Control method and device for belt retracting telescopic mechanism of fire fighting truck, controller and fire fighting truck

Abstract

The invention relates to the technical field of automatic control, and provides a control method and device for a take-up telescopic mechanism of a fire fighting truck, a controller and the fire fighting truck. And based on the current position of a take-up telescopic mechanism of the fire fighting truck, controlling the take-up telescopic mechanism to reach a target position corresponding to the target position instruction. According to the technical scheme, the belt collecting telescopic mechanism can be controlled according to the target position instruction and the current position of the belt collecting telescopic mechanism, people do not need to climb to a car roof and manually push out or push back the belt collecting telescopic mechanism, the labor cost is saved, and the efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a control method, device, controller and fire truck of a belt retracting and extending mechanism of a fire truck. Background Art

[0002] The cab of a fire truck uses a single-row cab or a double-row cab according to the number of passengers required. For a fire truck with a single-row cab, the travel of the belt retracting mechanism extending out of the cab is short, and it is usually pushed by a cylinder and limited by the travel of the cylinder; for a fire truck with a double-row cab, the travel of the belt retracting mechanism extending out of the cab is more than twice that of a fire truck with a single-row cab, so it is usually pushed manually. That is, before or after the fire truck is operated, a person manually climbs to the roof of the vehicle, manually pushes out or manually pushes back the belt retracting mechanism, and manually implements the mechanical limit.

[0003] In the prior art, the manual pushing out or retracting of the telescopic mechanism is inconvenient to operate, and manual climbing is dangerous, with high labor costs and low efficiency.

[0004] Therefore, there is an urgent need for a control method for the belt retracting and telescoping mechanism of a fire truck. Summary of the invention

[0005] The present invention provides a control method, device, controller and fire truck of a belt retracting and extending mechanism of a fire truck, so as to solve the defects in the prior art that the manual pushing out or retracting of the belt retracting and extending mechanism is inconvenient to operate, the manual climbing operation is dangerous, the labor cost is large and the efficiency is low, thereby reducing the labor cost and improving the efficiency.

[0006] The invention provides a control method for a belt retracting and extending mechanism of a fire truck, comprising the following steps.

[0007] Get the target position instruction input by the user; Based on the current position of the belt retracting and extending mechanism of the fire truck, the belt retracting and extending mechanism is controlled to reach the target position corresponding to the target position instruction.

[0008] According to a control method of a belt retracting and retracting mechanism of a fire truck provided by the present invention, based on the current position of the belt retracting and retracting mechanism of the fire truck, controlling the belt retracting and retracting mechanism to reach a target position corresponding to the target position instruction comprises: Obtaining the current position of the belt retracting and retracting mechanism of the fire truck; Based on the current position and the target position instruction, determining whether the current position corresponds to the target position; When the current position corresponds to the target position, controlling the belt retracting mechanism to stop the action; When the current position does not correspond to the target position, the belt retracting and extending mechanism is controlled to be extended to the target position corresponding to the target position instruction.

[0009] According to a control method for a belt retracting and extending mechanism of a fire truck provided by the present invention, the target position instruction includes a centering instruction, and the target position includes a preset middle position; When the current position does not correspond to the target position, controlling the belt retracting mechanism to retract to the target position corresponding to the target position instruction comprises: In a case where the current position does not match the preset middle position, the belt retracting and extending mechanism is controlled to be extended to the preset middle position corresponding to the centering instruction.

[0010] According to a control method for a belt retracting and retracting mechanism of a fire truck provided by the present invention, the target position instruction includes an extension position instruction, and the target position includes a preset extension position; When the current position does not correspond to the target position, controlling the belt retracting mechanism to retract to the target position corresponding to the target position instruction comprises: In a case where the current position does not match the preset extension position, the belt retracting and extending mechanism is controlled to extend to the preset extension position corresponding to the extension position instruction.

[0011] According to a control method for a belt retracting and retracting mechanism of a fire truck provided by the present invention, when the target position instruction includes a retracting position instruction, the target position includes a preset retracting position; When the current position does not correspond to the target position, controlling the belt retracting mechanism to retract to the target position corresponding to the target position instruction comprises: When the current position does not match the preset retracted position, the belt retracting and retracting mechanism is controlled to retract to the preset retracted position corresponding to the retracted position instruction.

[0012] According to a control method for a belt retracting and retracting mechanism of a fire truck provided by the present invention, the current position is determined based on a pull wire sensor and / or a travel switch gear position corresponding to the belt retracting and retracting mechanism; the target position is a fixed position or position interval corresponding to the target position instruction.

[0013] According to a method for controlling a belt retracting and extending mechanism of a fire truck provided by the present invention, the method further comprises: When the current position of the belt retractable mechanism does not match the target position corresponding to the target position instruction, unlocking the belt retractable mechanism and controlling the belt retractable mechanism to reach the target position corresponding to the target position instruction; When the current position of the tape retractable mechanism matches the target position corresponding to the target position instruction, the tape retractable mechanism is locked.

[0014] The present invention also provides a control device for a belt retracting and extending mechanism of a fire truck, comprising the following modules: An acquisition module, used to acquire a target position instruction input by a user; The control module is used to control the belt retracting and extending mechanism of the fire truck to reach a target position corresponding to the target position instruction based on the current position of the belt retracting and extending mechanism.

[0015] The present invention also provides a controller, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, a control method for a belt retracting and extending mechanism of a fire truck as described above is implemented.

[0016] The present invention also provides a fire truck, comprising the above-mentioned belt retracting and extending mechanism control method, the above-mentioned belt retracting and extending mechanism control device of the fire truck and at least one of the above-mentioned controller.

[0017] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the control method of the belt retracting and retracting mechanism of a fire truck as described in any one of the above is implemented.

[0018] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the control method of the belt retracting and extending mechanism of a fire truck as described in any one of the above is implemented.

[0019] The control method, device, controller and fire truck of the belt retractable mechanism of a fire truck provided by the present invention first obtain the target position instruction input by the user, and then control the belt retractable mechanism to reach the target position corresponding to the target position instruction based on the current position of the belt retractable mechanism of the fire truck. The technical solution of the present invention can control the belt retractable mechanism by the target position instruction and the current position of the belt retractable mechanism, without the need for manual climbing to the roof of the vehicle and manually pushing out or retracting the belt retractable mechanism, thus saving labor costs and improving efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the present invention or 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 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.

[0021] Figure 1This is one of the flow charts of the control method of the belt retracting and retracting mechanism of the fire truck provided by the present invention.

[0022] Figure 2 This is the second flow chart of the control method of the belt retracting and retracting mechanism of the fire truck provided by the present invention.

[0023] Figure 3 This is the third flow chart of the method for controlling the belt retracting and extending mechanism of a fire truck provided by the present invention.

[0024] Figure 4 This is the fourth flow chart of the control method of the belt retracting and retracting mechanism of the fire truck provided by the present invention.

[0025] Figure 5 The present invention is a schematic structural diagram of a control device for a belt retracting and extending mechanism of a fire truck.

[0026] Figure 6 It is a structural schematic diagram of the controller provided by the present invention. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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.

[0028] In view of the above problems in the prior art, the present invention provides a control method for a belt retracting and extending mechanism of a fire truck. The execution subject of the present invention may be a controller on a fire truck or other electronic equipment on a fire truck. The embodiments of the present invention are not specifically limited herein. The following embodiments are described with the controller as the execution subject. Figure 1 FIG. 1 is one of the flow charts of the control method of the belt retracting and retracting mechanism of the fire truck provided by the present invention, such as Figure 1 As shown, the method includes the following steps 110 and 120.

[0029] Step 110: Obtain the target position instruction input by the user.

[0030] Specifically, the user may input the target position instruction through an interactive device such as a remote controller, an operation panel or a display screen, and the controller may obtain the target position instruction input by the user.

[0031] Step 120: Based on the current position of the belt retracting and extending mechanism of the fire truck, control the belt retracting and extending mechanism to reach the target position corresponding to the target position instruction.

[0032] Specifically, the controller may control the tape retractable mechanism to reach a target position corresponding to the target position instruction based on the current position of the tape retractable mechanism. The target position corresponding to the target position instruction may be a preset position.

[0033] In one embodiment, based on the current position of the belt retracting and extending mechanism of the fire truck, controlling the belt retracting and extending mechanism to reach the target position corresponding to the target position instruction includes: Obtaining the current position of the belt retracting and retracting mechanism of the fire truck; Based on the current position and the target position instruction, determining whether the current position corresponds to the target position; When the current position corresponds to the target position, controlling the belt retracting mechanism to stop the action; When the current position does not correspond to the target position, the belt retracting and extending mechanism is controlled to be extended to the target position corresponding to the target position instruction.

[0034] Specifically, the controller can obtain the current position of the belt retractable mechanism of the fire truck, and the current position can be determined by detection of a pull-wire sensor. The current position can also be obtained by other means, and the embodiment of the present invention does not make specific limitations here. After obtaining the current position of the belt retractable mechanism, the controller can determine whether the current position corresponds to the target position based on the current position and the target position instruction. In the case where it is determined that the current position corresponds to the target position, it means that the belt retractable mechanism has reached the target position corresponding to the target instruction, so that the controller can control the belt retractable mechanism to stop the action. In the case where the current position does not correspond to the target position, it means that the belt retractable mechanism has not reached the target position corresponding to the target instruction. In order to make the belt retractable mechanism reach the target position, the controller can control the belt retractable mechanism to retract to the target position corresponding to the target position instruction.

[0035] In the above embodiment, the current position of the belt retractable mechanism of the fire truck is obtained, and then based on the current position and the target position instruction, it is determined whether the current position corresponds to the target position. If the current position corresponds to the target position, the belt retractable mechanism is controlled to stop the action. If the current position does not correspond to the target position, the belt retractable mechanism is controlled to retract to the target position corresponding to the target position instruction, ensuring that the belt retractable mechanism can automatically move to the target position corresponding to the target position instruction.

[0036] In one embodiment, the target position instruction includes a centering instruction, and the target position includes a preset middle position; When the current position does not correspond to the target position, controlling the belt retracting mechanism to retract to the target position corresponding to the target position instruction comprises: In a case where the current position does not match the preset middle position, the belt retracting and extending mechanism is controlled to be extended to the preset middle position corresponding to the centering instruction.

[0037] Specifically, the target position instruction includes a centering instruction, and the target position includes a preset middle position, that is, the target position corresponding to the centering instruction is the preset middle position, and the preset middle position can be set as needed, and the embodiment of the present invention does not make specific limitations here. When the current position of the belt-retracting mechanism does not match the preset middle position, that is, the current position of the belt-retracting mechanism does not reach the preset middle position, it means that the belt-retracting mechanism has not completed the centering, and the controller can then control the belt-retracting mechanism to extend or retract to the preset middle position corresponding to the centering instruction. It is easy to understand that if the current position of the belt-retracting mechanism is less than the preset middle position, the belt-retracting mechanism can be controlled to extend to the preset middle position. If the current position of the belt-retracting mechanism is greater than the preset middle position, the belt-retracting mechanism can be controlled to retract to the preset middle position.

[0038] In the above embodiment, when the current position does not match the preset middle position, the belt retracting mechanism is controlled to retract to the preset middle position corresponding to the centering instruction, ensuring that the belt retracting mechanism can stop at the preset middle position more accurately.

[0039] In one embodiment, the target position instruction includes an extend-to-position instruction, and the target position includes a preset extend-to-position; When the current position does not correspond to the target position, controlling the belt retracting mechanism to retract to the target position corresponding to the target position instruction comprises: In a case where the current position does not match the preset extension position, the belt retracting and extending mechanism is controlled to extend to the preset extension position corresponding to the extension position instruction.

[0040] Specifically, the target position instruction includes an extension position instruction, and the target position includes a preset extension position, that is, the target position corresponding to the extension position instruction is the preset extension position, and the preset extension position can be set as needed, and the embodiment of the present invention does not make specific limitations here. In the case where the current position does not match the preset extension position, that is, the current position is less than the preset extension position, the controller can control the belt retracting mechanism to perform an extension action until the current position reaches the preset extension position corresponding to the extension position instruction, and then the belt retracting mechanism can be controlled to perform a stop action.

[0041] In the above embodiment, when the current position does not match the preset extension position, the belt retracting mechanism is controlled to extend to the preset extension position corresponding to the extension position instruction, ensuring that the belt retracting mechanism can accurately stop at the preset extension position.

[0042] In one embodiment, when the target position instruction includes a retract to position instruction, the target position includes a preset retract to position; When the current position does not correspond to the target position, controlling the belt retracting mechanism to retract to the target position corresponding to the target position instruction comprises: When the current position does not match the preset retracted position, the belt retracting and retracting mechanism is controlled to retract to the preset retracted position corresponding to the retracted position instruction.

[0043] Specifically, the target position instruction includes a retracted position instruction, and the target position includes a preset retracted position, that is, the target position corresponding to the retracted position instruction is the preset retracted position, and the preset retracted position can be set as needed, and the embodiment of the present invention does not make specific limitations here. In the case where the current position does not match the preset retracted position, that is, the current position is greater than the preset retracted position, the controller can control the belt retracting mechanism to perform a retracting action until the current position reaches the preset retracted position corresponding to the retracted position instruction, and then the belt retracting mechanism can be controlled to perform a stop action.

[0044] In the above embodiment, when the current position does not match the preset retracted position, the belt retracting mechanism is controlled to retract to the preset retracted position corresponding to the retracted position instruction, ensuring that the belt retracting mechanism can accurately stop at the preset retracted position.

[0045] The method for controlling the belt retractable mechanism of a fire truck provided by the present invention first obtains a target position instruction input by a user, and then controls the belt retractable mechanism to reach a target position corresponding to the target position instruction based on the current position of the belt retractable mechanism of the fire truck. The technical solution of the present invention can control the belt retractable mechanism by the target position instruction and the current position of the belt retractable mechanism, without manually climbing to the roof of the vehicle and manually pushing out or retracting the belt retractable mechanism, thus saving labor costs and improving efficiency.

[0046] In one embodiment, the current position is determined based on the wire sensor and / or travel switch position corresponding to the belt retracting and extending mechanism; the target position is a fixed position or position interval corresponding to the target position instruction.

[0047] Specifically, the current position of the belt retractable mechanism can be a detection position determined based on the wire sensor corresponding to the belt retractable mechanism, or can be based on the level position of the travel switch gear corresponding to the belt retractable mechanism, or can be determined based on the wire sensor and the travel switch gear. Among them, the travel switch gear of the belt retractable mechanism can be pre-calibrated, for example, when the belt retractable mechanism reaches the preset extension position, the preset retraction position or the preset middle position, the level position of the travel switch gear is a high level; when the belt retractable mechanism does not reach the preset extension position, the preset retraction position or the preset middle position, the level position of the travel switch gear is a low level. The dual judgment of the wire sensor and the travel switch gear of the belt retractable mechanism can increase the accuracy of controlling the belt retractable mechanism. Further, the target position is a fixed position or a position interval corresponding to the target position instruction, that is, the target position can be a fixed position, for example, the target position can be L1; the target position can also be a position interval, for example, the target position can be an interval from L1-L0 to L1+L0.

[0048] In addition, the belt retractable mechanism is also provided with a push rod, which can lock the belt retractable mechanism when it is fully extended; when the push rod is fully retracted, the belt retractable mechanism can move normally.

[0049] Exemplarily, the preset retracted position may be pre-calibrated as L1, the preset middle position may be a position interval from L2-L0 to L2+L0, and the preset extended position may be L3, wherein L2 may be a pre-calibrated standard middle position, and L0 may be an advance amount of in-position detection determined according to expert data and experience data. The setting of L0 may effectively reduce the error, and further, the sensor detection position L of the take-up and retractable mechanism may be obtained through a wire sensor. Figure 2 FIG. 2 is a flow chart of the control method of the belt retracting and retracting mechanism of the fire truck provided by the present invention. Figure 2 As shown, when L1<L<L2-L0, and the travel switch gear is at a low level, the belt retracting mechanism can be controlled to perform an extension action, thereby causing the belt retracting mechanism to reach a preset middle position. When L2+L0<L<L3, and the travel switch gear is at a low level, the belt retracting mechanism can be controlled to perform a retraction action. When L2-L0≤L≤L2+L0, and the travel switch gear is at a high level, the belt retracting mechanism can be controlled to perform a stop action, thereby causing the belt retracting mechanism to reach a preset middle position.

[0050] For example, the preset extension position may be pre-calibrated as a position interval from L3-L0 to L3+L0. Figure 3 FIG. 3 is a flow chart of the control method of the belt retracting and retracting mechanism of the fire truck provided by the present invention. Figure 3As shown, when receiving the extension position instruction, the belt retracting mechanism can be controlled to perform the extension action. When L>L3-L0 and the travel switch gear is at a high level, the belt retracting mechanism is controlled to perform the stop action, thereby making the belt retracting mechanism reach the preset extension position.

[0051] For example, the preset shrinking position may be pre-calibrated as a position interval from L1-L0 to L1+L0. Figure 4 FIG. 4 is a flow chart of a method for controlling the belt retracting and retracting mechanism of a fire truck provided by the present invention. Figure 4 As shown, when a retracting command is received, the belt retracting mechanism can be controlled to perform a retracting action. When L<L1+L0 and the travel switch gear is at a high level, the belt retracting mechanism is controlled to perform a stopping action, thereby making the belt retracting mechanism reach the preset retracting position.

[0052] In the above embodiment, the current position is determined based on the pull-wire sensor and / or travel switch gear position corresponding to the belt-retracting and retracting mechanism; the target position is a fixed position or position interval corresponding to the target position instruction, thereby ensuring that the current position of the belt-retracting and retracting mechanism can be accurately determined, and further enabling the belt-retracting and retracting mechanism to automatically reach the position corresponding to the target position instruction.

[0053] In one embodiment, after controlling the belt retracting and extending mechanism to reach the target position corresponding to the target position instruction, the method further includes: When the current position of the belt retractable mechanism does not match the target position corresponding to the target position instruction, unlocking the belt retractable mechanism and controlling the belt retractable mechanism to reach the target position corresponding to the target position instruction; When the current position of the tape retractable mechanism matches the target position corresponding to the target position instruction, the tape retractable mechanism is locked.

[0054] Specifically, when the current position of the belt retractable mechanism does not match the target position corresponding to the target position instruction, the belt retractable mechanism can be unlocked, that is, the push rod on the belt retractable mechanism can be controlled to retract, and then the belt retractable mechanism can be controlled to reach the target position corresponding to the target position instruction. When the controller receives the unlocking feedback signal, it indicates that the push rod on the belt retractable mechanism has been fully retracted, and then the controller can control the push rod to stop extending, ensuring that the belt retractable mechanism can move normally.

[0055] When the current position of the belt retractable mechanism matches the target position corresponding to the target position instruction, the belt retractable mechanism can be locked, that is, the push rod on the belt retractable mechanism can be controlled to extend to lock the belt retractable mechanism. After the push rod is extended to the right position, the sensor corresponding to the push rod will send a locking feedback signal to the controller. When the controller receives the locking feedback signal, it can control the push rod to stop extending, ensuring that the push rod will not continue to extend when the belt retractable mechanism is locked. The locking feedback signal indicates that the push rod is extended to the right position.

[0056] For example, refer to Figure 2 , Figure 3 and Figure 4 After controlling the belt retracting mechanism to execute the stop action, the push rod can be controlled to extend to lock the belt retracting mechanism, and when a locking feedback signal is received, it is determined that the target position corresponding to the target position instruction has been reached, and then the push rod is controlled to stop extending.

[0057] In the above embodiment, when the current position of the belt retractable mechanism does not match the target position corresponding to the target position instruction, the belt retractable mechanism is unlocked so that the belt retractable mechanism can move, thereby controlling the belt retractable mechanism to reach the target position corresponding to the target position instruction. When the current position of the belt retractable mechanism matches the target position corresponding to the target position instruction, the belt retractable mechanism is locked to prevent the belt retractable mechanism from sliding due to the bumps of the fire truck.

[0058] The following is a description of the belt retracting and retracting mechanism control device of a fire truck provided by the present invention. The belt retracting and retracting mechanism control device of a fire truck described below and the belt retracting and retracting mechanism control method of a fire truck described above can be referred to each other.

[0059] Figure 5 FIG. 1 is a schematic diagram of the structure of the belt retracting and retracting mechanism control device of the fire truck provided by the present invention. Figure 5 As shown, the present invention provides a belt retracting and retracting mechanism control device 500 for a fire truck, and the belt retracting and retracting mechanism control device 500 for a fire truck includes the following modules: An acquisition module 510 is used to acquire a target position instruction input by a user; The control module 520 is used to control the belt retracting and extending mechanism of the fire truck to reach the target position corresponding to the target position instruction based on the current position of the belt retracting and extending mechanism.

[0060] In one embodiment, the control module 520 is specifically configured to: Obtaining the current position of the belt retracting and retracting mechanism of the fire truck; Based on the current position and the target position instruction, determining whether the current position corresponds to the target position; When the current position corresponds to the target position, controlling the belt retracting mechanism to stop the action; When the current position does not correspond to the target position, the belt retracting and extending mechanism is controlled to be extended to the target position corresponding to the target position instruction.

[0061] In one embodiment, the target position instruction includes a centering instruction, and the target position includes a preset middle position; the control module 520 is further configured to: In a case where the current position does not match the preset middle position, the belt retracting and extending mechanism is controlled to be extended to the preset middle position corresponding to the centering instruction.

[0062] In one embodiment, the target position instruction includes an extend-to-position instruction, and the target position includes a preset extend-to-position. The control module 520 is further configured to: In a case where the current position does not match the preset extension position, the belt retracting and extending mechanism is controlled to extend to the preset extension position corresponding to the extension position instruction.

[0063] In one embodiment, when the target position instruction includes a retract to position instruction, the target position includes a preset retract to position; the control module 520 is further configured to: When the current position does not match the preset retracted position, the belt retracting and retracting mechanism is controlled to retract to the preset retracted position corresponding to the retracted position instruction.

[0064] In one embodiment, the current position is determined based on the wire sensor and / or travel switch position corresponding to the belt retracting and extending mechanism; the target position is a fixed position or position interval corresponding to the target position instruction.

[0065] In one embodiment, the control device of the belt retracting and retracting mechanism of the fire truck further includes a push rod control module, and the push rod control module is specifically used for: When the current position of the belt retractable mechanism does not match the target position corresponding to the target position instruction, unlocking the belt retractable mechanism and controlling the belt retractable mechanism to reach the target position corresponding to the target position instruction; When the current position of the tape retractable mechanism matches the target position corresponding to the target position instruction, the tape retractable mechanism is locked.

[0066] The control device for the belt retractable mechanism of a fire truck provided by the present invention first obtains the target position instruction input by the user, and then controls the belt retractable mechanism to reach the target position corresponding to the target position instruction based on the current position of the belt retractable mechanism of the fire truck. The technical solution of the present invention can control the belt retractable mechanism according to the target position instruction and the current position of the belt retractable mechanism, without the need for manual climbing to the roof of the vehicle and manually pushing out or retracting the belt retractable mechanism, thus saving labor costs and improving efficiency.

[0067] Figure 6 An example of a physical structure diagram of a controller is shown below: Figure 6 As shown, the controller may include: a processor 610, a communications interface 620, a memory 630 and a communication bus 640, wherein the processor 610, the communications interface 620 and the memory 630 communicate with each other via the communication bus 640. The processor 610 may call the logic instructions in the memory 630 to execute the control method of the belt retracting mechanism of the fire truck, and the method includes: Get the target position instruction input by the user; Based on the current position of the belt retracting and extending mechanism of the fire truck, the belt retracting and extending mechanism is controlled to reach the target position corresponding to the target position instruction.

[0068] In addition, the logic instructions in the above-mentioned memory 630 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0069] On the other hand, the present invention further provides a fire truck, comprising the above-mentioned belt retracting and extending mechanism control method, the above-mentioned belt retracting and extending mechanism control device of the fire truck and at least one of the above-mentioned controller.

[0070] On the other hand, the present invention further provides a computer program product, the computer program product includes a computer program, the computer program can be stored in a non-transitory computer-readable storage medium, when the computer program is executed by a processor, the computer can execute the fire truck belt retracting mechanism control method provided by the above methods, the method comprising: Get the target position instruction input by the user; Based on the current position of the belt retracting and extending mechanism of the fire truck, the belt retracting and extending mechanism is controlled to reach the target position corresponding to the target position instruction.

[0071] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method for controlling the belt retracting and retracting mechanism of a fire truck provided by the above methods is implemented, and the method comprises: Get the target position instruction input by the user; Based on the current position of the belt retracting and extending mechanism of the fire truck, the belt retracting and extending mechanism is controlled to reach the target position corresponding to the target position instruction.

[0072] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0073] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0074] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling a belt retracting and retracting mechanism of a fire truck, characterized in that: include: Get the target position instruction input by the user; Based on the current position of the belt retracting and extending mechanism of the fire truck, the belt retracting and extending mechanism is controlled to reach the target position corresponding to the target position instruction.

2. The method for controlling the belt retracting and retracting mechanism of a fire truck according to claim 1, characterized in that: The method of controlling the belt retracting and extending mechanism to reach the target position corresponding to the target position instruction based on the current position of the belt retracting and extending mechanism of the fire truck comprises: Obtaining the current position of the belt retracting and extending mechanism of the fire truck; Based on the current position and the target position instruction, determining whether the current position corresponds to the target position; When the current position corresponds to the target position, controlling the belt retracting mechanism to stop moving; When the current position does not correspond to the target position, the belt retracting and extending mechanism is controlled to be extended and retracted to the target position corresponding to the target position instruction.

3. The method for controlling the belt retracting and retracting mechanism of a fire truck according to claim 2, characterized in that: The target position instruction includes a centering instruction, and the target position includes a preset middle position; When the current position does not correspond to the target position, controlling the belt retracting mechanism to retract to the target position corresponding to the target position instruction comprises: In a case where the current position does not match the preset middle position, the belt retracting and extending mechanism is controlled to be extended and retracted to the preset middle position corresponding to the centering instruction.

4. The method for controlling the belt retracting and retracting mechanism of a fire truck according to claim 2, characterized in that: The target position instruction includes an extend-to-position instruction, and the target position includes a preset extend-to-position; When the current position does not correspond to the target position, controlling the belt retracting mechanism to retract to the target position corresponding to the target position instruction comprises: In a case where the current position does not match the preset extension position, the belt retracting and extending mechanism is controlled to extend to the preset extension position corresponding to the extension position instruction.

5. The method for controlling the belt retracting and retracting mechanism of a fire truck according to claim 2, characterized in that: When the target position instruction includes a retract to position instruction, the target position includes a preset retract to position; When the current position does not correspond to the target position, controlling the belt retracting mechanism to retract to the target position corresponding to the target position instruction comprises: When the current position does not match the preset retracted position, the belt retracting and retracting mechanism is controlled to retract to the preset retracted position corresponding to the retracted position instruction.

6. The method for controlling the belt retracting and retracting mechanism of a fire truck according to any one of claims 1 to 5, characterized in that: The current position is determined based on the wire sensor and / or travel switch gear position corresponding to the belt retracting and extending mechanism; the target position is a fixed position or position interval corresponding to the target position instruction.

7. The method for controlling the belt retracting and retracting mechanism of a fire truck according to claim 6, characterized in that: The method further comprises: When the current position of the belt retractable mechanism does not match the target position corresponding to the target position instruction, unlocking the belt retractable mechanism and controlling the belt retractable mechanism to reach the target position corresponding to the target position instruction; When the current position of the tape retractable mechanism matches the target position corresponding to the target position instruction, the tape retractable mechanism is locked.

8. A control device for a belt retracting and retracting mechanism of a fire truck, characterized in that: include: An acquisition module, used to acquire a target position instruction input by a user; The control module is used to control the belt retracting and extending mechanism of the fire truck to reach a target position corresponding to the target position instruction based on the current position of the belt retracting and extending mechanism.

9. A controller comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method for controlling the belt retracting and retracting mechanism of a fire truck as claimed in any one of claims 1 to 7 is implemented.

10. A fire truck, characterized in that: It comprises at least one of the belt retracting and extending mechanism control method as described in any one of claims 1 to 7, the belt retracting and extending mechanism control device of the fire truck as described in claim 8 and the controller as described in claim 9.

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