Control device and control method of fire-fighting wall climbing device

Abstract

The invention discloses a control device and control method for a fire-fighting wall climbing device, and the device comprises a cloud server and a plurality of control communication integrated modules, and the cloud server is in communication connection with each control communication integrated module through cloud signal transmission. The single control communication integrated module is in communication connection with a single motion module of the fire-fighting wall climbing device through the Ethernet; and the control communication integration modules are in wireless communication connection. According to the invention, through cloud signal transmission between the cloud server and the control communication integration module, Ethernet connection between the control communication integration module and the motion module, and wireless connection between the modules, wireless cooperative control of each module of the fire-fighting wall-climbing device is realized, and the problem that the modules of the traditional equipment depend on cable connection so as to cause a disappearance is solved; the maneuverability of the device is improved, the limitation of the lifting height and the operation space is broken through, and the device can directly and effectively reach an operation window.

Description

Technical Field

[0001] This invention relates to the field of fire protection equipment technology, and specifically to a control device and control method for a fire-fighting wall-climbing device based on Internet of Things and PLC control. Background Technology

[0002] In scenarios such as fire rescue and exterior wall construction in high-rise buildings, load-bearing aerial work platforms are crucial tools for achieving high-altitude operations. However, existing load-bearing aerial work platforms have many limitations in structural design and control methods, making it difficult to meet the needs of efficient and safe operations in complex scenarios. Specific shortcomings are as follows: The signal transmission and control command interaction between the various functional modules of the existing equipment mainly rely on cable connections. This wired connection method results in redundancy and significant drag on the overall structure of the equipment. It not only increases the weight and size of the equipment, making it bulky, but also restricts the flexibility of its movement. During climbing, the equipment is prone to jamming due to cable entanglement and pulling, and may even cause risks such as line wear and signal interruption, seriously affecting the continuity of operations. Moreover, due to the limitations of the wired connection and control range, the existing equipment must maintain a certain safe distance from the wall during operation, and cannot be operated at close range to the wall for precise operation. Especially in special scenarios such as fires, high temperature and dense smoke environments will further accelerate the aging of wired lines and signal interference, causing the equipment to be unable to reach critical operating windows, affecting the effectiveness of rescue or operation.

[0003] Meanwhile, existing equipment is mostly controlled via local wired operation or short-range wireless remote control (such as single Bluetooth or radio frequency signals), lacking global remote control capabilities. On the one hand, the control signal coverage is limited, and when the equipment climbs to a higher height or is blocked by walls or obstacles, signal attenuation or interruption can easily occur, leading to loss of control. On the other hand, it cannot achieve coordinated control of multiple modules. Each module operates independently, making it difficult to dynamically adjust the coordination logic according to real-time working conditions (such as wall flatness and load changes), resulting in limited lifting height and difficulty in accurately reaching the operating window. Summary of the Invention

[0004] The purpose of this invention is to overcome the limitations of existing fire-fighting wall-climbing devices, which are restricted by wired connections and control range. Existing devices require a certain safe distance from the wall during operation, making it impossible to get close enough to the wall for precise operation. This results in the device being unable to reach critical operation windows, affecting rescue or operational effectiveness. This invention provides a control device and method for a fire-fighting wall-climbing device. A single control and communication integrated module connects to a single motion module of the fire-fighting wall-climbing device, and the control and communication integrated modules are wirelessly connected to each other. This achieves wireless collaborative control of the various modules of the fire-fighting wall-climbing device, breaking the limitations of wired connections.

[0005] The objective of this invention is achieved through the following technical solution: The application discloses a control device of a fire-fighting wall climbing device, which comprises a cloud server and a plurality of control communication integrated modules, the cloud server is in communication connection with each control communication integrated module through cloud signal transmission, and a single control communication integrated module is in communication connection with a single movement module of the fire-fighting wall climbing device; and the control communication integrated modules are also in communication connection through wireless communication.

[0006] As preferred, the control communication integrated module comprises a cloud BOX, a PLC control unit and a wireless communication unit, the cloud BOX and the wireless communication unit are connected with the PLC control unit, the cloud BOX is in communication connection with the cloud server through cloud signal transmission, the wireless communication unit is connected with the wireless communication unit of another control communication integrated module, and the PLC main control is in communication connection with the movement module through Ethernet.

[0007] As preferred, the movement module comprises a plurality of drivers and a plurality of motors, a single driver is matched with a single motor; the driver is provided with a pulse port and a hard connection port, the pulse port is used for controlling the movement precision of the motor, and the hard connection port is used for controlling the reliability state of the motor.

[0008] As preferred, the communication connection mode between the control communication integrated modules through wireless communication connection comprises WIFI, Bluetooth, 4G, 5G or radio frequency connection.

[0009] As preferred, the control device of the fire-fighting wall climbing device further comprises an intermediate relay, the intermediate relay is arranged between a power supply and the movement module, and the intermediate relay is also connected with the control communication integrated module; the cloud server sends a control instruction to the control communication integrated module, and the PLC main control unit controls the on-off of the intermediate relay to realize power-off reset of the movement module.

[0010] As preferred, the movement module comprises an upper locking module, a lower locking module and a platform module, the lower locking module and the platform module are integrated into a single movement module and are controlled by a single control communication integrated module.

[0011] As preferred, the movement module comprises an upper locking module and a lower locking module, the upper locking module is controlled by one control communication integrated module, and the lower locking module is controlled by another control communication integrated module.

[0012] A control method of a fire-fighting wall climbing device, based on a control device of the fire-fighting wall climbing device, comprising: Step 1, erecting a ladder body module; Step 2, the cloud server controls the motor of the movement module matched with the upper locking module through the first communication integrated module to complete installation of the upper locking module; Step 3, the cloud server controls the motor of the movement module matched with the lower locking module through the second communication integrated module to complete installation of the lower locking module. Step 4, the cloud server controls the motor of the motion module matched with the platform module through the second communication integrated module to complete the installation of the platform module.

[0013] As preferred, in step 3, the cloud server controls the motor of the motion module matched with the under-locking module through the second communication integrated module, specifically: the cloud server first detects whether there is cloud signal transmission with the first communication integrated module, if there is cloud signal transmission, the first communication integrated module and the second communication integrated module perform wireless communication, the cloud server controls the motor of the motion module matched with the under-locking module through the first communication module and the second communication module; if there is no cloud signal transmission, the cloud server establishes cloud signal transmission with the second communication integrated module, and directly controls the motor of the motion module matched with the under-locking module through the second communication integrated module. In step 4, the cloud server controls the motor of the motion module matched with the platform module through the second communication integrated module, specifically: the cloud server first detects whether there is cloud signal transmission with the first communication integrated module, if there is cloud signal transmission, the first communication integrated module and the second communication integrated module perform wireless communication, the cloud server controls the motor of the motion module matched with the platform module through the first communication module and the second communication module; if there is no cloud signal transmission, the cloud server establishes cloud signal transmission with the second communication integrated module, and directly controls the motor of the motion module matched with the platform module through the second communication integrated module.

[0014] As preferred, when it is needed to reset the motion module, the cloud server sends a reset instruction to the control communication integrated module, the PLC master control unit of the control communication integrated module controls the on-off of the intermediate relay according to the instruction, the connection between the power supply and the motion module is cut off or restored through the intermediate relay, and the reset of the motion module is realized.

[0015] The present application has the following advantages: through the cloud signal transmission between the cloud server and the control communication integrated module, the Ethernet connection between the control communication integrated module and the motion module, and the wireless connection between the modules, the wireless cooperative control of the modules of the fire-fighting wall climbing device is realized, the problem of delay caused by the cable connection between the modules of the traditional device is solved, the mobility of the device is improved, the limitation of the height and the operation space is broken, and the operation window can be directly and effectively reached; The cloud BOX is adopted to realize the non-delay control, a plurality of wireless communication modes such as Bluetooth, WIFI, 4G and radio frequency are combined, and the remote reset design is adopted, so that the stability and adaptability of the communication between the modules are improved, especially suitable for special occasions such as fire, and the continuity and safety of the operation in complex environment are ensured.

[0016] The application supports automatic or semi-automatic remote control remote operation and cluster control, cooperates with modular assembly and cooperative action logic, realizes standardized and automatic operation of the wall climbing process, improves work efficiency, and can meet the cooperative work requirements of multiple devices, and expands the application scenarios of the device. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a circuit principle connection diagram of the application; Figure 2 is an explosion structure schematic diagram of the fire-fighting wall climbing device; Figure 3 is another explosion structure schematic diagram of the fire-fighting wall climbing device; Figure 4 is a structure schematic diagram when the upper locking module hook claw mounting posture is locked; Figure 5 is a structure schematic diagram when the lower locking module hook claw mounting posture is locked.

[0018] Among them, 1, the upper locking module, 2, the lower locking module, 3, the ladder body, 4, the platform module. DETAILED DESCRIPTION

[0019] Example implementations will now be described more fully with reference to the accompanying drawings. Example implementations may, however, be implemented in many different forms and should not be construed as limited to the examples set forth herein; rather, these implementations are provided so that this disclosure will be thorough and complete, and will fully convey the scope of example implementations to those skilled in the art.

[0020] Moreover, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the

[0021] The block diagrams shown in the drawings are merely functional entities, and do not necessarily have to correspond to physically independent entities. That is, these functional entities can be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0022] Example 1: A control device of a fire-fighting wall climbing device, such as Figure 1As shown, the control device of the fire-fighting wall-climbing device comprises a cloud server and two control communication integrated modules, the cloud server is in communication connection with each control communication integrated module through cloud signal transmission, and a single control communication integrated module is in communication connection with a single movement module of the fire-fighting wall-climbing device through Ethernet.

[0023] The control communication integrated module comprises a cloud BOX, a PLC control unit and a wireless communication unit, the cloud BOX and the wireless communication unit are connected with the PLC control unit, the cloud BOX is in communication connection with the cloud server through cloud signal transmission, the wireless communication unit is connected with the wireless communication unit of another control communication integrated module, and the PLC main control is in communication connection with the movement module through Ethernet.

[0024] The movement module comprises two drivers and two motors, and a single driver is matched with a single motor; the driver is provided with a pulse port and a hard connection port, the pulse port is used for controlling the movement precision of the motor, and the hard connection port is used for controlling the reliability state of the motor.

[0025] The communication connection between the control communication integrated modules through wireless further comprises WIFI, Bluetooth, 4G, 5G or radio frequency connection.

[0026] The control device of the fire-fighting wall-climbing device further comprises an intermediate relay E / A, the intermediate relay is arranged between the power supply and the movement module, and the intermediate relay is connected with the control communication integrated module; the cloud server sends a control instruction to the control communication integrated module, and the PLC main control unit controls the on-off of the intermediate relay to realize power-off reset of the movement module.

[0027] As shown in the figure, Figure 2 The movement module comprises an upper locking module 1, a lower locking module 2 and a platform module 4, the upper locking module, the lower locking module and the platform module are arranged on a ladder body 3; the lower locking module and the platform module are integrated into a single movement module and are controlled by a single control communication integrated module. Optionally, the movement module further comprises an intermediate locking module for further controlling the fire-fighting wall-climbing device.

[0028] A control method of a fire-fighting wall-climbing device based on a control device of the fire-fighting wall-climbing device, comprising: Step 1, erecting a ladder body module; Step 2, the cloud server controls the motor of the movement module matched with the upper locking module through the first communication integrated module to complete the installation of the upper locking module; Step 3, the cloud server controls the motor of the movement module matched with the lower locking module through the second communication integrated module to complete the installation of the lower locking module; Step 4, the cloud server controls the motor of the motion module matched with the platform module through the second communication integrated module to complete the installation of the platform module.

[0029] In step 3, the cloud server controls the motor of the motion module matched with the lower locking module through the second communication integrated module, specifically: the cloud server first detects whether there is cloud signal transmission with the first communication integrated module, if there is cloud signal transmission, the first communication integrated module and the second communication integrated module perform wireless communication, the cloud server controls the motor of the motion module matched with the lower locking module through the first communication module and the second communication module; if there is no cloud signal transmission, the cloud server establishes cloud signal transmission with the second communication integrated module, and directly controls the motor of the motion module matched with the lower locking module through the second communication integrated module. In step 4, the cloud server controls the motor of the motion module matched with the platform module through the second communication integrated module, specifically: the cloud server first detects whether there is cloud signal transmission with the first communication integrated module, if there is cloud signal transmission, the first communication integrated module and the second communication integrated module perform wireless communication, the cloud server controls the motor of the motion module matched with the platform module through the first communication module and the second communication module; if there is no cloud signal transmission, the cloud server establishes cloud signal transmission with the second communication integrated module, and directly controls the motor of the motion module matched with the platform module through the second communication integrated module.

[0030] When it is necessary to power off and reset the motion module, the cloud server sends a power-off reset instruction to the control communication integrated module, the PLC master control unit of the control communication integrated module controls the on-off of the intermediate relay according to the instruction, the connection between the power supply and the motion module is cut off or restored through the intermediate relay, and the power-off reset of the motion module is realized.

[0031] Specifically, in the actual control process of the fire-fighting wall climbing device, the specific execution mode of the control method is as follows: After the ladder body module is erected, the cloud server first sends an initialization instruction to the corresponding movement module through the first communication integrated module. After the PLC control unit receives the instruction, it drives the motors M5-1 and M5-2 (corresponding to the rotating motor of the upper locking module) of the upper locking module to rotate 90 degrees in the forward direction, so that the upper hook jaw switches from the storage state to the waiting mounting posture. At the same time, the motors M6-1 and M6-2 (hook jaw clamping motors) are at the maximum stroke position, ensuring that the hook jaw is opened to the maximum aperture. The operator real-time collects the distance sensor data (detects the vertical distance from the wall) of the upper locking module. When the cloud server receives the distance value stable at the preset threshold of 30-50 mm, it sends a "forward movement instruction". The motor M1 (upper jaw translation motor) operates in the forward direction according to the set accuracy (step size 0.1 mm) of the pulse port, driving the upper locking module to move horizontally along the ladder body until the front end of the hook jaw exceeds the edge of the wall by 50 mm. At this time, M1 stops and triggers the limit switch, and the cloud server records the current position as the "mounting reference point".

[0032] Subsequently, the cloud server sends a "lowering instruction", and the motor M2 (upper jaw lifting motor) is started through the hard connection port, driving the upper locking module to slowly descend. In the process, the pressure sensor real-time feedbacks the contact pressure of the hook jaw with the inside of the building. When the pressure value reaches the set threshold of 500 N, the PLC control unit immediately cuts off the power of M2, and at the same time triggers M6-1 and M6-2 to operate in the reverse direction, and through pulse control, it is shrunk to the clamping state until the pressure sensor feedback value is stable in the interval of 800-1000 N. At this time, M6-1 and M6-2 stop and remember the current stroke, and the upper locking module completes the installation, and the cloud server returns the "upper jaw locking" signal to the operator.

[0033] When installing the lower locking module, if the cloud server and the first communication integrated module maintain cloud signal transmission (signal strength ≥ -80 dBm), the first communication module forwards the instruction to the second communication module: the PLC control unit of the second communication module drives the motors M5-3 and M5-4 (lower jaw rotating motor) of the lower locking module to rotate synchronously, and the action logic is consistent with that of the upper locking module. At the same time, the first and second communication modules interact the relative position data (error ≤ 2 mm) of the two modules in real time through WIFI, ensuring that the upper and lower jaws are in the same vertical plane. If the first communication module signal is interrupted (signal strength < -85 dBm for 3 seconds), the cloud server immediately switches to the direct connection mode with the second communication module and sends instructions through the 4G network. At this time, the second communication module independently collects the displacement and pressure data of the lower jaw, and after completing the installation, directly returns the "lower jaw locking" signal to the cloud server, and the synchronization is calibrated through the built-in clock.

[0034] When the platform module is installed, it shares the second communication integrated module with the lower locking module, and the actions of the two are linked through the internal logic of the PLC control unit: after the lower jaw is locked, the motors M3-1 and M3-2 (platform overturning motors) rotate 90 degrees from the initial 0-degree vertical state in the positive direction, driving the platform module to expand to a horizontal state, during which the inclination sensor monitors the levelness in real time (deviation ≤ 0.5 degrees), and if it exceeds the range, it is adjusted through pulse fine-tuning; after the platform is in place, the motors M6-3 to M6-6 (platform fixing motors) are synchronously retracted according to the parameters of memory point B, completing the fixation with the wall body, at this time the cloud server integrates the state data of the upper jaw, the lower jaw, and the platform, and if all three meet the “locking” condition, it is determined that the installation stage is complete, and the waiting-to-climb-wall state is entered.

[0035] In the automatic wall climbing stage, the cloud server starts the cycle logic according to the preset number of floors: in each cycle, the M1 motor runs from the initial position D to the target position C in the positive direction, triggering the linkage actions of lower jaw unlocking → upper jaw bearing → lower jaw forward movement → lower jaw locking → upper jaw unlocking → upper jaw forward movement, and each action is verified through remote signaling and telemetry data, such as whether the motor current is within the rated range and whether the limit switch is triggered); when the number of cycles reaches N times, all motors trigger the brake, the platform module remains in a horizontal bearing state, and waits for rescue operation instructions.

[0036] If emergency recovery is needed, the operator presses the “reset key”, and the cloud server immediately sends a “power-off reset instruction”, the PLC control unit of the second communication module triggers the intermediate relay KA to attract, cutting off the power supply of the lower jaw and the platform module, and maintaining for 2 seconds to make the motor lose power and release; then the unlocking, translation, and storage actions are performed in reverse order, and the wireless communication unit preferentially selects the 5G network to transmit emergency signals during the whole process, ensuring that the initial state reset is completed within 10 seconds.

[0037] Embodiment 2: A control device and control method of a fire-fighting wall climbing device, the principle and implementation manner and embodiment 1 are basically the same, the difference is as shown in Figures 3-5 The movement module includes an upper locking module and a lower locking module, the upper locking module is controlled by a control communication integrated module, and the lower locking module is controlled by another control communication integrated module. The main difference between this scheme and embodiment 1 is that the lower locking module and the platform module in embodiment 1 are integrated into a lower locking module, and a single lower locking module completes the functions of the lower locking module and the platform module in embodiment 1.

[0038] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the embodiments disclosed herein. The specification and examples given herein are not intended to be exhaustive or limiting, and these and any other variations of the application will be included within the scope of the application as defined by the following claims.

[0039] It is to be understood that the application is not limited to the precise construction already described above and shown in the drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the application. The scope of the application should only be limited by the claims appended hereto.

Claims

1. A control device for a fire fighting wall climbing device, characterized in that It comprises a cloud server and a plurality of control communication integrated modules, the cloud server is in communication connection with each control communication integrated module through cloud signal transmission, and a single control communication integrated module is in communication connection with a single movement module of the fire-fighting wall climbing device.

2. The control device of the fire fighting wall-climbing device according to claim 1, characterized in that, The control communication integrated module comprises a cloud BOX, a PLC control unit and a wireless communication unit, the cloud BOX and the wireless communication unit are connected with the PLC control unit, the cloud BOX is in communication connection with the cloud server through cloud signal transmission, the wireless communication unit is connected with the wireless communication unit of another control communication integrated module, and the PLC main control is in communication connection with the movement module through Ethernet.

3. The control device of the fire fighting wall climbing device according to claim 1, characterized in that, The movement module comprises a plurality of drivers and a plurality of motors, and a single driver is matched with a single motor; the driver is provided with a pulse port and a hard connection port, the pulse port is used for controlling the movement precision of the motor, and the hard connection port is used for controlling the reliability state of the motor.

4. The control device of the fire fighting wall-climbing apparatus according to claim 1, wherein The wireless communication connection between the control communication integrated modules comprises WIFI, Bluetooth, 4G, 5G or radio frequency connection.

5. The control device of a fire fighting wall-climbing apparatus according to claim 2, wherein The control communication integrated module is further connected with an intermediate relay, the intermediate relay is arranged between the power supply and the movement module, and the intermediate relay is further connected with the control communication integrated module; the cloud server sends a control instruction to the control communication integrated module, and the PLC main control unit controls the on-off of the intermediate relay to realize power-off reset of the movement module.

6. The control device of a fire fighting wall-climbing apparatus according to claim 1, wherein The movement module comprises an upper locking module, a lower locking module and a platform module, the lower locking module and the platform module are integrated into a single movement module and are controlled by a single control communication integrated module.

7. The control device of a fire fighting wall-climbing apparatus according to claim 1, wherein The movement module comprises an upper locking module and a lower locking module, the upper locking module is controlled by one control communication integrated module, and the lower locking module is controlled by another control communication integrated module.

8. A control method of a fire fighting wall-climbing apparatus based on the control apparatus of the fire fighting wall-climbing apparatus according to any one of claims 1 to 6, characterized by, It comprises: Step 1, erecting a ladder body module; Step 2, the cloud server controls the motor of the movement module matched with the upper locking module through the first communication integrated module to complete the installation of the upper locking module; Step 3, the cloud server controls the motor of the movement module matched with the lower locking module through the second communication integrated module to complete the installation of the lower locking module; Step 4, the cloud server controls the motor of the movement module matched with the platform module through the second communication integrated module to complete the installation of the platform module.

9. The control method of a fire fighting wall-climbing apparatus according to claim 8, wherein In step 3, the cloud server controls the motor of the movement module matched with the lower locking module through the second communication integrated module, specifically: the cloud server first detects whether there is cloud signal transmission with the first communication integrated module, if there is cloud signal transmission, the first communication integrated module and the second communication integrated module are in wireless communication, and the cloud server controls the motor of the movement module matched with the lower locking module through the first communication module and the second communication module; if there is no cloud signal transmission, the cloud server establishes cloud signal transmission with the second communication integrated module, and directly controls the motor of the movement module matched with the lower locking module through the second communication integrated module. In step 4, the cloud server controls the motor of the motion module matched with the platform module through the second communication integrated module, specifically: the cloud server first detects whether there is cloud signal transmission with the first communication integrated module, if there is cloud signal transmission, the first communication integrated module and the second communication integrated module perform wireless communication, the cloud server controls the motor of the motion module matched with the platform module through the first communication module and the second communication module; if there is no cloud signal transmission, the cloud server establishes cloud signal transmission with the second communication integrated module, and directly controls the motor of the motion module matched with the platform module through the second communication integrated module.

10. The control method of a firefighting wall-climbing device according to claim 8, wherein When it is needed to power off and reset the motion module, the cloud server sends a power-off reset instruction to the control communication integrated module, the PLC master control unit of the control communication integrated module controls the on-off of the intermediate relay according to the instruction, the connection between the power supply and the motion module is cut off or restored through the intermediate relay, and the power-off reset of the motion module is realized.

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