Method, device and equipment for controlling dynamic balance of automatic external water injection of fire fighting truck and medium

Abstract

The invention discloses a control method, device and equipment for automatic external water injection dynamic balance of a fire fighting truck and a medium. The control method comprises the steps that a measured value Zk of the liquid level height of a water tank is obtained; according to the water tank structure, the water injection flow and the water absorption flow, the water tank liquid level change value Uk is estimated; performing data fusion on the Zk and the Uk by adopting a Kalman filtering algorithm, correcting the obtained liquid level measurement value Zk, and calculating an accurate liquid level value Xk; the liquid level value Xk is judged, and if the current liquid level value Xk is smaller than the lower limit liquid level hset-h, a water injection valve is opened; and if the current liquid level value Xk is higher than the upper limit liquid level hset-h, the water injection valve is closed. The problem that the water injection valve is frequently opened and closed due to liquid level fluctuation when the liquid level is at a critical value can be effectively avoided, the service life of the water injection valve is prolonged, and the use convenience of a product is improved.

Description

Technical Field

[0001] The invention relates to a control method, device, equipment and medium for dynamic balance of automatic external water injection of a fire truck, belonging to the technical field of external water injection of a fire truck. Background Art

[0002] Adequate water supply is a prerequisite for efficient firefighting operations of fire trucks. When the water supply of fire trucks is insufficient, the water pump of the firefighting system cannot work effectively, affecting the efficiency of firefighting. For high-rise fire trucks, insufficient water supply will cause the fire pipeline to inhale air, causing the boom to shake, which will have an adverse effect on the stability and safety of the vehicle; insufficient water supply will also cause the water pump to run idle, which may cause cavitation and damage the water pump body. Therefore, sufficient water supply plays a very important role in the process of firefighting and rescue.

[0003] Existing fire trucks are used for fire fighting and rescue. Figure 1 As shown, it includes a water tank 1, and a water tank level gauge 2 is installed in the water tank 1. Water flows from the water tank 1 and the water suction valve 5 into the water pump 8, is pressurized by the water pump 8, and is ejected through the fire pipe 9 and the water cannon 7 to achieve fire fighting operations. Due to the large water consumption during fire fighting operations, the water source stored in the water tank 1 of the fire truck is far from enough, so the automatic external water injection method is often used to ensure the sufficiency of the water source. Automatic external water injection is to inject water into the water tank 1 of the fire truck for fire fighting operations through a fire hydrant or other fire trucks, so that the liquid level of the water tank 1 of the fire truck for fire fighting operations is maintained at a set height. When the liquid level of the water tank 1 is lower than the set height, the water injection valve 4 is opened to inject water into the water tank 1; when the liquid level of the water tank 1 reaches the set height, the water injection valve 4 is closed to stop the external water injection. During the automatic external water injection process, due to the influence of the fluidity and impact of the water source, the liquid level will fluctuate, resulting in a large error between the measurement data of the water tank level gauge 2 and the actual value. When setting the upper and lower limits of the liquid level interval, the water injection valve 4 is frequently opened and closed due to inaccurate data acquisition and data fluctuations, which reduces the service life of the water injection valve 4 and the convenience of using the automatic external water injection. Summary of the invention

[0004] In view of the problems existing in the above-mentioned prior art, the present invention provides a control method, device, equipment and medium for the dynamic balance of automatic external water injection of a fire truck, which prolongs the service life of the water injection valve and improves the convenience of automatic external water injection.

[0005] In order to achieve the above object, the present invention adopts a control method for dynamic balance of automatic external water injection of a fire truck, comprising the following steps:

[0006] Get the measured value Z of the water tank level height k ;

[0007] According to the water tank structure, water injection flow and water suction flow, estimate the water tank level change value U k ;

[0008] The Kalman filter algorithm is used to convert Z k and U k Perform data fusion to obtain the liquid level measurement value Z k Make corrections and calculate the accurate liquid level value X k ;

[0009] For liquid level value X k Make a judgment, if the current liquid level value X k Less than the lower limit level h set -△h, then open the water injection valve; if the current liquid level value is X k Above upper limit level h set +△h, then close the water injection valve;

[0010] Among them, h set is the set liquid level height, △h is the range value.

[0011] As an improvement, the water tank liquid level change value U is estimated according to the water tank structure, water injection flow rate and water suction flow rate. k In the steps, the water tank structure includes:

[0012] The lower tank is a rectangular parallelepiped, with a length of L 1 , width is L 2 , height is h 2 ;

[0013] The upper tank is a rectangular parallelepiped, with a length of L 11 , width is L 2 , height is h 1 -h 2 ;

[0014] The side tank is a straight triangular prism with a right angle side length of L 12 , the other right angle side is h 1 -h 2 , high is L 2 ;

[0015] When the liquid level is h, the cross-sectional area S of the water tank is calculated as follows:

[0016]

[0017] As an improvement, calculate the injection pipeline flow Q 1 And the suction pipeline flow Q 2 , get the water tank level change value U k ;

[0018]

[0019] Among them, the water injection pipeline flow rate v 1 , suction pipe flow rate v 2 It can be obtained by the water injection pipeline flow sensor and the water suction pipeline flow sensor. The radius of the water injection pipeline r 1 , Radius of water suction pipe r 2 , Δt is the sampling period, which is 20ms, and S is the calculated current liquid level X k The cross-sectional area of ​​the water tank, where X k Initially, take Z k .

[0020] As an improvement, the Kalman filter algorithm is used to convert Z k and U k When data fusion is performed, the liquid level value X k for:

[0021] X k =A×X k-1 +B×U k-1 +W k-1

[0022] Among them, X k is the current liquid level value; U k-1 is the control input at the last moment, that is, the change in the current liquid level of the water tank, which is affected by the water injection speed, water absorption speed and the cross-sectional area of ​​the water tank at the current liquid level; W k-1 The process excitation noise that satisfies the Gaussian condition is taken as 0; A is the state transfer matrix, A is 1; B is the control matrix, the current liquid level value X k With input quantity U k-1 The measurement units are consistent, because the liquid level unit calculated by the controller is dm, and the flow unit is dm 3 / s, cross-sectional area unit is dm 2 , combined with the sampling period Δt of 20ms, B is taken as 0.02.

[0023] As an improvement, the actual Kalman filter equation is:

[0024]

[0025] When k = 0, X 0 Take 0, P 0 Take 1,U 0 Take 0;

[0026] Among them U k-1 is the control input variable, Z k is the liquid level measurement value, which is obtained from the sensor data. The corrected liquid level X at time k is obtained through multiple iterations. k .

[0027] As an improvement, the following steps are specifically included:

[0028] S1, turn on the automatic water filling function;

[0029] S2, set the set liquid level h set and range value △h;

[0030] S3. Obtain the measured value Z of the water tank liquid level height through the water tank level gauge k ;

[0031] S4. Calculate the cross-sectional area S at the current liquid level in the tank according to the tank structure;

[0032] S5. By collecting sensor data, obtain the current water injection pipeline flow rate and water suction pipeline flow rate, and calculate the water tank liquid level change value U k ;

[0033] S6. Through the Kalman filter algorithm, Z k and U k Perform data fusion to obtain the liquid level measurement value Z k Make corrections and calculate a stable and accurate liquid level value X k ;

[0034] S7, determine the liquid level height, if the current liquid level value is X k Less than the lower limit level h set -△h, open the water injection valve; if the current liquid level value is X k Above upper limit level h set +△h, close the water injection valve.

[0035] The second aspect of the present invention further discloses a device for automatic external water injection dynamic balance of a fire truck, comprising:

[0036] Acquisition module, used to obtain the measured value Z of the water tank liquid level height k ;

[0037] The estimation module is used to estimate the change value U of the water tank liquid level according to the water tank structure, water injection flow and water suction flow. k ;

[0038] The calculation module is used to use the Kalman filter algorithm to convert Z k and U k Perform data fusion to obtain the liquid level measurement value Z k Make corrections and calculate the accurate liquid level value X k ;

[0039] Determine the control module, used to determine the liquid level value X k Make a judgment, if the current liquid level value X k Less than the lower limit level h set-△h, then open the water injection valve; if the current liquid level value is X k Above upper limit level h set +△h, close the water injection valve.

[0040] A third aspect of the present invention further provides a computer device, comprising:

[0041] Memory for storing computer programs;

[0042] The processor is used to execute the computer program to implement the steps of the control method for automatic external water injection dynamic balance of the fire truck.

[0043] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the steps of the control method for the automatic external water injection dynamic balance of the fire truck are implemented.

[0044] Compared with the prior art, the control method for the dynamic balance of automatic external water injection of a fire truck of the present invention calculates the liquid level change trend and change amount according to the current water injection in the water tank, the flow rate of the water suction pipeline and the water tank structure, and integrates them with the liquid level height value obtained by the water tank liquid level gauge to obtain more stable and accurate liquid level height information, which can effectively avoid the problem of frequent opening and closing of the water injection valve caused by liquid level fluctuations when the liquid level is at a critical value, thereby extending the service life of the water injection valve and improving the convenience of product use. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0046] Figure 1 It is a schematic diagram of the self-injection structure of an existing fire truck;

[0047] Figure 2 It is a structural schematic diagram of a water tank of the present invention;

[0048] Figure 3 It is a schematic diagram of the three-dimensional structure of the water tank of the present invention;

[0049] Figure 4 It is a schematic diagram of the method flow of the present invention;

[0050] In the figure: 1. water tank, 2. water tank level gauge, 3. water injection pipeline flow sensor, 4. water injection valve, 5. water suction valve, 6. water suction pipeline flow sensor, 7. water monitor, 8. water pump, 9. fire-fighting pipeline. DETAILED DESCRIPTION

[0051] In order to make the objectives, technical solutions and advantages of the present invention more clear, the technical solutions of the present application are described in detail below with the help of accompanying drawings and specific embodiments. It should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical solutions of the present application, rather than limitations on the technical solutions of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments can be combined with each other.

[0052] Example 1

[0053] Combination Figure 1 , Figure 4 As shown, a control method for the dynamic balance of automatic external water injection of a fire truck comprises the following steps:

[0054] First, obtain the measured value Z of the water tank liquid level height through the water tank level gauge 2 k ;

[0055] Then, according to the water tank structure model, water injection flow rate and water absorption flow rate, the water tank level change value U is estimated. k , where the fire truck water tank structure model is as follows Figure 2 , Figure 3 As shown;

[0056] The cross-sectional area of ​​the water tank will change with the liquid level, so it is necessary to obtain the relationship between the liquid level and the cross-sectional area;

[0057] Among them, the lower half of the water tank 1 is L in length. 1 , width is L 2 , height is h 2 A rectangular parallelepiped;

[0058] The upper part of the water tank 1 is composed of a length of L 11 , width is L 2 , height is h 1 -h 2 The rectangular parallelepiped and its two right-angled sides are L 12 and h 1 -h 2 , height is L 2 The length of the right triangular prism is L 12 The angle between the right-angled side and the hypotenuse is θ;

[0059] If the current liquid level is h, the calculation method of the cross-sectional area S of the water tank is as follows:

[0060]

[0061] Calculate the water injection pipeline flow rate Q 1 And the suction pipeline flow Q 2 , get the water tank level change value Uk ;

[0062]

[0063] Among them, the water injection pipeline flow rate v 1 , suction pipe flow rate v 2 , which can be obtained by the water injection pipeline flow sensor 3 and the water suction pipeline flow sensor 6, the water injection pipeline radius r 1 , Radius of water suction pipe r 2 , Δt is the sampling period, which is 20ms, and S is the current liquid level X calculated by formula 1. k (At the initial moment, take Z k ) of the water tank cross-sectional area;

[0064] Finally, Z k and U k Fusion is performed to improve the accuracy of the water tank level height, and the Kalman filter algorithm is used for data fusion:

[0065] The state equation of the water tank liquid level is:

[0066] X k =A×X k-1 +B×U k-1 +W k-1 (Formula 3);

[0067] Among them, X k is the current state, that is, the actual liquid level at the current moment, that is, the liquid level to be estimated using Kalman filtering; U k-1 is the control input at the last moment, that is, the change in the current liquid level of the fire protection system water tank, which is affected by the water injection speed, water absorption speed and the cross-sectional area of ​​the water tank at the current liquid level; W k-1 In order to satisfy the process excitation noise of Gaussian condition, it is taken as 0 in this liquid level system; A is the state transfer matrix. Because the liquid level data sampling time interval is short, it is considered that the liquid level is constant in a short time, and A is taken as 1; B is the control matrix. The current state X in the control state equation k With input W k-1 The measurement units are consistent, because the liquid level unit calculated by the controller is dm, and the flow unit is dm 3 / s, cross-sectional area unit is dm 2 , combined with the sampling period Δt of 20ms, B is taken as 0.02.

[0068] Observation equation:

[0069] Z k =H×X k +v k (Formula 4)

[0070] Among them, Z kis the current measurement value, i.e. the liquid level measured by the level gauge; v k is a Gaussian white noise with an expected value of 0 and a covariance of R. H is the transfer matrix, which refers to the relationship between the level data observed by the level meter and the actual level coefficient (which can be understood as a unified measurement unit, such as the actual level value X k The unit of measurement is centimeters, and the unit measured by the level meter is centimeters, so H is 1; if the actual level value X k The measurement unit is meter, the level gauge measurement unit is centimeter, then H is 100).

[0071] Time update equation:

[0072]

[0073] Among them, P k is the estimated error covariance, that is, the credibility of the liquid level after Kalman filtering. The initial value is set to 1; the smaller Q is, the more trustworthy the predicted value is, and the larger Q is, the more trustworthy the measured value is. In this system, it is set to 0.7. Assume that the current filtering cycle is the 99th cycle. After the 99th cycle, the 100th cycle filtering is required. And the X of the 100th cycle is 100 and P 100 Need to be based on the 99th cycle X 99 and P 99 It turns out that the function of formula 5 is to calculate the X of the previous cycle. 99 and P 99 , calculate the X of the 100th cycle 100 , P 100 .

[0074] State update equation:

[0075]

[0076] Among them, H is the transfer matrix, which is 1 in this system; K k is the Kalman coefficient; R is the sensor measurement noise covariance, which is taken as 0.2 in this system.

[0077] According to the above equation, the actual Kalman filter equation of this system can be obtained:

[0078]

[0079] Through equations 6 and 7, the system is Kalman filtered from k = 1 (when k = 0 in equation 7, X 0 Take 0, P 0 Take 1, U 0 Take 0). Where U k-1 is the control input variable, i.e. the change in the tank liquid level, obtained by equations 1 and 2; Z kis the liquid level measurement value, which is obtained from the liquid level meter data. The corrected liquid level X at time k is obtained through multiple iterations. k .

[0080] Determine the liquid level height. If the current liquid level value is X k Less than the lower limit level h set -△h, open the water injection valve 4; if the current liquid level value is higher than the upper limit liquid level h set +△h, close the water injection valve 4.

[0081] Example 2

[0082] like Figure 1 , Figure 4 As shown, a control method for the dynamic balance of automatic external water injection of a fire truck comprises the following steps:

[0083] S1, turn on the automatic water filling function;

[0084] S2, set the set liquid level h set and range value △h;

[0085] S3, obtain the measured value Z of the water tank liquid level height through the water tank liquid level gauge 2 k ;

[0086] S4. Calculate the cross-sectional area S at the current liquid level in the tank according to the water tank structure model;

[0087] S5, by collecting data from the water injection pipeline flow sensor 3 and the water suction pipeline flow sensor 6, obtain the current water injection pipeline flow rate and water suction pipeline flow rate, and calculate the water tank liquid level change value U k ;

[0088] S6, through Kalman filtering, Z k and U k Perform data fusion to obtain the liquid level measurement value Z k Correction is performed to calculate more stable and accurate liquid level information X k ;

[0089] S7, determine the liquid level height, if the current liquid level value is X k Less than the lower limit level h set -△h, open the water injection valve 4; if the current liquid level value is higher than the upper limit liquid level h set +△h, close the water injection valve 4.

[0090] For example, the current requirement is to keep the water tank level in the range of 30%-50%. The control process is as follows;

[0091] 1) The controller collects sensor data (including water tank level gauge 2, water injection pipeline flow sensor 3, and water suction pipeline flow sensor 6) every 20ms;

[0092] 2) According to the sensor data collected by the controller, the following data can be directly obtained: liquid level height, water injection flow rate, water suction flow rate, the cross-sectional area of ​​the water tank is calculated according to the liquid level height, and the liquid level change speed is calculated according to the water injection flow rate, water suction flow rate and liquid level height;

[0093] 3) The current water tank level is corrected in real time through the Kalman filter formula to obtain a stable and accurate water tank level;

[0094] 4) When the liquid level in the water tank 1 is higher than 50%, close the water filling valve 4; when the liquid level in the water tank 1 is lower than 30%, open the water filling valve 4.

[0095] Example 3

[0096] A device for automatic external water injection dynamic balance of a fire truck, comprising:

[0097] Acquisition module, used to obtain the measured value Z of the water tank liquid level height k ;

[0098] The estimation module is used to estimate the change value U of the water tank liquid level according to the water tank structure, water injection flow and water suction flow. k ;

[0099] The calculation module is used to use the Kalman filter algorithm to convert Z k and U k Perform data fusion to obtain the liquid level measurement value Z k Make corrections and calculate the accurate liquid level value X k ;

[0100] Determine the control module, used to determine the liquid level value X k Make a judgment, if the current liquid level value X k Less than the lower limit level h set -△h, then open the water injection valve; if the current liquid level value is X k Above upper limit level h set +△h, close the water injection valve.

[0101] Example 4

[0102] A computer device comprising:

[0103] Memory for storing computer programs;

[0104] The processor is used to execute the computer program to implement the steps of the control method for automatic external water injection dynamic balance of the fire truck.

[0105] In addition, a computer-readable storage medium is also provided, on which a computer program is stored. When the program is executed by a processor, the steps of the control method for automatic external water injection dynamic balance of the fire truck are implemented.

[0106] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0107] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0108] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0109] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. A control method for the dynamic balance of automatic external water injection of a fire truck, characterized in that: The following steps are involved: Get the measured value Z of the water tank level height k ; According to the water tank structure, water injection flow and water suction flow, estimate the water tank level change value U k ; The Kalman filter algorithm is used to convert Z k and U k Perform data fusion to obtain the liquid level measurement value Z k Make corrections and calculate the accurate liquid level value X k ; For liquid level value X k Make a judgment, if the current liquid level value X k Less than the lower limit level h set -△h, then open the water injection valve; if the current liquid level value is X k Above upper limit level h set +△h, then close the water injection valve; Among them, h set is the set liquid level height, △h is the range value.

2. A control method for dynamic balance of automatic external water injection of a fire truck according to claim 1, characterized in that: The estimated water tank level change value U is based on the water tank structure, water injection flow rate and water suction flow rate. k In the steps, the water tank structure includes: The lower tank body is a rectangular parallelepiped, with a length of L1, a width of L2, and a height of h2; The upper tank is a rectangular parallelepiped, with a length of L 11 , width is L2, height is h1-h2; The side tank is a straight triangular prism with a right angle side length of L 12 , the other right angle side is h1-h2, and the height is L2; When the liquid level is h, the cross-sectional area S of the water tank is calculated as follows:

3. A control method for the dynamic balance of automatic external water injection of a fire truck according to claim 2, characterized in that: Calculate the water injection pipeline flow Q1 and the water suction pipeline flow Q2 to obtain the water tank liquid level change value U k ; Among them, the injection pipeline flow rate v1 and the suction pipeline flow rate v2 can be obtained by the injection pipeline flow sensor and the suction pipeline flow sensor, the injection pipeline radius r1 and the suction pipeline radius r2, Δt is the sampling period, which is 20ms, and S is the calculated current liquid level X k The cross-sectional area of ​​the water tank, where X k Initially, take Z k .

4. A control method for the dynamic balance of automatic external water injection of a fire truck according to claim 3, characterized in that: The Kalman filter algorithm is used to convert Z k and U k When data fusion is performed, the liquid level value X k for: X k =A×X k-1 +B×U k-1 +W k-1 Among them, X k is the current liquid level value; U k-1 is the control input at the last moment, that is, the change in the current liquid level of the water tank, which is affected by the water injection speed, water absorption speed and the cross-sectional area of ​​the water tank at the current liquid level; W k-1 The process excitation noise that satisfies the Gaussian condition is taken as 0; A is the state transfer matrix, A is 1; B is the control matrix, the current liquid level value X k With input quantity U k-1 The measurement units are consistent, because the liquid level unit calculated by the controller is dm, and the flow unit is dm 3 / s, cross-sectional area unit is dm 2 , combined with the sampling period Δt of 20ms, B is taken as 0.

02.

5. A control method for dynamic balance of automatic external water injection of a fire truck according to claim 4, characterized in that: The actual Kalman filter equation is: When k=0, X0 is 0, P0 is 1, and U0 is 0; Among them U k-1 is the control input variable, Z k is the liquid level measurement value, which is obtained from the sensor data. The corrected liquid level X at time k is obtained through multiple iterations. k .

6. A control method for dynamic balance of automatic external water injection of a fire truck according to claim 1, characterized in that: The specific steps include: S1, turn on the automatic water filling function; S2, set the set liquid level h set and range value △h; S3. Obtain the measured value Z of the water tank liquid level height through the water tank level gauge k ; S4. Calculate the cross-sectional area S at the current liquid level in the tank according to the tank structure; S5. By collecting sensor data, obtain the current water injection pipeline flow rate and water suction pipeline flow rate, and calculate the water tank liquid level change value U k ; S6. Through the Kalman filter algorithm, Z k and U k Perform data fusion to obtain the liquid level measurement value Z k Make corrections and calculate a stable and accurate liquid level value X k ; S7, determine the liquid level height, if the current liquid level value is X k Less than the lower limit level h set -△h, open the water injection valve; if the current liquid level value is X k Above upper limit level h set +△h, close the water injection valve.

7. A device for automatic external water injection dynamic balance of a fire truck, characterized in that: include: Acquisition module, used to obtain the measured value Z of the water tank liquid level height k ; The estimation module is used to estimate the change value U of the water tank liquid level according to the water tank structure, water injection flow and water suction flow. k ; The calculation module is used to use the Kalman filter algorithm to convert Z k and U k Perform data fusion to obtain the liquid level measurement value Z k Make corrections and calculate the accurate liquid level value X k ; Determine the control module, used to determine the liquid level value X k Make a judgment, if the current liquid level value X k Less than the lower limit level h set -△h, then open the water injection valve; if the current liquid level value is X k Above upper limit level h set +△h, close the water injection valve.

8. A computer device, characterized in that: include: Memory for storing computer programs; A processor is used to execute the computer program to implement the steps of the control method for automatic external water injection dynamic balance of a fire truck according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the control method for automatic external water injection dynamic balance of a fire truck according to any one of claims 1 to 6 are implemented.

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