Method and device for hoisting unmanned aerial vehicle in fire fighting truck, storage medium and equipment

Abstract

The invention relates to the technical field of intelligent control, and particularly provides a method and device for hoisting an unmanned aerial vehicle in a fire fighting truck, a storage medium and equipment, the method is applied to an intelligent crane installed on the fire fighting truck, and the method comprises the steps that according to a preset path, a variable-amplitude arm of the intelligent crane is controlled to reach a designated position, the specified position comprises the set amplitude and the set height of the amplitude-variable arm; on the basis of preset attitude information, adjusting the current attitude information of the variable-amplitude arm at the specified position; and under the current attitude information, a lifting hook of the intelligent crane is controlled to execute a target instruction, and the target instruction comprises lifting the fire-fighting unmanned aerial vehicle or lowering the fire-fighting unmanned aerial vehicle. According to the embodiment of the invention, intelligent hoisting control of the fire-fighting unmanned aerial vehicle can be realized, and the hoisting efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent control technology, and more specifically, to a method, device, storage medium and equipment for hoisting a drone inside a fire truck. Background Art

[0002] A firefighting drone is an unmanned aircraft controlled by a radio remote control device and a self-contained program, and is mainly used in the field of firefighting and rescue. The firefighting drone is fixedly installed on a fire truck and reaches the designated accident site through the fire truck. If it is in an open area without external equipment, the firefighting drone can be loaded and unloaded by controlling the takeoff and landing of the firefighting drone. However, if the firefighting drone fails and cannot take off, it is necessary to use a forklift or other tools to be operated by professionals to load the firefighting drone. This method requires additional forklift equipment to be equipped at all times and has certain requirements for the size of the site. It can be seen that there are many restrictions on the loading and unloading of firefighting drones in the existing technology, which is difficult.

[0003] Therefore, how to provide a technical solution for a method of intelligently lifting drones inside fire trucks has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] The purpose of some embodiments of the present application is to provide a method, device, storage medium and equipment for hoisting a drone in a fire truck. Through the technical solutions of the embodiments of the present application, intelligent hoisting of fire-fighting drones can be achieved without being restricted by the site, thereby improving the flexibility and efficiency of hoisting.

[0005] In the first aspect, some embodiments of the present application provide a method for hoisting a drone in a fire truck, which is applied to an intelligent crane installed on the fire truck, and the method includes: controlling the luffing arm of the intelligent crane to reach a specified position according to a preset path, wherein the specified position includes: a set amplitude and a set height of the luffing arm; based on preset posture information, adjusting the current posture information of the luffing arm at the specified position; under the current posture information, controlling the hook of the intelligent crane to execute a target instruction, wherein the target instruction includes: hoisting the fire-fighting drone or lowering the fire-fighting drone.

[0006] Some embodiments of the present application control the intelligent crane installed on the fire truck so that after the variable arm reaches the specified position according to the preset path, its current posture information is adjusted, and then the fire-fighting drone is lifted or lowered through the hook. In this way, the fire-fighting drone can be automatically lifted by the intelligent control of the intelligent crane. This method is not restricted by the site, improves the flexibility and efficiency of the lifting, and reduces the difficulty of loading and unloading the fire-fighting drone.

[0007] In some embodiments, the intelligent crane also includes: a force limiter, a rotary encoder, an angle sensor, and a rope-collecting and anti-top-impact sensor; the force limiter is used to detect the lifting weight; the rotary encoder is used to detect the rotation direction of the variable-length arm; the angle sensor is used to detect the angle of the variable-length arm; the rope-collecting and anti-top-impact sensor is used to detect the retraction and extension parameters of the lifting rope of the intelligent crane.

[0008] Some embodiments of the present application achieve real-time detection of relevant parameters in the smart crane and precise control of the fire-fighting drone by installing multiple sensor devices on the smart crane.

[0009] In some embodiments, during the process of controlling the luffing arm to reach a specified position, the method further includes: detecting in real time the arm posture information and the lifting gravity of the luffing arm, wherein the lifting gravity is measured by a force limiter; confirming that the arm posture information matches the preset path, and confirming that the lifting gravity does not exceed the safe load of the force limiter.

[0010] Some embodiments of the present application achieve precise control of the intelligent crane by detecting the arm posture information and lifting gravity during the movement of the variable arm, so that the fire-fighting drone can accurately reach the designated position; at the same time, by detecting the lifting gravity, it is ensured that there is no overload and the lifting safety is ensured.

[0011] In some embodiments, adjusting the current posture information of the variable amplitude arm at the specified position based on preset posture information includes: obtaining a posture error between the preset posture information and the posture information of the variable amplitude arm; and adjusting the variable amplitude arm to the current posture information according to the posture error.

[0012] Some embodiments of the present application can adjust the posture information of the luffing arm so that the luffing arm can accurately reach the corresponding position of the fire-fighting drone, thereby ensuring the lifting accuracy.

[0013] In some embodiments, controlling the hook to execute the target instruction includes: in the first lowering stage, controlling the lowering length and lowering speed of the lifting rope connected to the hook according to preset parameters; in the second lowering stage, reducing the lowering speed according to preset rules until the lifting rope reaches a preset position; wherein the preset position is the first position for lifting the fire-fighting drone or the second position for lowering the fire-fighting drone; when the target instruction is to lift the fire-fighting drone, the first lowering stage is in a situation where the height between the end of the lifting rope and the fire-fighting drone is greater than a first threshold; the second lowering stage is in a situation where the height between the end of the lifting rope and the fire-fighting drone is not greater than the first threshold; when the target instruction is to lower the fire-fighting drone, the first lowering stage is in a situation where the height of the fire truck and the height of the fire-fighting drone are greater than a second threshold; the second lowering stage is in a situation where the height of the fire truck and the height of the fire-fighting drone are not greater than the second threshold.

[0014] Some embodiments of the present application adjust the lowering speed of the lifting rope by setting different stages to achieve precise lowering of the lifting rope, so as to safely and accurately lift or lower the fire-fighting drone.

[0015] In some embodiments, the target instruction is the lowering of the fire-fighting drone. After controlling the hook to execute the target instruction, the method includes: controlling the luffing arm to return to the initial position by the following method, wherein the luffing arm includes a first luffing arm and a second luffing arm: starting a collection operation instruction; when the luffing arm executes the collection operation instruction and moves along the recovery path, the moving direction and angle of the luffing arm are measured in real time by a rotary encoder and an angle sensor to determine that the luffing arm has reached the initial position.

[0016] Some embodiments of the present application realize intelligent control of the intelligent crane by controlling the first luffing arm and the second luffing arm to automatically retract to the initial position after the fire-fighting drone is lowered, without the need for human intervention and with high efficiency.

[0017] In some embodiments, after controlling the hook to execute the target instruction, the method includes: controlling the rope to return to the rope limit position by the following method: in the process of controlling the rope recovery by executing the recovery operation instruction, determining that the rope has reached the rope limit position based on the data of the rope collection and anti-collision sensor detected in real time; wherein the data of the rope collection and anti-collision sensor include: the length, angle, height and weight of the rope.

[0018] Some embodiments of the present application detect relevant sensor data during the process of recovering the sling rope to ensure that the sling rope reaches the rope limit position, thereby achieving automatic and accurate recovery of the sling rope.

[0019] In the second aspect, some embodiments of the present application provide a device for hoisting a drone in a fire truck, which is applied to an intelligent crane installed on the fire truck, and the device includes: a control module, which is used to control the variable arm of the intelligent crane to reach a specified position according to a preset path, wherein the specified position includes: a set amplitude and a set height of the variable arm; an adjustment module, which is used to adjust the current posture information of the variable arm at the specified position based on preset posture information; a hoisting module, which is used to control the hook of the intelligent crane to execute target instructions under the current posture information, wherein the target instructions include: lifting the fire-fighting drone or lowering the fire-fighting drone.

[0020] In a third aspect, some embodiments of the present application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, can implement the method described in any embodiment of the first aspect.

[0021] In a fourth aspect, some embodiments of the present application provide an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor can implement a method as described in any embodiment of the first aspect when executing the program.

[0022] In a fifth aspect, some embodiments of the present application provide a computer program product, wherein the computer program product comprises a computer program, wherein the computer program, when executed by a processor, can implement the method described in any embodiment of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of some embodiments of the present application, the drawings required for use in some embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 One of the structural diagrams of the intelligent crane provided in some embodiments of the present application;

[0025] Figure 2 A second structural diagram of an intelligent crane provided for some embodiments of the present application;

[0026] Figure 3 A third structural diagram of an intelligent crane provided for some embodiments of the present application;

[0027] Figure 4 A flow chart of a method for hoisting a drone in a fire truck provided for some embodiments of the present application;

[0028] Figure 5 A block diagram of the device composition for hoisting a drone in a fire truck provided in some embodiments of the present application;

[0029] Figure 6 A schematic diagram of an electronic device is provided for some embodiments of the present application. DETAILED DESCRIPTION

[0030] The technical solutions in some embodiments of the present application will be described below in conjunction with the drawings in some embodiments of the present application.

[0031] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0032] In the related art, firefighting drones use external equipment, such as forklifts and cranes, to lift the firefighting drones to the storage position in the car when getting on and off the fire truck. It can be seen that this method is highly dependent on additional equipment conditions. Fire trucks also need to be followed by forklifts and other related equipment when performing tasks, and there will be problems such as limited accident sites and inconvenient operations. In another case, when the fire truck is in an open area and there are no external equipment, the firefighting drone can get on and off the vehicle by taking off and landing, but when the drone fails and cannot take off, this method fails.

[0033] It can be seen from the above-mentioned related technologies that the methods for controlling firefighting drones in the prior art require the use of external equipment for movement, and have high limitations and great difficulty. The control flexibility of firefighting drones is poor and the efficiency is low.

[0034] In view of this, some embodiments of the present application provide a method for hoisting a drone in a fire truck, in which the fire truck used in the method is equipped with an intelligent crane that can be intelligently controlled. Through remote control with one button, the intelligent crane can adjust its own variable arm and posture information according to the preset path and preset posture information so that the hook reaches the lifting position, and then control the hook to automatically execute the target instruction to realize the intelligent hoisting of the fire-fighting drone. Some embodiments of the present application can realize the intelligent hoisting of the fire-fighting drone through the intelligent crane equipped on the fire truck itself, without the need for external equipment and without site restrictions, reducing costs and difficulty, while improving the flexibility and efficiency of the hoisting of the fire-fighting drone.

[0035] The following is combined with Figure 1 , Figure 2 and Figure 3 The overall structure of the intelligent crane provided by some embodiments of the present application is exemplified.

[0036] like Figure 1-3 As shown, some embodiments of the present application provide a structural diagram of an intelligent crane. The intelligent crane includes: an outrigger cylinder 1, an electro-hydraulic proportional multi-way valve 2, a long angle sensor 3 (as a specific example of an angle sensor), a hook 4, a first boom 5 (as a specific example of a first luffing arm), a second boom 6 (as a specific example of a second luffing arm), a wire rope 7 (as a specific example of a lifting rope), a winch 8, a telescopic arm 9, a large gear 10, a rotary encoder 11, a manual multi-way valve 12, a base 13, a rotary cylinder 14, a first luffing cylinder 15, a second luffing cylinder 16, a telescopic cylinder 17, a small gear 18, etc. In addition, the intelligent crane also includes a force limiter and a rope retracting anti-top sensor (not shown in the figure).

[0037] Compared with traditional cranes, the intelligent crane provided in this application replaces the original manual multi-way valve with an electro-hydraulic proportional multi-way valve 2, adds a winch 8, a wire rope 7, a hook 4 and other devices, and adds different types of sensors at each action point. The rotary encoder 11 is located at the connection between the base 13 and a section arm 5, the long angle sensor 3 is located on the outside of the telescopic arm 9, and the cylinder pressure sensor is located at the base of the balance valve of the second variable-length oil cylinder 16.

[0038] The attached embodiments provided by the present application Figure 1-3 The smart crane can be controlled automatically with one button, without human intervention, thus realizing the intelligent lifting of fire-fighting drones.

[0039] In some embodiments of the present application, the force limiter is used to detect the lifting weight; the rotary encoder is used to detect the rotation direction of the variable arm; the angle sensor is used to detect the angle of the variable arm; the rope retraction and anti-top sensor is used to detect the retraction and release parameters of the intelligent crane rope. By setting different types of sensors, the safe lifting and lowering of the fire-fighting drone and the automatic recovery of the variable arm and the rope can be ensured, with a high degree of intelligence, which improves the flexibility and efficiency of the control of the fire-fighting drone.

[0040] For example, after the operator selects the automatic lifting button on the operation terminal, the intelligent crane will automatically unfold above the fire-fighting drone on the ground, and the intelligent crane will lower the hook to the fire-fighting drone to prepare for the lifting operation. The intelligent crane automatically buckles the hook and the sling of the fire-fighting drone, or the ground personnel securely fix the fire-fighting drone with the sling and the hook. The operator controls the intelligent crane to automatically move the fire-fighting drone to the storage position above the fire truck box through the automatic button on the operation terminal. The operator uses the lowering button on the operation terminal to slowly lower the fire-fighting drone to the box platform, and then automatically releases the sling and other fixing devices to fix the fire-fighting drone to the lifting platform in the fire truck. Finally, the operator controls the intelligent crane to automatically retract the luffing arm and the sling to the initial position through the automatic retraction button on the operation terminal. At this point, the lifting and lowering operations of the fire-fighting drone are completed. It should be understood that if the fire-fighting drone needs to be moved from the lifting platform of the fire truck to a certain position on the ground, the implementation principle is similar to the above process, which will not be repeated here.

[0041] The following is combined with Figure 4 The implementation process of hoisting a drone inside a fire truck by a smart crane provided by some embodiments of the present application is exemplified.

[0042] Please see attached Figure 4 , Figure 4 A flow chart of a method for hoisting a drone in a fire truck provided for some embodiments of the present application, the method for hoisting a drone in a fire truck may include:

[0043] S410, controlling the luffing arm of the intelligent crane to reach a specified position according to a preset path, wherein the specified position includes: a set amplitude and a set height of the luffing arm.

[0044] For example, in some embodiments of the present application, when the intelligent crane needs to lift or lower the fire-fighting drone, the operator can operate the "automatic lifting" or "automatic lowering" control button on the terminal device (for example, the remote control panel or the mobile phone login) to make the intelligent crane start working. Specifically, the operator can select or input the location information of the fire-fighting drone on the terminal device, or the intelligent crane can be connected to the fire-fighting drone by wireless means (such as Bluetooth), so that the intelligent crane can directly read the current position of the fire-fighting drone. The intelligent crane can use the path planning algorithm to plan the preset path of the variable arm in advance according to its own position and the current position of the fire-fighting drone. Subsequently, the controller inside the intelligent crane can control the movement of the variable arm according to the preset path, so that the variable arm reaches the specified position (such as the upper position of the fire-fighting drone, or the upper position of the fire-fighting drone). During the movement, the position of the variable arm can also be detected in real time by the sensor, and fine-tuning can be performed in real time in the three directions of the x, y, and z axes, so that the variable arm can reach the specified position at the fastest speed.

[0045] In some embodiments of the present application, S410 may include: real-time detection of the boom posture information and lifting gravity of the variable arm, the lifting gravity being measured by a force limiter; confirming that the boom posture information matches the preset path, and confirming that the lifting gravity does not exceed the safe load of the force limiter.

[0046] For example, in some embodiments of the present application, during the movement of the luffing arm along the preset path, the boom posture information and the lifting gravity of the luffing arm can be detected in real time by sensors; the boom posture information is used to detect whether the luffing action of the luffing arm exceeds the limit (i.e. exceeds the amplitude limit condition); whether the lifting gravity is not overloaded (i.e. does not exceed the safe load), so as to ensure the safe and reliable operation of the intelligent crane. If the limit or overload occurs, the work should be stopped or manual intervention should be performed.

[0047] S420: Based on the preset posture information, adjust the current posture information of the luffing arm at the specified position.

[0048] For example, in some embodiments of the present application, after the luffing arm reaches a specified position, the luffing arm can be fine-tuned according to preset posture information to make the posture information of the luffing arm more accurate.

[0049] In some embodiments of the present application, S420 may include: obtaining a posture error between the preset posture information and the posture information of the luffing arm; and adjusting the luffing arm to the current posture information according to the posture error.

[0050] For example, in some embodiments of the present application, by detecting the error between the posture information of the luffing arm and the preset posture information, it is determined whether the error is within the allowable range. If so, the posture information of the luffing arm is directly used as the current posture information, and the action is completed at this time, and the next action is allowed; otherwise, the luffing arm is fine-tuned according to the error until the error is within the allowable range, and the current posture information of the luffing arm is determined. Among them, the posture information can be characterized by at least two of the length, angle, rotation angle, amplitude and height of the luffing arm, and the embodiments of the present application are not specifically limited here.

[0051] S430, under the current posture information, controlling the hook of the intelligent crane to execute a target instruction, wherein the target instruction includes: lifting a fire-fighting drone or lowering a fire-fighting drone.

[0052] For example, in some embodiments of the present application, when the luffing arm reaches the specified position and the current posture information is adjusted, the firefighting drone can be lifted or lowered by controlling the hook on the lifting rope. For example, by controlling the hook and the sling on the firefighting drone to be fastened, the lifting preparation is made; or by controlling the hook and the sling on the firefighting drone to be unfastened, the lowering is completed.

[0053] The implementation process of S430 is described below by way of example.

[0054] In some embodiments of the present application, when the target instruction is to lift the fire-fighting drone, the first lowering stage is when the height between the end of the lifting rope and the fire-fighting drone is greater than a first threshold; the second lowering stage is when the height between the end of the lifting rope and the fire-fighting drone is not greater than the first threshold; S430 may include: in the first lowering stage, according to preset parameters, controlling the lowering length and lowering speed of the lifting rope connected to the hook; in the second lowering stage, reducing the lowering speed according to preset rules until the lifting rope reaches a preset position; wherein the preset position is the first position for lifting the fire-fighting drone.

[0055] For example, in some embodiments of the present application, in the process of lifting the drone, it is necessary to lower the lifting rope. In order to ensure the safety and stability of the lowering of the lifting rope, it is divided into different lowering stages. The lowering stage is divided by the height between the hook at the end of the lifting rope and the fire-fighting drone. For example, the first threshold is 0.5 meters. When the height between the hook and the fire-fighting drone is greater than 0.5 meters, it is lowered according to the preset parameters; when the height between the hook and the fire-fighting drone is not greater than 0.5 meters, the lowering speed can be gradually reduced (e.g., gradually decelerating according to the set speed), or the lowering speed can be directly adjusted to the set value until the hook reaches the first position for lifting the fire-fighting drone. After lifting the fire-fighting drone, the weight of the heavy object lifted by the intelligent crane is detected. When the weight is the weight of the fire-fighting drone, the lifting action is completed. It can be understood that the first threshold, preset parameters, and preset rules can be flexibly set according to the actual scenario, and the embodiments of the present application are not specifically limited here.

[0056] In other embodiments of the present application, when the target instruction is to lower the fire-fighting drone, the first lowering stage is when the height of the fire truck and the height of the fire-fighting drone are greater than a second threshold; the second lowering stage is when the height of the fire truck and the height of the fire-fighting drone are not greater than the second threshold; S430 may include: in the first lowering stage, according to preset parameters, controlling the lowering length and lowering speed of the lifting rope connected to the hook; in the second lowering stage, reducing the lowering speed according to preset rules until the lifting rope reaches a preset position; wherein the preset position is the second position for lowering the fire-fighting drone.

[0057] For example, in some embodiments of the present application, in the process of lowering the drone, it is necessary to lower the lifting rope. In order to ensure the safety and stability of the lowering of the lifting rope, it is divided into different lowering stages. The lowering stage is divided by the height between the fire truck and the fire drone. For example, the second threshold is 0.5 meters. When the height difference between the height of the fire truck and the fire drone is greater than 0.5 meters, it is lowered according to the preset parameters; when the height difference between the height of the fire truck and the fire drone is not greater than 0.5 meters, the lowering speed can be gradually reduced (e.g., gradually decelerating according to the set speed), or the lowering speed can be directly adjusted to the set value until the fire drone reaches the second position of the fire truck. After the fire drone is lowered, when the weight of the heavy object lifted by the intelligent crane is detected to be 0kg, the lowering action is completed. It can be understood that the second threshold, preset parameters, and preset rules can be flexibly set according to the actual scenario, and the embodiments of the present application are not specifically limited here.

[0058] In some embodiments of the present application, the target instruction is the lowering of the fire-fighting drone. After completing S430, the method for hoisting the drone in the fire truck also includes: controlling the luffing arm to return to the initial position by the following method, wherein the luffing arm includes a first luffing arm and a second luffing arm: starting a collection operation instruction; when the luffing arm executes the collection operation instruction and moves along the recovery path, the moving direction and angle of the luffing arm are measured in real time by the rotary encoder and the angle sensor to determine that the luffing arm has reached the initial position.

[0059] For example, in some embodiments of the present application, after the luffing arm completes the lowering of the fire-fighting drone, the luffing arm can also be automatically retracted. The operator can press the "automatic retraction" button (as a specific example of receiving an operation instruction) and the intelligent crane will perform the operation, or retract it after detecting that the fire-fighting drone has been lowered. Among them, the luffing arm includes a first luffing arm and a second luffing arm. When recycling, the first luffing arm is recycled first and then the second luffing arm. The principle of automatic recycling of the two is the same, so it is explained in a unified manner. Specifically, according to the preset initial position of the intelligent crane, the automatic rotation direction of the luffing arm is controlled, and the rotary encoder is used to determine the moving direction and target direction of the luffing arm, so that the moving direction of the luffing arm moves toward the target direction; in this process, the position of the luffing arm is detected by the angle sensor in real time to perform deceleration protection; after the luffing arm is recovered to a limited position, the direction is automatically rotated according to the rotation position stored above the preset car, so that the luffing arm reaches the limit (i.e., the initial position), and automatic centering is performed by detecting the encoder position on the luffing arm (the centering detection switch is on at this time). After the centering is completed, that is, when the sensor data at the initial position is normal, the action is completed.

[0060] In some embodiments of the present application, after completing S430, the method for hoisting a drone in a fire truck also includes: controlling the lifting rope to return to the lifting rope limit position by the following method: in the process of controlling the recovery of the lifting rope by executing a recovery operation instruction, determining that the lifting rope has reached the lifting rope limit position based on data from a rope-collecting and anti-top-impact sensor detected in real time; wherein the data from the rope-collecting and anti-top-impact sensor include: the length, angle, height and weight of the lifting rope.

[0061] For example, in some embodiments of the present application, the operator can click a button to start the automatic recovery operation instruction of the lifting rope to automatically recover the lifting rope. During the automatic recovery process, the lifting rope anti-collision sensor is detected in real time, and then the action return sensor is used to make the lifting rope reach the limit position and complete the lifting rope recovery action. Among them, the lifting rope anti-collision sensor can detect the length, rotation angle, height, pressure and weight of the lifting rope.

[0062] Please refer to Figure 5 , Figure 5The block diagram of the composition of the device for hoisting a drone in a fire truck provided by some embodiments of the present application is shown. It should be understood that the device for hoisting a drone in a fire truck corresponds to the above method embodiment and can perform each step involved in the above method embodiment. The specific functions of the device for hoisting a drone in a fire truck can be found in the description above. To avoid repetition, the detailed description is appropriately omitted here.

[0063] Figure 5 The device for hoisting a drone in a fire truck includes at least one software function module that can be stored in a memory in the form of software or firmware or solidified in the device for hoisting a drone in a fire truck. The device for hoisting a drone in a fire truck is applied to an intelligent crane installed on a fire truck, including: a control module 510, used to control the variable arm of the intelligent crane to reach a specified position according to a preset path, wherein the specified position includes: a set amplitude and a set height of the variable arm; an adjustment module 520, used to adjust the current posture information of the variable arm at the specified position based on preset posture information; a hoisting module 530, used to control the hook of the intelligent crane to execute a target instruction under the current posture information, wherein the target instruction includes: hoisting a fire-fighting drone or lowering a fire-fighting drone.

[0064] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the device described above can refer to the corresponding process in the aforementioned method, and will not be described in detail here.

[0065] Some embodiments of the present application further provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, can implement the operations of the method corresponding to any of the above methods provided in the above embodiments.

[0066] Some embodiments of the present application further provide a computer program product, which includes a computer program, wherein when the computer program is executed by a processor, it can implement the operations corresponding to any of the above methods provided in the above embodiments.

[0067] like Figure 6 As shown, some embodiments of the present application provide an electronic device 600, which includes: a memory 610, a processor 620, and a computer program stored in the memory 610 and executable on the processor 620, wherein the processor 620 can implement a method as described in any of the above embodiments when reading the program from the memory 610 through a bus 630 and executing the program.

[0068] Processor 620 can process digital signals and can include various computing structures, such as complex instruction set computer structure, reduced instruction set computer structure, or a structure that implements a combination of multiple instruction sets. In some examples, processor 620 can be a microprocessor.

[0069] The memory 610 may be used to store instructions executed by the processor 620 or data related to the execution of instructions. These instructions and / or data may include codes for implementing some or all functions of one or more modules described in the embodiments of the present application. The processor 620 of the disclosed embodiment may be used to execute instructions in the memory 610 to implement the method shown above. The memory 610 includes a dynamic random access memory, a static random access memory, a flash memory, an optical memory, or other memory known to those skilled in the art.

[0070] The above description is only an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0071] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0072] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. A method for hoisting a drone in a fire truck, characterized in that: The method is applied to an intelligent crane installed on a fire truck; the method comprises: According to a preset path, the luffing arm of the intelligent crane is controlled to reach a specified position, wherein the specified position includes: a set amplitude and a set height of the luffing arm; Based on the preset posture information, adjusting the current posture information of the luffing arm at the specified position; Under the current posture information, the hook of the intelligent crane is controlled to execute a target instruction, wherein the target instruction includes: lifting a fire-fighting drone or lowering a fire-fighting drone.

2. The method according to claim 1, characterized in that The intelligent crane also includes: a force limiter, a rotary encoder, an angle sensor, and a rope-collecting and anti-top-impact sensor; the force limiter is used to detect the lifting weight; the rotary encoder is used to detect the rotation direction of the variable-length arm; the angle sensor is used to detect the angle of the variable-length arm; the rope-collecting and anti-top-impact sensor is used to detect the retraction and extension parameters of the lifting rope of the intelligent crane.

3. The method according to claim 2, characterized in that In the process of controlling the luffing arm to reach a specified position, the method further includes: Real-time detection of the arm posture information and lifting gravity of the luffing arm, wherein the lifting gravity is measured by a force limiter; Confirm that the boom posture information matches the preset path, and confirm that the lifting gravity does not exceed the safe load of the force limiter.

4. The method according to any one of claims 1 to 3, characterized in that The adjusting the current posture information of the luffing arm at the specified position based on the preset posture information includes: Acquire the posture error between the preset posture information and the posture information of the luffing arm; The luffing arm is adjusted to the current posture information according to the posture error.

5. The method according to any one of claims 1 to 3, characterized in that The controlling the hook to execute the target instruction comprises: In the first lowering stage, the lowering length and lowering speed of the lifting rope connected to the lifting hook are controlled according to preset parameters; In the second lowering stage, the lowering speed is reduced according to a preset rule until the lifting rope reaches a preset position; wherein the preset position is the first position for lifting the firefighting drone or the second position for lowering the firefighting drone; When the target instruction is to lift the firefighting drone, the first lowering stage is when the height between the end of the lifting rope and the firefighting drone is greater than a first threshold; the second lowering stage is when the height between the end of the lifting rope and the firefighting drone is not greater than the first threshold; When the target instruction is to lower the fire-fighting drone, the first lowering stage is when the height of the fire truck and the height of the fire-fighting drone are greater than a second threshold; the second lowering stage is when the height of the fire truck and the height of the fire-fighting drone are not greater than the second threshold.

6. The method according to claim 2 or 3, characterized in that: The target instruction is to lower the firefighting drone. After controlling the hook to execute the target instruction, the method includes: The luffing arm is controlled to return to the initial position by the following method, wherein the luffing arm includes a first luffing arm and a second luffing arm: Start receiving operation instructions; When the luffing arm executes the collecting operation instruction and moves along the recovery path, the moving direction and angle of the luffing arm are measured in real time by the rotary encoder and the angle sensor to determine that the luffing arm has reached the initial position.

7. The method according to claim 2 or 3, characterized in that: After controlling the hook to execute the target instruction, the method includes: controlling the rope to return to the rope limit position by the following method: In the process of controlling the recovery of the lifting rope by executing the recovery operation instruction, it is determined that the lifting rope reaches the lifting rope limit position based on the data of the rope-collecting and anti-collision sensor detected in real time; wherein the data of the rope-collecting and anti-collision sensor include: the length, angle, height and weight of the lifting rope.

8. A device for hoisting a drone in a fire truck, characterized in that: The device is applied to an intelligent crane installed on a fire truck; the device comprises: A control module, used to control the luffing arm of the intelligent crane to reach a specified position according to a preset path, wherein the specified position includes: a set amplitude and a set height of the luffing arm; An adjustment module, used for adjusting the current posture information of the luffing arm at the specified position based on preset posture information; The hoisting module is used to control the hook of the intelligent crane to execute the target instruction under the current posture information, wherein the target instruction includes: hoisting the fire-fighting drone or lowering the fire-fighting drone.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program executes the method according to any one of claims 1 to 7 when executed by a processor.

10. An electronic device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the computer program executes the method according to any one of claims 1 to 7 when being run by the processor.

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