Control method, storage method, computing device, storage medium and fire truck for aerial ladder truck rescue

Abstract

The present application relates to the control method, storage method, computing device, storage medium and fire truck of the aerial fire truck reciprocating rescue, the control method includes: setting time interval t Delta, when the time is n x t Delta, according to the arm frame posture calculation or read arm frame amplitude R, height H and turntable rotation angle β;The state of each moving part of the arm frame is coded, and the arm frame movement direction parameter A is formed;The working platform position matrix P is constructed;The matrix P from the start of the path to the end of the path is stored;The matrix P of the next time interval is read, inverse kinematics is solved, the posture value of each moving part of the arm frame is obtained, and is used as the target value of the movement of the arm frame in the next time interval;The control is carried out to each moving part of the arm frame, so that it reaches the posture stored in the matrix P in the next time interval;Until the path playback at each time is completed.The present application can reduce the variable space required for storage, improve the synchronization degree of multi-action movement during path playback, and reduce playback error.

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 a rescue, a work platform is needed to transfer personnel from a rescue site, such as a high-rise building, to a safe location on the ground. If there are a large number of people to be rescued, multiple, reciprocating rescues along the same route are necessary. The combined boom structure of a fire truck is complex and diverse, and the environment surrounding the rescue site is complex. During the rescue process, the work platform may need to repeatedly cross and avoid obstacles such as buildings and trees, which places high demands on the operator's skills. Using the reciprocating rescue function, the fire truck's work platform can automatically make multiple round trips between the rescue site and a safe location, eliminating the need for the operator to perform manual, repeated operations, reducing the operator's workload and improving rescue efficiency.

[0003] Reciprocating rescue control includes path memory and path playback control. Path playback reproduces the path memorized during manual operation. In complex rescue environments, operators identify a safe rescue path and manually operate the handle to enable the work platform to safely return between the rescue location and a safe location. Therefore, path playback must accurately restore the memorized path. This requires that all moving parts on the boom reach the target point as simultaneously as possible during path playback, maintaining good synchronization.

[0004] The boom structure of a ladder fire truck is simple, requiring only three parameters: boom telescopic length, boom angle, and turntable rotation angle to determine the working platform's position. Currently, the boom systems of common aerial fire trucks often consist of a multi-stage retractable boom. For example, a fire truck with three movable booms requires six parameters to determine the working platform's position: boom-one boom angle θ1, boom-one boom telescopic length L1, boom-two boom angle θ2, boom-two boom telescopic length L2, boom-three boom angle θ3, and turntable rotation angle β. Thus, the working platform position matrix P is P = [θ1, L1, θ2, L2, θ3, β].

[0005] The controller stores the work platform's position information, requiring variable space equal to the product of the number of recordings, the number of parameters, and the space occupied by each parameter. For example, if the recording interval is 1 second, the number of recordings is 1000, and each parameter occupies 4 bytes, then recording six parameters requires approximately 24 KB of variable space. Currently, the controller variable space commonly used in aerial fire trucks is approximately 64 KB. This significant amount of controller space is occupied, resulting in reduced execution efficiency and scalability. Sometimes, code compilation errors may occur, rendering the controller inoperable. 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 status 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 work platform position matrix P, P is [R, H, β, A].

[0008] S2. Store the matrix P from the beginning 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 up and boom down actions, one of the boom extension and boom retraction actions, or 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 various 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 various moving parts of the boom in S4 also includes:

[0016] S42, calculating the output value of the variable parameter feedback control module of each moving component of the boom, and using the variable parameter feedback control module to adjust each degree of freedom of each moving component to make each moving component 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 between the actual adjustment value and the target adjustment value of one degree of freedom of the moving part, t0 is the current time, and t1 is the time after t0 has passed the time interval tΔ; the synchronous motion control output U=K×U A +U B , where K is the feedforward control module coefficient, U A Output value of the feedforward control module.

[0018] The present invention also provides a method for storing the rescue path of a high-rise fire truck, including: 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, P is [R, H, β, A]; storing the matrix P from the beginning of the path to the end of the path, and completing 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 up and boom down actions, one of the boom extension and boom retraction actions, or 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 code, and when the executable code is executed by the processor, the processor executes the control method described above.

[0021] The present invention also provides a non-transitory machine-readable storage medium having executable code stored thereon. When the executable code is executed by a processor of an electronic device, the processor is caused to execute the control method described above.

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

[0023] The storage method used in the present invention converts boom posture data into amplitude, height, and rotation angle information during path memorization. It also encodes the boom motion direction to form boom motion direction parameters and constructs a work platform position matrix. This reduces the variable space required for storage and enables memorization of manual operation paths. This can save memory capacity in the controller's variable space and improve controller execution efficiency and scalability.

[0024] The control method used in the present invention solves the target posture of the boom movement by inverse kinematics based on the memorized work platform position information, which can improve the synchronization degree of multiple 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0026] Figure 1 is a schematic diagram of a fire truck in Example 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. First arm; 3. Second arm; 4. Third arm; 5. Working platform; 6. Vehicle body. DETAILED DESCRIPTION

[0030] 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. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0031] Example 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 L1 is the telescopic length of the first arm, L2 is the telescopic length of the second arm, and L3 is the telescopic length of the third arm. θ1 is the luffing angle of the first arm, that is, the angle between the first arm and the horizontal plane; θ2 is the luffing angle of the second arm, that is, the angle between the second arm and the first arm; θ3 is the luffing angle of the third arm, that is, the angle between the third arm and the second arm; and β is the rotation angle of the turntable. When memorizing the path, the system calculates the work platform position information based on the above posture data using Equation 1:

[0034]

[0035] Where R is the boom amplitude, i.e., the horizontal distance from the front end of the working platform to the center of rotation; R4 is the horizontal distance from the front end of the working platform to the hinge point between the three arms and the platform; R5 is the horizontal distance from the hinge point between the first arm and the turntable to the center of rotation; H is the boom height, i.e., the vertical distance from the lower end of the working platform to the center of rotation; H4 is the vertical distance from the hinge point between the first arm and the turntable to the center of rotation; and H5 is the vertical distance from the front end of the working platform to the hinge point between the three arms and the platform. In other embodiments, the calculation formula should be determined based on 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 the 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 meanings of the characters can also be set as needed.

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

[0039] See also Figure 3, the platform position information stored in the matrix P is read according to the time interval tΔ when the path is memorized. According to the arm movement direction parameter A, the movement direction and maximum movement displacement of each movement component of the arm are analyzed, and taking the one-arm extension movement as an example, the analysis is described as follows:

[0040] When the ten's place of A is 0, it means that the one-arm extension movement is not performed; when it is 1, it means that the one-arm extension movement is performed; and when it is 2, it means that the one-arm retraction movement is performed. Assuming that the maximum flow of the one-arm extension movement is Q1, the maximum flow of the one-arm retraction movement is Q2, the volume of the rodless cavity of the one-arm extension cylinder is V1, and the volume of the rod cavity is V2, then the maximum movement displacement L 1Δ is:

[0041]

[0042] Similarly, the maximum movement displacement θ 1Δ of the one-arm luffing movement, the maximum movement displacement θ 2Δ of the two-arm luffing movement, the maximum movement displacement L 2Δ of the two-arm extension movement, the maximum movement displacement θ 3Δ of the three-arm luffing movement, and the maximum movement displacement β Δ of the turntable rotation movement can also be calculated.

[0043] Assuming that the posture of each component of the arm at the time t0 is [θ 1t0 , L 1t0 , θ2, L 2t0 , θ 3t0 , β t0 ], the platform position [R t1 , H t1 , β t1 ] at the time t1 after the time interval tΔ, the posture [θ 1t1 , L 1t1 , θ2, L 2t1 , θ 3t1 , β t1 ] of each component of the arm at the time t1 needs to be calculated, and the constraint condition model is established as

[0044]

[0045] where θ 1min and θ 1max are the minimum and maximum angles of the one-arm, L 1min and L 1max are the minimum and maximum lengths of the one-arm, θ 2min and θ 2max are the minimum and maximum angles of the two-arm, L 2min and L 2max are the minimum and maximum lengths of the two-arm, θ 3min and θ 3maxβ min is the minimum and maximum angle of the three arms. max β t1 is the minimum and maximum angle of the turntable.

[0046] According to the formula 1-3 and the platform position [R t1 ,β t1 ] at t1, inverse kinematics is solved to obtain the attitude of each motion component of the arm [θ 1t1 ,L 1t1 ,θ 2t1 ,L 2t1 ,θ 3t1 ,β t1 ] at t1.

[0047] Arm synchronous motion control method during path playback:

[0048] The arm synchronous motion control consists of a feedforward control module and a variable parameter feedback control module. Assuming the attitude of each motion component of the arm at t0 is [θ 1t0 ,L 1t0 ,θ2,L 2t0 ,θ 3t0 ,β t0 ], through inverse kinematics, the attitude of each motion component of the arm at t1 after time interval tΔ is obtained as [θ 1t1 ,L 1t1 ,θ2,L 2t1 ,θ 3t1 ,β t1 ].

[0049] Feedforward control module:

[0050] Take an arm extension movement as an example:

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

[0052] V L1S = (L 1t1 -L 1t0 ) / t Δ (formula 4),

[0053] The actual velocity V L1A of the arm extension at t should be:

[0054] V L1A = (L1-L 1t0 ) / (t-t0) (formula 5),

[0055] The error percentage between the posture value of the arm length reached by the arm extension movement 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 -L1) / (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 one arm 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 the 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 , target speed V for 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 at time t θ1A Should be:

[0064] V θ1A =(θ1-θ 1t0 ) / (t-t0) (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 -θ1) / (θ 1t1 -θ 1t0 ) (Formula 6),

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

[0068]

[0069] Finally, according to the required flow of the one-arm luffing valve and the control signal characteristic curve, the control signal U of the one-arm luffing valve is calculated θ1A , as the feedforward control module of the synchronous motion control of the arm.

[0070] Variable parameter feedback control module:

[0071] According to the target speed V L1S of the one-arm stretching and retracting and the actual speed V L1A of the one-arm stretching and retracting, the one-arm stretching and retracting speed error value e VL1 is calculated:

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

[0073] Similarly, according to the target speed V θ1S of the one-arm luffing and the actual speed V θ1A of the one-arm luffing, the one-arm luffing speed error value e Vθ1 is calculated:

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

[0075] In order to reduce the one-arm stretching and retracting speed error value e VL1 and the one-arm luffing speed error value e Vθ1 , a PI algorithm is used for adjustment.

[0076] When multiple actions are simultaneously path played, the motion synchronization of each action needs to be ensured, so that each motion part of the arm reaches the target point as soon as possible. Assuming that there are three actions of one-arm stretching and retracting, one-arm luffing and two-arm luffing simultaneously path played, according to formula 6, the error percentage of the one-arm angle ρ θ1 , the error percentage of the two-arm angle ρ θ2 , and the average value of the error percentage ρ ave

[0077] ρ ave = (ρ L1 + ρ θ1 + ρθ2 ) / 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 is 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 The same method can also be used to calculate the synchronous motion control output value of other arm movements.

[0084] Reciprocating rescue control method:

[0085] Start path memory; perform manual path memory operation. 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 Equation 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 point n = n0.

[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), perform the following steps.

[0093] (2) Read the working 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 <n0,则重新执行,直到n=n0时,完成路径回放。

[0098] Example 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 customized circuits, such as application-specific integrated circuits (ASICs) or field-programmable gate arrays (FPGAs).

[0101] The memory may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. ROM may 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 stored instructions and data even if 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 the permanent storage device. In 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 dynamic random access memory. The system memory may store some or all instructions and data required by the processor during operation. 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 magnetic 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 compact disc (CD), a read-only digital versatile disc (e.g., DVD-ROM, dual-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. Computer-readable storage media do 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 perform the above method.

[0103] Example 3:

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

[0105] A non-transitory 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 combinations of both.

[0107] Example 4:

[0108] The present example is a fire truck using the method of the above examples.

[0109] Obviously, many modifications and variations of the present application are possible in light of the above teachings. It is, therefore, to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

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 and set time interval , when the time is , when n is a natural number, the boom amplitude R, height H and turntable rotation angle β are calculated or read according to the boom posture; the states of the boom's moving parts are encoded, including the first state, the second state and the stop state, to form the boom movement direction parameter A; the working platform position matrix P is constructed, P is [R, H, β, A]; The calculation formulas for the boom amplitude R and height H are as follows: Wherein, L1 is the telescopic length of one arm; L2 is the telescopic length of two arms; L3 is the telescopic length of three arms; θ1 is the luffing angle of one arm; θ2 is the luffing angle of two arms; θ3 is the luffing angle of three arms; β is the rotation angle of the turntable; R is the boom amplitude; R4 is the horizontal distance from the front face of the working platform to the hinge point of the three arms and the platform; R5 is the horizontal distance from the hinge point of one arm and the turntable to the center of rotation; H is the height of the boom; H4 is the vertical distance from the hinge point of one arm and the turntable to the center of rotation; H5 is the vertical distance from the front face of the working platform to the hinge point of the three arms and the platform; S2, store the matrix P from the beginning to the end of the path to complete 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 the various moving parts of the boom so that they reach 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 high-rise fire 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, or 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 high-rise fire truck according to claim 2, characterized in that: The control of the boom's moving parts 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 high-rise fire truck according to claim 3, characterized in that: The control of the various moving parts of the boom in S4 also includes: S42, calculating the output value of the variable parameter feedback control module of each moving component of the boom, and using the variable parameter feedback control module to adjust each degree of freedom of each moving component to make each moving component move synchronously.

5. The control method for reciprocating rescue of a high-rise fire truck according to claim 4, characterized in that: 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, and t1 is the time interval after t0 After that moment; synchronized motion control output , where K is the feedforward control module coefficient, 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 and set the time interval , when the time is When n is a natural number, the boom amplitude R, height H and turntable rotation angle β are calculated or read according to the boom posture; the states of the boom's moving parts are encoded, including the first state, the second state and the stop state, to form the boom movement direction parameter A; the working platform position matrix P is constructed, P is [R, H, β, A]; the matrix P from the beginning of the path to the end of the path is stored to complete the path memory; The calculation formulas for the boom amplitude R and height H are as follows: In the formula, L1 is the telescopic length of one arm; L2 is the telescopic length of two arms; L3 is the telescopic length of three arms; θ1 is the luffing angle of one arm; θ2 is the luffing angle of two arms; θ3 is the luffing angle of three arms; β is the rotation angle of the turntable; R is the boom amplitude; R4 is the horizontal distance from the front face of the working platform to the hinge point of the three arms and the platform; R5 is the horizontal distance from the hinge point of one arm and the turntable to the center of rotation; H is the boom height; H4 is the vertical distance from the hinge point of one arm and the turntable to the center of rotation; H5 is the vertical distance from the front face of the working platform to the hinge point of the three arms and the platform.

7. The method for storing the rescue route of a high-rise 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, or 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 Executable codes are stored thereon, and when the executable codes are executed by a processor of an electronic device, the processor is caused to execute the method according to any one of claims 1 to 5.

10. Fire truck, characterized in that: The method comprises using the method according to any one of claims 1 to 5.

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