Leveling method and device for equipment fire fighting truck, equipment fire fighting truck and storage medium

Abstract

The invention provides a leveling method and device for an equipment fire fighting truck, the equipment fire fighting truck and a storage medium, and belongs to the field of automatic control of fire fighting trucks. The method comprises the following steps: acquiring real-time detection data of a weight sensor and a position sensor in an equipment cabin and real-time state data of a homing sensor at an entrance of the equipment cabin; the real-time gravity center offset of the equipment fire fighting truck is determined; judging whether equipment in the equipment fire fighting truck is in a non-homing state or not, and judging whether the real-time gravity center offset exceeds a preset safety threshold value or not; under the condition that the equipment is in a non-homing state and the real-time gravity center offset exceeds a preset safety threshold value, target equipment causing gravity center offset is identified; weight information of the target equipment is obtained, and a leveling control instruction is generated according to the real-time gravity center offset and the weight information of the target equipment; and in the process of executing the leveling action in response to the leveling control instruction, continuously obtaining vehicle attitude information of the equipment fire fighting truck so as to dynamically adjust the leveling control instruction.

Description

Technical Field

[0001] This application relates to the field of automatic control of fire trucks, specifically to a leveling method, device, equipment fire truck, and storage medium for equipment fire trucks. Background Technology

[0002] With the diversification of emergency rescue scenarios, equipment-equipped fire trucks need to carry equipment of varying weights for demolition, rescue, and protection, requiring frequent loading and unloading of equipment during operations. Due to the significant weight differences among various equipment, the vehicle's center of gravity shifts in real time during loading and unloading. If the equipment is not returned to its proper position in time, the vehicle is prone to rollover accidents due to imbalance during operation. Existing equipment-equipped fire truck leveling relies heavily on manual experience and cannot dynamically adjust the balance strategy according to the loading and unloading of equipment of different weights. It can only meet the stability requirements under fixed loads and is difficult to adapt to the diverse equipment carrying and loading / unloading needs of rescue scenarios. Summary of the Invention

[0003] The purpose of this application is to provide a leveling method, device, equipment fire truck, and storage medium for equipment fire trucks.

[0004] To achieve the above objectives, the first aspect of this application provides a leveling method for an equipment fire truck, comprising: Acquire real-time detection data from the weight and position sensors installed in the equipment compartment, as well as real-time status data from the homing sensor installed at the entrance of the equipment compartment. The real-time center of gravity offset of the equipment fire truck is determined based on real-time detection data; Based on the status data of the return sensor, determine whether the equipment in the equipment fire truck is not in the return state, and determine whether the real-time center of gravity offset exceeds the preset safety threshold. When the equipment is not in its original position and the real-time center of gravity offset exceeds the preset safety threshold, the target equipment causing the center of gravity offset is identified based on real-time detection data. Obtain the weight information of the target equipment, and generate leveling control commands based on the real-time center of gravity offset and the weight information of the target equipment. In response to the leveling control command to execute the leveling action, the vehicle attitude information of the equipment fire truck is continuously acquired to dynamically adjust the leveling control command until the real-time center of gravity offset of the equipment fire truck is less than the preset safety threshold.

[0005] In this embodiment, the equipment compartment is equipped with a transverse slide rail and a longitudinal slide rail. The weight information of the target equipment is obtained, and a leveling control command is generated based on the real-time center of gravity offset and the weight information of the target equipment. The command includes: when the weight of the target equipment is less than a preset weight threshold, determining the transverse and longitudinal distances that the corresponding equipment compartment needs to move based on the center of gravity offset; and generating a first leveling control command for the transverse and longitudinal slide rails based on the transverse and longitudinal distances.

[0006] In this embodiment, the equipment compartment is equipped with a transverse slide rail and a longitudinal slide rail, leveling outriggers, and a movable counterweight mechanism. The process of acquiring the weight information of the target equipment and generating leveling control commands based on the real-time center of gravity offset and the target equipment's weight information further includes: if the weight of the target equipment exceeds a preset weight threshold, generating a second leveling control command for the leveling outriggers based on the center of gravity offset for initial leveling; generating a third leveling control command for the movable counterweight mechanism based on the initial leveling result for secondary leveling; and determining the required transverse and longitudinal distances for the corresponding equipment compartment to move based on the secondary leveling result, and generating a first leveling control command for the transverse and longitudinal slide rails based on these distances.

[0007] In this embodiment, the fire truck further includes a hydraulic power unit, and the movable counterweight mechanism includes a counterweight block, a transverse slide rail of the movable counterweight mechanism, and a longitudinal slide rail of the movable counterweight mechanism. The leveling method further includes, after generating a leveling control command, performing a leveling action in response to the leveling control command, including: in response to a first leveling control command, controlling the hydraulic pump station in the hydraulic power unit to output hydraulic oil to the transverse slide rail and the longitudinal slide rail of the container, so as to push the target equipment to move a lateral distance and a longitudinal distance respectively, in order to compensate for the center of gravity offset; in response to a second leveling control command, controlling the hydraulic pump station in the hydraulic power unit to output hydraulic oil to the corresponding leveling outrigger, so as to initially compensate for the center of gravity offset; in response to a third leveling control command, controlling the hydraulic pump station in the hydraulic power unit to output hydraulic oil to the transverse slide rail and the longitudinal slide rail of the movable counterweight mechanism, so as to drive the counterweight block to move in the opposite direction of the center of gravity offset, so as to compensate for the center of gravity offset a second time.

[0008] In this embodiment of the application, the leveling method further includes: locking the leveling outriggers, the transverse slide rail of the container, the longitudinal slide rail of the container, the transverse slide rail of the moving counterweight mechanism, and the longitudinal slide rail of the moving counterweight mechanism when the real-time center of gravity offset of the equipment fire truck is less than a preset safety threshold. In this embodiment of the application, the leveling method further includes: triggering an alarm system and controlling the fire truck to be unable to move when the equipment is not in its original position and the real-time center of gravity offset exceeds a preset safety threshold.

[0009] In this embodiment of the application, the leveling method further includes: before acquiring the real-time detection data of the weight sensor and position sensor installed in the equipment compartment, and the real-time status data of the return sensor installed at the entrance of the equipment compartment, controlling the leveling outriggers, the transverse slide rail of the container, the longitudinal slide rail of the container, the transverse slide rail of the moving counterweight mechanism, and the longitudinal slide rail of the moving counterweight mechanism to return to their initial positions.

[0010] In this embodiment of the application, the leveling method also includes real-time display of the center of gravity offset of the equipment fire truck and the equipment that has not returned to its original position.

[0011] A second aspect of this application provides a leveling device for an equipment fire truck, comprising: The memory is configured to store instructions; The processor is configured to retrieve instructions from memory and, when executing instructions, to implement the aforementioned leveling method for equipment fire trucks.

[0012] A third aspect of this application provides a fire truck equipped with equipment, including the aforementioned leveling device for the fire truck.

[0013] A fourth aspect of this application provides a machine-readable storage medium storing instructions that, when executed by a processor, configure the processor to perform the aforementioned leveling method for an equipment fire truck.

[0014] The above technical solution determines the real-time center of gravity offset of the fire truck based on real-time monitoring data acquired by sensors installed in the equipment compartment. When the real-time center of gravity offset exceeds a preset safety threshold, and the positioning sensor indicates that the equipment in the fire truck is not in its correct position, a leveling control command is generated based on the real-time center of gravity offset and the weight information of the target equipment. During the process of responding to the leveling control command and executing the leveling action, the vehicle posture information of the fire truck is continuously acquired to dynamically adjust the leveling control command until the real-time center of gravity offset of the fire truck is less than the preset safety threshold. This eliminates the need for manual checks on equipment positioning and judgment of center of gravity stability. The entire process is automated for detection and adjustment, requiring no manual intervention, reducing reliance on operator experience, minimizing human error, and adapting to the needs of loading and unloading equipment of different weights. It supports carrying rescue equipment in multiple scenarios without the need to change the balancing structure.

[0015] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings: Figure 1 The schematic diagram illustrates a flow chart of a leveling method for an equipment fire truck according to an embodiment of this application; Figure 2 A schematic diagram of the structure of a fire truck according to an embodiment of this application is shown. Figure 3 This schematically illustrates yet another process diagram of a leveling method for an equipment fire truck according to an embodiment of this application; Figure 4 The diagram illustrates the internal structure of a computer device according to an embodiment of this application. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0018] Figure 1 A schematic flowchart illustrating a leveling method for an equipment fire truck according to an embodiment of this application is shown. Figure 1 As shown, it includes the following steps: Step 101: Obtain real-time detection data from the weight sensor and position sensor installed in the equipment compartment, as well as real-time status data from the homing sensor installed at the entrance of the equipment compartment.

[0019] Step 102: Determine the real-time center of gravity offset of the equipment fire truck based on real-time detection data.

[0020] Step 103: Based on the status data of the return sensor, determine whether the equipment in the equipment fire truck is not in the returned state, and determine whether the real-time center of gravity offset exceeds the preset safety threshold.

[0021] Step 104: When the equipment is not in its original position and the real-time center of gravity offset exceeds the preset safety threshold, identify the target equipment that caused the center of gravity offset based on the real-time detection data.

[0022] Step 105: Obtain the weight information of the target equipment, and generate a leveling control command based on the real-time center of gravity offset and the weight information of the target equipment.

[0023] Step 106: In the process of responding to the leveling control command to perform the leveling action, continuously acquire the vehicle attitude information of the equipment fire truck to dynamically adjust the leveling control command until the real-time center of gravity offset of the equipment fire truck is less than the preset safety threshold.

[0024] The system includes weight sensors evenly distributed at the bottom of each equipment compartment to collect the weight of the equipment and the total load of the fire truck. Position sensors, corresponding in position and quantity to the weight sensors, are used to locate the coordinates of the equipment. Return sensors are installed at the entrance of each equipment compartment to detect whether the equipment is in its correct position. During equipment handling, the weight sensors are released or compressed, generating a weight load signal. The position sensors are triggered by equipment obstruction, generating the equipment's position coordinate signal. If the return sensor is not touched by the equipment, it generates a non-return signal. The processor acquires signals from the position, weight, and return sensors and determines the real-time center-of-gravity offset of the fire truck based on the real-time detection data from the position and weight sensors. Based on the status data from the return sensors, it determines whether the equipment is in its correct position. The processor then determines whether the real-time center-of-gravity offset exceeds a preset safety threshold. If the equipment is not in its correct position and the real-time center-of-gravity offset exceeds the preset safety threshold, the processor identifies the target equipment causing the center-of-gravity offset based on real-time detection data. The processor then acquires the weight information of the target equipment and generates a leveling control command based on the real-time center-of-gravity offset and the target equipment's weight information. Furthermore, in the process of responding to the leveling control command to perform the leveling action, the vehicle attitude information of the equipment fire truck is continuously acquired. For example, in one embodiment, the chassis center of gravity of the equipment fire truck is also equipped with an attitude sensor to detect the tilt angle of the vehicle, so as to dynamically adjust the leveling control command until the real-time center of gravity offset of the equipment fire truck is less than a preset safety threshold.

[0025] In one embodiment, the equipment compartment is equipped with a transverse slide rail and a longitudinal slide rail. The weight information of the target equipment is acquired, and a leveling control command is generated based on the real-time center of gravity offset and the target equipment's weight information. This includes: if the weight of the target equipment is less than a preset weight threshold, determining the required transverse and longitudinal distances the corresponding equipment compartment needs to move based on the center of gravity offset; and generating a first leveling control command for the transverse and longitudinal slide rails based on the transverse and longitudinal distances. Specifically, in one embodiment, the transverse and longitudinal slide rails are installed at the bottom of each equipment compartment to propel the equipment within the corresponding compartment along the transverse or longitudinal direction.

[0026] In one embodiment, the equipment compartment is equipped with transverse and longitudinal sliding rails, leveling outriggers, and a movable counterweight mechanism. The process of acquiring the weight information of the target equipment and generating leveling control commands based on the real-time center of gravity offset and the target equipment's weight information further includes: if the weight of the target equipment exceeds a preset weight threshold, generating a second leveling control command for the leveling outriggers based on the center of gravity offset for initial leveling; generating a third leveling control command for the movable counterweight mechanism based on the initial leveling result for secondary leveling; and determining the required transverse and longitudinal distances for the corresponding equipment compartment to move based on the secondary leveling result, and generating a first leveling control command for the transverse and longitudinal sliding rails based on these distances. Specifically, in one embodiment, each equipment compartment is equipped with four sets of leveling outriggers, which are respectively installed at the four corners of the bottom of the compartment. Each set of leveling outriggers can be raised and lowered independently to compensate for the center of gravity shift by adjusting the height of the outriggers. A movable counterweight mechanism is installed at the rear of the equipment compartment, including a counterweight block. The bottom of the counterweight block is equipped with a transverse slide rail and a longitudinal slide rail of the movable counterweight mechanism, wherein the counterweight block can move along the slide rail to assist in leveling.

[0027] In one embodiment, the fire truck further includes a hydraulic power unit, and the mobile counterweight mechanism includes a counterweight block, a transverse slide rail of the mobile counterweight mechanism, and a longitudinal slide rail of the mobile counterweight mechanism. Specifically, in one embodiment, the hydraulic power unit is installed in the vehicle's side skirt box and is equipped with an electromagnetic reversing valve and a hydraulic pump station to provide power for the leveling outriggers, the mobile counterweight mechanism, and the transverse and longitudinal slide rails of each compartment. The leveling method also includes, after generating a leveling control command, performing a leveling action in response to the leveling control command, including: in response to a first leveling control command, controlling the hydraulic pump station in the hydraulic power unit to output hydraulic oil to the transverse and longitudinal slide rails of the container, so as to push the target equipment to move lateral and longitudinal distances respectively, to compensate for the center of gravity offset; in response to a second leveling control command, controlling the solenoid directional valve in the hydraulic power unit to switch the oil circuit, and the hydraulic pump station to output hydraulic oil to the corresponding leveling outrigger, to initially compensate for the center of gravity offset; in response to a third leveling control command, controlling the solenoid directional valve in the hydraulic power unit to switch the oil circuit, and the hydraulic pump station to output hydraulic oil to the transverse and longitudinal slide rails of the moving counterweight mechanism, so as to drive the counterweight block to move in the opposite direction of the center of gravity offset, to compensate for the center of gravity offset a second time.

[0028] In one embodiment, the leveling method further includes: locking the leveling outriggers, the transverse slide rails of the shelter, the longitudinal slide rails of the shelter, the transverse slide rails of the moving counterweight mechanism, and the longitudinal slide rails of the moving counterweight mechanism when the real-time center of gravity offset of the equipment fire truck is detected to be less than a preset safety threshold. Specifically, in one embodiment, after detecting that the real-time center of gravity offset of the equipment fire truck is less than the preset safety threshold, the transverse slide rails and the longitudinal slide rails of the shelter stop moving and lock, maintaining the current state; controlling the locking pins of the leveling outriggers to pop out, thereby locking the leveling outriggers; controlling the counterweight block to stop moving, and locking the transverse slide rails and the longitudinal slide rails of the moving counterweight mechanism to maintain the current state.

[0029] In one embodiment, the leveling method further includes: triggering an alarm system and preventing the fire truck from moving when the equipment is not in its proper position and the real-time center of gravity offset exceeds a preset safety threshold. For example, in one embodiment, when the equipment is not in its proper position and the real-time center of gravity offset exceeds a preset safety threshold, an audible and visual alarm system is triggered, with flashing lights and a buzzer sounding, displaying "Center of gravity offset exceeds standard" and indicating the equipment not in its proper position; the vehicle cannot move. After leveling is completed and the equipment is in its proper position, the audible and visual alarm system stops working, the display module displays "Center of gravity stable" and "All equipment in its proper position," and the vehicle can start normally.

[0030] In one embodiment, the leveling method further includes: before acquiring real-time detection data from the weight sensors and position sensors installed in the equipment compartment, and real-time status data from the return sensor installed at the entrance of the equipment compartment, controlling the leveling outriggers, the transverse slide rails of the container, the longitudinal slide rails of the container, the transverse slide rails of the moving counterweight mechanism, and the longitudinal slide rails of the moving counterweight mechanism to return to their initial positions. Specifically, in one embodiment, the hydraulic pump station in the hydraulic power unit is controlled to supply oil in reverse to retract each leveling outrigger to its initial position at the bottom of the compartment, and the locking pin is controlled to lock it; the moving counterweight mechanism moves to its initial position at the center of the rear of the compartment; the transverse slide rails and longitudinal slide rails of each equipment compartment push each piece of equipment to reset.

[0031] In one embodiment, the leveling method further includes displaying the center of gravity offset of the fire truck and any equipment that has not been returned to its original position.

[0032] Figure 1 This is a flowchart illustrating a leveling method for an equipment fire truck in one embodiment. It should be understood that, although... Figure 1 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise explicitly stated herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 1At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0033] In one embodiment, such as Figure 2 As shown, the equipment fire truck 1 includes a main control terminal, a detection module, an execution module, and an early warning module. The main control terminal 2 includes a central controller unit 3, a data storage unit 4, an algorithm processing unit 5, a signal conversion unit 6, and a display module 7. The detection module includes a gravity sensor 8, a position sensor 9, a homing sensor 10, and an attitude sensor 12. The execution module includes a hydraulic power unit 11, leveling outriggers 13, a moving counterweight mechanism 14, a transverse slide rail 15, and a longitudinal slide rail 16. The early warning module includes a display module 7 and an audible and visual alarm 17. The system includes a main control unit mounted on the driver's cab console; a data storage unit for recording equipment retrieval and placement history, center of gravity offset data, and leveling records, supporting data export for future maintenance; an algorithm processing unit for dynamically updating the center of gravity position, cabin leveling method, and feedback on whether safety thresholds have been exceeded based on various parameters after equipment retrieval and placement; a signal conversion unit for converting analog signals collected by sensors into digital signals; a display module integrated into the main control terminal and the side of the vehicle's electrical control box for real-time display of the fire truck's center position and any equipment not yet returned to its designated position; weight sensors evenly distributed at the bottom of each equipment cabin for collecting equipment weight and total load; position sensors corresponding one-to-one with weight sensors for locating the X and Y coordinates of equipment retrieval and placement; and return sensors installed at the entrance of the equipment cabin to detect whether the equipment is fully returned to its designated position. The system outputs a "return / not returned" signal; an attitude sensor is installed at the center of the vehicle chassis to monitor the vehicle's tilt angle and determine the impact of center of gravity shift on the vehicle's attitude; four sets of leveling outriggers are installed at the four corners of the cabin bottom and can be raised and lowered independently to compensate for X and Y axis center of gravity shifts by adjusting the outrigger height; a movable counterweight mechanism is installed at the rear of the cabin, with transverse and longitudinal slide rails at the bottom of the counterweight block, allowing it to move along the X and Y axes and assisting in leveling when loading and unloading heavy equipment; transverse and longitudinal slide rails are distributed at the bottom of each equipment compartment, allowing equipment to move along the X and Y axes; a hydraulic power unit is mainly installed in the vehicle's side skirt box, equipped with modules such as electromagnetic reversing valves, providing power to the leveling outriggers, movable counterweight mechanism, and each compartment's slide rails; an audible and visual alarm system is installed on the top of the driver's cab, triggering the system when equipment is not returned to its proper position and the center of gravity exceeds the limit. The leveling methods used for equipment fire trucks include: like Figure 3As shown, during equipment handling, the weight sensor is squeezed / released, generating a weight load signal. The position sensor is triggered by equipment obstruction, generating X / Y axis coordinate signals. If the return sensor is not touched by the equipment, it generates a "not returned" signal. When the vehicle's attitude changes, the gyroscope inside the attitude sensor senses the tilt angle and outputs an angle signal in real time. The sensor signals are transmitted via wired or wireless means to the signal conversion unit in the main control terminal, converting the analog signals collected by the sensors into digital signals. The digital signals are transmitted to the algorithm processing unit to calculate the real-time center of gravity offset of the fire truck and determine whether the real-time center of gravity offset exceeds a preset safety threshold. When the equipment is in an unreturned state and the real-time center of gravity offset is less than the preset safety threshold, the data storage unit records the data from each sensor. When the equipment is in an unreturned state and the real-time center of gravity offset is greater than the preset safety threshold, an audible and visual alarm is triggered, and the target equipment causing the center of gravity offset is identified, determining whether the weight of the target equipment exceeds a preset weight threshold. If the weight of the target equipment is less than the preset weight threshold, light load offset leveling is performed: the algorithm processing unit in the main control terminal calculates and analyzes the corresponding displacement sliding coordinates of the equipment in the container, and then the main control terminal sends a signal to the electromagnetic reversing valve in the hydraulic power unit. The hydraulic pump station in the hydraulic power unit outputs hydraulic oil to the transverse and longitudinal slide rails of the container, pushing the equipment to move along the X and Y axes between the containers, thereby compensating for the center of gravity offset. After leveling, the attitude sensor collects angle signals and feeds them back to the main control terminal. After confirming that the center of gravity has returned to the safe range, the transverse and longitudinal slide rails of the container stop moving and lock, maintaining the current state, and the alarm stops. When the weight of the target equipment exceeds a preset weight threshold, heavy-load offset leveling is performed: The main control terminal instructs the solenoid directional valve in the hydraulic power unit to switch the oil circuit, and hydraulic oil enters the corresponding leveling outrigger, controlling the extension and retraction of the relevant leveling outrigger to initially compensate for lateral / longitudinal offset; Based on the initial compensation result, the main control terminal instructs the solenoid directional valve in the hydraulic power unit to switch the oil circuit, and hydraulic oil enters the lateral and longitudinal slide rails of the moving counterweight mechanism, driving the counterweight block to move along the X / Y axis to further compensate for the center of gravity offset; Based on the further compensation result, the main control terminal instructs the solenoid directional valve in the hydraulic power unit to switch the oil circuit, outputting hydraulic oil to the lateral and longitudinal slide rails of the container, pushing the equipment to move along the X and Y axes between the containers, thereby compensating for the center of gravity offset; After leveling, the locking pins of the leveling outriggers automatically pop out, locking the outriggers, the counterweight block stops moving, the slide rail locking mechanism locks, the main control terminal receives feedback signals from the detection module, and after confirming that the vehicle is stable, the execution module stops its actions and the alarm stops.

[0034] In one embodiment, a leveling device for an equipment fire truck is provided, comprising: The memory is configured to store instructions; The processor is configured to retrieve instructions from memory and, when executing instructions, to implement the aforementioned leveling method for equipment fire trucks.

[0035] The leveling device for the equipment-equipped fire truck includes a processor and a memory. The processor contains a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be configured, and the leveling method for the equipment-equipped fire truck is implemented by adjusting the kernel parameters.

[0036] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0037] This application provides a storage medium storing a program that, when executed by a processor, implements the above-described leveling method for equipment fire trucks.

[0038] This application provides a processor for running a program, wherein the program executes the above-described leveling method for equipment fire trucks.

[0039] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 4 As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown), and a database (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A04. The database stores historical data on material handling, center of gravity offset data, and leveling record data. The network interface A02 communicates with external terminals via a network connection. When executed by the processor A01, the computer program B02 implements a leveling method for a fire truck.

[0040] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0041] This application provides a computer (electronic) device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps of any of the above-mentioned leveling methods for equipment fire trucks.

[0042] This application also provides a computer program product that, when executed on a data processing device, is adapted to perform a program that initializes a leveling method for an equipment fire truck.

[0043] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0044] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0045] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0046] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0047] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0048] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0049] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0050] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0051] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A leveling method for equipment fire trucks, characterized in that, The leveling method includes: Acquire real-time detection data from the weight and position sensors installed in the equipment compartment, as well as real-time status data from the homing sensor installed at the entrance of the equipment compartment. The real-time center of gravity offset of the equipment fire truck is determined based on the real-time detection data; Based on the status data of the return sensor, it is determined whether the equipment in the equipment fire truck is not in the returned state, and whether the real-time center of gravity offset exceeds the preset safety threshold. When the equipment is not in its original position and the real-time center of gravity offset exceeds the preset safety threshold, the target equipment causing the center of gravity offset is identified based on the real-time detection data. The weight information of the target equipment is obtained, and a leveling control command is generated based on the real-time center of gravity offset and the weight information of the target equipment. During the process of responding to the leveling control command to perform the leveling action, the vehicle attitude information of the equipment fire truck is continuously acquired to dynamically adjust the leveling control command until the real-time center of gravity offset of the equipment fire truck is less than the preset safety threshold.

2. The leveling method for equipment fire trucks according to claim 1, characterized in that, The equipment compartment is equipped with transverse and longitudinal sliding rails. The process of acquiring the weight information of the target equipment and generating leveling control commands based on the real-time center of gravity offset and the weight information of the target equipment includes: If the weight of the target equipment is less than a preset weight threshold, the lateral and longitudinal distances that the corresponding equipment compartment needs to move are determined based on the center of gravity offset. Based on the lateral distance and the longitudinal distance, a first leveling control command is generated for the transverse and longitudinal sliding rails of the modular container.

3. The leveling method for equipment fire trucks according to claim 1, characterized in that, The equipment compartment is equipped with transverse and longitudinal slide rails, leveling outriggers, and a movable counterweight mechanism. The step of acquiring the weight information of the target equipment and generating leveling control commands based on the real-time center of gravity offset and the weight information of the target equipment further includes: If the weight of the target equipment exceeds a preset weight threshold, a second leveling control command is generated for the leveling outrigger based on the center of gravity offset to perform preliminary leveling. Based on the preliminary leveling results, a third leveling control command is generated for the moving counterweight mechanism to perform secondary leveling. Based on the secondary leveling results, the lateral and longitudinal distances that the corresponding equipment compartment needs to move are determined, and based on the lateral and longitudinal distances, a first leveling control command is generated for the lateral and longitudinal slide rails of the container.

4. The leveling method for equipment fire trucks according to claim 2 or 3, characterized in that, The fire truck also includes a hydraulic power unit, and the movable counterweight mechanism includes a counterweight block, a transverse slide rail of the movable counterweight mechanism, and a longitudinal slide rail of the movable counterweight mechanism. The leveling method further includes, after generating a leveling control command, responding to the leveling control command to perform a leveling action, including: In response to the first leveling control command, the hydraulic pump station in the hydraulic power unit is controlled to output hydraulic oil to the transverse slide rail and the longitudinal slide rail of the container, so as to push the target equipment to move the transverse distance and the longitudinal distance respectively, in order to compensate for the center of gravity offset. In response to the second leveling control command, the hydraulic pump station in the hydraulic power unit is controlled to output hydraulic oil to the corresponding leveling outrigger to initially compensate for the center of gravity offset. In response to the third leveling control command, the hydraulic pump station in the hydraulic power unit is controlled to output hydraulic oil to the transverse slide rail and the longitudinal slide rail of the moving counterweight mechanism, so as to drive the counterweight block to move in the opposite direction of the center of gravity offset, so as to compensate for the center of gravity offset.

5. The leveling method for equipment fire trucks according to claim 1, characterized in that, The leveling method further includes: If the real-time center of gravity offset of the fire truck is detected to be less than the preset safety threshold, the leveling outriggers, the transverse slide rail of the container, the longitudinal slide rail of the container, the transverse slide rail of the moving counterweight mechanism, and the longitudinal slide rail of the moving counterweight mechanism are locked.

6. The leveling method for equipment fire trucks according to claim 1, characterized in that, The leveling method further includes: If the equipment is not in its original position and the real-time center of gravity offset exceeds the preset safety threshold, the alarm system is triggered, and the fire truck is prevented from moving.

7. The leveling method for equipment fire trucks according to claim 1, characterized in that, The leveling method further includes: Before acquiring the real-time detection data of the weight sensor and position sensor installed in the equipment compartment, and the real-time status data of the return sensor installed at the entrance of the equipment compartment, the leveling outriggers, the transverse slide rail of the container, the longitudinal slide rail of the container, the transverse slide rail of the moving counterweight mechanism, and the longitudinal slide rail of the moving counterweight mechanism are controlled to return to their initial positions.

8. The leveling method for equipment fire trucks according to claim 1, characterized in that, The leveling method also includes real-time display of the center of gravity offset of the fire truck and the equipment that has not been returned to its original position.

9. A leveling device for a fire truck, characterized in that, include: The memory is configured to store instructions; The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the leveling method for an equipment fire truck according to any one of claims 1 to 8.

10. A fire truck equipped with fire-fighting equipment, characterized in that: Includes the leveling device for equipment fire trucks as described in claim 9.

11. A machine-readable storage medium storing instructions thereon, characterized in that, When executed by the processor, the instruction causes the processor to be configured to perform the leveling method for an equipment fire truck according to any one of claims 1 to 8.

Images