Fire fighting truck and control method thereof

Abstract

The invention provides a fire fighting truck and a control method thereof. The fire fighting truck comprises a truck body; a boom; the fire monitor is mounted on the arm support and is configured to spray a fire extinguishing medium; the posture detection device is configured to detect posture information of the arm support; the control device comprises a storage part and a control part, a plurality of groups of operation curves are stored in the storage part, and the different groups of operation curves are used for representing the corresponding relation of the amplitude of the arm support, the injection flow of the fire monitor, the injection pressure of the fire monitor and the tipping moment of the arm support when the fire fighting truck adopts different types of fire extinguishing media to execute fire extinguishing operation. And the control part is in communication connection with the posture detection device and the storage part, and the control part is configured to obtain the amplitude of the arm support according to the posture of the arm support and send an action control instruction to the arm support according to one set of operation curves so that the amplitude of the arm support can be within the safe operation range. The fire fighting truck and the control method thereof disclosed by the invention can adapt to multi-working-condition operation requirements.

Description

Technical Field

[0001] The present disclosure relates to the technical field of emergency rescue vehicles, and particularly to a fire truck and a control method thereof. Background Art

[0002] An elevated turret fire truck is a fire truck equipped with a compressed air foam system. The foam system consists of a foam pump, a foam generating or spraying device, a foam liquid tank, pipelines, etc. installed on the fire truck. Among them, the foam pump transports the foam liquid to the foam mixing device, mixes the foam liquid and water in a set ratio, and then sprays the mixture through the spraying device. Therefore, the fire truck can spray different types of fire extinguishing media.

[0003] However, the amplitude control mode of the current elevated turret fire truck is single and cannot meet the multi-condition operation requirements. Summary of the Invention

[0004] The purpose of the present disclosure is to provide a fire truck and a control method thereof to adapt to the multi-condition operation requirements.

[0005] The first aspect of the present disclosure provides a fire truck, including:

[0006] A vehicle body;

[0007] An arm, whose attitude relative to the vehicle body is adjustable;

[0008] A fire cannon, installed on the arm and configured to spray a fire extinguishing medium;

[0009] An attitude detection device, configured to detect the attitude information of the arm; and

[0010] A control device, including a storage part and a control part. The storage part stores multiple groups of operation curves. Each group of the operation curves includes at least one of the operation curves. Different groups of the operation curves are used to represent the corresponding relationships among the amplitude of the arm, the spraying flow rate of the fire cannon, the spraying pressure of the fire cannon, and the tipping moment of the arm when the fire truck uses different types of fire extinguishing media to perform fire extinguishing operations, so as to define the safe operation range where the arm does not tip over. The control part is communicatively connected to the attitude detection device and the storage part, and is configured to obtain the amplitude of the arm according to the attitude of the arm, and send an action control instruction to the arm according to one of the groups of operation curves, so that the amplitude of the arm is within the safe operation range.

[0011] According to some embodiments of the present disclosure, the multiple groups of operation curves include:

[0012] A first operation curve, used to represent the corresponding relationship when the fire truck uses water as the fire extinguishing medium; and / or

[0013] A second operation curve, which is used to represent the corresponding relationship when the fire truck uses foam liquid as the fire extinguishing medium; and / or

[0014] A third operation curve, which is used to represent the corresponding relationship when the fire truck uses a mixture of compressed air and foam liquid as the fire extinguishing medium.

[0015] According to some embodiments of the present disclosure, multiple groups of the operation curves include at least two groups of the third operation curves, and different groups of the third operation curves are used to represent the corresponding relationship when the fire truck uses the mixture formed by mixing compressed air and foam liquid in different proportions as the fire extinguishing medium.

[0016] According to some embodiments of the present disclosure,

[0017] The control unit has an amplitude limit mode. At least one of the operation curves in at least one group of the operation curves includes an amplitude limit curve. In the amplitude limit mode, the control unit is configured to send the motion control instruction to the boom according to the amplitude limit curve in one of the groups of the operation curves, so that the amplitude of the boom is within the safe operation range defined by the amplitude limit curve. Wherein, the amplitude limit curve is used to represent the corresponding relationship when the injection pressure of the fire fighting cannon and the injection flow rate of the fire fighting cannon take the maximum value; and / or

[0018] The control unit has a flow rate limit mode. At least one of the operation curves in at least one group of the operation curves includes a flow rate limit curve. In the flow rate limit mode, the control unit is configured to send the motion control instruction to the boom according to the flow rate limit curve in one of the groups of the operation curves, so that the amplitude of the boom is within the safe operation range defined by the flow rate limit curve. Wherein, the flow rate limit curve is used to represent the corresponding relationship when the amplitude of the boom takes a preset value.

[0019] According to some embodiments of the present disclosure, at least one group of the operation curves includes multiple flow rate limit curves, and different flow rate limit curves are used to represent the corresponding relationship when the amplitude of the boom takes different preset values.

[0020] According to some embodiments of the present disclosure, a control mode selection unit is included. The control mode selection unit is communicatively connected to the control unit and is configured to perform a control mode selection operation. The control unit is configured to be in the amplitude limit mode or the flow rate limit mode in response to the control mode selection operation.

[0021] According to some embodiments of the present disclosure, it includes a fire extinguishing medium selection unit, which is communicatively connected to the control unit and configured to perform a fire extinguishing medium selection operation. The control unit is configured to determine the fire extinguishing medium in response to the fire extinguishing medium selection operation, determine a corresponding set of the operation curves according to the determined fire extinguishing medium, and cause the fire monitor to spray the determined fire extinguishing medium.

[0022] According to some embodiments of the present disclosure,

[0023] The boom includes a main boom and a curved boom. The main boom is telescopically arranged along its own length direction. The first end of the main boom is hinged to the vehicle body, the second end of the main boom is hinged to the first end of the curved boom, and the fire monitor is installed at the second end of the curved boom;

[0024] The attitude detection device includes at least one of the following: a main boom length sensor, a curved boom length sensor, a main boom angle sensor, a curved boom angle sensor, and a turntable slewing angle sensor. The main boom length sensor is configured to detect the length of the main boom, the curved boom length sensor is configured to detect the length of the curved boom, the main boom angle sensor is configured to detect the pitching angle of the main boom relative to the vehicle body, the curved boom angle sensor is configured to detect the pitching angle of the curved boom relative to the main boom, and the turntable slewing angle sensor is configured to detect the slewing angle of the main boom relative to the vehicle body.

[0025] According to some embodiments of the present disclosure,

[0026] The fire truck includes a fire monitor flow sensor and a fire monitor pressure sensor. The fire monitor flow sensor is configured to detect the spraying flow rate of the fire extinguishing medium, the fire monitor pressure sensor is configured to detect the spraying pressure of the fire extinguishing medium, and the control unit is communicatively connected to the fire monitor flow sensor and the fire monitor pressure sensor and configured to obtain the spraying reaction force of the fire monitor according to the spraying flow rate and the spraying pressure; and / or

[0027] The fire truck includes a fire monitor reaction force sensor, and the fire monitor reaction force sensor is configured to detect the spraying reaction force of the fire monitor.

[0028] A second aspect of the present disclosure provides a control method for the fire truck according to the first aspect of the present disclosure, including:

[0029] Determine the fire extinguishing medium required for performing a fire extinguishing operation;

[0030] Determine a corresponding set of the operation curves according to the determined fire extinguishing medium;

[0031] Perform the boom movement according to a determined set of the operation curves so that the amplitude of the boom is within the safe operation range defined by the operation curves.

[0032] According to some embodiments of the present disclosure, it includes: performing the boom movement according to the amplitude limit curve in the determined set of the operation curves so that the amplitude of the boom is within the safe operation range defined by the amplitude limit curve, where the amplitude limit curve is used to represent the corresponding relationship when the injection pressure of the fire monitor and the injection flow rate of the fire monitor take the maximum values.

[0033] According to some embodiments of the present disclosure, it includes: performing the boom movement according to the flow rate limit curve in the determined set of the operation curves so that the amplitude of the boom is within the safe operation range defined by the flow rate limit curve, where the flow rate limit curve is used to represent the corresponding relationship when the amplitude of the boom takes a preset value.

[0034] When the fire truck provided by the present disclosure performs fire extinguishing operations, it can select a corresponding set of operation curves from multiple sets of operation curves according to the type of the fire extinguishing medium, and control the movement of the boom according to the selected set of operation curves to limit the amplitude of the boom within the safe operation range. For different fire extinguishing media, the fire truck can select different operation curves to form multiple different amplitude control modes, so as to meet the operation requirements of multiple working conditions and improve the adaptability of the fire truck to different fire extinguishing operation scenarios.

[0035] The control method of the fire truck provided by the present disclosure has the advantages of the aforementioned fire truck.

[0036] Through the following detailed description of the exemplary embodiments of the present disclosure with reference to the accompanying drawings, other features and advantages of the present disclosure will become clear. Description of the Drawings

[0037] The accompanying drawings described herein are used to provide a further understanding of the present disclosure, and constitute a part of this application. The schematic embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation to the present disclosure. In the drawings:

[0038] Figure 1 It is a schematic structural diagram of a fire truck according to some embodiments of the present disclosure.

[0039] Figure 2 It is a schematic structural diagram of the boom of a fire truck according to some embodiments of the present disclosure.

[0040] Figure 3 It is a schematic diagram of the principle of the control system of a fire truck according to some embodiments of the present disclosure.

[0041] Figure 4 isFigure 3 The shown control system is a schematic diagram of the control process based on different fire extinguishing media.

[0042] Figure 5 For Figure 3 The shown control system is a schematic diagram of the control process based on different control modes.

[0043] Figures 1 to 5 In [the figure], each reference numeral represents respectively:

[0044] 11, vehicle body; 12, outriggers; 2, boom; 21, main boom; 22, articulated boom; 3, fire monitor; 41, main boom length sensor; 42, articulated boom length sensor; 43, main boom angle sensor; 44, articulated boom angle sensor; 45, slewing platform slewing angle sensor; 5, control device; 61, fire monitor flow sensor; 62, fire monitor pressure sensor; 63, fire monitor reaction force sensor; 64, air flow sensor; 65, air pressure sensor; 66, foam liquid flow sensor; 7, slewing platform; 8, fire pipeline; 9, human-machine interaction display. Detailed implementation manners

[0045] Next, the technical solutions in the embodiments of the present disclosure will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. The description of at least one exemplary embodiment is actually only illustrative and in no way limits the present disclosure and its application or use. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present disclosure.

[0046] Unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps described in these embodiments do not limit the scope of the present disclosure. At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn in actual proportional relationships. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, these technologies, methods, and devices should be regarded as part of the description. In all the examples shown and discussed here, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0047] In the description of the present disclosure, it should be understood that when using terms such as "first" and "second" to limit components, it is only for the convenience of distinguishing the corresponding components. Without additional statements, these terms have no special meaning, so it cannot be understood as a limitation on the protection scope of the present disclosure.

[0048] In the description of the present disclosure, it should be understood that the orientation or positional relationship indicated by orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom", etc. is usually based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present disclosure and simplifying the description. Without contrary explanations, these orientation words do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the protection scope of the present disclosure; the orientation words "inside, outside" refer to the inside and outside relative to the contour of each component itself.

[0049] Reference Figures 1 to 5 , some embodiments of the present disclosure provide a fire truck, including a vehicle body 11, a boom 2, a fire cannon 3, an attitude detection device and a control device 5.

[0050] The attitude of the boom 2 relative to the vehicle body 11 is adjustable. The fire cannon 3 is installed on the boom 2 and is configured to spray a fire extinguishing medium. The attitude detection device is configured to detect the attitude information of the boom 2. The control device 5 includes a storage unit and a control unit. The storage unit stores multiple sets of operation curves. Each set of operation curves includes at least one operation curve. Different sets of operation curves are used to represent the corresponding relationships between the amplitude of the boom 2, the spraying flow rate of the fire cannon 3, the spraying pressure of the fire cannon 3 and the tipping moment of the boom 2 when the fire truck performs fire extinguishing operations using different types of fire extinguishing media, so as to define the safe operation range where the boom 2 does not tip over. The control unit is communicatively connected to the attitude detection device and the storage unit. The control unit is configured to obtain the amplitude of the boom 2 according to the attitude of the boom 2, and send an action control instruction to the boom 2 according to one set of operation curves, so that the amplitude of the boom 2 is within the safe operation range.

[0051] When the fire truck provided by the embodiment of the present disclosure performs a fire extinguishing operation, it can select a corresponding set of operation curves from multiple sets of operation curves according to the type of the fire extinguishing medium, and control the movement of the boom according to the selected set of operation curves to limit the amplitude of the boom within the safe operation range. For different fire extinguishing media, the fire truck can select different operation curves to form multiple different amplitude control modes, so as to meet the operation requirements of multiple working conditions and improve the adaptability of the fire truck to different fire extinguishing operation scenarios.

[0052] In some embodiments, reference Figures 1 to 3, the boom 2 includes a main boom 21 and a curved boom 22. The main boom 21 is telescopically arranged along its own length direction. The first end of the main boom 21 is hinged to the vehicle body 11, the second end of the main boom 21 is hinged to the first end of the curved boom 22, and the fire cannon 3 is installed at the second end of the curved boom 22. The attitude detection device includes at least one of the following: a main boom length sensor 41, a curved boom length sensor 42, a main boom angle sensor 43, a curved boom angle sensor 44, and a turntable slewing angle sensor 45. The main boom length sensor 41 is configured to detect the length of the main boom 21, the curved boom length sensor 42 is configured to detect the length of the curved boom 22, the main boom angle sensor 43 is configured to detect the pitching angle of the main boom 21 relative to the vehicle body 11, the curved boom angle sensor 44 is configured to detect the pitching angle of the curved boom 22 relative to the main boom 21, and the turntable slewing angle sensor 45 is configured to detect the slewing angle of the main boom 21 relative to the vehicle body 11.

[0053] Optionally, referring to Figure 1 , the fire truck further includes outriggers 12 and a turntable 7 installed on the vehicle body 11, and a fire pipeline 8 connected to the fire cannon 3. The first end of the main boom 21 is hinged to the turntable 7 around a horizontal axis, and the turntable 7 is hinged to the rear part of the vehicle body 11 around a vertical axis.

[0054] In the above embodiments, the boom actions include the telescoping of the main boom 21, the telescoping of the curved boom 22, the luffing of the main boom 21, the slewing of the main boom 21, and the luffing of the curved boom 22. Correspondingly, the attitude information of the boom 2 includes the length of the main boom 21, the length of the curved boom 22, the pitching angle of the main boom 21 relative to the vehicle body 11, the slewing angle of the main boom 21 relative to the vehicle body 11, and the pitching angle of the curved boom 22 relative to the main boom 21. Optionally, the fire truck includes a plurality of control valves communicatively connected to the control device 5, and the plurality of control valves are configured to control the boom actions according to the action control instructions.

[0055] In some embodiments, referring to Figure 3 , the fire truck includes a fire cannon flow sensor 61 and a fire cannon pressure sensor 62. The fire cannon flow sensor 61 is configured to detect the injection flow rate of the extinguishing medium, the fire cannon pressure sensor 62 is configured to detect the injection pressure of the extinguishing medium, and the control unit is communicatively connected to the fire cannon flow sensor 61 and the fire cannon pressure sensor 62 and is configured to obtain the injection reaction force of the fire cannon 3 according to the injection flow rate and the injection pressure.

[0056] The injection reaction force of the fire cannon 3 can be specifically calculated by the following formula:

[0057]

[0058] In the formula, F represents the injection reaction force of the fire cannon 3, D represents the diameter of the outlet of the fire cannon 3, P represents the injection pressure of the fire cannon 3, that is, the pressure of the extinguishing medium at the outlet of the fire cannon 3, and Q represents the injection flow rate of the fire cannon 3.

[0059] In some embodiments, the fire truck includes a reaction force sensor 63 for the fire monitor, and the reaction force sensor 63 for the fire monitor is configured to detect the jet reaction force of the fire monitor 3.

[0060] In some embodiments, referring to Figure 3 , the fire truck includes a combination of a flow rate sensor 61 for the fire monitor, a pressure sensor 62 for the fire monitor, and a reaction force sensor 63 for the fire monitor. Optionally, the fire truck further includes an air flow rate sensor 64, an air pressure sensor 65, and a foam liquid flow rate sensor 66 to obtain information such as the mixing ratio of the compressed gas and the foam liquid.

[0061] Figure 2 The working state of the boom 2 when the fire truck is performing a jet fire extinguishing operation is shown. The control device 5 calculates the amplitude of the boom 2 based on attitude information such as the length of the main boom 21, the length of the articulated boom 22, the pitching angle of the main boom 21 relative to the vehicle body 11, the slewing angle of the main boom 21 relative to the vehicle body 11, and the pitching angle of the articulated boom 22 relative to the main boom 21, and calculates the jet reaction force based on the jet flow rate, jet pressure, and jet direction of the fire monitor 3, and thus the tipping moment of the corresponding boom 2 can be further calculated. Optionally, the fire truck includes an alarm device, and the alarm device is communicatively connected to the control unit, and the control unit is configured to issue an alarm signal if the amplitude of the boom 2 approaches the safe operation range to prompt the vehicle operator.

[0062] In some embodiments, referring to Figure 4 , the multiple sets of operation curves include at least one of the following: a first operation curve, a second operation curve, and a third operation curve. The first operation curve is used to represent the corresponding relationship when the fire truck uses water as the fire extinguishing medium. The second operation curve is used to represent the corresponding relationship when the fire truck uses foam liquid as the fire extinguishing medium. The third operation curve is used to represent the corresponding relationship when the fire truck uses a mixture of compressed air and foam liquid as the fire extinguishing medium.

[0063] In the above embodiments, the first operation curve, the second operation curve, and the third operation curve can respectively limit the safe operation range of the boom 2 when the fire truck uses water, foam liquid, and a mixture of compressed air and foam liquid as the fire extinguishing medium. Due to the foam liquid and the mixture of compressed air and foam liquid, the multiple sets of operation curves may include at least two second operation curves and at least two third operation curves.

[0064] Considering that the proportion of compressed air in the mixture has a great influence on the jet reaction force of the fire monitor 3, in some embodiments, the multiple sets of operation curves include at least two third operation curves, and different sets of the third operation curves are used to represent the corresponding relationship when the fire truck uses mixtures formed by mixing compressed air and foam liquid in different proportions as the fire extinguishing medium.

[0065] The fire trucks of some embodiments of the present disclosure provide different control modes. In different control modes, the constraint conditions for the amplitude control of the boom 2 are different.

[0066] In some embodiments, referring to Figure 5 , the control unit has an amplitude limit mode. At least one working curve of at least one set of working curves includes an amplitude limit curve. In the amplitude limit mode, the control unit is configured to send an action control instruction to the boom 2 according to the amplitude limit curve in one of the sets of working curves, so that the amplitude of the boom 2 is within the safe working range defined by the amplitude limit curve. Among them, the amplitude limit curve is used to represent the corresponding relationship when the injection pressure of the fire fighting cannon 3 and the injection flow rate of the fire fighting cannon 3 take the maximum values.

[0067] If the operation scenario of the fire truck has a high demand for the flow rate and pressure of the fire extinguishing medium, the control unit can be in the amplitude limit mode. In the amplitude limit mode, the control unit controls the boom movement according to the amplitude limit curve. The injection flow rate of the fire fighting cannon 3 can be adjusted between 0 and Q1, and the injection pressure of the fire fighting cannon 3 can be adjusted between 0 and P1. The fire fighting cannon 3 can spray the fire extinguishing medium in a large flow rate and high pressure manner. The range and injection reaction force of the fire extinguishing medium are large, and the upper limit that the amplitude of the boom 2 can reach is small.

[0068] In some embodiments, referring to Figure 5 , the control unit has a flow rate limit mode. At least one set of working curves includes a flow rate limit curve. In the flow rate limit mode, the control unit is configured to send an action control instruction to the boom 2 according to the flow rate limit curve in one of the sets of working curves, so that the amplitude of the boom 2 is within the safe working range defined by the flow rate limit curve. Among them, the flow rate limit curve is used to represent the corresponding relationship when the amplitude of the boom 2 takes a preset value.

[0069] If the operation scenario of the fire truck does not require a large flow rate of the fire extinguishing medium, but has higher requirements for the amplitude of the boom, for example, when the operation scenario is fire field cooling or residential fire fighting, the control unit can be in the flow rate limit mode. In the flow rate limit mode, the control unit controls the boom movement according to the flow rate limit curve. The amplitude of the boom 2 can be adjusted between 0 and the preset value. The preset value of the amplitude of the boom 2 can be determined according to the specific requirements of the operation scenario. When the preset value is large, the boom 2 can reach a larger amplitude, and the upper limits that the injection pressure and injection flow rate of the fire fighting cannon 3 can reach are small.

[0070] In some embodiments, the control unit has an amplitude limit mode and a flow rate limit mode. The two modes respectively have the advantages of a long range of the fire extinguishing medium and a large amplitude of the boom. Through the selection and switching of the two modes, the fire truck can adopt a more optimized operation plan for different operation scenarios, which is beneficial to better meet the actual operation needs and improve the operation efficiency and adaptability of the fire truck.

[0071] In some embodiments, at least one set of working curves includes a plurality of flow rate limiting curves, and different flow rate limiting curves are used to represent the corresponding relationships when different preset values are taken for the amplitude of the boom 2.

[0072] Optionally, referring to Figure 5 , the plurality of flow rate limiting curves include a first flow rate limiting curve, a second flow rate limiting curve, and a third flow rate limiting curve for different working scenarios. When controlling the movement of the boom 2 according to the first flow rate limiting curve, the second flow rate limiting curve, and the third flow rate limiting curve, the spraying flow rates of the fire monitor 3 can reach Q2, Q3, and Q4 respectively, and are all less than Q1, and the spraying pressures of the fire monitor 3 can reach P2, P3, and P4 respectively, and are all less than P1.

[0073] In some embodiments, the fire truck includes a control mode selection unit, which is communicatively connected to the control unit and is configured to perform a control mode selection operation. The control unit is configured to be in an amplitude limiting mode or a flow rate limiting mode in response to the control mode selection operation.

[0074] In some embodiments, the fire truck includes a fire extinguishing medium selection unit, which is communicatively connected to the control unit and is configured to perform a fire extinguishing medium selection operation. The control unit is configured to determine the fire extinguishing medium in response to the fire extinguishing medium selection operation, determine a corresponding set of working curves according to the determined fire extinguishing medium, and cause the fire monitor 3 to spray the determined fire extinguishing medium.

[0075] Optionally, the above-mentioned fire extinguishing medium selection unit and control mode selection unit may adopt electrical components such as buttons. Optionally, the fire extinguishing medium selection unit includes a first selection unit, a second selection unit, and a third selection unit. The control unit determines that the fire extinguishing medium is water in response to the fire extinguishing medium selection operation of the first selection unit, determines the working curve as the first working curve, and causes the fire monitor 3 to spray water; the control unit determines that the fire extinguishing medium is foam liquid in response to the fire extinguishing medium selection operation of the second selection unit, determines the working curve as the second working curve, and causes the fire monitor 3 to spray foam liquid; the control unit determines that the fire extinguishing medium is a mixture of compressed air and foam liquid in response to the fire extinguishing medium selection operation of the third selection unit, determines the working curve as the third working curve, and causes the fire monitor 3 to spray the mixture of compressed air and foam liquid.

[0076] Optionally, referring to Figure 3, the fire truck includes a human-machine interaction display 9, which is signal-connected to the control device 5. The fire extinguishing medium selection unit and the control mode selection unit can also be provided on the human-machine interaction display 9. Optionally, the control mode selection unit includes a fifth selection unit and a sixth selection unit. The control unit is in the amplitude limit mode in response to the control mode selection operation of the fifth selection unit, and the control unit is in the flow rate limit mode in response to the control mode selection operation of the sixth selection unit.

[0077] Reference Figure 4 and Figure 5 , some embodiments of the present disclosure also provide a control method for a fire truck provided by the embodiments of the present disclosure, including: determining the fire extinguishing medium required for performing a fire extinguishing operation; determining a corresponding set of operation curves according to the determined fire extinguishing medium; performing boom movements according to the determined set of operation curves so that the amplitude of the boom 2 is within the safe operation range defined by the operation curves.

[0078] The control method for the fire truck provided by the embodiments of the present disclosure has the advantages of the aforementioned fire truck.

[0079] In some embodiments, reference Figure 5 , the control method includes: performing boom movements according to the amplitude limit curve in the determined set of operation curves so that the amplitude of the boom 2 is within the safe operation range defined by the amplitude limit curve, where the amplitude limit curve is used to represent the corresponding relationship when the injection pressure of the fire fighting gun 3 and the injection flow rate of the fire fighting gun 3 take the maximum values.

[0080] In some embodiments, reference Figure 5 , the control method includes: performing boom movements according to the flow rate limit curve in the determined set of operation curves so that the amplitude of the boom 2 is within the safe operation range defined by the flow rate limit curve, where the flow rate limit curve is used to represent the corresponding relationship when the amplitude of the boom 2 takes a preset value.

[0081] In some embodiments, the control device described above can be implemented as a general-purpose processor, a programmable logic controller (PLC for short), a digital signal processor (DSP for short), an application-specific integrated circuit (ASIC for short), a field-programmable gate array (FPGA for short), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or any suitable combination thereof for performing the functions described in the present disclosure.

[0082] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure and are not intended to limit them; although the present disclosure has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that modifications can still be made to the specific implementation manners of the present disclosure or equivalent replacements can be made to some technical features, and they should all be covered within the scope of the technical solutions claimed by the present disclosure.

Claims

1. A fire truck, characterized in that, Comprising: A vehicle body (11); A boom (2) whose attitude relative to the vehicle body (11) is adjustable; A fire fighting gun (3) installed on the boom (2) and configured to spray a fire extinguishing medium; An attitude detection device configured to detect the attitude information of the boom (2); And A control device (5) including a storage unit and a control unit. The storage unit stores multiple groups of operation curves. Each group of the operation curves includes at least one of such operation curves. Different groups of the operation curves are used to represent the corresponding relationships among the amplitude of the boom (2), the spraying flow rate of the fire fighting gun (3), the spraying pressure of the fire fighting gun (3), and the tipping moment of the boom (2) when the fire truck performs a fire extinguishing operation using different types of fire extinguishing media, so as to define a safe operation range where the boom (2) does not tip over. The control unit is communicatively connected to the attitude detection device and the storage unit, and is configured to obtain the amplitude of the boom (2) according to the attitude of the boom (2), and send an action control instruction to the boom (2) according to one of the groups of operation curves, so that the amplitude of the boom (2) is within the safe operation range.

2. The fire truck according to claim 1, characterized in that, The multiple groups of operation curves include: A first operation curve for representing the corresponding relationship when the fire truck uses water as the fire extinguishing medium; and / or A second operation curve for representing the corresponding relationship when the fire truck uses foam liquid as the fire extinguishing medium; and / or A third operation curve for representing the corresponding relationship when the fire truck uses a mixture of compressed air and foam liquid as the fire extinguishing medium.

3. The fire truck according to claim 2, characterized in that, The multiple groups of operation curves include at least two groups of the third operation curves. Different groups of the third operation curves are used to represent the corresponding relationships when the fire truck uses the mixture formed by mixing compressed air and foam liquid in different proportions as the fire extinguishing medium.

4. The fire truck according to claim 1, wherein The control unit has an amplitude limit mode. At least one of the operation curves in at least one group of the operation curves includes an amplitude limit curve. In the amplitude limit mode, the control unit is configured to send the action control instruction to the boom (2) according to the amplitude limit curve in one of the groups of operation curves, so that the amplitude of the boom (2) is within the safe operation range defined by the amplitude limit curve. Wherein, the amplitude limit curve is used to represent the corresponding relationship when the spraying pressure and the spraying flow rate of the fire fighting gun (3) take the maximum values; and / or The control unit has a flow rate limit mode. At least one of the operation curves in at least one group of the operation curves includes a flow rate limit curve. In the flow rate limit mode, the control unit is configured to send the action control instruction to the boom (2) according to the flow rate limit curve in one of the groups of operation curves, so that the amplitude of the boom (2) is within the safe operation range defined by the flow rate limit curve. Wherein, the flow rate limit curve is used to represent the corresponding relationship when the amplitude of the boom (2) takes a preset value.

5. The fire truck according to claim 4, characterized in that, At least one set of the operation curves includes a plurality of the flow rate limiting curves, and different ones of the flow rate limiting curves are used to represent the corresponding relationships when the amplitude of the boom (2) takes different preset values.

6. The fire truck according to claim 4, characterized in that, It includes a control mode selection unit, the control mode selection unit is communicatively connected to the control unit and is configured to perform a control mode selection operation, and the control unit is configured to be in the amplitude limiting mode or the flow rate limiting mode in response to the control mode selection operation.

7. The fire truck according to any one of claims 1 to 6, characterized in that, It includes a fire extinguishing medium selection unit, the fire extinguishing medium selection unit is communicatively connected to the control unit and is configured to perform a fire extinguishing medium selection operation, and the control unit is configured to determine the fire extinguishing medium in response to the fire extinguishing medium selection operation, determine a corresponding set of the operation curves according to the determined fire extinguishing medium, and cause the fire monitor (3) to spray the determined fire extinguishing medium.

8. The fire truck according to any one of claims 1 to 6, characterized in that The boom (2) includes a main boom (21) and a curved boom (22), the main boom (21) is telescopically arranged along its own length direction, a first end of the main boom (21) is hinged to the vehicle body (11), a second end of the main boom (21) is hinged to a first end of the curved boom (22), and the fire monitor (3) is installed at a second end of the curved boom (22); The attitude detection device includes at least one of the following: a main boom length sensor (41), a curved boom length sensor (42), a main boom angle sensor (43), a curved boom angle sensor (44), and a turntable slewing angle sensor (45), the main boom length sensor (41) is configured to detect the length of the main boom (21), the curved boom length sensor (42) is configured to detect the length of the curved boom (22), the main boom angle sensor (43) is configured to detect the pitching angle of the main boom (21) relative to the vehicle body (11), the curved boom angle sensor (44) is configured to detect the pitching angle of the curved boom (22) relative to the main boom (21), and the turntable slewing angle sensor (45) is configured to detect the slewing angle of the main boom (21) relative to the vehicle body (11).

9. The fire truck according to any one of claims 1 to 6, characterized in that The fire truck includes a fire monitor flow rate sensor (61) and a fire monitor pressure sensor (62), the fire monitor flow rate sensor (61) is configured to detect the spraying flow rate of the fire extinguishing medium, the fire monitor pressure sensor (62) is configured to detect the spraying pressure of the fire extinguishing medium, and the control unit is communicatively connected to the fire monitor flow rate sensor (61) and the fire monitor pressure sensor (62) and is configured to obtain the spraying reaction force of the fire monitor (3) according to the spraying flow rate and the spraying pressure; and / or The fire truck includes a fire monitor reaction force sensor (63), and the fire monitor reaction force sensor (63) is configured to detect the spraying reaction force of the fire monitor (3).

10. A control method for a fire truck according to any one of claims 1 to 9, characterized in that, It includes: Determine the fire extinguishing medium required for performing the fire extinguishing operation; Determine a corresponding set of the operation curves according to the determined fire extinguishing medium; Perform boom movements according to a determined set of the operation curves so that the amplitude of the boom (2) is within the safe operation range defined by the operation curves.

11. The control method according to claim 10, characterized in that, Comprising: Perform boom movements according to the amplitude limit curve in a determined set of the operation curves so that the amplitude of the boom (2) is within the safe operation range defined by the amplitude limit curve, wherein the amplitude limit curve is used to represent the corresponding relationship when the injection pressure of the fire monitor (3) and the injection flow rate of the fire monitor (3) take the maximum values.

12. The control method according to claim 10, characterized in that, Comprising: Perform boom movements according to the flow rate limit curve in a determined set of the operation curves so that the amplitude of the boom (2) is within the safe operation range defined by the flow rate limit curve, wherein the flow rate limit curve is used to represent the corresponding relationship when the amplitude of the boom (2) takes a preset value.

Images