary motor provides power to the fuel engine for idling; when the emergency vehicle is in hybrid mode and switches from a temporary parking state to a driving state, controlling the main motor and fuel engine to operate, disengaging the ninth clutch L9, and disengaging the first clutch L1, so that the emergency vehicle can start quickly. After the fuel engine shuts down, restarting it requires a relatively long time. Therefore, during temporary parking, the secondary motor can drive the fuel engine to idle, and when the fuel engine restarts, it will have reached a certain speed, enabling a rapid start-up of the fuel engine, which is beneficial for emergency vehicles in rescue and hazard avoidance in harsh environments.

[0067] In one embodiment, the method further includes: determining that the emergency vehicle is in energy feedback mode when it is determined that the emergency vehicle is going downhill or decelerating; in energy feedback mode, determining that the target clutches are the second clutch L2, the fifth clutch L5, and the ninth clutch L9; controlling the second clutch L2, the fifth clutch L5, and the ninth clutch L9 to close, so that the main motor converts the kinetic energy of the actuator into electrical energy and transmits it to the energy storage device, and the secondary motor converts the kinetic energy of the fuel engine into electrical energy and transmits it to the energy storage device. When the controller detects that the emergency vehicle is going downhill or decelerating, the controller can determine that the emergency vehicle is in energy feedback mode. In energy feedback mode, the controller can control the second clutch L2, the fifth clutch L5, and the ninth clutch L9 to close, so that the main motor converts the kinetic energy of the actuator into electrical energy and transmits it to the energy storage device, and the secondary motor converts the kinetic energy of the fuel engine into electrical energy and transmits it to the energy storage device. This method can efficiently utilize the residual power of the emergency vehicle's actuator and fuel engine, saving resources.

[0068] In one embodiment, the emergency vehicle further includes a superstructure power take-off (PTO), a gearbox, a motor gearbox, a water pump PTO, and a transfer case. The motor includes a main motor, and the multiple clutches include a first clutch L1, a second clutch L2, a third clutch L3, a fourth clutch L4, a fifth clutch L5, a sixth clutch L6, an eighth clutch L8, and a ninth clutch L9. The fuel engine is connected to the gearbox via the first clutch L1, the motor is connected to the motor gearbox via the second clutch L2, the gearbox is connected to the motor gearbox via the third clutch L3, the motor is connected to the water pump PTO via the fourth clutch L4, the motor gearbox is connected to the transfer case via the fifth clutch L5, the gearbox is connected to the superstructure PTO via the sixth clutch L6, the motor is connected to the superstructure PTO via the eighth clutch L8, and the motor is connected to the fuel engine via the ninth clutch L9.

[0069] In one embodiment, the motor includes a main motor, and determining the target clutch among multiple clutches in the power mode and operating state includes: when the emergency vehicle is in hybrid mode startup state, the target clutches are the second clutch L2, the third clutch L3, and the fifth clutch L5; when the emergency vehicle is in hybrid mode driving state, the target clutches are the first clutch L1, the second clutch L2, the third clutch L3, and the fifth clutch L5; when the emergency vehicle is in hybrid mode and performing water spraying operation during driving, and the driving speed is lower than a preset speed, the target clutches are the first clutch L1 and the second clutch L2. The target clutches are: L3 (third clutch), L4 (fourth clutch), L5 (fifth clutch), and L6 (sixth clutch); when the emergency vehicle is in hybrid mode and performing water spraying while driving, and the driving speed is higher than or equal to the preset speed, the target clutches are: L1 (first clutch), L2 (second clutch), L3 (third clutch), L4 (fourth clutch), and L5 (fifth clutch); when the emergency vehicle is in hybrid mode and performing water spraying while parked, the target clutches are: L1 (first clutch), L4 (fourth clutch), and L6 (sixth clutch); when the emergency vehicle is starting or driving in pure electric mode, the target clutches are: L2 (second clutch) and... The fifth clutch is L5; when the emergency vehicle is in pure electric mode and performing water spraying while driving, and the driving speed is lower than the preset speed, the target clutches are the second clutch L2, the fourth clutch L4, the fifth clutch L5, and the eighth clutch L8; when the emergency vehicle is in pure electric mode and performing water spraying while driving, and the driving speed is higher than or equal to the preset speed, the target clutches are the second clutch L2, the fourth clutch L4, and the fifth clutch L5; when the emergency vehicle is in pure electric mode and performing water spraying while parked, the target clutches are the fourth clutch L4 and the eighth clutch L8; when the emergency vehicle... When driving or starting in pure fuel mode, the target clutches are clutches L1, L3, and L5; when the emergency vehicle is in pure fuel mode and water spraying is performed during driving, the target clutches are clutches L1, L3, L4, L5, L6, and L9; when the emergency vehicle is cruising in mains power mode, the target clutches are clutches L2 and L5; when the emergency vehicle is parked in mains power mode and water spraying is performed, the target clutches are clutches L4 and L8.

[0070] In one embodiment, the motor includes a main motor, and the method further includes: when the emergency vehicle is in hybrid mode and switches from a driving state to a temporary parking state, controlling the motor and the fuel engine to stop, closing the ninth clutch L9 and disengaging the first clutch L1, so that the motor provides power to the fuel engine for idling; when the emergency vehicle is in hybrid mode and switches from a temporary parking state to a driving state, controlling the motor and the fuel engine to operate, disengaging the ninth clutch L9 and closing the first clutch L1, so that the emergency vehicle can start quickly.

[0071] In one embodiment, the motor includes a main motor, and the emergency vehicle also includes an energy storage device. The method further includes: determining that the emergency vehicle is in an energy feedback mode when it is determined that the emergency vehicle is going downhill or decelerating; in the energy feedback mode, determining that the target clutches are the second clutch L2, the fifth clutch L5, and the ninth clutch L9; controlling the second clutch L2, the fifth clutch L5, and the ninth clutch L9 to close so that the motor converts the kinetic energy of the actuator and the fuel engine into electrical energy and transmits it to the energy storage device.

[0072] The above technical solution allows for control of the clutch engagement / disengagement based on user commands, enabling the electric motor and fuel engine to provide power to different actuators. This reduces the required output power of the fuel engine, thereby lowering its cost. The emergency vehicle described in this application can continue operating even if either the electric motor or the fuel engine fails, thanks to clever clutch control. This allows the emergency vehicle to output power from another power source, providing better adaptability compared to traditional fuel-powered emergency vehicles.

[0073] Figure 1 This is a flowchart illustrating a control method for an emergency vehicle in one embodiment. It should be understood that, although... Figure 1 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 1 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but may be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but may be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0074] In one embodiment, such as Figure 3As shown, a control system 300 for an emergency vehicle is provided. The control system 300 for an emergency vehicle includes: multiple clutches 301; a fuel engine 302 connected to an actuator via clutches for consuming fuel and providing power to the control system; an electric motor 303 connected to the fuel engine via clutches and connected to an energy storage device for consuming electrical energy, providing power to the control system, and acquiring excess kinetic energy in the emergency vehicle and converting it into electrical energy for transmission to the energy storage device; an energy storage device 304 connected to the electric motor for providing power to the electric motor and acquiring the electrical energy transmitted by the electric motor; and a controller 305 for executing the aforementioned control method for the emergency vehicle.

[0075] In one embodiment, an emergency vehicle is provided, which includes the control system described above for an emergency vehicle.

[0076] The controller 305 contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and the control methods for emergency vehicles can be implemented by adjusting kernel parameters.

[0077] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0078] This application provides a controller configured to execute the control method for emergency vehicles described above.

[0079] This application provides a storage medium storing a program that, when executed by a processor, implements the aforementioned control method for emergency vehicles.

[0080] This application provides a processor for running a program, wherein the program executes the above-described control method for emergency vehicles.

[0081] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 4As shown. The computer device includes a processor A01, a network interface A02, memory (not shown), and a database (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A04. The network interface A02 is used for communication with external terminals via a network connection. When the computer program B02 is executed by the processor A01, it implements a control method for emergency vehicles.

[0082] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0083] This application provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs the following steps: acquiring a mode switching instruction for an emergency vehicle; controlling the emergency vehicle to enter a corresponding power mode according to the mode switching instruction; acquiring a status control instruction for the emergency vehicle; controlling the emergency vehicle to enter a corresponding working state according to the status control instruction; determining a target clutch among multiple clutches in the power mode and working state; and controlling the target clutch to close so as to provide corresponding power through a motor and / or a fuel engine connected to the target clutch.

[0084] In one embodiment, controlling the emergency vehicle to enter the corresponding power mode according to the mode switching command includes: when the power mode is hybrid mode, controlling the motor and the fuel engine to start together to drive the emergency vehicle; when the power mode is pure fuel mode, controlling the motor to start to drive the emergency vehicle; when the power mode is pure electric mode, controlling the fuel engine to start to drive the emergency vehicle; and when the power mode is AC power mode, controlling the AC power module to charge the energy storage module so as to provide power to the motor through the energy storage module, and controlling the motor to start to drive the emergency vehicle.

[0085] In one embodiment, the method further includes: acquiring the current motion state of the emergency vehicle; and when the emergency vehicle is going downhill or decelerating, controlling the motor to convert the kinetic energy of the actuator and the fuel engine into electrical energy and transmitting it to the energy storage module.

[0086] In one embodiment, determining the target clutch among multiple clutches in different power modes and operating states includes: when the emergency vehicle is in hybrid mode activation state, the target clutches are the second clutch L2, the third clutch L3, and the fifth clutch L5; when the emergency vehicle is in hybrid mode driving state, the target clutches are the first clutch L1, the second clutch L2, the third clutch L3, and the fifth clutch L5; when the emergency vehicle is in hybrid mode and performing water spraying operation during driving, and the driving speed is lower than a preset speed, the target clutches are the first clutch L1, the second clutch L2, the third clutch L3, and the fourth clutch L4. The target clutches are: L1 (first clutch), L2 (second clutch), L3 (third clutch), L4 (fourth clutch), and L5 (fifth clutch); L6 (sixth clutch); L4 (first clutch), L5 (second clutch), L6 (third clutch), L3 (fourth clutch), and L5 (fifth clutch); L6 (second clutch), L4 (third clutch), and L6 (fifth clutch); L5 (third clutch), L6 (fourth clutch), and L6 (fifth clutch); L6 (third clutch), L2 (second clutch), and L5 (fifth clutch); L6 (fourth clutch), L5 (fifth clutch), and L6 (fifth clutch), L6 (fifth clutch), L6 (fifth clutch), L6 (fifth clutch), L6 (fifth clutch), L2 (second clutch), and L5 (fifth clutch), L6 ... Furthermore, when the water spraying operation is performed while the vehicle is in motion and the speed is lower than the preset speed, the target clutches are the second clutch (L2), fourth clutch (L4), fifth clutch (L5), and eighth clutch (L8). When the emergency vehicle is in pure electric mode and the water spraying operation is performed while in motion and the speed is higher than or equal to the preset speed, the target clutches are the second clutch (L2), fourth clutch (L4), fifth clutch (L5), and seventh clutch (L7). When the emergency vehicle is in pure electric mode and the water spraying operation is performed while parked, the target clutches are the fourth clutch (L4), seventh clutch (L7), and eighth clutch (L8). When the emergency vehicle is in pure fuel mode... When the vehicle is in a standby mode, the target clutches are clutches L1, L3, and L5; when the emergency vehicle is in pure fuel mode and water spraying is performed while driving, the target clutches are clutches L1, L3, L4, L5, L6, L7, and L9; when the emergency vehicle is cruising in mains power mode, the target clutches are clutches L2 and L5; when the emergency vehicle is parked in mains power mode and water spraying is performed, the target clutches are clutches L4, L7, and L8.

[0087] In one embodiment, the method further includes: when the emergency vehicle is in hybrid mode and switches from driving state to temporary parking state, controlling the main motor and fuel engine to stop, closing the ninth clutch L9 and disengaging the first clutch L1, so that the secondary motor provides power to the fuel engine for idling; when the emergency vehicle is in hybrid mode and switches from temporary parking state to driving state, controlling the main motor and fuel engine to operate, disengaging the ninth clutch L9 and closing the first clutch L1, so that the emergency vehicle can start quickly.

[0088] In one embodiment, the emergency vehicle further includes an energy storage device, and the method further includes: determining that the emergency vehicle is in an energy feedback mode when it is determined that the emergency vehicle is going downhill or decelerating; in the energy feedback mode, determining that the target clutches are the second clutch L2, the fifth clutch L5, and the ninth clutch L9; controlling the second clutch L2, the fifth clutch L5, and the ninth clutch L9 to close, so that the main motor converts the kinetic energy of the actuator into electrical energy and transmits it to the energy storage device, and the secondary motor converts the kinetic energy of the fuel engine into electrical energy and transmits it to the energy storage device.

[0089] In one embodiment, determining the target clutch among multiple clutches in different power modes and operating states includes: when the emergency vehicle is in hybrid mode activation state, the target clutches are the second clutch L2, the third clutch L3, and the fifth clutch L5; when the emergency vehicle is in hybrid mode driving state, the target clutches are the first clutch L1, the second clutch L2, the third clutch L3, and the fifth clutch L5; when the emergency vehicle is in hybrid mode and performing water spraying operation during driving, and the driving speed is lower than a preset speed, the target clutches are the first clutch L1, the second clutch L2, and the third clutch L3. The target clutches are: L4 (fourth clutch), L5 (fifth clutch), and L6 (sixth clutch); when the emergency vehicle is in hybrid mode and performing water spraying while driving, and the driving speed is higher than or equal to the preset speed, the target clutches are: L1 (first clutch), L2 (second clutch), L3 (third clutch), L4 (fourth clutch), and L5 (fifth clutch); when the emergency vehicle is in hybrid mode and performing water spraying while parked, the target clutches are: L1 (first clutch), L4 (fourth clutch), and L6 (sixth clutch); when the emergency vehicle is starting or driving in pure electric mode, the target clutches are: L2 (second clutch) and L6 (fifth clutch). L5; When the emergency vehicle is in pure electric mode and performing water spraying while driving, and the driving speed is lower than the preset speed, the target clutches are the second clutch L2, the fourth clutch L4, the fifth clutch L5, and the eighth clutch L8; When the emergency vehicle is in pure electric mode and performing water spraying while driving, and the driving speed is higher than or equal to the preset speed, the target clutches are the second clutch L2, the fourth clutch L4, and the fifth clutch L5; When the emergency vehicle is in pure electric mode and performing water spraying while parked, the target clutches are the fourth clutch L4 and the eighth clutch L8; When the emergency vehicle is in... When driving or starting in pure fuel mode, the target clutches are clutches L1, L3, and L5; when the emergency vehicle is in pure fuel mode and water spraying is performed during driving, the target clutches are clutches L1, L3, L4, L5, L6, and L9; when the emergency vehicle is cruising in mains power mode, the target clutches are clutches L2 and L5; when the emergency vehicle is parked in mains power mode and water spraying is performed, the target clutches are clutches L4 and L8.

[0090] In one embodiment, the method further includes: when the emergency vehicle is in hybrid mode and switches from a driving state to a temporary parking state, controlling the motor and fuel engine to stop, closing the ninth clutch L9 and disengaging the first clutch L1, so that the motor provides power to the fuel engine for idling; when the emergency vehicle is in hybrid mode and switches from a temporary parking state to a driving state, controlling the motor and fuel engine to operate, disengaging the ninth clutch L9 and closing the first clutch L1, so that the emergency vehicle can start quickly.

[0091] In one embodiment, the method further includes: determining that the emergency vehicle is in an energy feedback mode when it is determined that the emergency vehicle is going downhill or decelerating; in the energy feedback mode, determining that the target clutches are the second clutch L2, the fifth clutch L5, and the ninth clutch L9; controlling the second clutch L2, the fifth clutch L5, and the ninth clutch L9 to close so that the motor converts the kinetic energy of the actuator and the fuel engine into electrical energy and transmits it to the energy storage device.

[0092] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0093] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0094] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0095] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0096] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0097] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0098] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0099] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0100] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control method for emergency vehicles, characterized in that, The emergency vehicle includes a motor, a fuel engine, a power take-off (PTO), a gearbox, a motor gearbox, a water pump PTO, a transfer case, and multiple clutches. These clutches include a first clutch (L1), a second clutch (L2), a third clutch (L3), a fourth clutch (L4), a fifth clutch (L5), a sixth clutch (L6), a seventh clutch (L7), an eighth clutch (L8), and a ninth clutch (L9). The motor includes a main motor and a secondary motor. The motor and the fuel engine are connected via clutches. The fuel engine and the gearbox are connected via the first clutch (L1), and the main motor and the motor gearbox are connected via the second clutch (L9). The method comprises the following connections: clutch (L2) is engaged; the gearbox and the motor gearbox are connected via the third clutch (L3); the main motor and the water pump power take-off are connected via the fourth clutch (L4); the motor gearbox and the transfer case are connected via the fifth clutch (L5); the gearbox and the superstructure power take-off are connected via the sixth clutch (L6); the main motor and the secondary motor are connected via the seventh clutch (L7); the secondary motor and the superstructure power take-off are connected via the eighth clutch (L8); and the secondary motor and the fuel engine are connected via the ninth clutch (L9). Obtain the mode switching command for the emergency vehicle; The emergency vehicle is controlled to enter the corresponding power mode according to the mode switching command; Obtain status control commands for the emergency vehicle; The emergency vehicle is controlled to enter the corresponding working state according to the state control command; Determine the target clutch among the plurality of clutches in the power mode and the operating state; Control the target clutch to close so as to provide corresponding power through the electric motor and / or fuel engine connected to the target clutch.

2. The control method for emergency vehicles according to claim 1, characterized in that, The emergency vehicle also includes a mains power module and an energy storage module. The mains power module is connected to the energy storage module, and the energy storage module is connected to the motor. The power mode includes at least one of hybrid mode, pure fuel mode, pure electric mode, and mains power mode. The step of controlling the emergency vehicle to enter the corresponding power mode according to the mode switching command includes: When the power mode is hybrid mode, the electric motor and the fuel engine are started to jointly drive the emergency vehicle; When the power mode is pure fuel mode, the motor is controlled to start to drive the emergency vehicle; When the power mode is pure electric mode, the fuel engine is started to drive the emergency vehicle; When the power mode is AC power mode, the AC power module is controlled to charge the energy storage module so that the energy storage module can provide power to the motor and control the motor to start to drive the emergency vehicle.

3. The control method for emergency vehicles according to claim 1, characterized in that, The emergency vehicle also includes an energy storage module, and the method further includes: Obtain the current movement status of the emergency vehicle; When the emergency vehicle is going downhill or slowing down, the motor is controlled to convert the kinetic energy of the actuator and the fuel engine into electrical energy and transmit it to the energy storage module.

4. The control method for emergency vehicles according to claim 1, characterized in that, The determination of the target clutch among the plurality of clutches in the power mode and the operating state includes: When the emergency vehicle is in hybrid mode, the target clutches are the second clutch (L2), the third clutch (L3), and the fifth clutch (L5). When the emergency vehicle is in hybrid mode, the target clutches are the first clutch (L1), the second clutch (L2), the third clutch (L3), and the fifth clutch (L5). When the emergency vehicle is in hybrid mode and performing water spraying operation while driving, and the driving speed is lower than the preset speed, the target clutches are the first clutch (L1), the second clutch (L2), the third clutch (L3), the fourth clutch (L4), the fifth clutch (L5), and the sixth clutch (L6). When the emergency vehicle is in hybrid mode and performing water spraying operation while driving, and the driving speed is higher than or equal to a preset speed, the target clutch is the first clutch (L1), the second clutch (L2), the third clutch (L3), the fourth clutch (L4), and the fifth clutch (L5). When the emergency vehicle is in hybrid mode and is spraying water while parked, the target clutches are the first clutch (L1), the fourth clutch (L4), and the sixth clutch (L6). When the emergency vehicle is started or driven in pure electric mode, the target clutch is the second clutch (L2) and the fifth clutch (L5). When the emergency vehicle is in pure electric mode and performs water spraying operation while driving, and the driving speed is lower than the preset speed, the target clutches are the second clutch (L2), the fourth clutch (L4), the fifth clutch (L5), and the eighth clutch (L8). When the emergency vehicle is in pure electric mode and performs water spraying operation while driving, and the driving speed is higher than or equal to the preset speed, the target clutch is the second clutch (L2), the fourth clutch (L4), the fifth clutch (L5), and the seventh clutch (L7). When the emergency vehicle is in pure electric mode and performs water spraying operation while parked, the target clutches are the fourth clutch (L4), the seventh clutch (L7), and the eighth clutch (L8). When the emergency vehicle is driving or starting in pure fuel mode, the target clutches are the first clutch (L1), the third clutch (L3), and the fifth clutch (L5). When the emergency vehicle is in pure fuel mode and performs water spraying operation during driving, the target clutches are the first clutch (L1), the third clutch (L3), the fourth clutch (L4), the fifth clutch (L5), the sixth clutch (L6), the seventh clutch (L7), and the ninth clutch (L9). When the emergency vehicle is cruising in mains power mode, the target clutches are the second clutch (L2) and the fifth clutch (L5). When the emergency vehicle is in mains power mode and performing water spraying, the target clutches are the fourth clutch (L4), the seventh clutch (L7), and the eighth clutch (L8).

5. The control method for emergency vehicles according to claim 1, characterized in that, The method further includes: When the emergency vehicle is in hybrid mode and switches from driving state to temporary parking state, the main motor and the fuel engine are stopped, the ninth clutch (L9) is closed, and the first clutch (L1) is opened, so that the secondary motor provides power to the fuel engine for idling. When the emergency vehicle is in hybrid mode and switches from temporary parking to driving mode, the main motor and the fuel engine are controlled to work, the ninth clutch (L9) is disengaged, and the first clutch (L1) is engaged, so that the emergency vehicle can start quickly.

6. The control method for emergency vehicles according to claim 1, characterized in that, The emergency vehicle also includes an energy storage device, and the method further includes: If it is determined that the emergency vehicle is going downhill or slowing down, it is determined that the emergency vehicle is in energy feedback mode; In the energy feedback mode, the target clutches are identified as the second clutch (L2), the fifth clutch (L5), and the ninth clutch (L9). The second clutch (L2), the fifth clutch (L5), and the ninth clutch (L9) are controlled to close, so that the main motor converts the kinetic energy of the actuator into electrical energy and transmits it to the energy storage device, and the secondary motor converts the kinetic energy of the fuel engine into electrical energy and transmits it to the energy storage device.

7. The control method for emergency vehicles according to claim 1, characterized in that, The emergency vehicle also includes a power take-off unit, a gearbox, a motor gearbox, a water pump power take-off unit, and a transfer case. The multiple clutches include a first clutch (L1), a second clutch (L2), a third clutch (L3), a fourth clutch (L4), a fifth clutch (L5), a sixth clutch (L6), an eighth clutch (L8), and a ninth clutch (L9). The motor includes a main motor. The fuel engine is connected to the gearbox via the first clutch (L1), the main motor is connected to the motor gearbox via the second clutch (L2), the gearbox is connected to the motor gearbox via the third clutch (L3), the main motor is connected to the water pump power take-off via the fourth clutch (L4), the motor gearbox is connected to the transfer case via the fifth clutch (L5), the gearbox is connected to the superstructure power take-off via the sixth clutch (L6), the main motor is connected to the superstructure power take-off via the eighth clutch (L8), and the main motor is connected to the fuel engine via the ninth clutch (L9).

8. The control method for emergency vehicles according to claim 7, characterized in that, The determination of the target clutch among the plurality of clutches in the power mode and the operating state includes: When the emergency vehicle is in hybrid mode, the target clutches are the second clutch (L2), the third clutch (L3), and the fifth clutch (L5). When the emergency vehicle is in hybrid mode, the target clutches are the first clutch (L1), the second clutch (L2), the third clutch (L3), and the fifth clutch (L5). When the emergency vehicle is in hybrid mode and performing water spraying operation while driving, and the driving speed is lower than the preset speed, the target clutches are the first clutch (L1), the second clutch (L2), the third clutch (L3), the fourth clutch (L4), the fifth clutch (L5), and the sixth clutch (L6). When the emergency vehicle is in hybrid mode and performing water spraying operation while driving, and the driving speed is higher than or equal to a preset speed, the target clutch is the first clutch (L1), the second clutch (L2), the third clutch (L3), the fourth clutch (L4), and the fifth clutch (L5). When the emergency vehicle is in hybrid mode and is spraying water while parked, the target clutches are the first clutch (L1), the fourth clutch (L4), and the sixth clutch (L6). When the emergency vehicle is started or driven in pure electric mode, the target clutch is the second clutch (L2) and the fifth clutch (L5). When the emergency vehicle is in pure electric mode and performs water spraying operation while driving, and the driving speed is lower than the preset speed, the target clutches are the second clutch (L2), the fourth clutch (L4), the fifth clutch (L5), and the eighth clutch (L8). When the emergency vehicle is in pure electric mode and performs water spraying operation while driving, and the driving speed is higher than or equal to the preset speed, the target clutch is the second clutch (L2), the fourth clutch (L4), and the fifth clutch (L5). When the emergency vehicle is in pure electric mode and performs water spraying operation while parked, the target clutches are the fourth clutch (L4) and the eighth clutch (L8). When the emergency vehicle is driving or starting in pure fuel mode, the target clutches are the first clutch (L1), the third clutch (L3), and the fifth clutch (L5). When the emergency vehicle is in pure fuel mode and performs water spraying operation during driving, the target clutches are the first clutch (L1), the third clutch (L3), the fourth clutch (L4), the fifth clutch (L5), the sixth clutch (L6), and the ninth clutch (L9). When the emergency vehicle is cruising in mains power mode, the target clutches are the second clutch (L2) and the fifth clutch (L5). When the emergency vehicle is in mains power mode and performing water spraying, the target clutches are the fourth clutch (L4) and the eighth clutch (L8).

9. The control method for an emergency vehicle according to claim 8, characterized in that, The method further includes: When the emergency vehicle is in hybrid mode and switches from driving state to temporary parking state, the main motor and the fuel engine are stopped, the ninth clutch (L9) is closed, and the first clutch (L1) is disengaged, so that the main motor provides power to the fuel engine for idling. When the emergency vehicle is in hybrid mode and switches from temporary parking to driving mode, the main motor and the fuel engine are controlled to work, the ninth clutch (L9) is disengaged, and the first clutch (L1) is engaged, so that the emergency vehicle can start quickly.

10. The control method for an emergency vehicle according to claim 8, characterized in that, The emergency vehicle also includes an energy storage device, and the method further includes: If it is determined that the emergency vehicle is going downhill or slowing down, it is determined that the emergency vehicle is in energy feedback mode; In the energy feedback mode, the target clutches are identified as the second clutch (L2), the fifth clutch (L5), and the ninth clutch (L9). The second clutch (L2), the fifth clutch (L5), and the ninth clutch (L9) are controlled to close so that the main motor converts the kinetic energy of the actuator and the fuel engine into electrical energy and transmits it to the energy storage device.

11. A controller, characterized in that, It is configured to perform the control method for an emergency vehicle as described in any one of claims 1 to 10.

12. A control system for an emergency vehicle, characterized in that, The control system includes: Multiple clutches; A fuel engine, connected to the actuator via a clutch, is used to consume fuel and provide power to the control system; The electric motor is connected to the fuel engine via a clutch and to an energy storage device. It is used to consume electrical energy, provide power to the control system, and acquire excess kinetic energy from the emergency vehicle, convert it into electrical energy, and transmit it to the energy storage device. An energy storage device, connected to the motor, is used to provide power to the motor and to acquire the electrical energy transmitted by the motor; and The controller according to claim 11.

13. An emergency vehicle, characterized in that, The emergency vehicles include: The control system for emergency vehicles according to claim 12.

14. A machine-readable storage medium storing instructions thereon, characterized in that, When executed by a processor, the instruction causes the processor to be configured to perform the control method for an emergency vehicle according to any one of claims 1 to 10.

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