Cantilever crane type fire-fighting vehicle running operation safety control system and method

Abstract

The invention discloses a driving operation safety control system and method for a boom type fire-fighting vehicle. The driving operation safety control method comprises the steps that an angle sensor detects rotation angle information of the angle sensor; when the control handle of the boom water cannon is not enabled, the speed limit threshold value in the driving controller is set to be A0; when a control handle of the boom water cannon is enabled, the central controller sets a speed limit threshold value in the driving controller as A1; after the central controller judges that the fire-fighting boom is separated from the corbel bracket according to the position information and the rotation angle information of the fire-fighting boom, the speed limiting threshold value in the driving controller is set as A2; when the flow sensor detects the fire-fighting water flow in the fire-fighting operation device, the central controller sets a speed limiting threshold value in the driving controller to be A3 and locks the suspension; the vehicle speed threshold value and the locking suspension are automatically adjusted according to the fire-fighting operation progress, the safety of the fire-fighting operation is guaranteed, and the fire-fighting rescue efficiency of the airplane is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of fire truck control, and in particular relates to a travel operation safety control system and a control method for a boom-type fire truck. Background Art

[0002] Domestic civil aviation airports generally use external demolition rescue and firefighting for fires in the cabin, which takes a long time to carry out and puts the operators in danger of rescue on site. Even if the external demolition can achieve fire extinguishing, it still takes a long time. The airport main vehicle equipped with a puncture arm can effectively solve this problem. When extinguishing a fire from the outside, there is no need to lift the arm frame and the fire can be extinguished from the outside of the cabin; if a fire occurs inside the cabin, the puncture arm needs to be raised, and then the puncture needle is inserted into the cabin, and the water pressurized by the water pump is sprayed into the cabin through the puncture needle at a large flow rate. The use of the puncture arm of the airport fire truck can increase the rescue speed to the greatest extent, improve the efficiency of airport rescue, thereby maximizing the timeliness and safety of rescue and ensuring the safety of personnel.

[0003] When a fire occurs during aircraft landing or takeoff, rescue vehicles are required to approach the aircraft for firefighting operations. That is, the firefighting vehicle drives close to the burning aircraft while deploying the boom and turning on the water cannon for firefighting operations. It can be seen that during this process, rescue personnel need to drive the vehicle while operating the boom and water cannon. Too fast a speed will affect the safety of firefighting operations, and too soft a suspension system will affect the puncture process, thereby reducing the efficiency of aircraft firefighting and rescue. Summary of the invention

[0004] The purpose of the present invention is to provide a boom-type fire truck driving operation safety control system and method, which automatically adjusts the vehicle speed threshold according to the progress of the firefighting operation, ensures the safety of the firefighting operation, and improves the efficiency of aircraft firefighting and rescue.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is: In the first aspect, the present invention provides a boom-type fire truck driving operation safety control system, including a position sensor and an angle sensor; the fire boom is rotatably connected to a turntable, and a support arm bracket is provided on the turntable; when the fire boom is in a retracted state, the fire boom is erected above the support arm bracket; the angle sensor is arranged on the turntable, the position sensor is arranged on the support arm bracket, and the position sensor detects the position information of the fire boom; the angle sensor detects the rotation angle information of the angle sensor; the drive controller, the boom water cannon control handle, the position sensor and the angle sensor on the fire truck are electrically connected to a central controller; When the boom water monitor control handle is not enabled, the speed limit threshold in the drive controller is set to A0; When the boom water cannon control handle is enabled, the central controller sets the speed limit threshold in the drive controller to A1; The central controller sets the speed limit threshold in the drive controller to A2 after determining that the fire arm is detached from the support arm bracket according to the position information and the rotation angle information of the fire arm.

[0006] Furthermore, it also includes a flow sensor for detecting the flow of fire water in the fire operation device; the fire operation device includes a fire water monitor and a hydraulic puncture mechanism; the flow sensor is electrically connected to the central controller; when the flow sensor detects the flow of fire water in the fire operation device, the central controller sets the speed limit threshold in the drive controller to A3.

[0007] Furthermore, the suspension controller on the fire truck is electrically connected to the central controller; when the flow sensor detects the flow of fire water in the fire operation device, the central controller sends a locking instruction to the suspension controller, and the suspension controller locks the suspension.

[0008] Furthermore, the driving controller obtains the driving speed and throttle signal of the fire truck. When the driving speed of the fire truck reaches the speed limit threshold and the throttle signal increases, the driving speed of the fire truck is controlled to follow the speed limit threshold.

[0009] Furthermore, it also includes a human-computer interaction interface, which is electrically connected to the central controller; when the driving speed of the fire truck reaches the speed limit threshold and the throttle signal increases, the central controller generates a vehicle speed limit warning prompt and sends it to the human-computer interaction interface; the human-computer interaction interface is used to display the vehicle speed limit warning prompt sent by the central controller.

[0010] Furthermore, a hydraulic cylinder is provided between the axle and the frame of the fire truck; the hydraulic cylinder is externally connected to the suspension hydraulic system through an oil circuit; the suspension hydraulic system is equipped with a solenoid valve; the solenoid valve controls the opening and closing of the oil circuit between the rodless chamber of the hydraulic cylinder and the rod chamber and the suspension hydraulic system; When the suspension is locked, the suspension controller controls the solenoid valve to disconnect the oil circuit between the rodless chamber of the hydraulic cylinder and the rod chamber and the suspension hydraulic system; When the suspension lock is released, the suspension controller controls the solenoid valve to connect the rodless chamber of the hydraulic cylinder and the oil circuit between the rod chamber and the suspension hydraulic system.

[0011] Furthermore, the turntable drives the fire fighting arm to rotate, and the driving device of the turntable is electrically connected to the central controller; The driving controller obtains the driving speed of the fire truck. When the driving speed is greater than 0, the central controller controls the turntable to lock; when the driving speed is equal to 0, the central controller controls the turntable to unlock.

[0012] In a second aspect, the present invention provides a control method for a boom-type fire truck driving operation safety control system, comprising: Get the position information and rotation angle information of the fire arm and the enabling status of the arm water monitor control handle When the boom water monitor control handle is not enabled, the speed limit threshold in the drive controller is set to A0; When the boom water cannon control handle is enabled, the central controller sets the speed limit threshold in the drive controller to A1; After it is determined that the fire arm is detached from the support arm bracket according to the position information and the rotation angle information of the fire arm, the speed limit threshold in the drive controller is set to A2.

[0013] Furthermore, the arm-type fire truck driving operation safety control system also includes a flow sensor, which detects the flow of fire water in the fire operation device on the fire truck through the flow sensor; the fire operation device includes a fire water cannon and a hydraulic puncture mechanism; when the flow sensor detects the flow of fire water in the fire operation device, the speed limit threshold in the drive controller is set to A3, and the suspension is locked.

[0014] Furthermore, the turntable drives the fire fighting arm to rotate, and the driving device of the turntable is electrically connected to the central controller; The driving controller obtains the driving speed of the fire truck. When the driving speed is greater than 0, the turntable is controlled to be locked; when the driving speed is equal to 0, the turntable is controlled to be unlocked.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention obtains the position information and rotation angle information of the fire-fighting boom and the enabling state of the boom water cannon control handle; when the boom water cannon control handle is not enabled, the speed limit threshold in the drive controller is set to A0; when the boom water cannon control handle is enabled, the central controller sets the speed limit threshold in the drive controller to A1; after judging that the fire-fighting boom is separated from the supporting arm bracket according to the position information and rotation angle information of the fire-fighting boom, the speed limit threshold in the drive controller is set to A2; the vehicle speed threshold is automatically adjusted according to the progress of the fire-fighting operation, so as to ensure the safety of the fire-fighting operation and improve the efficiency of aircraft fire-fighting and rescue. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a structural diagram of the fire fighting arm and the turntable provided in the present embodiment 1; Figure 2 is a structural diagram of the control room in the boom-type fire truck provided in this embodiment 1; Figure 3 This is a flow chart of the safety control method for the driving operation of a boom-type fire truck provided in this embodiment 2.

[0017] In the figure, 1 is a drive controller, 2 is a central controller, 3 is a position sensor, 4 is an angle sensor, 5 is a human-machine interface, and 6 is a boom water cannon control handle. DETAILED DESCRIPTION

[0018] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0019] It should be noted that in the description of the present invention, the directions or positional relationships indicated by the terms "front", "rear", "left", "right", "up", "down", "inside", "outside", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention rather than requiring the present invention to be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. The terms "front", "rear", "left", "right", "up", and "down" used in the description of the present invention refer to the directions in the accompanying drawings, and the terms "inside" and "outside" refer to the directions toward or away from the geometric center of a specific component, respectively.

[0020] Example 1

[0021] like Figure 1 As shown, this embodiment provides a boom-type fire truck driving operation safety control system, including a position sensor 3, an angle sensor 4 and a flow sensor for detecting the flow of fire water in the fire operation device; the fire boom is rotatably connected to the turntable; the turntable is provided with a support arm bracket; when the fire boom is in a retracted state, the fire boom is erected above the support arm bracket; the angle sensor 4 is arranged on the turntable, the position sensor 3 is arranged on the support arm bracket, the position sensor 3 detects the position information of the fire boom; the angle sensor 4 detects the rotation angle information of the angle sensor; the drive controller 1, the boom water cannon control handle 6, the position sensor 3 and the angle sensor 4 are electrically connected to the central controller 2; the drive controller controls the driving speed of the fire truck, and the boom water cannon control handle controls the movement of the fire boom; When the boom water monitor control handle 6 is not enabled, the speed limit threshold in the drive controller is set to A0; When the boom water cannon control handle 6 is enabled, the central controller sets the speed limit threshold in the drive controller to A1; The central controller 2 determines that the fire arm is separated from the support arm bracket according to the position information and the rotation angle information of the fire arm, and sets the speed limit threshold in the drive controller 1 to A2; The flow sensor detects the flow of fire water in the fire operation device on the fire truck; the fire operation device includes a fire water monitor and a hydraulic piercing mechanism; the flow sensor is electrically connected to the central controller 2; when the flow sensor detects the flow of fire water in the fire operation device, it is determined that the fire operation device is in an operating state, and the central controller 2 sets the speed limit threshold in the drive controller to A3; The drive controller 1 obtains the driving speed and throttle signal of the fire truck. When the driving speed of the fire truck reaches the speed limit threshold and the throttle signal increases, the driving speed of the fire truck is controlled to follow the speed limit threshold. This embodiment can automatically adjust the speed threshold according to the progress of the firefighting operation to ensure the safety of rescue personnel when performing close-up firefighting operations.

[0022] The suspension controller on the fire truck is electrically connected to the central controller 2; when the flow sensor detects the fire water flow in the fire operation device, the central controller sends a locking instruction to the suspension controller, and the suspension controller locks the suspension, specifically including: A hydraulic cylinder is provided between the axle and the frame of the fire truck; the hydraulic cylinder is externally connected to the suspension hydraulic system through an oil circuit; the suspension hydraulic system is equipped with a solenoid valve; the solenoid valve controls the opening and closing of the oil circuit between the rodless chamber of the hydraulic cylinder and the rod chamber and the suspension hydraulic system; When the suspension is locked, the suspension controller controls the solenoid valve to disconnect the oil circuit between the rodless chamber of the hydraulic cylinder and the rod chamber and the suspension hydraulic system; When the suspension lock is released, the suspension controller controls the solenoid valve to connect the rodless chamber of the hydraulic cylinder and the oil circuit between the rod chamber and the suspension hydraulic system.

[0023] The locking suspension can ensure the stability of the suspension system during the puncture process and prevent the vehicle from accidentally moving due to uneven ground or other external forces, thereby protecting the safety of operators and equipment and improving puncture accuracy.

[0024] The human-machine interface 5 is electrically connected to the central controller 2; when the speed of the fire truck reaches the speed limit threshold and the throttle signal increases, the central controller 2 generates a vehicle speed limit warning prompt and sends it to the human-machine interface 5; the human-machine interface 5 is used to display the vehicle speed limit warning prompt sent by the central controller. Figure 2 As shown, in this embodiment, the human-machine interaction interface 5, the drive controller 1, the central controller 2 and the boom water cannon control handle 6 are arranged in the cab of the fire truck.

[0025] The turntable drives the fire arm to rotate, and the drive device of the turntable is electrically connected to the central controller; the drive controller obtains the driving speed of the fire truck and sends it to the central controller. When the driving speed is greater than 0, the central controller controls the turntable to lock; when the driving speed is equal to 0, the central controller controls the turntable to unlock. In this embodiment, the turntable is automatically locked to ensure the safety of operators and equipment.

[0026] Example 2

[0027] like Figure 3 As shown, a control method for a boom-type fire truck driving operation safety control system is applied to the boom-type fire truck driving operation safety control system described in Example 1. The control method includes: Get the position information and rotation angle information of the fire arm and the enabling status of the arm water monitor control handle When the boom water monitor control handle 6 is not enabled, the speed limit threshold in the drive controller 1 is set to A0; When the boom water cannon control handle 6 is enabled, the central controller 2 sets the speed limit threshold in the drive controller to A1; After judging that the fire arm is separated from the supporting arm bracket according to the position information and the rotation angle information of the fire arm, the speed limit threshold in the driving controller 1 is set to A2.

[0028] The flow sensor is used to detect the flow of fire water in the fire operation device on the fire truck; when the flow sensor detects the flow of fire water in the fire operation device, it is determined that the fire operation device is in an operating state, the speed limit threshold in the drive controller 1 is set to A3, and the suspension is locked.

[0029] The turntable drives the fire arm to rotate, and the drive device of the turntable is electrically connected to the central controller; the driving speed of the fire truck is obtained through the drive controller, and when the driving speed is greater than 0, the turntable is controlled to be locked; when the driving speed is equal to 0, the turntable is controlled to be unlocked to ensure the safety of operators and equipment.

[0030] This embodiment automatically adjusts the vehicle speed threshold and locks the suspension according to the progress of the firefighting operation, thereby ensuring the safety of the firefighting operation and improving the efficiency of aircraft firefighting and rescue.

[0031] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A safety control system for boom-type fire truck driving operation, characterized in that: It includes a position sensor and an angle sensor; the fire arm is rotatably connected to the turntable, and the turntable is provided with an arm bracket; when the fire arm is in a retracted state, the fire arm is erected above the arm bracket; the angle sensor is arranged on the turntable, the position sensor is arranged on the arm bracket, and the position sensor detects the position information of the fire arm; the angle sensor detects the rotation angle information of the angle sensor; the drive controller, the arm water cannon control handle, the position sensor and the angle sensor on the fire truck are electrically connected to the central controller; When the boom water monitor control handle is not enabled, the speed limit threshold in the drive controller is set to A0; When the boom water cannon control handle is enabled, the central controller sets the speed limit threshold in the drive controller to A1; The central controller sets the speed limit threshold in the drive controller to A2 after determining that the fire arm is detached from the support arm bracket according to the position information and the rotation angle information of the fire arm.

2. The boom-type fire truck driving operation safety control system according to claim 1 is characterized in that: It also includes a flow sensor for detecting the flow of fire water in the fire operation device; the fire operation device includes a fire water monitor and a hydraulic piercing mechanism; the flow sensor is electrically connected to the central controller; when the flow sensor detects the flow of fire water in the fire operation device, the central controller sets the speed limit threshold in the drive controller to A3.

3. The boom-type fire truck driving operation safety control system according to claim 2 is characterized in that: The suspension controller on the fire truck is electrically connected to the central controller; when the flow sensor detects the fire water flow in the fire operation device, the central controller sends a locking instruction to the suspension controller, and the suspension controller locks the suspension.

4. The boom-type fire truck driving operation safety control system according to claim 1 or 2, characterized in that: The drive controller obtains the driving speed and throttle signal of the fire truck. When the driving speed of the fire truck reaches the speed limit threshold and the throttle signal increases, the driving speed of the fire truck is controlled to follow the speed limit threshold.

5. The boom-type fire truck driving operation safety control system according to claim 4 is characterized in that: It also includes a human-computer interaction interface, which is electrically connected to the central controller; when the driving speed of the fire truck reaches the speed limit threshold and the throttle signal increases, the central controller generates a vehicle speed limit warning prompt and sends it to the human-computer interaction interface.

6. The boom-type fire truck driving operation safety control system according to claim 3 is characterized in that: A hydraulic cylinder is provided between the axle and the frame of the fire truck; the hydraulic cylinder is externally connected to the suspension hydraulic system through an oil circuit; the suspension hydraulic system is equipped with a solenoid valve; the solenoid valve controls the opening and closing of the oil circuit between the rodless chamber of the hydraulic cylinder and the rod chamber and the suspension hydraulic system; When the suspension is locked, the suspension controller controls the solenoid valve to disconnect the oil circuit between the rodless chamber of the hydraulic cylinder and the rod chamber and the suspension hydraulic system; When the suspension lock is released, the suspension controller controls the solenoid valve to connect the rodless chamber of the hydraulic cylinder and the oil circuit between the rod chamber and the suspension hydraulic system.

7. The boom-type fire truck driving operation safety control system according to claim 1 is characterized in that: The turntable drives the fire fighting arm to rotate, and the driving device of the turntable is electrically connected to the central controller; The driving controller obtains the driving speed of the fire truck. When the driving speed is greater than 0, the central controller controls the turntable to lock; when the driving speed is equal to 0, the central controller controls the turntable to unlock.

8. The control method of the boom type fire fighting vehicle driving operation safety control system according to any one of claims 1 to 7, characterized in that: include: Obtain the position information and rotation angle information of the fire arm and the enabling status of the arm water monitor control handle; When the boom water monitor control handle is not enabled, the speed limit threshold in the drive controller is set to A0; When the boom water cannon control handle is enabled, the central controller sets the speed limit threshold in the drive controller to A1; After it is determined that the fire arm is detached from the support arm bracket according to the position information and the rotation angle information of the fire arm, the speed limit threshold in the drive controller is set to A2.

9. The control method according to claim 8, characterized in that: The driving operation safety control system of the arm-type fire truck also includes a flow sensor, which detects the flow of fire water in the fire operation device on the fire truck through the flow sensor; the fire operation device includes a fire water monitor and a hydraulic puncture mechanism; when the flow sensor detects the flow of fire water in the fire operation device, the speed limit threshold in the drive controller is set to A3, and the suspension is locked.

10. The control method according to claim 8, characterized in that: The turntable drives the fire fighting arm to rotate, and the driving device of the turntable is electrically connected to the central controller; The driving controller obtains the driving speed of the fire truck. When the driving speed is greater than 0, the turntable is controlled to be locked; when the driving speed is equal to 0, the turntable is controlled to be unlocked.

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