Control method, storage method and calculation device for reciprocating rescue of elevating fire fighting truck, storage medium and fire fighting truck

Abstract

The invention relates to a control method, a storage method, a calculation device, a storage medium and a fire fighting truck for reciprocating rescue of an elevating fire fighting truck, and the control method comprises the following steps: setting a time interval t delta, and when the time is n * t delta, calculating or reading the amplitude R and the height H of a boom and the rotation angle beta of a turntable according to the posture of the boom; coding the state of each moving part of the arm support to form an arm support moving direction parameter A; constructing a working platform position matrix P; storing a matrix P from path start to path end; reading the matrix P of the next time interval, and performing inverse kinematics solution to obtain the attitude value of each moving part of the cantilever crane as the target value of the movement of the cantilever crane at the next time interval; controlling each moving part of the cantilever crane, so that the moving parts reach the postures stored in the matrix P at the next time interval; and the path playback at each moment is completed. According to the method, the variable space required by storage can be reduced, the synchronization degree of multi-action movement during path playback is improved, and the playback error is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of reciprocating rescue of elevated fire trucks, and in particular to a control method, a storage method, a computing device, a storage medium and a fire truck for reciprocating rescue of elevated fire trucks. Background Art

[0002] When using a fire truck for rescue, it is necessary to use a working platform to transfer personnel from rescue sites such as high-rise buildings to safe places such as the ground. If there are many people to be rescued, multiple reciprocating rescues with repeated rescue routes are required. The combined arm structure of the fire truck is complex and diverse in form. The surrounding environment of the rescue site is complex. During the rescue process, the working platform may need to cross and avoid obstacles such as buildings and trees multiple times, which places high demands on the skills of the operator. Using the reciprocating rescue function, the working platform of the fire truck can automatically make multiple round trips between the rescue site and the safe place, and the operator no longer needs to operate manually and multiple times, which reduces the operator's workload and improves the rescue efficiency.

[0003] Reciprocating rescue control includes path memory and path playback control. Path playback is to reproduce the path memorized during manual operation. The rescue site environment is complex. The operator identifies a safe rescue path and uses the manual operating handle to enable the work platform to safely travel back and forth between the rescue site and the safe site. Therefore, the path playback needs to restore the memory path as much as possible, which requires that when the path is played back, the movements of the various moving parts on the boom should reach the target point as much as possible at the same time to maintain good synchronization.

[0004] The boom structure of the ladder fire truck is simple. It only needs to record the three parameters of the boom telescopic length, the amplitude change angle and the turntable rotation angle to determine the position information of the working platform. At present, the boom system of the common high-rise fire truck is mostly composed of a multi-stage telescopic boom. For example, for a fire truck with three movable arms, the arm amplitude change angle θ is required to determine the position information of the working platform. 1 、One arm extension length L 1 、Two-arm amplitude angle θ 2 , two arms telescopic length L 2 、Three-arm amplitude angle θ 3 There are 6 parameters in total, namely, the working platform position matrix P is P = [θ 1 ,L1,θ 2 ,L 2 ,θ 3 ,β].

[0005] The controller stores the work platform location information, and the required variable space size is equal to the product of the number of records, the number of parameters, and the space occupied by a single parameter. For example, if the recording time interval is 1 second, the number of records is 1000 times, and the space occupied by a single parameter is 4 bytes, then the variable space required to record 6 parameters is approximately 24Kb. At present, the commonly used controller variable space size of high-rise fire trucks is about 64Kb, so a large amount of controller variable space is occupied, resulting in reduced controller execution efficiency and poor scalability. Sometimes, there will even be code compilation errors and the controller cannot run. Summary of the invention

[0006] In order to solve the above-mentioned deficiencies in the prior art, the present invention provides a control method for reciprocating rescue of a fire-lift truck, comprising the following steps:

[0007] S1. Start path memory and set the time interval tΔ. When the time is n×tΔ (n is a natural number), calculate or read the boom amplitude R, height H and turntable rotation angle β according to the boom posture; encode the states of each moving part of the boom, including the first state, the second state and the stop state, to form the boom movement direction parameter A; construct the working platform position matrix P, P is [R, H, β, A].

[0008] S2. Store the matrix P from the beginning of the path to the end of the path to complete the path memory.

[0009] S3. Start path playback, read the matrix P of the next time interval, perform inverse kinematics solution, and obtain the posture value of each moving part of the boom as the target value of the boom's movement in the next time interval.

[0010] S4. Control the moving parts of the boom so that they reach the posture stored in the matrix P in the next time interval.

[0011] S5. Play back the path at the next time interval until the path playback at each moment is completed.

[0012] Furthermore, the direction parameter A is a multi-bit parameter corresponding to the total degree of freedom of each moving part of the boom. When the corresponding parameter is X, it indicates that the current action has stopped; when it is Y, it indicates that one of the boom raising and boom lowering actions, one of the boom extending and boom retracting actions, one of the left rotation and right rotation actions is being executed; when it is Z, it indicates that another action opposite to Y is being executed.

[0013] Furthermore, the control of the moving parts of the boom in S4 includes:

[0014] S41, calculating the output value of the feedforward control module of the movement of each moving part of the boom, and calculating and adjusting the control amount according to the actual adjustment amount of each moving part of the boom.

[0015] Furthermore, the control of the moving parts of the boom in S4 also includes:

[0016] S42, calculating the output value of the variable parameter feedback control module of the movement of each moving part of the boom, and using the variable parameter feedback control module to adjust each degree of freedom of each moving part to make each moving part move synchronously.

[0017] Furthermore, the control signal generated by the feedback control module Where K p is the proportionality coefficient, K i is the integral coefficient, ρ is the error percentage between the actual adjustment amount and the target adjustment amount of one degree of freedom of the moving part, ρ ave is the average error percentage of each degree of freedom of each moving part, e is the error value between the actual adjustment amount and the target adjustment amount of one degree of freedom of the moving part, t0 is the current moment, t1 is the moment after t0 has passed the time interval tΔ; synchronous motion control output U=K×U A +U B , where K is the coefficient of the feedforward control module, U A Output value for the feedforward control module.

[0018] The present invention also provides a method for storing a rescue path of a high-rise fire truck, comprising: starting path memory, setting a time interval tΔ, and when the time is n×tΔ (n is a natural number), calculating or reading the boom amplitude R, height H and turntable rotation angle β according to the boom posture; encoding the states of each moving part of the boom, including a first state, a second state and a stop state, to form a boom movement direction parameter A; constructing a working platform position matrix P, where P is [R, H, β, A]; and storing the matrix P from the beginning of the path to the end of the path to complete the path memory.

[0019] Furthermore, the direction parameter A is a multi-bit parameter corresponding to the total degree of freedom of each moving part of the boom. When the corresponding parameter is X, it indicates that the current action has stopped; when it is Y, it indicates that one of the boom raising and boom lowering actions, one of the boom extending and boom retracting actions, one of the left rotation and right rotation actions is being executed; when it is Z, it indicates that another action opposite to Y is being executed.

[0020] The present invention also provides a computing device, including a processor and a memory, wherein the memory stores executable codes, and when the executable codes are executed by the processor, the processor executes the control method as described above.

[0021] The present invention also provides a non-transitory machine-readable storage medium on which executable codes are stored. When the executable codes are executed by a processor of an electronic device, the processor is enabled to execute the control method as described above.

[0022] The present invention also provides a fire-lift truck, which uses the control method as described above.

[0023] The storage method used in the present invention converts the boom posture data into amplitude, height, and angle information when memorizing the path, and encodes the boom movement direction to form the boom movement direction parameters, constructs the work platform position matrix, reduces the variable space required for storage, and realizes the memory of the manual operation path. It can save the memory capacity of the controller variable space and improve the execution efficiency and scalability of the controller.

[0024] The control method used in the present invention solves the target posture of the boom movement by inverse kinematics according to the memorized working platform position information, which can improve the synchronization degree of multi-action movements during path playback and reduce playback errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 is a schematic diagram of a fire truck in Embodiment 1 of the present invention;

[0027] Figure 2 It is a schematic diagram of the process of path memory in the present invention;

[0028] Figure 3 It is a schematic diagram of the process of path playback in the present invention;

[0029] In the figure: 1. Turntable; 2. One arm; 3. Two arms; 4. Three arms; 5. Working platform; 6. Car body. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0031] Embodiment 1:

[0032] This embodiment is a control method for a reciprocating rescue of a high-rise fire truck, which also includes a storage method, see Figure 1 This embodiment is described by taking a fire truck with three movable arms as an example. In addition, the fire truck also includes a body, a turntable and a working platform.

[0033] Where L 1 is the telescopic length of one arm, L 2 is the telescopic length of the two arms, L 3 θ is the telescopic length of the three arms. 1 is the amplitude angle of one arm, that is, the angle between one arm and the horizontal plane; θ 2 is the amplitude angle of the two arms, that is, the angle between the two arms and one arm; θ 3 is the three-arm amplitude change angle, that is, the angle between the three-arm and the two-arm; β is the turntable rotation angle. When memorizing the path, the system calculates the working platform position information based on the above posture data using formula 1:

[0034]

[0035] Among them, R is the boom amplitude, that is, the horizontal distance from the front end of the working platform to the rotation center; R 4 R is the horizontal distance from the front end of the working platform to the hinge point between the three arms and the platform; 5 is the horizontal distance from the hinge point of the arm and the turntable to the center of rotation; H is the height of the arm, that is, the vertical distance from the lower end surface of the working platform to the center of rotation; H 4 H is the vertical distance from the hinge point of one arm to the turntable to the center of rotation; 5 It is the vertical distance from the front face of the working platform to the hinge point between the three arms and the platform. In other embodiments, the calculation formula should be determined according to the actual situation of the fire truck.

[0036] The amplitude R, height H and turntable rotation angle β can determine the position of the working platform. In this embodiment, the amplitude R and height H are obtained by calculation, and the turntable rotation angle β is obtained by reading. In other embodiments, the above information can also be obtained by other means.

[0037] In order to be able to quickly and accurately reversely calculate the posture value during path playback, it is also necessary to record the boom movement direction at the current moment, encode the boom movement direction, and form the boom movement direction parameter A. The first 6 digits of A represent one-arm amplitude change, one-arm extension and retraction, two-arm amplitude change, two-arm extension and retraction, three-arm amplitude change, and turntable rotation. When the digit is 0, it means that the current action is stopped; when it is 1, it means that the amplitude change is started, the boom is extended, or the left rotation is being performed; when it is 2, it means that the amplitude change is lowered, the boom is retracted, or the right rotation is being performed. In other embodiments, other characters can be used instead of 0, 1, and 2, and the specific meaning of the characters can also be set as needed.

[0038] See also Figure 2When memorizing the path, the operator's manually operated platform position path is recorded at intervals of tΔ, discretized, and the working platform position matrix P is constructed, where P is [R, H, β, A]. Compared with before, the variable space required by the controller to store position information is reduced by 1 / 3.

[0039] See also Figure 3 When the path is played back, the working platform position information stored in the matrix P is read according to the time interval tΔ when the path is memorized. The movement direction and maximum movement displacement of each moving part of the boom are analyzed according to the boom movement direction parameter A. The telescopic action of an arm is used as an example to illustrate:

[0040] When the tens digit of A is 0, it means that the arm is not extended; when it is 1, it means that the arm is extended; when it is 2, it is retracted. Assume that the maximum flow rate of the arm extension is Q 1 , the maximum flow rate of one arm contraction is Q 2 , the rodless chamber volume of one arm telescopic cylinder is V 1 , the volume of the rod cavity is V 2 , then the maximum motion displacement L 1Δ for:

[0041]

[0042] Similarly, the maximum motion displacement θ of an arm amplitude change action can also be calculated 1Δ , the maximum motion displacement θ of the two-arm amplitude change action 2Δ , the maximum movement displacement L of the two-arm telescopic action 2Δ , the maximum motion displacement θ of the three-arm variable amplitude action 3Δ and the maximum motion displacement β of the turntable rotation action Δ .

[0043] Assume that the posture of each component of the boom at time t0 is [θ 1t0 ,L 1t0 ,θ 2 ,L 2t0 ,θ 3t0 ,β t0 ], the platform position at time t1 after the time interval tΔ [R t1 ,H t1 ,β t1 ], it is necessary to calculate the posture of each component of the boom at time t1 [θ 1t1 ,L 1t1 ,θ 2 ,L 2t1 ,θ 3t1 ,β t1 ], and establish the constraint model as

[0044]

[0045] where θ 1min ,θ 1max is the minimum and maximum angle of an arm, L 1min , L 1max is the minimum and maximum length of an arm, θ 2min ,θ 2max is the minimum and maximum angles of the two arms, L 2min , L 2max is the minimum and maximum length of the two arms, θ 3min ,θ 3max is the minimum and maximum angle of the three arms, β min , β max is the minimum and maximum angle of the turntable.

[0046] According to equations 1 to 3 and the platform position at time t1 [R t1 ,H t1 ,β t1 ], and solve the inverse kinematics to obtain the postures of the moving parts of the boom at time t1 [θ 1t1 ,L 1t1 ,θ 2t1 ,L 2t1 ,θ 3t1 ,β t1 ].

[0047] Method for controlling the synchronous motion of the boom during path playback:

[0048] The boom synchronous motion control consists of two parts: a feedforward control module and a variable parameter feedback control module. Assume that the posture of each moving part of the boom at time t0 is [θ 1t0 ,L 1t0 ,θ 2 ,L 2t0 ,θ 3t0 ,β t0 ], and through the inverse kinematics solution, the posture of each moving part of the boom at time t1 after the time interval tΔ is obtained as [θ 1t1 ,L 1t1 ,θ 2 ,L 2t1 ,θ 3t1 ,β t1 ].

[0049] Feedforward control module:

[0050] Take the arm extension and retraction action as an example:

[0051] To reach the target value L after the time interval tΔ 1t1 , the target speed V of one arm extension L1S Should be

[0052] VL1S =(L 1t1 -L 1t0 ) / t Δ (Formula 4),

[0053] The actual speed V of the arm extension at time t L1A Should be:

[0054] V L1A =(L 1 -L 1t0 ) / (tt 0 ) (Formula 5),

[0055] The error percentage between the posture value of the arm length reached by the arm extension action at time t and the target posture value is ρ L1 , which indicates the distance between the actual length of an arm and the target position. The smaller the value, the closer it is to the target value:

[0056] ρ L1 =(L 1t1 -L 1 ) / (L 1t1 -L 1t0 ) (Formula 6),

[0057] According to the target speed V L1S , the rodless chamber volume of one arm telescopic cylinder is V L1 , the volume of the rod cavity is V L2 , calculate the required flow Q of a telescopic valve L1 ,

[0058]

[0059] Finally, according to the demand flow and control signal characteristic curve of the one-arm telescopic valve, the control signal U of the one-arm telescopic valve is calculated. L1A , as a feedforward control module for the synchronous motion control of the boom.

[0060] Take the one-arm amplitude change action as an example to illustrate:

[0061] To reach the target value θ after the time interval tΔ 1t1 , the target speed V of one arm amplitude change θ1S Should be

[0062] V θ1S =(θ 1t1 -θ 1t0 ) / t Δ (Formula 4),

[0063] The actual speed V of the arm amplitude change at time t θ1A Should be:

[0064] V θ1A =(θ1 -θ 1t0 ) / (tt 0 ) (Formula 5),

[0065] The error percentage between the attitude value reached by the arm angle at time t and the target attitude value is ρ θ1 , which indicates the distance between the actual length of an arm and the target position. The smaller the value, the closer it is to the target value:

[0066] ρ θ1 =(θ 1t1 -θ 1 ) / (θ 1t1 -θ 1t0 ) (Formula 6),

[0067] According to the target speed V θ1S , the rodless chamber volume of one boom cylinder is V θ1 , the volume of the rod cavity is V θ2 , calculate the required flow Q of a one-arm variable-speed valve θ1 :

[0068]

[0069] Finally, according to the demand flow and control signal characteristic curve of the one-arm variable-length valve, the control signal U of the one-arm variable-length valve is calculated. θ1A , as a feedforward control module for the synchronous motion control of the boom.

[0070] Variable parameter feedback control module:

[0071] According to the target speed V of one arm extension L1S and the actual speed V of the arm extension L1A , calculate the error value e of the arm extension speed VL1 :

[0072] e VL1 =V L1A -V L1S (Formula 8),

[0073] Similarly, according to the target speed V of one arm change θ1S and the actual speed V of one arm amplitude change θ1A , calculate the error value e of the arm amplitude change speed Vθ1 :

[0074] e Vθ1 =V θ1A -V θ1S (Formula 9),

[0075] In order to reduce the error value of the arm extension speed e VL1 and one arm amplitude change speed error value e Vθ1, use PI algorithm for adjustment.

[0076] When multiple actions are replayed simultaneously, the synchronization of the movements must be ensured so that the moving parts of the boom can reach the target point as simultaneously as possible. Assuming that there are three actions, namely, one arm extension, one arm amplitude change, and two arm amplitude change, replaying the path simultaneously, according to formula 6, the error percentage of the angle of one arm can be obtained as follows: θ1 , the error percentage of the two arm angles ρ θ2 , further calculate the average value of the error percentage ρ ave

[0077] ρ ave =(ρ L1 +ρ θ1 +ρ θ2 ) / 3 (Formula 10).

[0078] The error percentage is introduced into the PI algorithm and its proportional parameters are improved so that it can automatically adjust the output of the feedback control module and improve the synchronization of multiple motions during path playback. The control signal U generated by the feedback control module L1B :

[0079]

[0080] Among them, K p is the proportionality coefficient, K i is the integration coefficient.

[0081] Finally, the boom synchronous motion control output U can be obtained L1 :

[0082] U L1 =K L1 ×U L1A +U L1B (Formula 12),

[0083] Among them, K L1 is the coefficient of the feedforward control module. The same method can also be used to calculate the synchronous motion control output value of other boom actions.

[0084] Reciprocating rescue control method:

[0085] Start path memory; perform manual path memory. Details are as follows:

[0086] (1) Set the time interval tΔ. When the time is n×tΔ (n is a natural number), execute the following steps.

[0087] (2) According to Formula 1, the arm angle and length posture are converted into amplitude and height information.

[0088] (3) Encode the boom movement direction to form the boom movement direction parameter A.

[0089] (4) Discretize the platform position path, construct the working platform position matrix P, and store it in the controller variable space.

[0090] (5) Perform self-accumulation on n. If no path memory instruction is completed, re-execute until the path memory is completed, at which time n = n 0 .

[0091] Start path playback; perform automatic playback of path actions, as follows:

[0092] (1) Set the time interval tΔ, when the time is n×t Δ (n is a natural number), execute the following steps.

[0093] (2) Read the work platform position matrix P, perform inverse kinematics solution according to equations 1 to 3, and obtain the posture values ​​of each moving part of the boom as the target value of the boom movement.

[0094] (3) Calculate the output value of the feedforward control module of each moving part of the boom according to equations 4 to 7.

[0095] (4) Calculate the output value of the variable parameter feedback control module of each moving part of the boom according to equations 8 to 10.

[0096] (5) According to formula (11), the synchronous motion control output of each moving part of the boom is obtained, so that each moving part of the boom moves synchronously and path playback is realized.

[0097] (6) Perform self-accumulation on n. If n <n 0 , then re-execute until n = n 0 When the path playback is completed.

[0098] Embodiment 2:

[0099] This embodiment is a computing device, including a processor and a memory, wherein the memory stores codes for executing the method in the above embodiment.

[0100] The processor may be a multi-core processor or may include multiple processors. In some embodiments, the processor may include a general-purpose main processor and one or more special coprocessors, such as a graphics processing unit (GPU), a digital signal processor (DSP), etc. In some embodiments, the processor may be implemented using a customized circuit, such as an application-specific integrated circuit (ASIC) or a field programmable gate array (FPGA).

[0101] The memory may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage. Among them, ROM can store static data or instructions required by the processor or other modules of the computer. The permanent storage device may be a readable and writable storage device. The permanent storage device may be a non-volatile storage device that does not lose the stored instructions and data even after the computer is powered off. In some embodiments, the permanent storage device uses a large-capacity storage device (such as a magnetic or optical disk, flash memory) as a permanent storage device. In some other embodiments, the permanent storage device may be a removable storage device (such as a floppy disk, optical drive). The system memory may be a readable and writable storage device or a volatile readable and writable storage device, such as a dynamic random access memory. The system memory may store some or all instructions and data required by the processor at run time. In addition, the memory may include any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, the memory may include a readable and / or writable removable storage device, such as a laser disc (CD), a read-only digital versatile disc (e.g., DVD-ROM, double-layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (e.g., SD card, mini SD card, Micro-SD card, etc.), a magnetic floppy disk, etc. The computer-readable storage medium does not include carrier waves and transient electronic signals transmitted wirelessly or wired.

[0102] The memory stores executable codes thereon, and when the executable codes are executed by the processor, the processor is enabled to execute the above method.

[0103] Embodiment 3:

[0104] This embodiment provides a non-transitory machine-readable memory having executable codes stored thereon. When the executable codes are executed by a processor of an electronic device, the processor is caused to execute the above method.

[0105] A non-temporary machine-readable memory (or computer-readable memory, or machine-readable memory) having executable code (or computer program, or computer instruction code) stored thereon, which, when executed by a processor of an electronic device (or computing device, server, etc.), enables the processor to perform the various steps of the above-mentioned method according to the present invention.

[0106] Those skilled in the art will further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the disclosure herein may be implemented as electronic hardware, computer software, or a combination of both.

[0107] Embodiment 4:

[0108] This embodiment is a fire truck, which uses the method in the above embodiment.

[0109] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A control method for reciprocating rescue of a high-rise fire truck, characterized in that: The following steps are involved: S1. Start path memory, set the time interval tΔ, when the time is n×tΔ, n is a natural number, calculate or read the boom amplitude R, height H and turntable rotation angle β according to the boom posture; encode the states of each moving part of the boom, including the first state, the second state and the stop state, to form the boom movement direction parameter A; construct the working platform position matrix P, P is [R, H, β, A]; S2, storing the matrix P from the beginning of the path to the end of the path, completing the path memory; S3, start path playback, read the matrix P of the next time interval, perform inverse kinematics solution, and obtain the posture value of each moving part of the boom as the target value of the boom's movement in the next time interval; S4, controlling each moving part of the boom so that it reaches the posture stored in the matrix P in the next time interval; S5. Play back the path at the next time interval until the path playback at each moment is completed.

2. The control method for reciprocating rescue of a fire-lift truck according to claim 1, characterized in that: The direction parameter A is a multi-bit parameter corresponding to the total degree of freedom of each moving part of the boom. When the corresponding parameter is X, it indicates that the current action has stopped. When it is Y, it indicates that one of the luffing up and luffing down actions, one of the boom extension and boom retraction actions, one of the left rotation and right rotation actions is being executed. When it is Z, it indicates that another action opposite to Y is being executed.

3. The control method for reciprocating rescue of a fire-lift truck according to claim 2, characterized in that: The control of the moving parts of the boom in S4 includes: S41, calculating the output value of the feedforward control module of the movement of each moving part of the boom, and calculating and adjusting the control amount according to the actual adjustment amount of each moving part of the boom.

4. The control method for reciprocating rescue of a fire-lift truck according to claim 3, characterized in that: The control of the moving parts of the boom in S4 also includes: S42, calculating the output value of the variable parameter feedback control module of the movement of each moving part of the boom, and using the variable parameter feedback control module to adjust each degree of freedom of each moving part to make each moving part move synchronously.

5. The control method for reciprocating rescue of a fire-lift truck according to claim 4, characterized in that: The control signal generated by the feedback control module ,in is the proportionality coefficient, is the integration coefficient, It is the error percentage between the actual adjustment amount and the target adjustment amount of one degree of freedom of the moving part. is the average error percentage of each degree of freedom of each moving part, e is the error value between the actual adjustment amount and the target adjustment amount of one degree of freedom of the moving part, t0 is the current moment, t1 is the moment after t0 has passed the time interval tΔ; Synchronous motion control output , where K is the coefficient of the feedforward control module, U A Feedforward control module output value.

6. A method for storing a rescue route of a high-rise fire truck, characterized in that: include: Start path memory, set the time interval tΔ, when the time is n×tΔ, n is a natural number, calculate or read the boom amplitude R, height H and turntable rotation angle β according to the boom posture; encode the states of each moving part of the boom, including the first state, the second state and the stop state, to form the boom movement direction parameter A; construct the working platform position matrix P, P is [R, H, β, A]; store the matrix P from the beginning of the path to the end of the path, and complete the path memory.

7. The method for storing the rescue route of the aerial fire truck according to claim 6, characterized in that: The direction parameter A is a multi-bit parameter corresponding to the total degree of freedom of each moving part of the boom. When the corresponding parameter is X, it indicates that the current action has stopped. When it is Y, it indicates that one of the luffing up and luffing down actions, one of the boom extension and boom retraction actions, one of the left rotation and right rotation actions is being executed. When it is Z, it indicates that another action opposite to Y is being executed.

8. A computing device, characterized in that The method comprises a processor and a memory, wherein the memory stores executable codes, and when the executable codes are executed by the processor, the processor executes the method according to any one of claims 1 to 5.

9. A non-transitory machine-readable storage medium, characterized in that An executable code is stored thereon, and when the executable code is executed by a processor of an electronic device, the processor is caused to execute any method as claimed in claims 1-5.

10. A fire truck, characterized in that: The method comprises the following steps:

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