Ladder truck boom, ladder step alignment control method and apparatus

Abstract

This invention discloses a ladder boom, a step alignment control method and device. By obtaining the current length of the telescopic boom extending relative to the main boom, and then, while the drive component is driving the telescopic boom to move, it is determined whether the distance between any second step and the first step located at the foremost point of the main boom meets a preset condition based on the current length. If so, the drive component is controlled to stop driving the telescopic boom, so that the telescopic boom stops, and any second step can be aligned with the first step located at the foremost point of the main boom, thereby facilitating personnel stepping and enabling rapid rescue operations.

Description

Technical Field

[0001] This invention relates to the field of fire rescue technology, and in particular to a ladder boom, ladder step alignment control method and device. Background Technology

[0002] Aerial ladder fire trucks, an important component of aerial fire trucks, are primarily used for rescue operations, but also have the capability to spray fire extinguishing agents. The ladder frame of an aerial ladder fire truck is typically a telescopic straight boom structure. The bottom of the ladder frame is hinged to the turntable on the upper vehicle, and the front end of the ladder frame is connected to the working platform. Through the rotation of the turntable, and by adjusting the ladder frame's amplitude and extension / retraction, rescue operations can be carried out within different ranges and scopes of operation.

[0003] However, when the boom of the aerial ladder truck is extended or retracted, the steps of the extended boom are difficult to align with the steps of the fixed main boom, making it inconvenient for personnel to step on them and hindering rapid rescue operations. Summary of the Invention

[0004] The purpose of this invention is to provide a ladder boom, a step alignment control method and device, which can make any second step aligned with the first step located at the foremost end of the main boom, thereby facilitating personnel stepping on it and enabling rapid rescue operations.

[0005] In a first aspect, the present invention provides a ladder boom, including a main boom and a telescopic boom slidably mounted inside the main boom. The telescopic boom is driven by a drive assembly to extend or retract from the front of the main boom. The main boom includes a plurality of first steps, and the telescopic boom includes second steps. The ladder boom also includes a controller and a displacement detection device connected in communication. The displacement detection device is used to detect the current length of the telescopic boom extended relative to the main boom. The controller is used to determine, based on the current length, whether the distance between any second step and the first step located at the foremost end of the main boom meets a preset condition when the drive assembly drives the telescopic boom to move. If so, the controller controls the drive assembly to stop driving the telescopic boom.

[0006] In an optional implementation, the controller is used to determine, based on the calculation result of the current length and the step distance, whether the distance between any second step and the first step located at the foremost end of the main arm meets a preset condition when the drive component drives the telescopic arm to move.

[0007] In an optional implementation, the controller is used to calculate the remainder Y according to the following formula, and to determine whether the remainder is less than a preset value:

[0008] Y = (CA)MOD[(BA) / X];

[0009] Wherein, C represents the current length, A represents the extension length of the telescopic arm when it is fully retracted relative to the main arm, B represents the extension length of the telescopic arm when it is fully extended relative to the main arm, and X represents the number of second steps located outside the main arm when the telescopic arm is fully extended relative to the main arm.

[0010] In an optional embodiment, the ladder boom further includes a position detection device communicatively connected to the controller. The position detection device is installed at the tail of the main boom and is used to detect whether the telescopic boom is fully retracted relative to the main boom. The controller is used to determine, based on the current length, whether the distance between any second step and the first step located at the foremost end of the main boom meets a preset condition when the drive assembly drives the telescopic boom to move and the telescopic boom is not fully retracted relative to the main boom.

[0011] In an optional embodiment, the ladder boom further includes an electrically controlled proportional valve that is communicatively connected to the controller. The electrically controlled proportional valve is connected in series with the drive assembly, and the controller is used to control the opening degree of the electrically controlled proportional valve.

[0012] In an optional embodiment, the ladder boom further includes a remote controller communicatively connected to the controller. The remote controller is used to receive user instructions to send control signals to the controller. Upon receiving the control signals, the controller controls the drive assembly to move the telescopic boom.

[0013] Secondly, the present invention provides a step alignment control method, the method comprising:

[0014] When the drive component moves the telescopic arm, obtain the current length of the telescopic arm extended relative to the main arm;

[0015] Based on the current length, determine whether the distance between any second step and the first step located at the foremost end of the main arm meets the preset conditions;

[0016] If so, then control the drive component to stop driving the telescopic arm.

[0017] In an optional implementation, in the step of determining whether the distance between any second step and the first step located at the foremost end of the main arm meets the preset condition based on the current length, the determination is made based on the calculation result of the current length and the step distance between the second step and the first step located at the foremost end of the main arm.

[0018] In an optional implementation, the step of determining whether the distance between any second step and the first step located at the foremost end of the main arm meets a preset condition based on the calculation result of the current length and the step distance specifically includes:

[0019] The remainder Y is calculated using the following formula, and it is then determined whether the remainder is less than a preset value:

[0020] Y = (CA)MOD[(BA) / X];

[0021] Wherein, C represents the current length, A represents the extension length of the telescopic arm when it is fully retracted relative to the main arm, B represents the extension length of the telescopic arm when it is fully extended relative to the main arm, and X represents the number of second steps located outside the main arm when the telescopic arm is fully extended relative to the main arm.

[0022] Thirdly, the present invention provides a step alignment control device, comprising:

[0023] The acquisition module is used to acquire the current length of the telescopic arm extended relative to the main arm when the drive component drives the telescopic arm to move.

[0024] The judgment module is used to determine whether the distance between any second step and the first step located at the foremost end of the main arm meets a preset condition based on the current length.

[0025] The execution module is used to control the drive component to stop driving the telescopic arm when preset conditions are met.

[0026] The beneficial effects of the embodiments of the present invention include:

[0027] By obtaining the current length of the telescopic arm extended relative to the main arm, and then, while the drive component is driving the telescopic arm to move, it is determined whether the distance between any second step and the first step located at the foremost end of the main arm meets the preset conditions based on the current length. If so, the drive component is controlled to stop driving the telescopic arm, so that the telescopic arm stops, and any second step can be aligned with the first step located at the foremost end of the main arm, thereby facilitating personnel stepping and enabling rapid rescue. Attached Figure Description

[0028] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0029] Figure 1This is one of the structural schematic diagrams of the ladder boom according to an embodiment of the present invention;

[0030] Figure 2 This is a second schematic diagram of the structure of the ladder boom according to an embodiment of the present invention;

[0031] Figure 3 This is a functional block diagram of the controller, position detection element, displacement detection element, and electro-hydraulic proportional valve according to an embodiment of the present invention;

[0032] Figure 4 This is a simplified schematic diagram illustrating the misalignment of the first step and any second step at the foremost end of the main arm in an embodiment of the present invention.

[0033] Figure 5 This is a simplified schematic diagram illustrating the alignment of the first step and any second step at the foremost end of the main arm in an embodiment of the present invention.

[0034] Figure 6 This is a flowchart of the step alignment control method according to an embodiment of the present invention;

[0035] Figure 7 This is a functional block diagram of the step alignment control device according to an embodiment of the present invention.

[0036] Icons: 1-Displacement detection element; 2-Position detection element; 3-First step; 4-Controller; 5-Electrically controlled proportional valve; 6-Main boom; 7-Telescopic boom; 8-Second step; 40-Step alignment control device; 401-Acquisition module; 402-Judgment module; 403-Execution module. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0038] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0039] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0040] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0041] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0042] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0043] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0044] Please refer to Figures 1 to 3This invention discloses a ladder boom, which can be used in ladder fire trucks, and also in other types of vehicles or aerial work platforms. The ladder boom includes a main boom 6 and a telescopic boom 7 slidably mounted inside the main boom 6. The telescopic boom 7 is driven by a drive assembly to extend or retract from the front of the main boom 6. The main boom 6 includes multiple first steps 3, and the telescopic boom 7 includes multiple second steps 8. The ladder boom also includes a controller 4 and a displacement detection element 1 connected in communication. The displacement detection element 1 is used to detect the current extension length of the telescopic boom 7 relative to the main boom 6 and control its movement. Device 4 is used to determine, based on the current length, whether the distance between any second step 8 and the first step 3 at the foremost end of the main boom 6 meets a preset condition when the drive assembly drives the telescopic boom 7 to move. If so, it controls the drive assembly to stop driving the telescopic boom 7, so that the telescopic boom 7 stops, and any second step 8 can be aligned with the first step 3 at the foremost end of the main boom 6, thereby facilitating personnel to step on it, move from the first step 3 of the main boom 6 to the second step 8 of the telescopic boom 7, and finally enter the work platform connected to the front end of the telescopic boom 7 through the second step 8, which is conducive to carrying out rapid rescue.

[0045] The communication connections include wireless connections such as Wi-Fi, Bluetooth, UWB, MTV, ZigBe, or NFC, as well as wired connections such as wires or optical fibers. The drive components include hydraulic, pneumatic, or electric drives. This embodiment does not impose specific limitations; those skilled in the art can choose the appropriate method based on actual needs.

[0046] Specifically, since the distance between two adjacent first steps 3 (the step distance between first steps 3) and the distance between two adjacent second steps 8 (the step distance between second steps 8) are usually equal, the situation where a first step 3 is not aligned with either second step 8 is as follows: Figure 4 As shown in the misalignment, the distance between the first step 3 at the very front of the main boom 6 and the adjacent second step 8 is significantly smaller than the step distance. This means that the crossing distance between the first step 3 at the very front of the main boom 6 and the second step 8 in front of it is significantly smaller than the crossing distance between two adjacent first steps 3. However, after crossing the first step 3 at the very front of the main boom 6, the crossing distance between two adjacent second steps 8 increases again. Therefore, to continue climbing from the main boom 6 to the telescopic boom 7, the person needs to change their step distance twice consecutively, resulting in a significant change in speed. Due to the urgency of the rescue situation, a slight misstep could lead to a misstep. To minimize the risk of missteps, the person needs to reduce their climbing speed, which affects rescue efficiency.

[0047] Therefore, the controller 4 is used to determine, based on the calculation result of the current length and step distance, whether the distance between any second step 8 and the first step 3 located at the foremost end of the main arm 6 meets a preset condition when the telescopic arm 7 is moved by the drive assembly. This ensures that after the telescopic arm 7 stops, the distance between the first step 3 located at the foremost end of the main arm 6 and any second step 8 is as follows: Figure 5 After the alignment is shown, the distance between the first step 3 at the foremost end of the main arm 6 and the second step 8 in front of it is approximately equal to the step distance. The crossing distance between the first step 3 at the foremost end of the main arm 6 and the second step 8 in front of it is approximately equal to the crossing distance between two adjacent first steps 3. In this way, the personnel do not need to change the step distance when continuing to climb from the main arm 6 to the telescopic arm 7, and the speed remains unchanged, ensuring rescue efficiency.

[0048] In this embodiment, the displacement detection element 1 is typically located at the front end of the telescopic arm 7, so it will extend a certain distance relative to the main arm 6 when the telescopic arm 7 is fully retracted.

[0049] In detail, controller 4 is used to calculate the remainder Y according to the following formula (1), and to determine whether the remainder is less than the preset value:

[0050] Y = (CA)MOD[(BA) / X] (1)

[0051] Where C represents the current length, A represents the extension length of the telescopic arm 7 when it is fully retracted relative to the main arm 6, B represents the extension length of the telescopic arm 7 when it is fully extended relative to the main arm 6, and X represents the number of second steps 8 located outside the main arm 6 when the telescopic arm 7 is fully extended relative to the main arm 6.

[0052] Theoretically, if the incremental length CA of the telescopic arm 7 extending outward from its fully retracted initial position is exactly a multiple of the step distance (BA) / X, then Y is 0. In this case, the distance between the second step 8, located in front of the first step 3 at the very front of the main arm 6, and the first step 3 is also the step distance (BA) / X. However, in actual use, errors may occur due to assembly precision, control delay, etc. In this case, the incremental length CA will not be divisible by the step distance (BA) / X, and the remainder Y will not be zero. Therefore, the remainder Y needs to be less than a preset value Z. That is, when Y is less than Z, the control drive component stops driving the telescopic arm 7, so that the telescopic arm 7 stops at a fixed position. At this time, the difference between the distance between the second step 8, located in front of the first step 3 at the very front of the main arm 6, and the first step 3 and the step distance (BA) / X is small, which has almost no impact on personnel climbing, thus facilitating personnel stepping on it.

[0053] The step distance is calculated using (BA) / X because, although the step distance itself is a fixed value, it usually needs to be measured manually with a ruler for different sizes and types of ladder booms, which is time-consuming and labor-intensive. However, the number of steps is easy to obtain. In this embodiment, the number of steps is entered into the controller, and the controller directly calculates the step distance based on the detection results of displacement detection device 1, which is faster and more convenient. Of course, in some embodiments, the step distance on the real side is directly entered into the controller, and the controller directly calculates the remainder based on the incremental length and the entered step distance, which is also feasible.

[0054] In this embodiment, the ladder boom also includes a position detection component 2 that is communicatively connected to the controller 4. The position detection component 2 is located at the tail of the main boom 6. The position detection component 2 is used to detect whether the telescopic boom 7 is fully retracted relative to the main boom 6. The controller 4 is used to determine whether the distance between any second step 8 and the first step 3 located at the foremost end of the main boom 6 meets the preset conditions when the telescopic boom 7 is not fully retracted relative to the main boom 6. That is, the above alignment process needs to be carried out when the telescopic boom 7 is not fully retracted, so as to ensure the alignment accuracy.

[0055] Understandably, the position detection component 2 is installed on the main boom 6 and can be set at any position on the main boom 6.

[0056] The ladder boom also includes an electronically controlled proportional valve 5 that is connected in communication with the controller 4. The electronically controlled proportional valve 5 is connected in series with the drive assembly. The controller 4 is used to control the opening degree of the electronically controlled proportional valve 5, thereby controlling the power of the drive assembly and thus controlling the speed at which the telescopic boom 7 extends or retracts.

[0057] It should be noted that during the alignment process, controlling the speed at which the telescopic arm 7 extends or retracts can make the telescopic arm 7 extend or retract more slowly, thereby reducing alignment errors.

[0058] The ladder boom also includes a remote controller that communicates with the controller 4. The remote controller receives user commands to send control signals to the controller 4. Upon receiving the control signal, the controller 4 determines, based on the current length, whether the distance between any second step 8 and the first step 3 located at the foremost end of the main boom 6 meets preset conditions, facilitating personnel operation for alignment. The remote controller can be integrated into the fire truck's control panel.

[0059] The aforementioned controller 4 is typically a central processing unit (CPU), which can be configured with a corresponding operating system and control interface, etc. Specifically, it can be a microcontroller, DSP (Digital Signal Processing), ARM (Advanced RISC Machines), or other digital logic control unit capable of automated control. It can load control instructions into memory for storage and execution at any time. At the same time, it can have built-in CPU instruction and data memory, input / output units, power supply modules, digital and analog units, etc. The specific configuration can be set according to the actual use situation, and the embodiments of the present invention do not impose any restrictions on this.

[0060] This invention also discloses a ladder alignment control method, which can be applied to the ladder boom of the above embodiments. This method can be stored in the controller 4 as a program segment and can be read, written and executed by the controller 4. Figure 6 , Figure 6 This is a flowchart of the ladder alignment control method according to an embodiment of the present invention. It should be noted that, in... Figure 6 The steps shown in the flowchart can be executed in a computer system, such as a set of computer-executable instructions. While a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that presented here. The following is a further discussion... Figure 6 The specific process shown will be explained in detail.

[0061] This embodiment of a staircase alignment control method includes:

[0062] Step S1: When the drive component drives the telescopic arm 7 to move, obtain the current length of the telescopic arm 7 extending relative to the main arm 6.

[0063] Step S2: Determine whether the distance between any second step 8 and the first step 3 located at the foremost end of the main arm 6 meets the preset conditions based on the current length.

[0064] Specifically, based on the calculation results of the current length and the step distance, it is determined whether the distance between any second step 8 and the first step 3 located at the foremost end of the main arm 6 meets the preset conditions.

[0065] More specifically, the remainder Y is calculated according to the following formula (1), and it is determined whether the remainder is less than the preset value:

[0066] Y = (CA)MOD[(BA) / X] (1)

[0067] Where C represents the current length, A represents the extension length of the telescopic arm 7 when it is fully retracted relative to the main arm 6, B represents the extension length of the telescopic arm 7 when it is fully extended relative to the main arm 6, and X represents the number of second steps 8 located outside the main arm 6 when the telescopic arm 7 is fully extended relative to the main arm 6.

[0068] Step S3: If yes, then control the drive component to stop driving the telescopic arm 7.

[0069] To perform the corresponding steps of the above-described stair-step alignment control method embodiment, an implementation of the stair-step alignment control device 40 is given below. Further, please refer to... Figure 7 , Figure 7 This is a functional block diagram of the step alignment control device 40 provided in an embodiment of the present invention. It should be noted that the step alignment control device 40 provided in this embodiment can be stored in the controller 4 as a program module and can be executed by the controller 4. The basic principle and technical effects of the step alignment control device 40 are the same as those in the above embodiments. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content in the above embodiments.

[0070] The step alignment control device 40 in this embodiment includes an acquisition module 401, a judgment module 402, and an execution module 403.

[0071] The acquisition module 401 is used to acquire the current length of the telescopic arm 7 extending relative to the main arm 6 when the drive component drives the telescopic arm 7 to move.

[0072] In this embodiment, the acquisition module 401 can be used to perform... Figure 6 Step S1 is shown in the figure.

[0073] The judgment module 402 is used to determine whether the distance between any second step 8 and a first step 3 located at the foremost end of the main arm 6 meets the preset conditions based on the current length.

[0074] In this embodiment, the determination module 402 can be used to perform... Figure 6 Step S2 is shown in the diagram.

[0075] The execution module 403 is used to control the drive component to stop driving the telescopic arm 7 when preset conditions are met.

[0076] In this embodiment, the execution module 403 can be used to execute... Figure 6 Step S3 is shown in the diagram.

[0077] It should be noted that, in the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functions, and operations of possible implementations of apparatus, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that, in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0078] In addition, the functional modules in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0079] If the functionality is implemented as a software module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0080] Finally, it should be noted that in this document, 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.

[0081] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A ladder boom, comprising a main boom and a telescopic boom slidably mounted inside the main boom, the telescopic boom being driven by a drive assembly to extend or retract from the front of the main boom, the main boom comprising a plurality of first steps, and the telescopic boom comprising a plurality of second steps, characterized in that, The ladder boom also includes a controller and a displacement detection device connected by communication. The displacement detection device is used to detect the current length of the telescopic boom extending relative to the main boom. The controller is used to determine, based on the current length, whether the distance between any second step and the first step located at the foremost end of the main boom meets a preset condition when the drive assembly drives the telescopic boom to move. If so, the controller controls the drive assembly to stop driving the telescopic boom. The controller is used to determine, based on the calculation result of the current length and the step distance, whether the distance between any second step and the first step located at the foremost end of the main arm meets a preset condition when the drive component drives the telescopic arm to move. The controller is used to calculate the remainder Y according to the following formula, and to determine whether the remainder is less than a preset value: Y = (CA)MOD[(BA) / X]; Wherein, C represents the current length, A represents the extension length of the telescopic arm when it is fully retracted relative to the main arm, B represents the extension length of the telescopic arm when it is fully extended relative to the main arm, and X represents the number of second steps located outside the main arm when the telescopic arm is fully extended relative to the main arm.

2. The ladder boom according to claim 1, characterized in that, The ladder boom also includes a position detection device that is communicatively connected to the controller. The position detection device is installed on the main boom and is used to detect whether the telescopic boom is fully retracted relative to the main boom. The controller is used to determine, based on the current length, whether the distance between any second step and the first step located at the foremost end of the main boom meets a preset condition when the drive assembly drives the telescopic boom to move and the telescopic boom is not fully retracted relative to the main boom.

3. The ladder boom according to claim 1, characterized in that, The ladder boom also includes an electrically controlled proportional valve that is communicatively connected to the controller. The electrically controlled proportional valve is connected in series with the drive assembly, and the controller is used to control the opening degree of the electrically controlled proportional valve.

4. The ladder boom according to claim 1, characterized in that, The ladder boom also includes a remote controller that is communicatively connected to the controller. The remote controller is used to receive user commands to send control signals to the controller. The controller is used to control the drive assembly to move the telescopic boom when it receives the control signals.

5. A method for controlling staircase alignment, characterized in that, The method includes: When the drive component moves the telescopic arm, obtain the current length of the telescopic arm extended relative to the main arm; Based on the current length, determine whether the distance between any second step and the first step located at the foremost end of the main arm meets the preset conditions; If so, then control the drive component to stop driving the telescopic arm; In the step of determining whether the distance between any second step and the first step located at the foremost end of the main arm meets the preset conditions based on the current length, the distance between any second step and a first step located at the foremost end of the main arm is determined based on the calculation result of the current length and the step distance. The step of determining whether the distance between any second step and the first step located at the foremost end of the main arm meets the preset condition based on the calculation result of the current length and the step distance specifically includes: The remainder Y is calculated using the following formula, and it is then determined whether the remainder is less than a preset value: Y = (CA)MOD[(BA) / X]; Wherein, C represents the current length, A represents the extension length of the telescopic arm when it is fully retracted relative to the main arm, B represents the extension length of the telescopic arm when it is fully extended relative to the main arm, and X represents the number of second steps located outside the main arm when the telescopic arm is fully extended relative to the main arm.

6. A step alignment control device for implementing the step alignment control method of claim 5, characterized in that, include: The acquisition module is used to acquire the current length of the telescopic arm extended relative to the main arm when the drive component drives the telescopic arm to move. The judgment module is used to determine whether the distance between any second step and the first step located at the foremost end of the main arm meets a preset condition based on the current length. The execution module is used to control the drive component to stop driving the telescopic arm when preset conditions are met.

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