Multi-section telescopic arm fire truck and off-vehicle pre-leveling control method and system thereof

Abstract

The application discloses a multi-section telescopic arm fire fighting truck and a method and system for pre-leveling control of the truck, and the method comprises the following steps: a relationship data table of a main arm angle and a chassis inclination angle is generated and stored in advance; a target arm lifting angle of the present operation is acquired; the target arm lifting angle is used to query the relationship data table, so that a corresponding chassis inclination amount under the target arm lifting angle is acquired as a pre-leveling target value; before arm lifting, each support leg is controlled to move so that the chassis is pre-inclined in the opposite direction of the arm lifting inclination direction by the pre-leveling target value, and the pre-leveling is completed; after the pre-leveling is completed, the arm lifting operation is allowed to be performed. The application actively pre-compensates before arm lifting, offsets the chassis inclination caused by the gravity center offset after arm lifting, and makes the chassis horizontal when the arm lifting is in place, so that the problem that the prior art can only level to absolute level before arm lifting and cannot compensate the inclination after arm lifting is solved, and the precision of the high-altitude operation of the fire fighting truck and the safety of the whole vehicle are effectively improved.

Description

Technical Field

[0001] This invention relates to the field of fire truck technology, and in particular to a method for pre-leveling control of the dismount of a multi-section telescopic boom fire truck, a control system for pre-leveling the dismount of a multi-section telescopic boom fire truck, and a multi-section telescopic boom fire truck. Background Technology

[0002] When multi-section telescopic boom fire trucks are conducting high-altitude fire rescue operations, they usually follow the operating sequence of "getting off the vehicle first, then getting on the vehicle": first, the outriggers are deployed and leveled to ensure that the entire chassis is in a horizontal state; only after the chassis is stably supported and leveled can the boom lifting, rotating, and telescopic movements be carried out on the vehicle.

[0003] For large, multi-section telescopic boom fire trucks, the boom system is extremely heavy, with the main boom (basic boom), being the thickest basic section, accounting for 60% to 75% of the total weight of the boom system. During the process of raising the main boom from a horizontal position to its maximum angle, its center of gravity undergoes the greatest horizontal displacement, causing the vehicle's center of gravity to shift away from the chassis's central area, resulting in the largest change in overturning moment. Although the outrigger system provides rigid support, the enormous overturning moment generated by the weight of the main boom and boom system still causes the chassis to tilt to a certain extent (usually manifested as frontal sinking). While this tilt is within a safe range, it directly affects the final accuracy of the working mechanisms (working platform or water cannon). For large fire trucks, even a 1° tilt of the chassis can cause significant lateral or longitudinal horizontal deviations at the working mechanisms, severely impacting the accuracy and safety of high-altitude rescue operations.

[0004] Existing automatic leveling systems on fire trucks aim to achieve an absolutely level chassis (0° tilt). This leveling process is completed with the boom in the traveling position (fully folded and unloaded), without considering the impact of subsequent changes in the center of gravity after boom raising. Therefore, once the boom is in position, the chassis is already deviating from a level state, and the working mechanism tilts accordingly. Several technologies have improved the leveling process itself, such as detecting outrigger load to determine tire lift-off and using fuzzy PID algorithms to optimize leveling accuracy and speed. These technologies aim to make the leveling action faster and more accurate. Additionally, some technologies monitor outrigger reaction forces in real-time to limit boom movement and prevent tipping, which is a safety measure during operation. However, these technologies fall under the categories of "static leveling before operation" or "passive response during operation," and do not address the fundamental issue of inevitable tilting after boom raising. Summary of the Invention

[0005] This invention aims to at least partially solve one of the technical problems in the related art. To this end, the first objective of this invention is to propose a pre-leveling control method for the lower section of a multi-section telescopic boom fire truck. By tilting the lower section in the opposite direction at a certain angle before raising the boom, the tilt generated after raising the boom is offset, ensuring that the fire truck is in a level state during actual operation.

[0006] The second objective of this invention is to provide a pre-leveling control system for the dismounting of a multi-section telescopic boom fire truck.

[0007] The third objective of this invention is to provide a multi-section telescopic boom fire truck.

[0008] To achieve the above objectives, a first aspect of the present invention provides a method for pre-leveling control of the dismounting of a multi-section telescopic boom fire truck, comprising the following steps:

[0009] Pre-generate and store a data table showing the relationship between the boom angle and the chassis tilt angle;

[0010] Obtain the target boom angle for this operation;

[0011] Based on the target boom angle, query the relational data table to obtain the chassis tilt amount corresponding to the target boom angle, which is used as the pre-leveling target value;

[0012] Before raising the boom, control the movement of each outrigger to tilt the chassis in the opposite direction of the boom's tilting direction to pre-level the target value, thus completing the pre-leveling.

[0013] After pre-leveling is completed, boom raising is permitted.

[0014] In addition, the pre-leveling control method for the dismounting of a multi-section telescopic boom fire truck according to the above embodiments of the present invention may also have the following additional technical features:

[0015] According to one embodiment of the present invention, the relational data table is generated by actual measurement calibration, including:

[0016] Adjust the outriggers to level before dismounting, and position the boom in the traveling position.

[0017] The boom is raised and measured step by step at preset angle intervals, and the chassis tilt angle value corresponding to each boom angle is recorded until the boom is raised to the maximum angle.

[0018] Generate and store the main boom angle-chassis tilt angle relationship curve or data table through interpolation fitting.

[0019] According to one embodiment of the present invention, the relational data table is generated by theoretical calculation, including:

[0020] Establish a mechanical model of the boom system at different lifting angles based on vehicle structural parameters;

[0021] Calculate the position of the vehicle's center of gravity and the corresponding overturning moment under each attitude;

[0022] By combining the outrigger support stiffness parameters, the theoretical chassis tilt at each main boom angle is calculated, and a relationship curve or data table is generated.

[0023] According to one embodiment of the present invention, obtaining the target boom angle for this operation includes: the operator manually inputting the target boom angle through a human-machine interface, or the system automatically calling the corresponding target angle value according to the pre-configured operating conditions.

[0024] According to one embodiment of the present invention, a dynamic compensation step for the display reading is further included:

[0025] During the boom raising process, the display shows the equivalent tilt angle value, which is equal to the sum of the actual chassis tilt angle and the pre-leveling reverse compensation value corresponding to the current boom angle.

[0026] The pre-adjustment reverse compensation value corresponding to the current boom angle is obtained from the relational data table;

[0027] The monitor reading is kept within the preset leveling error range during the arm raising process. When the arm is raised to the target angle, both the monitor reading and the actual tilt angle of the chassis are within the leveling error range.

[0028] According to one embodiment of the present invention, when the boom lifting angle exceeds the target boom lifting angle, the pre-leveling compensation is stopped, and the display switches to display the actual tilt angle value of the chassis.

[0029] According to one embodiment of the present invention, a security verification step is further included:

[0030] During the boom raising process, the deviation between the actual chassis tilt angle and the predicted value in the relational data table is compared in real time;

[0031] If the deviation exceeds the preset safety threshold, an alarm will be issued and the boom will be restricted from continuing to move.

[0032] According to one embodiment of the present invention, after the pre-leveling is completed, the system prompts the operator that the boom can be raised; during the boom raising process, the outrigger system remains locked and is no longer adjusted.

[0033] To achieve the above objectives, a second aspect of the present invention provides a pre-leveling control system for the dismounting of a multi-section telescopic boom fire truck, comprising:

[0034] The detection unit includes a chassis tilt sensor mounted on the undercarriage and a boom angle sensor mounted at the boom hinge point or on the side of the boom.

[0035] Storage unit, used to store the main boom angle-chassis tilt angle relationship data table;

[0036] The control unit receives real-time data from the detection unit, queries the relationship data table based on the target boom angle and interpolates to calculate the corresponding pre-leveling target value, executes pre-leveling control, and dynamically converts the display value.

[0037] The actuator includes hydraulic control valve groups for each outrigger, used to adjust the extension amount of the vertical cylinders of each outrigger according to control commands;

[0038] The human-machine interaction unit is used to set the target boom angle or select preset working conditions, and to display the equivalent tilt angle value after dynamic conversion;

[0039] The control unit is configured to perform the above-described pre-leveling control method for the dismounting of a multi-section telescopic boom fire truck.

[0040] To achieve the above objectives, a third aspect of the present invention provides a multi-section telescopic boom fire truck, including a chassis, a multi-section telescopic boom and outrigger system, and also includes the aforementioned multi-section telescopic boom fire truck chassis pre-leveling control system.

[0041] The present invention has the following beneficial effects:

[0042] This invention establishes a "main boom angle - chassis tilt angle" relationship curve or data table, allowing for the lookup of corresponding compensation values ​​for any intermediate angle from 0° to the target leveling angle, thus achieving precise pre-leveling at any target angle. The invention dynamically calculates and displays the "equivalent tilt angle value," ensuring the operator sees a normal "leveling in place" indication throughout the process, returning to zero when the boom is fully extended, providing intuitive confirmation of levelness and guaranteeing the acceptability and ease of use of the pre-leveling scheme in practice. Without altering the existing hardware architecture, this invention achieves significant technical improvements by only adding a software-level relationship table and compensation algorithm, resulting in lower industrialization costs.

[0043] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0044] Figure 1 A flowchart of a pre-leveling control method for a multi-section telescopic boom fire truck according to an embodiment of the present invention;

[0045] Figure 2 A block diagram of the pre-leveling control system for the undercarriage of a multi-section telescopic boom fire truck according to an embodiment of the present invention;

[0046] Figure 3 This is a block diagram of a multi-section telescopic boom fire truck according to an embodiment of the present invention. Detailed Implementation

[0047] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0048] The following description, with reference to the accompanying drawings, describes the pre-leveling control method for dismounting a multi-section telescopic boom fire truck, the pre-leveling control system for dismounting a multi-section telescopic boom fire truck, and the multi-section telescopic boom fire truck itself, as proposed in the embodiments of the present invention.

[0049] like Figure 1 As shown, the pre-leveling control method for the dismounting of a multi-section telescopic boom fire truck according to an embodiment of the present invention includes the following steps:

[0050] S1, pre-generate and store a data table showing the relationship between the boom angle and the chassis tilt angle.

[0051] S2, obtain the target boom angle for this operation.

[0052] S3. Query the relationship data table based on the target boom angle to obtain the chassis tilt amount corresponding to the target boom angle, and use it as the pre-leveling target value.

[0053] S4, before the boom is raised, control the movement of each outrigger to tilt the chassis in the opposite direction of the boom's tilt direction to pre-level the target value, thus completing the pre-leveling.

[0054] S5, after pre-leveling is completed, boom raising operation is allowed.

[0055] Specifically, in the embodiments of the present invention, a pre-calibrated or calculated "main boom angle - chassis tilt angle" relationship data table is used. Before boom raising, the target boom raising angle set by the operator is used to look up the table to obtain the amount of tilt that the chassis will produce after boom raising. Then, the outriggers are controlled to tilt the chassis in the opposite direction by the same angle in advance, so that the tilt is exactly offset when the boom is raised and the chassis is level.

[0056] Specifically, when a multi-section telescopic boom fire truck is in operation, firstly, a data table relating the boom angle and chassis tilt angle is pre-generated and stored in the vehicle control unit's storage unit. Then, the target boom angle for this operation is obtained. Next, the controller queries the data table based on the target boom angle and performs interpolation calculations to obtain the corresponding chassis tilt amount at that target angle, using this tilt amount as the pre-leveling target value. Subsequently, the controller, with "tilting this tilt amount in the opposite direction" as the leveling target, drives the outrigger hydraulic valve group to adjust the extension of each outrigger's vertical cylinder, causing the chassis to tilt in the opposite direction of the boom's tilt direction to the pre-leveling target value, thus completing the pre-leveling. After pre-leveling is completed, the system allows boom raising. After the operator raises the boom, because the chassis has been pre-tilted in the opposite direction, the tilt caused by boom raising is precisely compensated, and the chassis is in a horizontal state when the boom reaches the target angle. Thus, the control target of "horizontal during operation" rather than "horizontal before operation" is achieved, eliminating chassis tilt caused by center of gravity shift after boom raising, improving operational accuracy and overall vehicle safety. At the same time, this solution can be implemented without changing the existing hardware architecture, is low in cost, and is easy to promote.

[0057] It's important to understand that the relational data table can cover the entire boom angle range from 0° to its maximum. Therefore, regardless of the target boom angle, the corresponding compensation amount can be accurately obtained through table lookup or interpolation. During pre-leveling, the controller can monitor the feedback from the chassis tilt sensor in real time to ensure that pre-leveling reaches the target value. The target boom angle can be set by the operator through the human-machine interface, or it can be automatically called by the system based on preset working conditions.

[0058] According to one embodiment of the present invention, the relationship data table is generated by actual measurement calibration, including: adjusting the outriggers to level and positioning the boom in the traveling position; measuring the boom angle step by step according to a preset angle interval, recording the chassis tilt angle value corresponding to each boom angle, until the boom reaches the maximum angle; generating a boom angle-chassis tilt angle relationship curve or data table through interpolation fitting and storing it.

[0059] Specifically, during the actual measurement and calibration process, firstly, the outriggers are adjusted to be level, and the boom is in the traveling position (main boom angle is 0°). Then, the boom is raised step by step at preset angle intervals for measurement. After each boom is raised to a certain angle and the chassis is stabilized, the chassis tilt angle value corresponding to that main boom angle is recorded using a chassis tilt angle sensor, until the main boom reaches its maximum angle. Finally, the recorded discrete points are interpolated and fitted using mathematical methods (such as linear interpolation, spline interpolation, etc.) to generate a "main boom angle - chassis tilt angle relationship" curve or data table, which is then stored in the control unit's storage unit. During subsequent operations, the controller queries this relationship data table based on the target boom raising angle to obtain the corresponding chassis tilt amount as the pre-leveling target value, and controls the outriggers to tilt the chassis in the opposite direction of the boom raising tilt direction to pre-level the target value, thus completing the pre-leveling. Therefore, by measuring the boom lift of the actual vehicle step by step, the actual chassis tilt angle corresponding to each boom angle is recorded. Then, continuous relationship curves or data tables are generated through interpolation fitting to accurately reflect the characteristics of the actual vehicle and provide accurate basic data for subsequent pre-leveling, thereby ensuring the accuracy of chassis level when the boom is in place.

[0060] It should be noted that the preset angle interval can be set according to the vehicle's accuracy requirements. The smaller the interval, the more refined the calibration data and the higher the accuracy of the interpolation fitting. Actual calibration can be performed before the vehicle leaves the factory, or it can be periodically recalibrated during vehicle use. The relational data table can cover the entire range of the main boom from 0° to the maximum angle.

[0061] According to another embodiment of the present invention, the relationship data table is generated by theoretical calculation, including: establishing a mechanical model of the boom system at different lifting angles based on vehicle structural parameters; calculating the position of the vehicle's center of gravity and the corresponding overturning moment at each posture; and, in combination with the outrigger support stiffness parameters, calculating the theoretical chassis tilt at each main boom angle, and generating a relationship curve or data table.

[0062] Specifically, in the theoretical calculation process, firstly, the vehicle's structural parameters are obtained, including the weight of each boom segment, center of gravity position, boom length, and hinge point coordinates. Then, a mechanical model of the boom system is established at different lifting angles, and the vehicle's center of gravity position and corresponding overturning moment are calculated for each posture. Next, combined with the outrigger support stiffness parameters, the theoretical chassis tilt amount at each boom angle is calculated. Finally, the calculated theoretical tilt amounts at each angle are compiled into relationship curves or data tables and stored in the control unit. During subsequent operations, the controller queries this relationship data table based on the target boom lifting angle to obtain the corresponding chassis tilt amount as the pre-leveling target value, and controls the outriggers to tilt the chassis in the opposite direction of the boom lifting tilt direction to pre-level the target value, completing the pre-leveling. Therefore, no actual vehicle calibration is required; pre-leveling basic data can be quickly obtained during the design phase, suitable for preliminary control strategy verification before prototype production, shortening the development cycle.

[0063] According to one embodiment of the present invention, obtaining the target boom angle for this operation includes: the operator manually inputting the target boom angle through a human-machine interface, or the system automatically calling the corresponding target angle value according to the pre-configured operating conditions.

[0064] Specifically, when the operator needs to perform operations, they can choose the "manual input" mode through the human-machine interface (display) to directly input the target lifting angle value for the current operation; or they can choose the "preset working condition" mode. The system pre-stores various commonly used working conditions (such as "high-rise water supply" and "large-span rescue"), each corresponding to a recommended target boom angle. After the operator selects the appropriate working condition, the system automatically retrieves the target angle value. After receiving the target angle value, the controller queries a pre-generated and stored data table showing the relationship between the boom angle and the chassis tilt angle, obtains the corresponding chassis tilt amount at the target angle as the pre-leveling target value, and then controls the movement of each outrigger to tilt the chassis in the opposite direction of the boom tilt direction to the pre-leveling target value, completing the pre-leveling. After pre-leveling is completed, boom lifting operations are allowed. The preset working conditions can be configured and updated based on actual rescue experience, and the operator can also manually fine-tune them according to the on-site conditions. Therefore, by setting a flexible target angle, different operational needs can be met, the operation process can be simplified, the operation efficiency can be improved, and the accuracy of pre-leveling can be guaranteed.

[0065] According to an embodiment of the present invention, the above method further includes a dynamic compensation step for the display reading: during the boom lifting process, the display shows an equivalent tilt angle value, which is equal to the sum of the actual tilt angle of the chassis and the pre-leveling reverse compensation value corresponding to the current boom angle; the pre-leveling reverse compensation value corresponding to the current boom angle is obtained from a relational data table; the display reading is maintained within a preset leveling allowable error range during the boom lifting process, and when the boom is lifted to the target angle, both the display reading and the actual tilt angle of the chassis are within the leveling allowable error range.

[0066] Specifically, since the chassis is actually not level after pre-leveling (it is tilted in the opposite direction), if the display directly shows the actual tilt angle of the chassis, the operator may mistakenly believe that "leveling is not completed," causing confusion or even human intervention, which would actually destroy the pre-leveling effect. Therefore, this embodiment adopts a dynamic tilt angle compensation strategy at the human-machine interaction level. The controller calculates the "equivalent tilt angle value" in real time and displays it to the operator, so that the display value is maintained within the preset leveling allowable error range during the lifting process.

[0067] Specifically, firstly, a relationship data table between the boom angle and chassis tilt angle is pre-generated and stored; the target boom angle for this operation is obtained; based on the target boom angle, the relationship data table is consulted to obtain the corresponding chassis tilt amount as the pre-leveling target value; before boom lifting, the movement of each outrigger is controlled to tilt the chassis in the opposite direction to the boom lifting tilt direction to the pre-leveling target value, thus completing the pre-leveling. Then, during boom lifting, the display shows the equivalent tilt angle value, which is equal to the sum of the actual chassis tilt angle and the pre-leveling reverse compensation value corresponding to the current boom angle. The "pre-leveling reverse compensation value corresponding to the current boom angle" is obtained from the relationship data table, that is, the pre-leveling compensation value required to level the chassis, obtained from the tilt angle relationship table at the current boom lifting angle. The controller, based on the actual chassis tilt angle detected in real time by the chassis tilt angle sensor and the current boom angle detected by the boom angle sensor, consults the relationship data table to obtain the corresponding compensation value, then calculates the equivalent tilt angle value and outputs it to the display. The display reading is maintained within a preset leveling tolerance range during the arm raising process. This tolerance range is 0° ± 0.2°, meaning that during arm raising, the display dynamically shows the chassis tilt angle after reverse compensation, ensuring the reading remains near 0°. When the arm is raised to the target angle, both the display reading and the actual chassis tilt angle are within the leveling tolerance range.

[0068] It is important to understand that during the boom raising process, the value displayed on the monitor is the "equivalent tilt angle value" after dynamic conversion by the controller. The calculation method is as follows:

[0069] Display value = Actual chassis tilt angle + Pre-leveling reverse compensation value corresponding to the current main boom angle

[0070] The "pre-adjustment reverse compensation value corresponding to the current boom angle" refers to the pre-adjustment compensation value required to level the chassis, obtained from the tilt angle relationship table at the current boom lifting angle. The display value needs to be reverse compensated based on the table lookup result.

[0071] Taking a target boom angle of 50° and a corresponding tilt of 0.7° as an example: After pre-leveling and before boom raising, the main boom angle is 0°, the actual chassis tilt angle is -0.7° (reverse tilt), the table-checked compensation value is 0.7° (corresponding to the table-checked compensation value when the boom is raised to 50°), and the display value is -0.7° + 0.7° ≈ 0°, within the range of 0° ± 0.2°, displaying "Leveling complete". During boom raising, when the main boom angle is 35°, the actual chassis tilt angle is -0.45°, the table-checked compensation value is 0.45° (corresponding to the table-checked compensation value when the boom is raised to 15°, i.e., 50° - 35° = 15°), and the display value is -0.45° + 0.45° ≈ 0°, always within the range of 0° ± 0.2°. When the boom is raised to 50°, the actual chassis tilt angle is 0° (just compensated), the table-checked compensation value is 0° (corresponding to the compensation value when the boom is raised to 0°), and the display value is approximately 0°, within the range of 0°±0.2°, displaying "Level". The allowable leveling error range can be set according to the vehicle's precision requirements, preferably 0°±0.2°, but can also be 0°±0.1° or 0°±0.3°, etc.

[0072] Therefore, throughout the entire boom raising process (from 0° to the target angle), the display consistently shows a value within the leveling tolerance range. The operator doesn't need to pay attention to whether the chassis is actually tilted; they only need to raise the boom to the target angle according to the normal operating procedure. When the boom reaches the target angle, the actual chassis tilt angle is exactly 0°, and the display also shows 0°, both within the tolerance range, directly reflecting that the vehicle has reached a truly level state. This strategy allows the operator to operate without changing any habits.

[0073] According to one embodiment of the present invention, when the boom lifting angle exceeds the target boom lifting angle, the pre-leveling compensation is stopped, and the display switches to display the actual tilt angle value of the chassis.

[0074] Specifically, pre-leveling is first completed, and dynamic compensation of the display value is performed during boom raising. The controller continuously monitors the current boom angle and compares it with the target boom raising angle. When the current boom angle is less than or equal to the target boom raising angle, the display shows the equivalent tilt angle value, that is, the display value equals the sum of the actual chassis tilt angle and the pre-leveling reverse compensation value corresponding to the current boom angle, and is maintained within the allowable leveling error range of 0°±0.2°. When the current boom angle is greater than the target boom raising angle, the controller stops the pre-leveling compensation calculation and directly outputs the actual chassis tilt angle value detected by the chassis tilt angle sensor to the display for display.

[0075] It is important to understand that the pre-leveling compensation value is only valid for the preset target angle. Beyond this angle, it should accurately reflect the actual state to avoid misleading the operator. This prevents the operator from being misled by a false "0°" reading in the event of overshoot, ensuring the operator has a true understanding of the vehicle's attitude and improving operational safety.

[0076] According to an embodiment of the present invention, the above method further includes a safety verification step: during the boom raising process, the deviation between the actual tilt angle of the chassis and the predicted value in the relational data table is compared in real time; if the deviation exceeds a preset safety threshold, an alarm is issued and the boom is restricted from continuing to move.

[0077] Specifically, during the boom raising process, the deviation between the actual tilt angle of the chassis and the predicted value in the relational data table is compared in real time. If the deviation exceeds the preset safety threshold, it indicates that there may be an abnormal situation (such as ground settlement, hydraulic system failure, etc.). At this time, the system issues an alarm and restricts the boom from continuing to move.

[0078] Specifically, during boom raising, the controller continuously receives the actual chassis tilt angle detected by the chassis tilt angle sensor. Simultaneously, it queries a relationship data table based on the current boom angle to obtain the predicted tilt angle value and calculates the deviation between the actual and predicted tilt angles. If the absolute value of this deviation exceeds a preset safety threshold (e.g., 0.2° or 0.5°, which can be set according to the vehicle model), the controller determines an abnormality, immediately issues an audible and visual alarm, and outputs a control signal to restrict the boom's continued movement (e.g., prohibiting the boom from continuing to lift or rotate). Simultaneously, the display can switch to showing the actual tilt angle value to alert the operator. The safety threshold can be set and adjusted according to factors such as vehicle model and operating environment. This allows for timely detection of abnormalities during boom raising, preventing serious deviations in chassis posture from expectations due to ground subsidence, hydraulic failures, or other reasons, thus ensuring operational safety.

[0079] According to one embodiment of the present invention, after the pre-leveling is completed, the system prompts the operator that the boom can be raised; during the boom raising process, the outrigger system remains locked and is no longer adjusted.

[0080] Specifically, after the controller completes pre-leveling, it sends a prompt to the operator via the human-machine interface unit (e.g., displaying "Pre-leveling complete, boom can be raised"). The operator confirms and begins the boom raising operation. During boom raising, the controller keeps the hydraulic control valve group of the outrigger system locked, preventing any change in the extension of the outrigger vertical cylinders; that is, the outrigger system is locked. Simultaneously, the interlocking mechanism between the outrigger and outrigger systems is activated: the outrigger locks when the outrigger is moving, and the outrigger locks when the outrigger is moving; the two cannot operate simultaneously. The outrigger locking state can be achieved via hydraulic locks or solenoid valves. This ensures the rigid support of the outriggers during boom raising, prevents sudden changes in chassis posture due to unexpected outrigger movement, complies with fire truck safety operating regulations, and improves overall vehicle safety.

[0081] Corresponding to the above embodiments, the present invention also proposes a pre-leveling control system for the dismount of a multi-section telescopic boom fire truck.

[0082] like Figure 2 As shown, the pre-leveling control system 100 for the multi-section telescopic boom fire truck of this invention includes: a detection unit 110, a storage unit 120, a control unit 130, an execution unit 140, and a human-machine interaction unit 150.

[0083] The detection unit 110 includes a chassis tilt sensor 111 mounted on the undercarriage and a boom angle sensor 112 mounted on the boom hinge point or the side of the boom. The storage unit 120 stores a data table showing the relationship between the boom angle and the chassis tilt angle. The control unit 130 receives real-time data from the detection unit, queries the data table based on the target boom angle, interpolates and calculates the corresponding pre-leveling target value, performs pre-leveling control, and dynamically converts the displayed value. The execution unit 140 includes hydraulic control valve groups for each outrigger, used to adjust the extension amount of the vertical cylinders of each outrigger according to control commands. The human-machine interface unit 150 sets the target boom angle or selects a preset working condition and displays the equivalent tilt angle value after dynamic conversion. The control unit 130 is configured to execute the above-described pre-leveling control method for the undercarriage of a multi-section telescopic boom fire truck.

[0084] Specifically, after the system is powered on, the operator sets the target boom angle or selects a preset working condition through the human-machine interface unit 150. After receiving the target angle, the control unit 130 queries the relationship data table in the storage unit 120 to calculate the pre-leveling target value. Then, the control unit 130 outputs a control signal to the hydraulic control valve group of the execution unit 140, driving the outrigger vertical cylinders to actuate, causing the chassis to tilt in the opposite direction. The chassis tilt sensor 111 provides real-time feedback on the chassis tilt angle, and the control unit 130 performs closed-loop control until the pre-leveling target value is reached. After pre-leveling is completed, the control unit 130 prompts the operator through the human-machine interface unit 150 that the boom can be raised. During the boom raising process, the control unit 130 calculates the equivalent tilt angle value based on the actual chassis tilt angle and the current boom angle, and outputs it to the human-machine interface unit display 150. The control unit 130 can be a separate ECU or integrated into the vehicle controller. The human-machine interface unit 150 can be a touch screen display.

[0085] Corresponding to the above embodiments, the present invention also proposes a multi-section telescopic boom fire truck.

[0086] like Figure 3 As shown, the multi-section telescopic boom fire truck 200 of this embodiment includes a chassis, a multi-section telescopic boom and outrigger system, and also includes the aforementioned multi-section telescopic boom fire truck pre-leveling control system 100.

[0087] Specifically, before the multi-section telescopic boom fire truck 200 carries out high-altitude rescue operations, the undercarriage is tilted in the opposite direction in advance by the undercarriage pre-leveling control system 100 to compensate for the tilt caused after the boom is raised, and to ensure that the chassis is level during operation.

[0088] Specifically, the undercarriage includes the frame, driving system, etc. The multi-section telescopic boom is composed of multiple nested boom segments, allowing for progressive extension and retraction, including the main boom (basic boom) and the telescopic boom. The outrigger system is typically H-type outriggers, consisting of four outriggers, each with a vertical hydraulic cylinder. The undercarriage pre-leveling control system 100 is installed on the multi-section telescopic boom fire truck 200. Its detection unit includes a chassis tilt sensor mounted on the undercarriage chassis, and a boom angle sensor mounted at the boom hinge point or on the side of the boom. The storage unit and control unit can be integrated into the vehicle's control cabinet. The hydraulic control valve group of the actuator unit is connected to the outrigger vertical hydraulic cylinders. The human-machine interface unit is installed in the operator's cab or on the control panel.

[0089] After arriving at the rescue site, the multi-section telescopic boom fire truck 200 deploys its outriggers to the working position. The operator sets the target boom angle or selects a preset working condition through the human-machine interface unit. The pre-leveling control system performs pre-leveling, tilting the chassis in the opposite direction. After pre-leveling is completed, the operator raises the boom. During boom raising, the display shows the equivalent tilt angle value, maintained within the allowable leveling error range of 0°±0.2°. After raising the boom to the target angle, the chassis is exactly level, and the display value is within the allowable error range. After the operation is completed, the boom and outriggers are retracted, and the vehicle returns to driving status. The multi-section telescopic boom fire truck 200 of this embodiment can be a large multi-section telescopic boom fire truck with a maximum working height exceeding 50 meters.

[0090] Therefore, the multi-section telescopic boom fire truck of this invention has an active pre-leveling function, which can automatically compensate for the tilt after the boom is raised before raising it, ensuring that the chassis is level during operation, improving the accuracy and safety of high-altitude rescue operations, while being easy to operate and easy to promote.

[0091] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0092] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0093] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0094] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for pre-leveling control of the unloading of a multi-section telescopic boom fire truck, characterized in that, Includes the following steps: Pre-generate and store a data table showing the relationship between the boom angle and the chassis tilt angle; Obtain the target boom angle for this operation; Based on the target boom angle, query the relationship data table to obtain the chassis tilt amount corresponding to the target boom angle, which is used as the pre-leveling target value; Before raising the boom, control the movement of each outrigger to tilt the chassis in the opposite direction to the boom tilting direction to the pre-leveling target value, thus completing the pre-leveling; After pre-leveling is completed, boom raising is permitted.

2. The pre-leveling control method for dismounting a multi-section telescopic boom fire truck according to claim 1, characterized in that, The relational data table is generated through actual measurement and calibration, including: Adjust the outriggers to level before dismounting, and position the boom in the traveling position. The boom is raised and measured step by step at preset angle intervals, and the chassis tilt angle value corresponding to each boom angle is recorded until the boom is raised to the maximum angle. Generate and store the main boom angle-chassis tilt angle relationship curve or data table through interpolation fitting.

3. The pre-leveling control method for dismounting a multi-section telescopic boom fire truck according to claim 1, characterized in that, The relational data table is generated through theoretical calculations, including: Establish a mechanical model of the boom system at different lifting angles based on vehicle structural parameters; Calculate the position of the vehicle's center of gravity and the corresponding overturning moment under each attitude; By combining the outrigger support stiffness parameters, the theoretical chassis tilt at each main boom angle is calculated, and a relationship curve or data table is generated.

4. The pre-leveling control method for dismounting a multi-section telescopic boom fire truck according to claim 1, characterized in that, The process of obtaining the target boom angle for this operation includes: the operator manually inputting the target boom angle through the human-machine interface, or the system automatically calling the corresponding target angle value according to the pre-configured operating conditions.

5. The pre-leveling control method for dismounting a multi-section telescopic boom fire truck according to claim 1, characterized in that, It also includes a dynamic compensation step for the display reading: During the boom raising process, the display shows the equivalent tilt angle value, which is equal to the sum of the actual chassis tilt angle and the pre-leveling reverse compensation value corresponding to the current boom angle; The pre-leveling reverse compensation value corresponding to the current main boom angle is obtained from the relational data table; The display reading is kept within the preset leveling error range during the arm raising process. When the arm is raised to the target angle, both the display reading and the actual tilt angle of the chassis are within the leveling error range.

6. The pre-leveling control method for dismounting a multi-section telescopic boom fire truck according to claim 5, characterized in that, When the boom lifting angle exceeds the target boom lifting angle, the pre-leveling compensation stops, and the display switches to displaying the actual tilt angle value of the chassis.

7. The pre-leveling control method for dismounting a multi-section telescopic boom fire truck according to claim 1, characterized in that, It also includes a security verification step: During the boom lifting process, the deviation between the actual chassis tilt angle and the predicted value in the relational data table is compared in real time; If the deviation exceeds the preset safety threshold, an alarm will be issued and the boom will be restricted from continuing to move.

8. The pre-leveling control method for dismounting a multi-section telescopic boom fire truck according to claim 1, characterized in that, After pre-leveling is completed, the system prompts the operator that the boom can be raised; during the boom raising process, the outrigger system remains locked and will not be adjusted further.

9. A pre-leveling control system for the lowering of a multi-section telescopic boom fire truck, characterized in that, include: The detection unit includes a chassis tilt sensor mounted on the undercarriage and a boom angle sensor mounted at the boom hinge point or on the side of the boom. Storage unit, used to store the main boom angle-chassis tilt angle relationship data table; The control unit is used to receive real-time data from the detection unit, query the relationship data table according to the target boom angle and interpolate to calculate the corresponding pre-leveling target value, execute pre-leveling control, and perform dynamic conversion of the display value. The actuator includes hydraulic control valve groups for each outrigger, used to adjust the extension amount of the vertical cylinders of each outrigger according to control commands; The human-machine interaction unit is used to set the target boom angle or select preset working conditions, and to display the equivalent tilt angle value after dynamic conversion; The control unit is configured to perform the pre-leveling control method for dismounting a multi-section telescopic boom fire truck as described in any one of claims 1 to 8.

10. A multi-section telescopic boom fire truck, comprising a chassis, a multi-section telescopic boom, and an outrigger system, characterized in that, It also includes the pre-leveling control system for the multi-section telescopic boom fire truck as described in claim 9.

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