Control methods and control systems for hose reels, processors, and hose reels

Abstract

This invention provides a control method and control system, processor, and hose cart for a fire hose truck, belonging to the field of fire-fighting equipment technology. The hose cart includes a hose storage device, a hose take-up mechanism, a hose straightening mechanism, and a moving mechanism. The hose take-up mechanism includes a hose conveyor belt and a hose joint detection device. The hose straightening mechanism is equipped with a height detection device for detecting the remaining height within the hose storage device. The control method for the hose cart includes: stopping the hose conveyor belt when the hose joint detection device detects a hose joint; obtaining the remaining height corresponding to each unit area within the hose storage device; determining the target unit area corresponding to the maximum remaining height among the remaining heights; controlling the moving mechanism to move the hose straightening mechanism to the target unit area, so as to place the hose joint in the target unit area through the hose straightening mechanism; and controlling the hose conveyor belt to resume operation. This invention can reduce labor costs.

Description

Technical Field

[0001] This invention relates to the field of fire-fighting equipment technology, and more specifically to a control method and control system, processor and hose cart for a hose truck. Background Technology

[0002] Fire hose trucks play a vital role in firefighting, and their deployment is increasing across various regions. For large-diameter fire hoses, due to their weight and diameter, after long-distance water supply, specialized fire hose trucks are required to retrieve the hoses and store them in storage tanks. In existing technologies, under automatic hose reeling operation, when the hoses in the storage tank are stacked too high, reeling personnel typically need to visually select a suitable location using monitoring equipment and manually operate the hose-laying mechanism to place the hoses in the correct position. This results in significant labor costs. Summary of the Invention

[0003] The purpose of this invention is to provide a control method and control system, processor and water hose cart for a water hose cart, so as to solve the problem of high labor costs in the prior art.

[0004] To achieve the above objectives, a first aspect of the present invention provides a control method for a hose cart. The hose cart includes a hose storage device, a hose take-up mechanism, a hose straightening mechanism, and a moving mechanism. The hose take-up mechanism includes a hose conveyor belt and a hose joint detection device. The hose straightening mechanism is equipped with a height detection device for detecting the remaining height within the hose storage device. The control method includes:

[0005] If the hose joint detection device detects a hose joint, the hose conveyor belt will be stopped.

[0006] Obtain the remaining height corresponding to each unit area within the tape storage device;

[0007] Determine the target cell region corresponding to the maximum remaining height among all remaining heights;

[0008] The control mechanism moves the hose handling mechanism to the target unit area so that the hose connector can be placed in the target unit area through the hose handling mechanism;

[0009] Control the water conveyor belt to resume operation.

[0010] In this embodiment of the invention, the moving mechanism includes a longitudinal moving mechanism and a lateral moving mechanism.

[0011] In this embodiment of the invention, obtaining the remaining height corresponding to each unit area within the tape storage device includes: obtaining the first remaining height corresponding to all unit areas within the tape storage device in the longitudinal column where the longitudinal moving mechanism is located, or obtaining the second remaining height corresponding to all unit areas within the tape storage device in the transverse column where the transverse moving mechanism is located; determining the target unit area corresponding to the maximum remaining height among the remaining heights includes: determining the first target unit area corresponding to the first maximum remaining height among the first remaining heights, or determining the second target unit area corresponding to the second maximum remaining height among the second remaining heights; controlling the moving mechanism to move the tape-sorting mechanism to the target unit area, so as to place the hose connector into the target unit area through the tape-sorting mechanism, includes: controlling the longitudinal moving mechanism to move the tape-sorting mechanism to the first target unit area, and controlling the transverse moving mechanism not to move, so as to place the hose connector into the first target unit area through the tape-sorting mechanism; or controlling the transverse moving mechanism to move the tape-sorting mechanism to the second target unit area, and controlling the longitudinal moving mechanism not to move, so as to place the hose connector into the second target unit area through the tape-sorting mechanism.

[0012] In this embodiment of the invention, the control method further includes: establishing a two-dimensional coordinate system along the plane where the opening direction of the tape storage device is located; dividing the area covered by the tape storage device in the two-dimensional coordinate system into multiple unit areas; determining the area position corresponding to each unit area in the two-dimensional coordinate system; acquiring the remaining height information detected by the height detection device during the process of the moving mechanism driving the tape storage mechanism to each area position; and binding the area position and the remaining height information to obtain the remaining height corresponding to each unit area.

[0013] In this embodiment of the invention, controlling the moving mechanism to move the strapping mechanism to the target unit area includes: obtaining the target position corresponding to the target unit area; obtaining the current position of the strapping mechanism; and controlling the moving mechanism to move the strapping mechanism to the target unit area based on the current position and the target position.

[0014] In this embodiment of the invention, the hose cart further includes a movable handle; obtaining the current position of the hose handling mechanism includes: obtaining the current opening degree of the movable handle; determining the first moving speed of the moving mechanism based on the first correspondence between the opening degree of the movable handle and the moving speed of the moving mechanism, based on the pre-stored first correspondence between the opening degree of the movable handle and the moving speed of the moving mechanism; obtaining the first moving duration of the moving mechanism; determining the first moving distance of the moving mechanism based on the first moving speed and the first moving duration; and determining the current position based on the first moving distance.

[0015] In this embodiment of the invention, the moving mechanism includes a moving electromagnet; obtaining the current position of the conveyor belt mechanism includes: obtaining the current current of the moving electromagnet; determining a second moving speed corresponding to the moving mechanism based on a pre-stored second correspondence between the current of the moving electromagnet and the moving speed of the moving mechanism; obtaining a second moving duration of the moving mechanism; determining a second moving distance of the moving mechanism based on the second moving speed and the second moving duration; and determining the current position based on the second moving distance.

[0016] A second aspect of the present invention provides a processor configured to execute the above-described control method for a water hose vehicle.

[0017] A third aspect of the present invention provides a control system for a hose cart, the hose cart including a hose storage device, a hose take-up mechanism, a hose straightening mechanism, and a moving mechanism, the hose take-up mechanism including a hose conveyor belt and a hose joint detection device, the control system including: a height detection device disposed on the hose straightening mechanism for detecting the remaining height in the hose storage device; and a processor according to the above.

[0018] In this embodiment of the invention, the moving mechanism includes a longitudinal moving mechanism and a lateral moving mechanism.

[0019] In this embodiment of the invention, the control system further includes a first positioning sensor, a second positioning sensor, a third positioning sensor, and a fourth positioning sensor. The first positioning sensor and the second positioning sensor are respectively disposed at both ends of the longitudinal moving mechanism, and the third positioning sensor and the fourth positioning sensor are respectively disposed at both ends of the transverse moving mechanism.

[0020] A fourth aspect of the present invention provides a hose cart, comprising: a hose storage device; a hose take-up mechanism, the hose take-up mechanism including a hose conveyor belt and a hose joint detection device; a hose handling mechanism; a moving mechanism; and a control system for the hose cart according to the above.

[0021] The above technical solution, when the hose joint detection device detects a hose joint, controls the hose conveyor belt to stop moving to avoid the hose conveyor belt continuing to transport the hose and affecting the placement of the hose joint by the belt handling mechanism. It also obtains the remaining height of each unit area in the belt storage device, determines the target unit area corresponding to the maximum remaining height among all remaining heights, and then controls the moving mechanism to drive the belt handling mechanism to move to the target unit area so that the hose joint can be placed in the target unit area by the belt handling mechanism, thereby controlling the hose conveyor belt to resume operation. The above technical solution eliminates the need for manual operation of the hose feeding mechanism to adjust the position of the hose within the storage device. By acquiring the remaining height of each unit area within the storage device, when a hose joint is detected, the moving mechanism is controlled to move the hose feeding mechanism to the target unit area corresponding to the maximum remaining height. This allows the hose feeding mechanism to place the hose joint into the target unit area, fully utilizing the internal space of the storage device and placing the hose joint in the position with the lowest hose height. This ensures the flatness of the hoses and hose joints within the storage device, reduces reliance on users, lowers labor costs, simplifies hose retrieval operations, achieves full automation of hose retrieval, and further increases the storage capacity of the storage device.

[0022] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0023] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0024] Figure 1 The schematic diagram illustrates a flow chart of a control method for a water hose vehicle according to an embodiment of the present invention;

[0025] Figure 2 The schematic diagram illustrates the structure of a water hose cart in one embodiment of the present invention;

[0026] Figure 3 The schematic diagram illustrates a water hose and a water hose connector according to an embodiment of the present invention;

[0027] Figure 4 This schematic diagram illustrates a division of the unit area of ​​the tape storage device in one embodiment of the present invention;

[0028] Figure 5 This illustration shows a flowchart of determining the lateral coordinate in one embodiment of the present invention;

[0029] Figure 6This schematic diagram illustrates a process for determining the longitudinal coordinate in one embodiment of the present invention;

[0030] Figure 7 The schematic diagram illustrates a flow chart of a control method for a hose cart according to another embodiment of the present invention;

[0031] Figure 8 This schematic diagram illustrates the relationship between the opening degree of the lateral movement handle, the current of the lateral movement electromagnet, and the speed of the lateral movement mechanism in one embodiment of the present invention.

[0032] Figure 9 The diagram illustrates the relationship between the opening degree of the longitudinal moving handle, the current of the longitudinal moving electromagnet, and the speed of the longitudinal moving mechanism in one embodiment of the present invention.

[0033] Explanation of reference numerals in the attached figures

[0034] 1. Chassis 2. Belt Storage Box

[0035] 31. Belt winding mechanism; 32. Longitudinal movement mechanism

[0036] 33 Belt conveyor mechanism 34 Lateral movement mechanism

[0037] 311 Frame 312 Conveyor Belt

[0038] 313 Clamping mechanism; 314 Hydraulic motor

[0039] 315 Hose Joint Detector; 321 Guide Rail

[0040] 322 Transmission mechanism; 323 Rear position sensor

[0041] 324 Front positioning sensor; 325 Hydraulic motor

[0042] 331 Tape handling frame; 332 Tape handling robot.

[0043] 333 Distance sensor, 341 Guide rail

[0044] 342 Transmission mechanism 343 Motor

[0045] 344 Left positioning sensor 345 Right positioning sensor Detailed Implementation

[0046] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0047] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0048] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0049] Figure 1 The diagram illustrates a flow chart of a control method for a hose conveyor according to an embodiment of the present invention. Figure 1 As shown in the embodiment of the present invention, a control method for a hose cart is provided. The hose cart includes a hose storage device, a hose take-up mechanism, a hose straightening mechanism, and a moving mechanism. The hose take-up mechanism includes a hose conveyor belt and a hose joint detection device. The hose straightening mechanism is equipped with a height detection device for detecting the remaining height in the hose storage device. Taking the application of this control method to a processor as an example, the control method may include the following steps:

[0050] Step S102: When the hose joint detection device detects a hose joint, the hose conveyor belt is controlled to stop operating.

[0051] Step S104: Obtain the remaining height corresponding to each unit area within the tape storage device.

[0052] Step S106: Determine the target cell region corresponding to the maximum remaining height among all remaining heights.

[0053] Step S108: Control the moving mechanism to move the hose handling mechanism to the target unit area, so as to place the hose connector in the target unit area through the hose handling mechanism.

[0054] Step S110: Control the water conveyor belt to resume operation.

[0055] It is understood that the hose storage device is used to store hoses (including hose joints). The hose take-up mechanism is used to transport hoses from the ground to the hose cart, and may include a hose conveyor belt and a hose joint detection device. The hose joint detection device is used to detect hose joints, which connect different sections of hose. The hose straightening mechanism is used to place the hoses transported by the take-up mechanism into the hose storage device. The hose straightening mechanism may be equipped with a height detection device, which can move with the hose straightening mechanism. The height detection device is used to detect the remaining height in the hose storage device. It is understood that when the hose storage device contains hoses, the height detection device can detect the height information between the hoses in the hose storage device and the height detection device. When the hose storage device does not contain hoses, the height detection device can be used to detect the height information between the bottom of the hose storage device and the height detection device.

[0056] The height detection device may include a distance sensor, such as a laser rangefinder. The laser rangefinder can emit a laser signal vertically into the tape storage device to measure the vertical distance between the laser signal point inside the tape storage device and the laser rangefinder (i.e., the remaining height inside the tape storage device). The tape take-up mechanism and tape organizing mechanism can be mounted on a moving mechanism, which is located above the tape storage device. The tape take-up mechanism and tape organizing mechanism can move with the moving mechanism to change their positions. The height detection device on the tape organizing mechanism can also move with the tape organizing mechanism, thereby detecting the remaining height at different positions inside the tape storage device. The maximum remaining height is the largest value among the remaining heights, and the target unit area is the unit area within the tape storage device corresponding to the maximum remaining height. Understandably, the horizontal plane inside the tape storage device along the opening direction (i.e., the two-dimensional plane area covered by the opening direction, excluding the height dimension) can be pre-divided into multiple unit areas. The processor can communicate with the hose joint detection device, the hose conveyor belt, the height detection device, the hose handling mechanism, and the moving mechanism. The processor can acquire the hose joint signal and the height signal detected by the hose joint detection device and the height detection device, respectively, and thus control the operation of the hose conveyor belt, the hose handling mechanism, and the moving mechanism.

[0057] Specifically, the processor can acquire the hose joint signal detected by the hose joint detection device to determine that there is a hose joint on the hose conveyor belt. At this time, the processor can control the hose conveyor belt to stop moving and acquire the remaining height corresponding to each unit area in the belt storage device. Understandably, as the height detection device on the belt handling mechanism moves with the moving mechanism, the height detection device can detect the remaining height information in the belt storage device in real time or at preset sampling intervals. Thus, the processor can update the remaining height information corresponding to each unit area in the belt storage device in real time or at preset sampling intervals. Then, the processor can determine the maximum remaining height among the remaining heights corresponding to each unit area and the target unit area corresponding to the maximum remaining height. Thus, the processor can control the moving mechanism to drive the belt handling mechanism to move to the target unit area so that the hose joint can be placed in the target unit area by the belt handling mechanism. After the hose joint is placed in the target unit area, the processor can control the hose conveyor belt to resume operation. Understandably, the target unit area corresponds to the largest remaining height, which means the water hose height corresponding to the target unit area in the tape storage device is the lowest. By placing the water hose connector in the target unit area with the lowest water hose height, the internal storage space of the tape storage device can be rationally arranged.

[0058] The control method described above for the hose cart stops the hose conveyor belt when the hose joint detection device detects a hose joint, so as to prevent the hose conveyor belt from continuing to transport the hose and affecting the placement of the hose joint by the hose handling mechanism. The remaining height of each unit area in the hose storage device is obtained, the target unit area corresponding to the maximum remaining height is determined, and then the moving mechanism is controlled to move the hose handling mechanism to the target unit area so that the hose joint can be placed in the target unit area by the hose handling mechanism, thereby controlling the hose conveyor belt to resume operation. The above technical solution eliminates the need for manual operation of the hose feeding mechanism to adjust the position of the hose within the storage device. By acquiring the remaining height of each unit area within the storage device, when a hose joint is detected, the moving mechanism is controlled to move the hose feeding mechanism to the target unit area corresponding to the maximum remaining height. This allows the hose feeding mechanism to place the hose joint into the target unit area, fully utilizing the internal space of the storage device and placing the hose joint in the position with the lowest hose height. This ensures the flatness of the hoses and hose joints within the storage device, reduces reliance on users, lowers labor costs, simplifies hose retrieval operations, achieves full automation of hose retrieval, and further increases the storage capacity of the storage device.

[0059] In one embodiment, the moving mechanism includes a longitudinal moving mechanism and a lateral moving mechanism.

[0060] It is understandable that the longitudinal moving mechanism can move along the body direction of the water hose vehicle, and the lateral moving mechanism can move in a direction perpendicular to the body direction of the water hose vehicle.

[0061] In this embodiment of the application, by setting a longitudinal moving mechanism and a lateral moving mechanism, the belt feeding mechanism can be conveniently moved to any unit area within the belt storage device by following the moving mechanism.

[0062] In one embodiment, obtaining the remaining height corresponding to each unit area within the tape storage device includes: obtaining the first remaining height corresponding to all unit areas within the tape storage device in the longitudinal column where the longitudinal moving mechanism is located; determining the target unit area corresponding to the maximum remaining height among the remaining heights includes: determining the first target unit area corresponding to the first maximum remaining height among the first remaining heights; controlling the moving mechanism to drive the tape-sorting mechanism to move to the target unit area, so as to place the hose connector into the target unit area through the tape-sorting mechanism, includes: controlling the longitudinal moving mechanism to drive the tape-sorting mechanism to move to the first target unit area, and controlling the lateral moving mechanism not to move, so as to place the hose connector into the first target unit area through the tape-sorting mechanism.

[0063] It can be understood that the first remaining height refers to the remaining height information corresponding to all unit areas within the tape storage device in the longitudinal column where the longitudinal moving mechanism is located, that is, the remaining height corresponding to all unit areas in the current longitudinal column where the longitudinal moving mechanism is located. The first maximum remaining height is the maximum value among multiple first remaining heights. The first target unit area is the unit area within the tape storage device corresponding to the first maximum remaining height.

[0064] Specifically, the processor can obtain the first remaining height corresponding to all unit areas in the tape storage device of the longitudinal column where the longitudinal moving mechanism is located, and determine the first target unit area corresponding to the first maximum remaining height among the first remaining heights. Then, it controls the longitudinal moving mechanism to drive the tape handling mechanism to move to the first target unit area, and controls the lateral moving mechanism to not move, so as to place the water hose connector into the first target unit area through the tape handling mechanism.

[0065] In this embodiment, only the longitudinal moving mechanism can be controlled to move, while the lateral moving mechanism can be kept inactive. That is, the placement of the water hose in the current longitudinal column unit area can be completed first, thereby reducing the number of times the lateral moving mechanism moves and shortening the water hose placement time.

[0066] In one embodiment, obtaining the remaining height corresponding to each unit area within the tape storage device includes: obtaining the second remaining height corresponding to all unit areas within the tape storage device in the horizontal column where the lateral moving mechanism is located; determining the target unit area corresponding to the maximum remaining height among the remaining heights includes: determining the second target unit area corresponding to the second maximum remaining height among the second remaining heights; controlling the moving mechanism to drive the tape-sorting mechanism to move to the target unit area, so as to place the hose connector into the target unit area through the tape-sorting mechanism, includes: controlling the lateral moving mechanism to drive the tape-sorting mechanism to move to the second target unit area, and controlling the longitudinal moving mechanism not to move, so as to place the hose connector into the second target unit area through the tape-sorting mechanism.

[0067] It can be understood that the second remaining height refers to the remaining height information corresponding to all unit areas within the tape storage device in the horizontal column where the horizontal moving mechanism is located, that is, the remaining height corresponding to all unit areas in the horizontal column where the horizontal moving mechanism is currently located. The second maximum remaining height is the maximum value among multiple second remaining heights. The second target unit area is the unit area within the tape storage device corresponding to the second maximum remaining height.

[0068] Specifically, the processor can obtain the second remaining height corresponding to all unit areas in the storage device of the horizontal column where the horizontal moving mechanism is located, and determine the second target unit area corresponding to the second maximum remaining height among the second remaining heights. Then, it controls the horizontal moving mechanism to drive the belt feeding mechanism to move to the second target unit area, and controls the vertical moving mechanism to not move, so that the water hose connector can be placed in the second target unit area through the belt feeding mechanism.

[0069] In this embodiment, only the horizontal moving mechanism can be controlled to move, while the vertical moving mechanism remains stationary. This means that the placement of the water hoses within the current horizontal column's unit area can be completed first, thereby reducing the number of times the vertical moving mechanism moves and shortening the water hose placement time.

[0070] In one embodiment, the control method for the water hose vehicle further includes: establishing a two-dimensional coordinate system along the plane where the opening direction of the water hose storage device is located; dividing the area covered by the water hose storage device in the two-dimensional coordinate system into multiple unit areas; determining the area position corresponding to each unit area in the two-dimensional coordinate system; acquiring the remaining height information detected by the height detection device during the process of the moving mechanism driving the water hose mechanism to move to each area position; and binding the area position and the remaining height information to obtain the remaining height corresponding to each unit area.

[0071] Specifically, the processor can establish a two-dimensional coordinate system along the plane containing the opening of the tape storage device, and divide the area covered by the tape storage device in the two-dimensional coordinate system into multiple unit regions. This division can be either even or unequal. The processor then determines the position information of each unit region in the two-dimensional coordinate system, i.e., the region position. During the process of the moving mechanism driving the tape feeding mechanism to each region position, a height detection device on the tape feeding mechanism can detect the remaining height corresponding to each region position. The processor can then obtain the remaining height information detected by the height detection device and bind each region position with its corresponding remaining height information, thereby obtaining the remaining height corresponding to each unit region. Furthermore, each unit region can be numbered, i.e., each unit region can be assigned corresponding identification information. For example, the unit regions covered by the first column and first row are identified as Aa, and the unit regions covered by the second column and first row are identified as Ba.

[0072] In one embodiment, controlling the moving mechanism to move the strapping mechanism to the target unit area includes: obtaining the target position corresponding to the target unit area; obtaining the current position of the strapping mechanism; and controlling the moving mechanism to move the strapping mechanism to the target unit area based on the current position and the target position.

[0073] It can be understood that the target position is the position information of the target unit area, and the current position is the current position information of the conveyor belt mechanism.

[0074] Specifically, the processor can obtain the target position corresponding to the target unit area. Specifically, it can find the target position corresponding to the target unit area based on the pre-stored position information of the unit area, and obtain the current position of the tape feeding mechanism. Based on the current position and the target position, it controls the moving mechanism to move the tape feeding mechanism to the target unit area. For example, it can use a driving device such as a servo motor to drive the moving mechanism to move the tape feeding mechanism to the target unit area.

[0075] In one embodiment, the hose cart further includes a moving handle; obtaining the current position of the hose handling mechanism includes: obtaining the current opening degree of the moving handle; determining a first moving speed corresponding to the moving mechanism based on a pre-stored first correspondence between the opening degree of the moving handle and the moving speed of the moving mechanism; obtaining a first moving duration of the moving mechanism; determining a first moving distance of the moving mechanism based on the first moving speed and the first moving duration; and determining the current position based on the first moving distance.

[0076] It can be understood that the moving handle can be used to receive instructions on the movement and speed of the moving mechanism. The first correspondence is the relationship between the opening degree of the moving handle and the moving speed of the moving mechanism; that is, there is a correlation between the opening degree of the moving handle and the moving speed of the moving mechanism. This first correspondence can be predetermined and stored. The first moving speed is the moving speed of the moving mechanism corresponding to the current opening degree of the moving handle. The first moving duration is the length of time the moving mechanism moves. The first moving distance is the distance moved by the moving mechanism within the first moving duration.

[0077] Specifically, the processor can obtain the current opening degree of the moving handle, and based on the pre-stored first correspondence between the opening degree of the moving handle and the moving speed of the moving mechanism, determine the first moving speed corresponding to the moving mechanism according to the current opening degree, and obtain the first moving duration of the moving mechanism. Then, based on the first moving speed and the first moving duration, the processor can determine the first moving distance of the moving mechanism, that is, by determining the product of the first moving speed and the first moving duration, the first moving distance can be obtained, and thus the current position can be determined based on the first moving distance. Understandably, the opening degree of the moving handle can change, and the first moving duration can also change with the opening degree of the moving handle; for example, it can be taken as a value of the sampling period.

[0078] Furthermore, in some embodiments, the moving handle may include a lateral moving handle and / or a longitudinal moving handle, so that the processor can obtain the current opening degree of the lateral moving handle and / or the current opening degree of the longitudinal moving handle. The first correspondence may include a first lateral correspondence between the opening degree of the lateral moving handle and the moving speed of the lateral moving mechanism, and a first longitudinal correspondence between the opening degree of the longitudinal moving handle and the moving speed of the longitudinal moving mechanism. The processor may, based on the pre-stored first lateral correspondence, determine the first lateral moving speed corresponding to the lateral moving mechanism according to the current opening degree of the lateral moving handle, and / or, based on the pre-stored first longitudinal correspondence, determine the first longitudinal moving speed corresponding to the longitudinal moving mechanism according to the current opening degree of the longitudinal moving handle, and obtain the first lateral moving duration of the lateral moving mechanism and / or the first longitudinal moving duration of the longitudinal moving mechanism. It may also determine the first lateral moving distance of the lateral moving mechanism based on the first lateral moving speed and the first lateral moving duration, and / or determine the first longitudinal moving distance of the longitudinal moving mechanism based on the first longitudinal moving speed and the first longitudinal moving duration, and determine the current position based on the first lateral moving distance and / or the first longitudinal moving distance.

[0079] In one embodiment, the moving mechanism includes a moving electromagnet; obtaining the current position of the conveyor belt mechanism includes: obtaining the current current of the moving electromagnet; determining a second moving speed corresponding to the moving mechanism based on a pre-stored second correspondence between the current of the moving electromagnet and the moving speed of the moving mechanism; obtaining a second moving duration of the moving mechanism; determining a second moving distance of the moving mechanism based on the second moving speed and the second moving duration; and determining the current position based on the second moving distance.

[0080] It is understood that the moving mechanism may include a moving electromagnet. The second correspondence is the relationship between the current of the moving electromagnet and the moving speed of the moving mechanism; that is, there is a correlation between the current of the moving electromagnet and the moving speed of the moving mechanism. This second correspondence can be predetermined and stored. The second moving speed is the moving speed of the moving mechanism corresponding to the current of the moving electromagnet. The second moving duration is the length of time the moving mechanism moves. The second moving distance is the distance moved by the moving mechanism during the second moving duration.

[0081] Specifically, the processor can acquire the current of the moving electromagnet and, based on a pre-stored second correspondence between the current of the moving electromagnet and the moving speed of the moving mechanism, determine the second moving speed corresponding to the moving mechanism according to the current current, and acquire the second moving duration of the moving mechanism. Then, based on the second moving speed and the second moving duration, the second moving distance of the moving mechanism can be determined, i.e., by determining the product of the second moving speed and the second moving duration, the second moving distance can be obtained, and thus the current position can be determined based on the second moving distance. Understandably, the current of the moving electromagnet can change, and the second moving duration can also change with the current of the moving electromagnet; for example, it can be taken as a value of the sampling period.

[0082] Furthermore, in some embodiments, when the moving mechanism is a lateral moving mechanism, the moving electromagnet may include a first moving electromagnet and a second moving electromagnet, corresponding to the leftward and rightward movement of the lateral moving mechanism, respectively; when the moving mechanism is a longitudinal moving mechanism, the moving electromagnet may include a third moving electromagnet and a fourth moving electromagnet, corresponding to the forward and backward movement of the longitudinal moving mechanism, respectively.

[0083] This invention provides a processor configured to execute the control method for a water hose vehicle according to the above embodiments.

[0084] This invention provides a control system for a hose cart, the hose cart including a hose storage device, a hose take-up mechanism, a hose straightening mechanism, and a moving mechanism. The hose take-up mechanism includes a hose conveyor belt and a hose joint detection device. The control system includes: a height detection device disposed on the hose straightening mechanism for detecting the remaining height in the hose storage device; and a processor according to the above embodiments.

[0085] In one embodiment, the moving mechanism includes a longitudinal moving mechanism and a lateral moving mechanism.

[0086] In one embodiment, the control system further includes a first positioning sensor, a second positioning sensor, a third positioning sensor, and a fourth positioning sensor. The first positioning sensor and the second positioning sensor are respectively disposed at both ends of the longitudinal moving mechanism, and the third positioning sensor and the fourth positioning sensor are respectively disposed at both ends of the transverse moving mechanism.

[0087] It is understood that the processor can communicate with the first, second, third, and fourth positioning sensors to acquire their positioning signals. The first and second positioning sensors are used to detect whether the longitudinal moving mechanism has reached its foremost or rearmost position. For example, when the longitudinal moving mechanism reaches its foremost position, the first positioning sensor can send a first positioning signal, indicating that the longitudinal moving mechanism has reached its foremost position. The third and fourth positioning sensors are used to detect whether the lateral moving mechanism has reached its leftmost or rightmost position. For example, when the lateral moving mechanism reaches its leftmost position, the third positioning sensor can send a third positioning signal, indicating that the conveyor belt mechanism has reached its leftmost position.

[0088] This invention provides a hose cart, comprising: a hose storage device; a hose take-up mechanism, the hose take-up mechanism including a hose conveyor belt and a hose joint detection device; a hose handling mechanism; a moving mechanism; and a control system for the hose cart according to the above embodiments.

[0089] Figure 2 A schematic diagram of the water hose cart structure in one embodiment of the present invention is shown. Figure 2 As shown in the figure, in this embodiment of the invention, a hose cart is provided, which may include: a chassis 1, a hose storage box 2, and a hose take-up device (not shown in the figure). The hose take-up device may include a hose take-up mechanism 31, a hose straightening mechanism 33, a longitudinal moving mechanism 32, and a lateral moving mechanism 34. Specifically, the hose take-up mechanism 31 may include: a frame 311, a conveyor belt 312, a pressing mechanism 313, a hydraulic motor 314, and a hose joint detector 315; the hose straightening mechanism 33 may include: a hose straightening frame 331, a hose straightening robot 332, and a distance measuring sensor 333; the longitudinal moving mechanism 32 may include: a guide rail 321, a transmission mechanism 322, a rear position sensor 323, a front position sensor 324, and a hydraulic motor 325; the lateral moving mechanism 34 may include: a guide rail 341, a transmission mechanism 342, a motor 343, a left position sensor 344, and a right position sensor 345.

[0090] The hose cart can consist of a chassis 1, a hose storage box 2, and a hose take-up device. The hose storage box 2 is used to store hoses and can be a rectangular box with an open top. The direction from the front to the rear of the cart is longitudinal, and the direction from the driver's left to right is transverse. The take-up mechanism 31 has a rotatable conveyor belt 312, driven by a hydraulic motor 314. A clamping mechanism 313 clamps the hose to provide sufficient recovery friction. The take-up mechanism is also equipped with a hose joint detector 315 for detecting hose joints. The hose handling mechanism 33 moves longitudinally and laterally along the horizontal plane of the hose storage box 2, covering all positions on the horizontal plane of the storage box 2 through movement in both directions. The transverse movement of the hose handling mechanism 33 is achieved by a transverse movement mechanism 34, which consists of a guide rail 341, a transmission mechanism 342, and is driven by a hydraulic motor 343. When the transverse movement reaches the leftmost position, the left position sensor 344 is triggered; when the transverse movement reaches the rightmost position, the right position sensor 345 is triggered. The longitudinal movement of the conveyor belt mechanism 33 is achieved by the longitudinal movement mechanism 32, which consists of a guide rail 321 and a transmission mechanism 322, and is driven by a hydraulic motor 325. When the longitudinal movement reaches the foremost position, the forward positioning sensor 324 is triggered; when the longitudinal movement reaches the last position, the rear positioning sensor 323 is triggered.

[0091] Typically, after fire hoses supply water, the hoses on the ground are connected one by one, such as... Figure 3 As shown, each hose can be L0 in length. The hoses are connected by hose couplings, and it can be seen that the hose couplings are significantly higher than the hoses themselves. The hoses are dry or have only a small amount of residual water in the middle, and are stacked flat in layers within the hose storage box 2. The hose couplings are rigid and occupy a considerable amount of thickness within the storage box 2. When retrieving multiple hoses, multiple hose couplings may be placed in the same position, resulting in some areas of the hoses being piled too high while other areas are not fully filled, reducing the actual number of hoses that can be stored in the storage box 2. Therefore, when retrieving hoses, it is necessary to arrange the hose couplings scientifically and rationally to fully utilize the hose storage capacity of the storage box 2.

[0092] like Figure 4 As shown, a coordinate system is established on the horizontal plane of the tape storage box 2. The vertical direction is X, which can move to the right, and the horizontal direction is Y, which can move backward. When the vertical movement triggers the forward positioning sensor 324, the X coordinate is 0; when the horizontal displacement triggers the left positioning sensor 344, the Y coordinate is 0. Continuing as... Figure 4As shown, the horizontal plane of the tape storage box 2 is divided into several unit areas, which are typically rectangular areas of equal shape and size. The unit areas are coded horizontally and vertically, with horizontal codes A, B, C, D, ... and vertical codes a, b, c, d, ... Each unit area can be represented by a combination of horizontal and vertical codes, such as Aa, Ab, Dh. Based on the coordinates of the tape handling mechanism 33, the unit area containing the tape handling mechanism and its code can be determined. Figure 5 and Figure 6 As shown, the coordinates of the location of the belt feeding mechanism 33 can be obtained by calculating the distances it moves in the horizontal and vertical directions. Figure 7 The schematic diagram illustrates a flow chart of a control method for a water hose vehicle according to another embodiment of the present invention.

[0093] like Figure 8 As shown, there can be a corresponding relationship between the lateral movement handle opening, the lateral movement electromagnet current, the lateral movement proportional valve flow rate, and the speed of the lateral movement mechanism 34. The lateral movement electromagnet current and the corresponding lateral movement mechanism 34 speed are collected and stored in the controller. When calculating the lateral movement displacement, the controller can collect the magnitude of the lateral movement electromagnet current at a certain frequency, read the data of the lateral movement electromagnet current and the lateral movement mechanism 34 speed, and use an interpolation algorithm to calculate the instantaneous speed ν of the lateral movement mechanism 34. yi Within a sufficiently short time interval Δt, the lateral displacement Y i =ν yi ×Δt. Calculate Y cumulatively. i The Y coordinate of the belt feeding mechanism 33 can be obtained, and the lateral code of the location of the belt feeding mechanism can be further calculated.

[0094] Similarly, such as Figure 9 As shown, there can be a corresponding relationship between the longitudinal movement handle opening, the longitudinal movement electromagnet current, the longitudinal movement proportional valve flow rate, and the speed of the longitudinal movement mechanism 32. The instantaneous speed ν of the longitudinal movement mechanism 32 is calculated within a sufficiently short time interval Δt. xi Longitudinal displacement X i =ν xi ×Δt. By accumulating Xi, the X coordinate of the conveyor belt mechanism 33 can be obtained, and the longitudinal code of the position of the conveyor belt mechanism can be further calculated.

[0095] A distance sensor 333 is installed on the tape feeding mechanism 33 to measure the distance between the tape feeding mechanism 33 and the stored water hose (or hose connector) inside the tank, and further calculates the height h of the recovered water hose. When the tape feeding mechanism 33 is located in a certain unit area, the measured height h is the height of the recovered water hose in that unit area. A two-dimensional array Array can be created in the calculation program, with each array corresponding one-to-one with a unit area of ​​the tape storage tank 2, and the measured height data is stored in the array.

[0096] To ensure the proper and efficient storage of hoses within the hose storage box 2, the internal space of the box should be fully utilized during hose retrieval. The hose joint should be placed in the lowest possible position within the box, maintaining the hose and joint as evenly as possible. When the hose joint detector 315 detects a hose joint, the control program searches for the minimum height of the already retrieved hose in the current unit area, executes the hose joint placement procedure, and controls the hose handling mechanism to move the hose joint to the unit area with the lowest hose height. After placing the hose joint, normal hose retrieval resumes. The specific process can be described as follows: Figure 5 , Figure 6 as well as Figure 7 As shown.

[0097] In existing technologies, during automated hose reeling operations, the hose connectors are fixedly placed at the rear of the hose storage box. When the hoses and hose connectors at the rear are stacked too high, the reeling operator visually selects a suitable position through monitoring equipment and manually operates the hose-laying mechanism to place the hoses in the appropriate location, which is a cumbersome operation.

[0098] In this scheme, the tape storage box is divided into several unit areas in the control program. These unit areas are typically of equal shape and size. A two-dimensional array is created in the program, corresponding one-to-one with each unit area, to store the height data of the recovered hose within the tape storage box. When the hose connector detector detects a hose connector, the program searches the current unit area row to find the minimum height of the recovered hose, thus determining the appropriate position for placing the hose connector, which is then placed in that position. Furthermore, this scheme can collect the current values ​​of the electromagnets on the electromagnetic proportional valves controlling the lateral and longitudinal movement mechanisms. The lateral and longitudinal movement distances are calculated using an interpolation algorithm to obtain the coordinates of the location of the tape handling mechanism, further calculating the unit area where the mechanism is located. A distance sensor is installed on the tape handling frame to measure and calculate the height of the recovered hose within the storage box, and this height data is then stored in the two-dimensional array.

[0099] This solution divides the tape storage box into several equal-sized and shaped unit areas in the control program. A distance sensor measures the height of the recovered hose in each unit area and stores this data in a two-dimensional array. When a hose splice is detected, the control system locates a suitable position and controls the hose handling mechanism to place the hose splice into that position. The advantages of this solution are automatic and scientific placement of hose splices, achieving full automation of hose splice placement, simplifying and facilitating the operation of the tape take-up device, resulting in neater hose arrangement within the storage box, and increasing the storage capacity. Furthermore, this solution collects the current values ​​of the electromagnets on the electromagnetic proportional valves controlling the lateral and longitudinal movement mechanisms. An interpolation algorithm is used to calculate the lateral and longitudinal movement distances to obtain the coordinates of the hose handling mechanism's location. Further calculations determine the unit area where the hose handling mechanism is located, without adding any extra components or increasing costs.

[0100] Understandably, when the conveyor belt handling mechanism places the water hose into the storage box, its movement includes lateral and longitudinal movement. In this embodiment of the invention, a schematic diagram is used with the lateral movement mechanism below and the longitudinal movement mechanism above. This solution is equally applicable when the longitudinal movement mechanism is below and the lateral movement mechanism is above, and should be considered the same solution. When calculating the position coordinates of the conveyor belt handling mechanism, this solution preferably uses an algorithm based on the magnitude of the solenoid valve current to calculate the unit area where the conveyor belt handling mechanism is located, which is less costly. This solution can be replaced by: setting speed sensors on the lateral and longitudinal movement mechanisms to measure the rotational speed of the rotating parts, and calculating the unit area where the conveyor belt handling mechanism is located based on the rotational speed. When calculating the position coordinates of the conveyor belt handling mechanism, this solution preferably uses an algorithm based on the magnitude of the solenoid valve current to calculate the unit area where the conveyor belt handling mechanism is located, which is less costly. This solution can be replaced by: setting length sensors on the lateral and longitudinal movement mechanisms to measure the lateral and longitudinal displacement of the conveyor belt handling mechanism, thereby obtaining the unit area where the conveyor belt handling mechanism is located.

[0101] 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.

[0102] 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 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0103] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0104] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0105] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0106] Memory may include non-persistent 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. Memory is an example of computer-readable media.

[0107] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules 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 technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0108] 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.

[0109] 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 a water hose vehicle, characterized in that, The hose cart includes a hose storage device, a hose take-up mechanism, a hose straightening mechanism, and a moving mechanism. The hose take-up mechanism includes a hose conveyor belt and a hose joint detection device. The hose straightening mechanism is equipped with a height detection device for detecting the remaining height in the hose storage device. The hose cart also includes a moving handle or a moving electromagnet. The control method includes: If the hose joint detection device detects a hose joint, it controls the hose conveyor belt to stop operating. Obtain the remaining height corresponding to each unit area within the tape storage device; Determine the target unit region corresponding to the maximum remaining height among all the remaining heights; The moving mechanism is controlled to move the hose handling mechanism to the target unit area, so that the hose connector is placed in the target unit area by the hose handling mechanism; Control the water conveyor belt to resume its normal operation; The step of controlling the moving mechanism to move the strapping mechanism to the target unit area includes: obtaining the target position corresponding to the target unit area; obtaining the current position of the strapping mechanism; and controlling the moving mechanism to move the strapping mechanism to the target unit area based on the current position and the target position. The step of obtaining the current position of the conveyor belt mechanism includes: obtaining the current opening degree of the moving handle; determining a first moving speed corresponding to the moving mechanism based on the current opening degree, according to a pre-stored first correspondence between the opening degree of the moving handle and the moving speed of the moving mechanism; obtaining a first moving duration of the moving mechanism; determining a first moving distance of the moving mechanism based on the first moving speed and the first moving duration; and determining the current position based on the first moving distance. Alternatively, the current current of the moving electromagnet is obtained; based on the pre-stored second correspondence between the current of the moving electromagnet and the moving speed of the moving mechanism, the second moving speed corresponding to the moving mechanism is determined according to the current current; the second moving duration of the moving mechanism is obtained; the second moving distance of the moving mechanism is determined according to the second moving speed and the second moving duration; and the current position is determined according to the second moving distance.

2. The control method according to claim 1, characterized in that, The moving mechanism includes a longitudinal moving mechanism and a lateral moving mechanism.

3. The control method according to claim 2, characterized in that, The step of obtaining the remaining height corresponding to each unit area within the tape storage device includes: Obtain the first remaining height corresponding to all unit areas in the tape storage device in the longitudinal column where the longitudinal moving mechanism is located, or obtain the second remaining height corresponding to all unit areas in the tape storage device in the transverse column where the transverse moving mechanism is located; Determining the target unit region corresponding to the maximum remaining height among the remaining heights includes: Determine the first target unit region corresponding to the first maximum remaining height among each of the first remaining heights, or determine the second target unit region corresponding to the second maximum remaining height among each of the second remaining heights; The control mechanism for moving the hose reel to the target unit area, so as to place the hose connector into the target unit area via the hose reel, includes: The longitudinal moving mechanism is controlled to move the hose handling mechanism to the first target unit area, while the lateral moving mechanism is kept inactive, so that the hose connector is placed in the first target unit area by the hose handling mechanism; or The lateral movement mechanism is controlled to move the hose handling mechanism to the second target unit area, and the longitudinal movement mechanism is controlled to remain stationary, so that the hose connector is placed in the second target unit area by the hose handling mechanism.

4. The control method according to claim 1, characterized in that, The control method further includes: Establish a two-dimensional coordinate system along the plane containing the opening direction of the tape storage device; The area covered by the tape storage device in the two-dimensional coordinate system is divided into multiple unit regions; Determine the corresponding regional position of each unit region in the two-dimensional coordinate system; During the process of the moving mechanism driving the conveyor belt mechanism to move to each of the said area positions, the remaining height information detected by the height detection device is obtained; The location of the region and the remaining height information are bound together to obtain the remaining height corresponding to each unit region.

5. A processor, characterized in that, It is configured to perform the control method for a hose carriage according to any one of claims 1 to 4.

6. A control system for a water hose vehicle, characterized in that, The hose cart includes a hose storage device, a hose take-up mechanism, a hose handling mechanism, and a moving mechanism. The hose take-up mechanism includes a hose conveyor belt and a hose joint detection device. The hose cart also includes a moving handle or a moving electromagnet. The control system includes: A height detection device, mounted on the tape feeding mechanism, is used to detect the remaining height within the tape storage device; and The processor according to claim 5.

7. The control system according to claim 6, characterized in that, The moving mechanism includes a longitudinal moving mechanism and a lateral moving mechanism.

8. The control system according to claim 7, characterized in that, The control system further includes a first positioning sensor, a second positioning sensor, a third positioning sensor, and a fourth positioning sensor. The first positioning sensor and the second positioning sensor are respectively disposed at both ends of the longitudinal moving mechanism, and the third positioning sensor and the fourth positioning sensor are respectively disposed at both ends of the transverse moving mechanism.

9. A water hose vehicle, characterized in that, include: Storage tape device; A belt take-up mechanism, which includes a water hose conveyor belt and a water hose joint detection device; Strapping mechanism; Mobile mechanism; Move the handle or move the electromagnet; and The control system for a hose reel as described in any one of claims 6 to 8.

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