Aerial platform truck boom work safety protection device and method

Abstract

The application relates to the technical field of fire-fighting equipment, and discloses a boom working safety protection device and method of a high-lifting fire truck, which comprises an operating handle, a boom detection device, a controller, a proportional reversing valve and a hydraulic oil pump unloading valve; the output ends of the operating handle and the boom detection device are connected with the input ends of the controller respectively; and the output ends of the controller are connected with the proportional reversing valve and the hydraulic oil pump unloading valve respectively. The application has the beneficial effect that the abnormal action of the boom can be detected and treated in time, and the risk caused by the abnormal action of the boom can be reliably eliminated.

Description

Technical Field

[0001] The present invention relates to the technical field of fire-fighting equipment, in particular to a device and method for protecting the working safety of an arm frame of a fire-fighting truck. Background Art

[0002] The boom of the fire truck can realize the actions of boom length adjustment, boom extension and retraction, turntable rotation, and boom extension and retraction under hydraulic drive. Taking the boom length adjustment action as an example, the working principle is explained, and the working principles of other actions are similar.

[0003] like Figure 1 As shown, the boom 2 of the high-rise fire truck 1 is driven by the boom luffing cylinder 4 to achieve the boom luffing action. The angle sensor 3 installed on the boom 2 can detect the relative angle between the boom 2 and the horizontal plane.

[0004] When the boom of the fire truck 1 is working, the operator pushes the handle according to the operation intention and the operation instruction, so that the electromagnet of the A port or B port of the proportional reversing valve is energized, thereby allowing high-pressure oil to enter the rodless chamber or rod chamber of the hydraulic cylinder to drive the boom 2 to move, so that the actual movement of the boom 2 is consistent with the operator's operation intention. Figure 1 The specific working principle is as follows: Figure 2 As shown: Assuming that the operating instructions specify that pushing the handle forward activates boom 2, when the operator pushes the handle forward, the controller energizes the solenoid at port A of the proportional reversing valve based on the direction and opening of the handle. The valve core moves toward port A, and high-pressure oil generated by the hydraulic oil pump flows into port P of the proportional reversing valve and out of port A, entering the rodless chamber of the boom-bending cylinder 4, causing the boom-bending cylinder to extend, thereby activating boom 2. At the same time, the value of angle sensor 3 on boom 2 should gradually increase as boom 2 rises. Similarly, when the handle is pushed backward, the controller energizes the solenoid at port B of the proportional reversing valve, causing hydraulic oil to enter the rod chamber of the boom-bending cylinder 4 from port B of the proportional reversing valve, causing the boom-bending cylinder to retract, causing boom 2 to fall. The value of angle sensor 3 should gradually decrease as boom 2 falls back.

[0005] If the solenoid wiring on the proportional reversing valve's A and B ports is reversed, or if the oil lines on the proportional reversing valve and boom boom cylinder 4's A and B ports are reversed, then after the operator operates the handle, the boom 2's movement will be contrary to the operator's intended operation. This situation is recorded as abnormal boom movement 1. Furthermore, if the proportional reversing valve's solenoid is abnormally energized, or if the valve core is stuck, the boom 2 will lose control and malfunction. This situation is recorded as abnormal boom movement 2. The above-mentioned abnormal boom movements that are inconsistent with the operator's intended operation pose a significant safety risk and may cause damage to the vehicle or personnel.

[0006] Currently, the detection and handling of abnormal boom 2 movement relies on the operator. If the operator pushes the handle and discovers that the boom's actual movement direction is inconsistent with the intended operation, or if the handle is not pushed and the operator has no intention to operate, the boom moves uncontrollably. Based on experience, the operator will determine that abnormal boom movement has occurred and take measures to cut off the power source to stop the current movement. This detection and handling method is affected by the operator's state and cognitive experience, resulting in low reliability. Furthermore, the detection and troubleshooting of abnormal boom 2 movement takes a long time, and by the time the operator completes the judgment and troubleshooting, vehicle damage caused by the abnormal boom 2 movement may have already occurred. Summary of the Invention

[0007] In view of the shortcomings of the existing technology, the present invention provides a fire truck boom working safety protection device and method, which can timely detect and process abnormal movement of the boom and reliably eliminate the risks caused by abnormal movement of the boom.

[0008] To achieve the above object, the present invention provides the following technical solutions:

[0009] In a first aspect, the present invention provides a safety protection device for an arm support of a fire truck, comprising an operating handle, an arm support detection device, a controller, a proportional reversing valve, and a hydraulic oil pump unloading valve; the output ends of the operating handle and the arm support detection device are respectively connected to the input end of the controller, and the output end of the controller is respectively connected to the proportional reversing valve and the hydraulic oil pump unloading valve;

[0010] The operating handle is pushed and operated by the operator, reflects the operator's operating intention, and transmits the operated handle information to the controller;

[0011] The boom detection device is used to detect boom posture information and transmit the boom posture information to the controller;

[0012] The controller is used to receive handle information and boom posture information, compare the handle signal with the boom posture information, determine whether the current boom action is abnormal, and send a signal instruction requiring the proportional reversing valve and / or the hydraulic oil pump unloading valve to act according to the judgment result and the corresponding set fault handling method;

[0013] The proportional reversing valve is used to execute the signal instruction sent by the controller to adjust the arm movement or move the valve core of the proportional reversing valve;

[0014] The hydraulic cylinder unloading valve is used to be opened according to the signal instruction sent by the controller, so that the high-pressure oil generated by the hydraulic oil pump will flow back to the oil tank, and the power of the hydraulic system will be cut off.

[0015] In combination with the first aspect, further, the boom detection device includes a boom angle sensor and a boom length sensor respectively arranged on the boom, the boom angle sensor is used to measure the angle between the boom and the ground; the boom length sensor is used to measure the telescopic length of the boom.

[0016] In combination with the first aspect, further, the controller includes an input signal processing unit, an abnormal action judgment unit, an abnormal action fault processing unit and a valve signal output unit;

[0017] The input signal processing unit is used to receive handle information from the operating handle to obtain the operator's operating intention, and is also used to receive arm posture information from the arm detection device;

[0018] The abnormal action judgment unit is used to compare the arm posture information converted by the input signal processing unit with the handle information to judge whether the current arm action is an abnormal action and determine the type of the current abnormal action; the abnormal action type includes abnormal action 1 and abnormal action 2;

[0019] The abnormal action fault processing unit is used to match the fault processing method for the corresponding abnormal action according to the operation result of the abnormal action judgment unit, and send corresponding control information to the valve signal output unit. The abnormal action fault processing unit can ensure that the valve signal output unit can output the correct valve signal;

[0020] The valve signal output unit is used to output a corresponding valve signal to be loaded onto the proportional reversing valve or the hydraulic oil pump unloading valve according to the control information provided by the abnormal action fault processing unit.

[0021] In combination with the first aspect, further, the input signal processing unit also performs filtering and conversion operations on the boom posture information.

[0022] In combination with the first aspect, further, the controller instructs the hydraulic cylinder unloading valve to open the hydraulic cylinder unloading valve, cut off the power in the hydraulic system, and stop the boom movement.

[0023] In combination with the first aspect, further, the controller's instruction action on the proportional reversing valve includes an action of adjusting the electromagnetic coil of the proportional reversing valve and an action of flushing the proportional reversing valve.

[0024] Combined with the first aspect, further, the action of adjusting the electromagnetic coil of the proportional reversing valve is to control the power on and off of the electromagnetic coil of the proportional reversing valve, so as to realize the actual movement of the boom and the operator's intention. Figure 1 The flushing action of the proportional directional valve is to load the voltage on the proportional directional valve solenoid coil, so that the valve core of the proportional directional valve moves, and then the proportional directional valve is out of the stuck state and returns to the neutral position.

[0025] In a second aspect, the present application provides a method for protecting the safety of a boom of a fire fighting truck, based on the safety protection device described above, comprising the following steps:

[0026] The movement state of the boom is sensed to obtain boom posture information; the controller converts and calibrates the sensor signals collected in the boom detection device, converting the digital quantity into physical posture values indicating the actual position of the boom; the physical posture values are dynamically sliding filtered to eliminate numerical disturbances caused by boom vibration and other factors; and the trend of the filtered physical posture values is calculated to sense the action state of the boom. Taking the boom luffing as an example, if the physical posture values (i.e. the boom angle values) gradually increase, it indicates that the boom is luffing up; if they gradually decrease, it indicates that the boom is luffing down.

[0027] The intention of the operator is sensed to obtain handle information; the intention of the operator is sensed by the pushing direction and size of the handle.

[0028] The boom posture information and the handle information are compared to determine whether the boom is currently in abnormal action; the abnormal action includes abnormal action one and abnormal action two, the abnormal action one is a situation where the actual movement of the boom is inconsistent with the intention of the operator; the abnormal action two is a situation where the boom moves by itself uncontrollably when the handle is not pushed and the operator has no intention of operating;

[0029] If the determination result is abnormal action one, the controller adjusts the output signal of the proportional directional valve according to the intention of the operator, so that the actual movement of the boom is consistent with the intention of the operator. Figure 1

[0030] If the determination result is abnormal action two, the controller sends a working signal to the hydraulic oil pump unloading valve to open the hydraulic oil pump unloading valve, cutting off the power of the hydraulic system to stop the action of the boom.

[0031] In combination with the second aspect, further, since the spool sticking of the proportional directional valve is the most likely cause of abnormal action two, if the determination result is abnormal action two, the controller sends a working signal to the hydraulic oil pump unloading valve while also outputting a flushing voltage to the proportional directional valve, which loads the flushing voltage on the proportional directional valve, so that the spool of the proportional directional valve is disengaged from the sticking and returns to the neutral position.

[0032] In combination with the second aspect, further, the frequency of the flushing voltage output by the controller is the same as the chatter frequency of the proportional directional valve, and the amplitude should be 90% and 10% of the voltage value U max of the maximum opening of the spool of the proportional directional valve, both of which are loaded in the same period, with a loading time of 2 minutes.

[0033] ​In combination with the second aspect, further, if the judgment result is that an abnormal action has occurred, while processing the abnormal action, the controller outputs an alarm reminder to prompt the operator to troubleshoot the fault.

[0034] Compared with the prior art, the present invention provides a device and method for protecting the boom of a fire truck during operation, which has the following beneficial effects:

[0035] (1) The protection device of the present invention can detect and process abnormal boom movements in a timely manner, and reliably eliminate the risks caused by abnormal boom movements.

[0036] (2) The protection device of the present invention monitors the attitude sensor value in real time through the controller, analyzes the actual movement of the boom, and determines whether the boom is in an abnormal movement state. When an abnormal movement of the boom occurs, the controller quickly processes it according to the type of abnormal movement (mainly boom abnormal movement 1 and boom abnormal movement 2), so that the boom adjusts the movement or stops the movement.

[0037] (3) The entire process of the protection device of the present invention can be completed within 100ms, and the time for fault judgment and elimination is short; and it is not affected by the operator's state and cognitive experience, and has high reliability.

[0038] (4) The hardware used in the protection device of the present invention, including the controller, the operating handle and the boom posture sensor, are essential components for controlling the boom motion of the fire truck and will not increase the cost.

[0039] (5) The protection method of the present invention can detect and process abnormal boom movements in a timely manner, and reliably eliminate the risks caused by abnormal boom movements. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a structural diagram of a high-lift fire truck in the prior art;

[0041] Figure 2 This is a block diagram of the working principle of the boom luffing action of a high-rise fire truck in the prior art;

[0042] Figure 3 This is a principle block diagram of the work safety protection device of the present invention;

[0043] Figure 4 Flowchart of the work safety protection method of the present invention.

[0044] The meanings of the reference numerals in the figures are:

[0045] 1- Fire truck; 2- Boom; 3- Angle sensor; 4- Boom luffing cylinder. DETAILED DESCRIPTION

[0046] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0047] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. Technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may also include different values. It should be noted that similar numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0048] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the protection content of the present invention. Example 1

[0049] like Figure 1 、 Figure 2 as well as Figure 3As shown, the working safety protection device of the present application comprises an operating handle, an arm support detection device, a controller, a proportional reversing valve and a hydraulic oil pump unloading valve. The output ends of the operating handle and the arm support detection device are connected with the input ends of the controller respectively, and the output ends of the controller are connected with the proportional reversing valve and the hydraulic oil pump unloading valve respectively. The operating handle is pushed by the operator to reflect the operating intention of the operator and transmit the handle information to the controller. The arm support detection device is used for detecting the arm support posture information and transmitting the arm support posture information to the controller. The controller is used for receiving the handle information and the arm support posture information, comparing the handle signal with the arm support posture information, judging whether the current arm support action is an abnormal action, and according to the judgment result and the corresponding set fault processing method, sending a signal instruction to the proportional reversing valve and / or the hydraulic oil pump unloading valve.

[0050] In one specific embodiment of the present embodiment, the arm support detection device comprises an arm support angle sensor and an arm support length sensor arranged on the arm support 2 respectively, the arm support angle sensor is used for measuring the angle between the arm support 2 and the ground, and the arm support length sensor is used for measuring the telescopic length of the arm support 2.

[0051] In one specific embodiment of the present embodiment, the controller comprises an input signal processing unit, an abnormal action judgment unit, an abnormal action fault processing unit and a valve signal output unit. The input signal processing unit is used for receiving the handle information from the operating handle to know the operating intention of the operator, and is also used for receiving the arm support posture information from the arm support detection device. The abnormal action judgment unit is used for comparing the arm support posture information converted by the input signal processing unit with the handle information, judging whether the current arm support action is an abnormal action and determining the current abnormal action type, the abnormal action type includes abnormal action one and abnormal action two. The abnormal action fault processing unit is used for matching the fault processing method corresponding to the abnormal action according to the running result of the abnormal action judgment unit, and sending the corresponding control information to the valve signal output unit, and the abnormal action fault processing unit can ensure that the valve signal output unit can output correct valve signal; the valve signal output unit is used for outputting the corresponding valve signal to the proportional reversing valve or the hydraulic oil pump unloading valve according to the control information provided by the abnormal action fault processing unit.

[0052] In one specific embodiment of the present embodiment, the input signal processing unit also performs filtering and conversion operations on the arm support posture information.

[0053] In a specific implementation of this embodiment, the controller instructs the hydraulic cylinder unloading valve to open the hydraulic cylinder unloading valve, cut off the power in the hydraulic system, and stop the boom movement.

[0054] In a specific implementation of this embodiment, the controller's command action on the proportional reversing valve includes adjusting the action of the proportional reversing valve solenoid coil and flushing the proportional reversing valve; adjusting the action of the proportional reversing valve solenoid coil is to control the power on and off of the proportional reversing valve solenoid coil, so as to realize the actual movement of the boom and the operator's intention. Figure 1 The action of flushing the proportional directional valve is that the controller loads voltage to the solenoid coil of the proportional directional valve, causing the valve core of the proportional directional valve to move, and then the proportional directional valve is freed from the stuck state and returns to the middle position.

[0055] like Figure 1 、 Figure 2 as well as Figure 4 The work safety protection method of the present invention, based on the work safety protection device of the present invention, comprises the following steps:

[0056] S1: Senses the boom's motion state and obtains boom attitude information. The controller converts and calibrates the sensor signals collected by the boom detection device, transforming the digital value into a physical attitude value indicating the boom's actual position. Dynamic sliding filtering is performed on the physical attitude value to eliminate numerical disturbances caused by factors such as boom vibration. The trend of the filtered physical attitude value is calculated to detect the boom's motion state. Taking boom luffing as an example, a gradual increase in the physical attitude value (i.e., the boom angle) indicates that the boom is luffing upward; a gradual decrease indicates that the boom is luffing downward.

[0057] S2: Sense the operator's intention and obtain handle information; perceive the operator's operation intention by pushing the handle in the direction and size.

[0058] The boom posture information is compared with the handle information, and the boom motion state (i.e., boom posture information) and the operator's intention are combined to determine whether the current action is an abnormal boom motion. If the actual boom motion state and the operator's intended operation are inconsistent, such as when S2 senses that the operator intends to operate the boom upward, but S1 senses that the boom motion state is lowering, this is considered abnormal boom motion 1. If S2 senses that the handle is not being pushed, meaning the operator has no intention to operate, but S1 senses that the boom is moving, this is abnormal boom motion 2.

[0059] S3: If the result of the judgment is abnormal action 1, the controller adjusts the output signal of the proportional reversing valve according to the operator's intention, so that the actual movement of the boom is consistent with the operator's intention. Figure 1 At the same time, an alarm is output to remind the operator to troubleshoot the fault;

[0060] S4: If the structure is judged to be in abnormal action 2, the controller sends an operating signal to the hydraulic oil pump unloading valve, causing it to open, cutting off power to the hydraulic system and stopping the boom movement. Simultaneously, the controller outputs a flushing voltage to the proportional reversing valve, applying the flushing voltage to the proportional reversing valve, causing it to unsettled and return to the neutral position. Simultaneously, an alarm is output, prompting the operator to troubleshoot the fault.

[0061] In a specific implementation of this embodiment, the frequency of the flushing voltage output by the controller is the same as the flutter frequency of the proportional reversing valve, and the amplitude should be the voltage value U corresponding to the maximum opening of the valve core of the proportional reversing valve. max 90% and 10% of the load are cross-loaded with the same cycle and the loading time is 2 minutes. Example 2

[0062] The difference between Example 2 and Example 1 is that the proportional reversing valve is a proportional reversing valve with valve core displacement feedback, so that the second abnormal movement of the boom can be judged by comparing the valve core displacement of the proportional reversing valve and the operator's operating intention.

[0063] The proportional directional control valve with valve core displacement feedback is communicatively connected to the controller; the proportional directional control valve with valve core displacement feedback can detect the valve core displacement and transmit the valve core displacement data to the controller.

[0064] It should be noted that, in this application, relational terms such as first and second, etc. are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article, or device. In the absence of further restrictions, an element defined by the statement "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0065] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A fire truck boom working safety protection device, characterized by: It includes an operating handle, an arm detection device, a controller, a proportional reversing valve, and a hydraulic oil pump unloading valve; the output ends of the operating handle and the arm detection device are respectively connected to the input end of the controller, and the output end of the controller is respectively connected to the proportional reversing valve and the hydraulic oil pump unloading valve; The operating handle is pushed and operated by the operator, and the operating handle information is transmitted to the controller; The boom detection device is used to detect boom posture information and transmit the boom posture information to the controller; The controller is used to receive handle information and boom posture information, compare the handle signal with the boom posture information, determine whether the current boom action is abnormal, and send a signal instruction requiring the proportional reversing valve and / or the hydraulic oil pump unloading valve to act according to the judgment result and the corresponding set fault handling method; The proportional reversing valve is used to execute the signal command issued by the controller to adjust the arm movement or move the valve core of the proportional reversing valve; The hydraulic oil pump unloading valve is used to be opened according to the signal instruction issued by the controller, so that the high-pressure oil generated by the hydraulic oil pump will flow back to the oil tank, and the power of the hydraulic system is cut off; The controller includes an input signal processing unit, an abnormal action judgment unit, an abnormal action fault processing unit and a valve signal output unit; The input signal processing unit is used to receive handle information from the operating handle to obtain the operator's operating intention, and is also used to receive arm posture information from the arm detection device; The abnormal action judgment unit is used to compare the arm posture information converted by the input signal processing unit with the handle information to judge whether the current arm action is an abnormal action and determine the type of the current abnormal action; The abnormal action fault processing unit is used to match the fault processing method to the corresponding abnormal action according to the operation result of the abnormal action judgment unit, and send corresponding control information to the valve signal output unit; The valve signal output unit is used to output a corresponding valve signal to be loaded onto the proportional reversing valve or the hydraulic oil pump unloading valve according to the control information provided by the abnormal action fault processing unit.

2. The fire truck boom safety protection device according to claim 1, characterized in that: The boom detection device includes a boom angle sensor and a boom length sensor respectively arranged on the boom. The boom angle sensor is used to measure the angle between the boom and the ground; the boom length sensor is used to measure the telescopic length of the boom.

3. The fire truck boom safety protection device according to claim 1, characterized in that: The controller instructs the hydraulic oil pump unloading valve to open the hydraulic oil pump unloading valve, cut off the power in the hydraulic system, and stop the boom movement.

4. The fire truck boom safety protection device according to claim 1, characterized in that: The controller's instruction action on the proportional reversing valve includes an action of adjusting the electromagnetic coil of the proportional reversing valve and an action of flushing the proportional reversing valve.

5. The fire truck boom working safety protection device according to claim 4, characterized in that: The action of adjusting the solenoid coil of the proportional reversing valve is to control the power on and off of the solenoid coil of the proportional reversing valve, so as to adjust the actual movement of the arm to be consistent with the operator's intention; the action of flushing the proportional reversing valve is to load voltage on the solenoid coil of the proportional reversing valve, so that the valve core of the proportional reversing valve moves, and then the proportional reversing valve is freed from the stuck state and returns to the middle position.

6. A method for protecting the working safety of a fire truck boom, characterized by: The work safety protection device according to any one of claims 1 to 5 comprises the following steps: Sense the boom's motion state and obtain boom posture information; Sense the operator's intention and obtain handle information; Comparing the boom posture information with the handle information to determine whether the boom currently has any abnormal movement; the abnormal movement includes abnormal movement one and abnormal movement two. Abnormal movement one is when the actual movement of the boom is inconsistent with the operator's intention; abnormal movement two is when the handle is not pushed and the operator has no intention to operate, resulting in uncontrolled autonomous movement of the boom; If the judgment result is abnormal action 1, the controller adjusts the output signal to the proportional reversing valve according to the operator's intention, so that the actual movement of the boom is consistent with the operator's intention; If the structure is judged to be in abnormal action 2, the controller sends a working signal to the hydraulic oil pump unloading valve to open the hydraulic oil pump unloading valve, cut off the power of the hydraulic system, and stop the boom action.

7. A method for protecting the working safety of a fire truck boom according to claim 6, characterized in that: If the structure is judged to be abnormal action 2, the controller sends a working signal to the hydraulic oil pump unloading valve and outputs a flushing voltage to the proportional reversing valve at the same time, loading the flushing voltage on the proportional reversing valve, so that the valve core of the proportional reversing valve is freed from the jam and returns to the middle position.

8. The method for protecting the boom of a fire truck during operation as claimed in claim 7, characterized in that: The frequency of the flushing voltage output by the controller is the same as the vibration frequency of the proportional reversing valve, and the amplitude should be the voltage value U corresponding to the maximum opening of the valve core of the proportional reversing valve. max 90% and 10% of the load are cross-loaded in the same cycle, and the loading time is 2 minutes.

9. The method for protecting the boom of a fire truck during operation as claimed in claim 6, characterized in that: If the result of the judgment is that an abnormal action has occurred, the controller outputs an alarm while processing the abnormal action, prompting the operator to check the fault.

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