Fire engine and control procedures for it

Abstract

Fire engine (100), which includes the following: a chassis (1) comprising a vehicle body (11), wheels (12) and an active suspension system (13), wherein the wheels (12) are arranged on the vehicle body (11), and wherein the active suspension system (13) connects the wheels (12) and the vehicle body (11); a support (2) which is arranged on the vehicle body (11); an operating system (3) arranged on the vehicle body (11) to perform firefighting operations; and a controller (4) which is in signal communication with the support (2), the active suspension system (13) and the operating system (3), for controlling the support (2), the active suspension system (13) and the operating system (3) so that they work together to achieve a tire-supported operating mode, wherein the controller (4) in the tire-supported operating mode controls that the fire engine (100) is parked, that the support (2) is not extended, that the wheels (12) touch the ground, that the active suspension system (13) is locked after performing leveling, and that the operating system (3) performs operation.

Description

CROSS-REFERENCE TO A RELATED REGISTRATION

[0001] The present disclosure claims priority from Chinese application no. 202210159310.2, filed with the Chinese Patent Office on February 22, 2022, the contents of which are incorporated herein by reference. AREA OF INVENTION

[0002] The present application concerns the field of firefighting equipment and in particular a fire engine and a tax procedure for it. BACKGROUND OF THE INVENTION

[0003] Fire engines are essential fire rescue equipment. Given urbanization and increasing public awareness of fire safety, the importance of fire engines is becoming ever more apparent. However, current technology typically requires a fire engine to be supported by an extended outrigger when parked, especially when the upper body is performing an operation. Extending the outrigger requires more space, making rescues in confined areas difficult and reducing rescue efficiency. For further information on the current state of the art, see DE 42 23 041 A1, AT 519 071 A1, and KR 10 2 184 187 B1. BRIEF SUMMARY OF THE INVENTION

[0004] One technical problem that the present application seeks to solve is improving the suitability of fire rescue in confined spaces.

[0005] To solve the aforementioned technical problem, the present application provides a fire engine that includes the following: a chassis comprising a vehicle body, wheels and an active suspension system, wherein the wheels are arranged on the vehicle body, and the active suspension system connects the wheels and the vehicle body; a support that is attached to the vehicle body; an operating system located on the vehicle body to perform firefighting operations; and a controller that is in signal communication with the support, the active suspension system and the operating system, to control the support, the active suspension system and the operating system so that they work together to achieve a tire-borne operating mode, wherein in the tire-borne operating mode the controller controls that the fire engine is parked, that the support is not extended, that the wheels touch the ground, that the active suspension system is locked after performing leveling and that the operating system performs operation.

[0006] In some embodiments, the controller is configured to control the support, the active suspension system, and the operating system to work together to achieve at least one driving mode and one support-supported operating mode, wherein: In driving mode, the controller ensures that the support leg is not extended, that the wheels touch the ground, that the fire engine moves, that the active suspension system performs real-time leveling while the fire engine is driving, and that the operating system operates while the fire engine is driving; and In the support-supported operating mode, the controller ensures that the fire engine is parked, that the active locking system is locked, that the support is extended and the wheels are lifted off the ground, and that the operating system performs its function.

[0007] In some embodiments, the fire engine includes a detection system, wherein the detection system detects a road condition, and the controller is in signal communication with the detection system, and adjusts the active suspension system according to the road condition detected by the detection system in order to implement leveling.

[0008] In some embodiments, the controller, in driving mode, controls the speed of the fire engine with the stipulation that a threshold value is not exceeded; and / or the controller, in driving mode, controls the fire engine with the stipulation that a speed is reduced if a vibration acceleration of a ladder arrangement of the operating system exceeds a limit value.

[0009] In some embodiments, the operating system includes a fire monitor, and the threshold is determined according to a spray flow rate of the fire monitor in the driving mode; and / or the fire engine includes a detector, wherein the detector detects vibrations of the ladder assembly to determine whether the vibration acceleration of the ladder assembly exceeds the limit value.

[0010] In some embodiments, the fire engine is configured to fulfill at least one of the following: The active suspension system includes a suspension cylinder; The support is an H-shaped support; The chassis is an off-road chassis.

[0011] In some embodiments, the fire engine includes at least one of the following: an under-cabin manipulation panel installed in an under-cabin of the fire engine to manipulate the operating system in order to perform operations; a remote manipulation system in signal connection with the controller and / or a fire scene monitoring system of the fire engine to manipulate the fire engine remotely and / or to monitor a fire scene remotely.

[0012] In some embodiments, the remote manipulation system includes a handheld MESH terminal and / or a relay MESH system.

[0013] In some embodiments, the operating system includes an extinguishing agent supply system and a fire monitor, wherein the extinguishing agent supply system is connected to the fire monitor and includes at least two water supply systems, foam supply systems, and dry powder supply systems to supply at least two of water, foam, and dry powder to the fire monitor; and / or wherein the operating system includes a ladder assembly and a lifting mechanism, wherein the lifting mechanism is provided at the head of the ladder assembly to perform load lifting and obstacle removal operations at the rescue location.

[0014] In some designs, the fire engine is a turntable fire engine.

[0015] The present application also provides a tax procedure for a fire engine, which includes the following: Determine whether a target operating mode of the fire engine is a tire-borne operating mode; and If it is determined that the target operating mode is the tire-borne operating mode, control that the fire engine is parked, that a support leg of the fire engine is not extended, that the wheels are in contact with the ground, that an active suspension system is locked after leveling is performed, and that an operating system is running. If it is determined that the target operating mode is the tire-borne operating mode, control that the fire engine is parked, that a support leg of the fire engine is not extended, that the wheels are in contact with the ground, that an active suspension system is locked after leveling is performed, and that an operating system is running.

[0016] In some embodiments, determining whether a target operating mode of the fire engine is a tire-borne operating mode involves the following: If the fire engine must operate in parked mode and an operating area does not permit the extension of the support, determine that the target operating mode is the tire-supported operating mode.

[0017] In some embodiments, the control procedure includes the following: Determine whether the target operating mode of the fire engine is a driving mode; and If it is determined that the target operating mode of the fire engine is the driving mode, control that the support is not extended, that the wheels are touching the ground, that the fire engine is driving, that the active suspension system performs leveling in real time while the fire engine is driving, and that the operating system performs operation while the fire engine is driving.

[0018] In some embodiments, determining whether the target operating mode of the fire engine is a driving operating mode involves the following: If the fire engine is to extinguish a fire with variable parameters, determine that the target operating mode should be the driving operating mode.

[0019] If, in some embodiments, the target operating mode is the driving operating mode, the control method includes at least one of the following: Before the fire engine starts driving, adjust the active suspension system to implement leveling; while driving the fire engine, controlling the speed of the fire engine, ensuring that it does not exceed a threshold; and While driving the fire engine, steering the fire engine to reduce its driving speed if a vibration acceleration of a ladder assembly of the fire engine exceeds a limit value.

[0020] In some embodiments, the control procedure includes the following: Determine whether the target operating mode of the fire engine is a support-mounted operating mode; and If it is determined that the target operating mode is the support-supported operating mode, control that the fire engine is parked, that the active locking system is locked, that the support is extended, and that the wheels are lifted off the ground, and that the operating system is performing operation.

[0021] In some embodiments, determining whether the target operating mode of the fire engine is a support-mounted operating mode involves the following: If the fire engine must operate in parked mode and an operating space allows the extension of the support, determine that the target operating mode should be the support-supported operating mode.

[0022] With the present application, the fire engine can achieve and operate in a tire-supported mode while being supported by its wheels in a parked position. In this case, the outrigger does not need to be extended and does not occupy any additional space, thus fulfilling the requirement for rescue in confined spaces and improving its suitability for fire rescue in confined areas.

[0023] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments of the present application with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] To more clearly describe the technical solutions in the embodiments of the present application or in the prior art, a brief introduction to the drawings for use in describing the embodiments of the prior art is given below. Obviously, the drawings described below represent only some embodiments of the present application, and the person skilled in the art can, without any creative effort, derive other drawings based on these. Fig. Figure 1 is a schematic structure diagram of a fire engine in an embodiment of the present application. Fig. Figure 2 is a main control diagram in one embodiment of the present application. Fig. Figure 3 illustrates the structure of a controller in an embodiment of the present application. Fig. Figure 4 illustrates the structure of a remote manipulation system in an embodiment of the present application. Fig. Figure 5 is a flowchart of a control procedure in one embodiment of the present application. Fig. Figure 6 is a logic block diagram of a control procedure in an embodiment of the present application. DETAILED DESCRIPTION OF THE EXECUTION FORMS

[0025] Technical solutions in the embodiments of the present application are clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments represent only a subset of the embodiments of the present application and not all embodiments. The following description of at least one exemplary embodiment is for illustrative purposes only and in no way constitutes any limitation of the present application and its application or use. Embodiments that could be obtained by a person skilled in the art without creative effort based on the embodiments in the present application fall within the scope of protection of the present application.

[0026] Technologies, processes and equipment that are known to the average professional in the relevant field may not be discussed in detail, but where applicable, the technologies, processes and equipment should be considered as part of the specification.

[0027] In describing the present application, it must be understood that orientation or position relationships designated by terms such as "front", "rear", "top", "bottom", "left", "right", "transverse", "longitudinal", "vertical", "horizontal", "top" and "bottom" are to illustrate the general orientation or position relationships based on the drawings and serve only for the practical description of the present application and to simplify the description, and that, unless otherwise stated, such terms do not indicate or suggest that the named devices or elements must have specific orientations or must be constructed and operated in specific orientations, so that they cannot be interpreted as limiting the scope of protection of the present application;and that orientation terms such as "inner" and "outer" refer to the inside and the outside in relation to the contour of each component itself.

[0028] In describing the present application, it should be understood that the use of terms such as "first" and "second" to define parts and components serves only for practical reasons of distinguishing the respective parts and components. Unless otherwise stated, the above terms have no special meanings and therefore cannot be interpreted as limiting the scope of protection of the present application.

[0029] In addition, technical features involved in the different embodiments of the present described application can be combined with each other, as long as they do not conflict with each other.

[0030] A fire engine is a vehicle configured and manufactured to be suitable for firefighters to drive, as needed, and equipped with all types of firefighting equipment or extinguishing agents for use in fire suppression, auxiliary firefighting, or fire suppression and rescue of firefighters. The fire engine is specialized fire rescue equipment and plays a vital role in the fire rescue process.

[0031] Consider a fire engine with aerial platforms as an example. This type of fire engine is equipped with lifting and firefighting equipment for aerial firefighting, rescue, and fire suppression. It is capable of operating at heights ranging from 15 to 100 meters, spanning many meters, and can quickly execute operations. Aerial fire engines are widely used for firefighting and rescue operations in mid- and high-rise buildings, as well as for petrochemical, industrial, and mining companies, and in other situations. Given the ongoing increase in the height of residential and commercial buildings, the aerial fire engine has become increasingly popular as a firefighting vehicle capable of performing high-rise fire rescue operations.

[0032] A fire engine, such as a turntable ladder truck, typically includes a chassis, a support leg, and an operating system. The support leg is located on the underside of the chassis to extend when needed and stabilize the entire vehicle. The operating system is located above the chassis to perform firefighting operations.

[0033] In the prior art, the suspension system of a fire engine is a passive suspension (e.g., a leaf spring suspension). To eliminate any influence of the passive suspension on the stability of the entire vehicle, the fire engine must be parked during firefighting operations, and the outrigger must be extended to support the entire vehicle. Influenced by fire engine-specific standards (e.g., the standard "GB7956.12-2015 Fire Truck - Part 12: Elevating Fire Truck"), such an outrigger operating mode is considered by those skilled in the art to be the only feasible operating mode for fire engines.

[0034] However, space is required for the support to extend in the aforementioned support operating mode, and the above support operating mode has a high space requirement and needs a large operating area, making it difficult for the fire engine to carry out rescues in confined spaces, such as narrow alleys, thus increasing the difficulty of rescue work in confined spaces.

[0035] In view of the above-mentioned situation, the present application provides a fire engine and a tax procedure for improving the performance of the fire engine and facilitating fire rescue in confined spaces by improving the structure and operating mode of the fire engine.

[0036] The Fig. 1 to Fig. Figure 6 illustrates the fire engine and its control procedure in the present application.

[0037] With reference to the Fig. Items 1 to 6 in the present application include the fire engine 100, comprising a chassis 1, a support 2, an operating system 3 and a controller 4.

[0038] The chassis 1 includes a vehicle body 11, wheels 12, and an active suspension system 13. The wheels 12 are mounted on the vehicle body 11. The active suspension system 13 connects the wheels 12 and the vehicle body 11. For example, the active suspension system 13 includes a suspension cylinder 14.

[0039] Support 2 is arranged on the vehicle body 11. By way of example, support 2 includes an H-shaped support 21.

[0040] Operating system 3 is mounted on the vehicle body 11 to perform firefighting operations. For example, operating system 3 includes a ladder assembly 36. The ladder assembly 36 is connected to a turntable 8 of the fire engine 100 and rotates with the turntable 8. Furthermore, the ladder assembly 36 is configured to be telescopically extended and tilted to facilitate lifting operations.

[0041] Controller 4 communicates with support 2, active suspension system 13, and operating system 3, and controls these components to work together to achieve a tire-supported operating mode. In this mode, controller 4 ensures that the fire engine 100 is parked, that support 2 is not extended, that the wheels 12 remain in contact with the ground, that active suspension system 13 locks after leveling the fire engine 100, and that operating system 3 executes its functions.

[0042] Based on the active suspension system 13 and the controller 4, the fire engine 100 is no longer limited to the outrigger-supported operating mode, but achieves the tire-supported operating mode. The tire-supported operating mode is a tire-supported parked operating mode in which the entire vehicle is supported by the wheels 12 without being supported by the outrigger 2, and the outrigger 2 does not extend, thus requiring less operating space. This allows the fire engine 100 to perform firefighting operations even in confined spaces, thereby meeting the requirements for rescue in confined spaces and improving its suitability for rescue operations in confined spaces.

[0043] Unlike a passive suspension, the active suspension system 13 can be switched between a rigid and a flexible state, and is therefore beneficial for improving the overall vehicle's operational safety and off-road performance. Since the active suspension system 13 facilitates automatic adjustment of the chassis 1 under difficult road conditions and other harsh conditions, it, for example, promotes improved off-road performance of the fire engine 100, thereby improving the timely rescue of the fire engine 100.As another example, based on the active suspension system 13, an upper body can be raised in the tire-supported operating mode by adjusting the active suspension system 13 to prevent the entire vehicle from tipping over. Since the active suspension system 13 is locked and switched to the rigid state after the entire vehicle has been leveled, malfunction of the active suspension system 13 during an operating process that results in instability of the entire vehicle is prevented. That is, it allows the active suspension system 13 of the upper body to maintain the horizontal position in the tire-supported operating mode, thus promoting improved operational safety in the tire-supported operating mode.

[0044] It is easy to understand that the upper body refers to the turntable 8 and to rotating devices on it (e.g., the ladder arrangement 36 of the operating system 3). The upper body is thus also referred to as the opposite of a lower body. The lower body refers to non-rotating devices (e.g., the chassis 1 and the support 2) below the turntable 8.

[0045] It is recognized that by breaking the inherent design concept that fire engines can only be supported by the support during operation, and by configuring the Fire Engine 100 to have the tire-supported operating mode, the present application effectively improves the adaptability of the Fire Engine 100 to confined operating spaces and facilitates the smooth implementation of rescue work in confined spaces.

[0046] With further reference to the Fig. 1 to Fig. In some embodiments of the controller 4, 6 not only controls the implementation of the aforementioned tire-supported operating mode, but also controls the implementation of at least one support-supported operating mode and one driving operating mode.

[0047] In the support-supported operating mode, the controller 4 controls that the fire engine 100 is parked, that the active suspension system 13 is locked, that the support 2 is extended and the wheels 12 are lifted off the ground, and that the operating system 3 performs operation.

[0048] As can be seen, the support-supported operating mode is similar to the prior art support-supported operating mode mentioned above, and is a support-supported parked operating mode in which the entire vehicle is not moving, and the operating system 3 performs operation after the support 2 has been extended and the wheels 12 have all been lifted off the ground; and since the active suspension system 13 is provided and the active suspension system 13 is locked and switched to the rigid state before the support 2 is extended, influences on the smooth running of the active suspension system 13 of the entire vehicle can be avoided.In the event that the fire engine 100 has both the aforementioned tire-borne operating mode and the support-borne operating mode, the fire engine 100 achieves two parked operating modes and implements the conventional support-borne operating mode when the operating space is large, and implements the tire-borne operating mode when the operating space is small, so that the fire engine 100 is applicable to several scenarios and has greater flexibility of use.

[0049] In the driving mode, the controller 4 ensures that the support 2 does not extend, that the wheels 12 touch the ground, that the fire engine 100 drives, that the active suspension system 13 performs leveling in real time while the fire engine 100 is driving, and that the operating system 3 performs operation while the fire engine 100 is driving.

[0050] It is evident that the driving mode is an operating mode while the vehicle is in motion. Based on the implementation of this mode, the fire engine 100 is no longer limited to operating modes when parked, but can also operate while driving. Advantages of operating while driving include the ability to meet rescue requirements in the case of fluctuating fires, such as spill fires; facilitating the fire engine 100's ability to track and extinguish the fire; and enabling the fire engine 100 to evacuate during firefighting operations. This allows for timely movement and evacuation under emergency conditions, such as spill fires or ignition points that shift due to changes in wind direction. Therefore, this contributes to improving the firefighting capabilities of the fire engine 100 and enhancing rescue safety.Furthermore, since the active suspension system performs real-time leveling during driving, keeping the upper body horizontal, the driving mode offers greater safety and reduces the risk of the vehicle tipping over. If the fire engine 100 features both the aforementioned tire-supported operating mode and the driving mode, it can operate in both parked and driving modes, making it applicable to more scenarios and offering greater flexibility.

[0051] The analysis above shows that if the fire engine 100 is configured to achieve at least one of the support-supported operating mode, the driving operating mode and the tire-supported operating mode by designing the active suspension system 13, the chassis 1 and the controller 4, the adaptability of the fire engine 100 to operating scenarios is effectively improved, thereby improving rescue flexibility and rescue safety.

[0052] To facilitate real-time leveling of the active suspension system 13 during driving, the fire engine 100 includes, with reference to Fig. 2 In some embodiments, a detection system 61. The detection system 61 detects a road condition, and the controller 4 is in signal communication with the detection system 61 and adjusts the active suspension system 13 according to the road condition detected by the detection system 61 in order to implement leveling.Specifically, in some embodiments, the detection system 61 includes a sensor for detecting road height in order to detect road evenness and to determine the road condition by detecting the road height and returning a detection result to the controller 4 on the vehicle in real time; and the controller 4 receives a signal from the detection system 61, and, with the control objective of keeping the vehicle body horizontal, adjusts lengths of different suspension cylinders 14 in real time according to the feedback of the road height deviation such that the upper body is horizontal, thereby realizing a real-time leveling process.

[0053] Through the interaction of the detection system 61 and the controller 4, the active suspension system 13 is dynamically adjusted according to the road conditions during driving operation in order to achieve a more accurate and reliable leveling process, and since this can effectively improve the stability of the entire vehicle during driving operation, it further promotes the improvement of the operational safety of the fire engine 100.

[0054] Additionally, a driving speed can be set during operation to improve workplace safety.

[0055] In some embodiments, for example, during the driving mode, the controller 4 controls the driving speed of the fire engine 100, ensuring that it does not exceed a threshold value to improve the safety of the driving process. The threshold value can be determined according to the spray flow rate of a fire monitor 31 during the driving mode such that the threshold meets the requirements for slow driving, while the fire monitor simultaneously sprays. As an integral part of the operating system 3, the fire monitor 31 is connected to an extinguishing agent supply system such that an extinguishing agent is supplied to the fire monitor 31 from the extinguishing agent supply system to achieve external spraying of the extinguishing agent. With reference to Fig. 1 In some embodiments, the extinguishing agent supply system includes at least two water supply systems 33, foam supply systems 34, and dry powder supply systems 35 to supply at least two types of water, foam, and dry powder to the fire monitor 31. In this case, the fire engine 100 is not only capable of spraying one type of extinguishing agent, but can spray at least two types of water, foam, and dry powder to achieve a multi-agent combination function, which makes it more flexible in meeting fire extinguishing requirements for different fire conditions, such as ordinary solid fires, oil fires, and electrical and gas fires.

[0056] As another example, in the driving mode, the controller 4 controls the fire engine 100 to reduce its driving speed if the vibration acceleration of the ladder assembly 36 of the operating system 3 exceeds a limit value. The fact that the vibration acceleration of the ladder assembly 36 exceeds the limit value means that the driving speed is too high and that excessive vibration of the upper body is being caused. Therefore, in this case, controlling the fire engine 100 to drive at a reduced speed is beneficial for improving operational safety. A vibration state of the ladder assembly 36 can be detected by a detector 62. The detector 62 detects the vibration of the ladder assembly 36 to determine whether the vibration acceleration of the ladder assembly 36 exceeds the limit value. For example, the detector 62 includes a position sensor.Based on the detector 62, the vibration state of the ladder arrangement 36 is obtained more practically, in a timely manner and accurately in order to control the speed reduction of the fire engine 100 in a timely manner and to prevent the occupational safety from being affected by excessive driving speed.

[0057] The travel speed of the fire engine 100 can be adjusted by setting the engine speed (not shown in the figures). For example, if the travel speed of the fire engine 100 is controlled to prevent it from exceeding a threshold, an upper limit for the engine speed is calculated based on the required spray flow rate from the fire monitor 31 in travel mode. The actual engine speed is then controlled so that it is lower than this upper limit during travel, thus keeping the travel speed less than or equal to the threshold. Alternatively, if the vibration acceleration of the ladder assembly 36 exceeds the limit and the travel speed needs to be reduced, the engine speed can be reduced.

[0058] Additionally, the fire engine includes 100 [units of equipment] with reference to the Fig. 1 to Fig. 2 in some embodiments at least one of the following: an under-cabin manipulation panel 72, which is installed in an under-cabin 52 of the fire engine 100 to manipulate the operating system 3 in order to perform operation; a remote manipulation system 74 in signal connection with the controller 4 and / or a fire scene monitoring system 78 of the fire engine 100, to manipulate the fire engine 100 remotely and / or to monitor a fire scene remotely.

[0059] Restricted by the fire truck-related standards (e.g., the standard “GB7956.12-2015 Fire Truck - Part 12: Elevating Fire Truck”) in the prior art, the fire truck 100 is usually only equipped with a turntable manipulation mode, whereby an operator specifically has no other option than to go to the turntable after the support has stabilized the vehicle in order to perform manipulation of the upper body actions and extinguishing actions, resulting in a relatively simple control procedure of the fire truck 100 and poor control capability.

[0060] In embodiments of the present application, at least one of the manipulation panel 72 and the remote manipulation system 74 is provided such that the fire engine 100 can achieve a cabin manipulation mode and / or a remote manipulation mode, thereby effectively improving manipulation suitability and enhancing manipulation adaptability, which is conducive to improving rescue efficiency.

[0061] For example, if the fire engine 100 is in a spill fire or an environment with high heat radiation and needs to switch to driving mode, a two-person crew can be formed. One person is in the main cab 51 to control the vehicle's movement, and the other person is in the lower cab 52 to operate the lower cab manipulation panel 72, controlling the upper body and firefighting operations. This eliminates the need for operators to move to the turntable 8 for manipulation, making it more convenient and thus facilitating more efficient rescue operations.

[0062] For example, if the fire engine 100 is operating in a high-risk environment, such as one with toxic gas or high temperatures, an operator can perform remote monitoring using the remote manipulation system 74. This allows the operator to carry out fire monitoring and / or rescue operations without entering the high-risk environment, making it safer and more efficient.

[0063] With reference to Fig. 4 includes, for example, the remote manipulation system 74, a handheld MESH terminal 75 and / or a relay MESH system 76. Thus, if the fire engine 100 operates in a high-risk environment, such as one with toxic gas or high temperature, the operator can conveniently perform remote manipulation of the fire engine 100 using the handheld MESH terminal 75 and / or the relay MESH system 76.

[0064] In the embodiments described above, the chassis 1 can be an off-road chassis 15.

[0065] In the prior art, chassis 1 of the fire engine 100, which is largely formed by modifying a second-class chassis, cannot achieve all-wheel steering and has a large turning radius, low ground clearance, poor maneuverability, and insufficient climbing and gradient capability. Chassis 1, which in the present application is configured as an off-road chassis 15, allows the entire vehicle to achieve all-wheel steering and has various steering modes, a smaller turning radius, higher ground clearance, better maneuverability, and greater climbing and gradient capability.In particular, the interaction of the off-road chassis 15 and the active suspension system 13 can effectively enhance the adaptability of the fire engine 100 to difficult road conditions, improve the driving comfort and handling stability of the vehicle, enhance off-road driving performance and maneuverability, and improve rescue timeliness.

[0066] The in the Fig. 1 to Fig. The embodiments shown in section 4 are described in more detail below.

[0067] As in Fig. As shown in Figure 1, in this embodiment the fire engine 100 is a turntable fire engine, the chassis 1 is an all-terrain chassis 15, and the chassis 1 is equipped with suspension cylinders 14 as the active suspension system 13. In this way, the entire vehicle exhibits enhanced off-road performance, improved traverse capability, and better maneuverability, which is beneficial for improving rescue response times. When the suspension cylinders 14 extend or retract, their lengths change. The entire vehicle can be leveled by adjusting the lengths of the suspension cylinders 14. During the leveling process, the pressures on the suspension cylinders 14 can be measured, and whether the upper body is horizontal is determined by whether the pressures on the suspension cylinders exceed the target value.When the suspension cylinder 14 needs to be switched from the flexible state to the rigid state, a switching valve (not shown in the figures) can be controlled to close a rod chamber and a rodless chamber of the suspension cylinder 14 in order to lock the suspension cylinder 14, thereby switching the suspension cylinder 14 from the flexible state to the rigid state.

[0068] Furthermore, as in Fig. As shown in Figure 1, the support 2, which is an H-shaped support 21, is arranged on the vehicle body 11 in an extendable or retractable manner and includes a horizontal support 22 and vertical supports 23. The vertical supports 23 are provided at the ends of the horizontal support 22 and are connected to the vehicle body 11 by the horizontal support 22. When support is required, the horizontal support 22 extends to its maximum span, and the vertical supports 23 touch the ground, so that the wheels 12 are completely lifted off the ground.

[0069] Furthermore, as in Fig. As shown in Figure 1, in this embodiment the operating system 3 of the fire engine 100 includes a ladder assembly 36, a fire extinguishing monitor 31 and an extinguishing agent supply system. A lifting mechanism 37, such as a hook, is provided at one head of the ladder assembly 36 to perform load lifting and obstacle removal operations at a rescue site in such a way that the fire engine 100 not only has functions such as rescuing persons and extinguishing fires, but also load lifting and obstacle removal functions, thereby better meeting different rescue needs at a disaster site.The extinguishing agent supply system is connected to the fire monitor 31 and includes a water supply system 33, a foam supply system 34, and a dry powder supply system 35 to supply water, foam, and dry powder to the fire monitor 31 in such a way that the fire engine 100 can use several agents in combination and meet the extinguishing requirements of various types of fires (including residential and various industrial fires). In this case, the fire monitor 31 can specifically be a three-phase jet fire monitor. A pump for conveying water, foam, and dry powder to the fire monitor 31 can be installed in a pump chamber 38.

[0070] The suspension cylinders 14, the supports 2 and the operating system 3 of the embodiment interact with each other under the control of the controller 4 in such a way that three operating modes are achieved: the support-supported operating mode, the tire-supported operating mode and the driving operating mode.

[0071] In the event that the fire engine 100 needs to operate in parked mode and the operating area allows the outriggers 2 to extend, the outrigger-supported operating mode is activated. In outrigger-supported mode, the entire vehicle has a maximum operating range. The outrigger-supported operating mode can be activated by an operator. Based on the local conditions, the operator determines whether parked operation is required and whether the operating area allows the outriggers 2 to extend on site, and then decides whether to activate the outrigger-supported operating mode. If the outrigger-supported operating mode needs to be activated, it is done by pressing a button or touching an on-screen control panel, etc.

[0072] After the support-supported operating mode is activated, the horizontal supports 22 extend to their maximum span, and the vertical supports 23 touch the ground until all wheels 12 are lifted off the ground, so that the fire engine 100 performs a lifting operation in a parked position. During the specific operation, as in Fig. As shown in Figure 6, before the supports 2 extend, the suspension cylinders 14 are first locked; after the supports 2 have lifted all wheels 12 off the ground, an extension amount of the supports 2 is set to level the entire vehicle; and after the upper body has been set to be horizontal, a mutual locking function of the upper and lower bodies is activated, and then the upper body is controlled to perform actions to execute full-range operation. In this process, activating the mutual locking function of the upper and lower bodies prevents malfunctions of the lower body during operation of the upper body, thus maintaining a safer and more reliable support-supported process in the parked state.

[0073] In the event that the fire engine 100 needs to operate in parked mode and the operating space does not allow the outriggers 2 to extend, tire-supported operation is implemented. The tire-supported operating mode can be activated by the operator. Based on the local conditions, the operator determines whether parked operation is required and whether the operating space allows the outriggers 2 to extend on site, and then decides whether to activate tire-supported operation. If tire-supported operation is required, it is activated by pressing a button or touching an on-screen control panel, etc.

[0074] After the tire-borne operating mode has been activated, as described in Fig. As shown in Figure 6, the system first detects whether the supports 2 have been extended; if the supports 2 have been extended, an alarm is triggered; and if the supports 2 have not been extended, the lengths of the suspension cylinders 14 are adjusted, and the pressures of the suspension cylinders 14 are detected. Then, after the pressures of the suspension cylinders 14 are greater than the setpoint, it is determined whether the upper body is horizontal; if the upper body is not horizontal, the lengths of the suspension cylinders 14 are readjusted until the upper body is horizontal; if the upper body is already horizontal, the suspension cylinders 14 are locked, and then the upper body is controlled to perform actions to carry out lifting operations while supporting the wheels 12 in the parked position.In the corresponding process, before leveling is performed by the suspension cylinders 14, the function for mutual locking of the upper and lower body can be shielded, for example, the function for mutual locking of the upper and lower body can be directly configured to be invalid and not to be activated when the tire-borne operating mode is activated.

[0075] In the tire-supported operating mode, the entire vehicle is supported by the wheels 12, and the outriggers 2 do not need to extend. This results in a smaller footprint and an operating process with the smallest possible ground area when parked. The fact that the outriggers 2 do not extend primarily means that the horizontal outriggers 22 do not extend, but it does not preclude the vertical outriggers 23 from being supported on the ground.Thus, in the tire-supported operating mode, the vertical supports 23 may not be supported on the ground if the horizontal supports 22 do not extend, so that the supports 2 do not support the vehicle; or the vertical supports 23 may be supported in place on the ground if the horizontal support 22 does not extend, so that the supports 2 together with the wheels 12 support the entire vehicle, whereby a support-supported leveling process step must be added compared to the tire-supported operating process mentioned above.

[0076] In the event that the fire engine 100 has to fight a fluctuating fire (such as a spill fire), the driving mode is activated. The driving mode can be activated by the operator. Based on the local conditions, the operator determines whether a fluctuating fire is present and then decides whether the driving mode should be activated. If the driving mode needs to be activated, it is done by pressing a button or touching an on-screen control panel, etc.

[0077] After the driving mode has been activated, as in Fig. As shown in Figure 6, the system first detects whether the supports 2 have been extended; if the supports 2 have been extended, an alarm is triggered; and if the supports 2 have not been extended, the lengths of the suspension cylinders 14 are adjusted, and the pressures of the suspension cylinders 14 are detected. After the pressures of the suspension cylinders 14 are greater than the setpoint, it is determined whether the upper body is horizontal; if the upper body is not horizontal, the lengths of the suspension cylinders 14 are readjusted until the upper body is horizontal; if the upper body is already horizontal, the suspension cylinders 14 are locked, and then the upper body is controlled to perform actions (e.g.,Extending / retracting and luffing the ladder assembly 36); after the upper body has performed actions, it is detected whether the ladder assembly 36 is within a defined area, if not, an alarm is triggered, and if so, the fire engine 100 is actuated in such a way that the fire engine 100 begins to drive, and then the suspension cylinders 14 are unlocked, and the fire monitor spray operation is carried out to achieve an operating process with driving.

[0078] Furthermore, during the driving process, road conditions are recorded and returned to the controller 4 in real time for processing. With a control objective of keeping the vehicle body horizontal, the lengths of the various suspension cylinders 14 are adjusted in real time according to the returned road height deviation to level the upper body so that the ladder assembly 36 operates stably. Before leveling is performed by the suspension cylinders 14, the function for mutually locking the upper and lower body can be disabled. For example, the mutual locking function of the upper and lower body can be configured to fail directly and not start when the driving mode is activated.

[0079] During driving mode, the driving speed can be limited to improve safety. The driving speed is limited by controlling the rotational speed of a motor to prevent it from exceeding a threshold value, ensuring it does not exceed an upper limit determined based on the required spray flow rate of the fire monitor 31. Additionally, the vibration of the ladder assembly 36 can be detected during driving, and if a vibration acceleration value of the ladder assembly 36 exceeds a limit due to excessive oscillation of the upper body resulting from a suspension leveling error, the driving speed is reduced to stabilize the upper body.

[0080] In the driving mode, the fire engine 100 performs operations while driving in such a way that evacuation or tracking and extinguishing of the fire is carried out during firefighting, and the suspension cylinders 14 are dynamically adjusted according to the vehicle condition and road conditions to improve the stability of the entire vehicle, which is why a safe and practical rescue process is realized in the case of changing fires.

[0081] The fire engine 100 of this design can achieve three operating modes: the support-mounted operating mode, the tire-mounted operating mode and the driving operating mode, which is why the fire engine 100 is more adaptable to operating scenarios and has greater operational flexibility, thus facilitating rapid rescue for different scenarios.

[0082] Furthermore, as in connection with Fig. 1 to Fig. As shown in Figure 2, the fire engine 100 of the embodiment has a multi-point manipulation system to facilitate manipulation, which includes an under-cabin manipulation panel 72, which is set up in an under-cabin 52, and a remote manipulation system 74 such that the following several manipulation modes are realized: (1) Turntable manipulation mode: in the conventional operating mode, the operator performs manipulation for upper body actions and extinguishing operations on the turntable 8 after the lower body is supported; (2) Under-cabin manipulation mode: using the under-cabin manipulation panel 72 in the under-cabin 52, when the vehicle is in a spill fire or an environment with high heat radiation and needs to implement the driving mode, two persons are grouped together, one person in a main cabin 51 operating the vehicle to drive, and the other person in the under-cabin 52 manipulating the under-cabin manipulation panel 72 to manipulate the operating process; (3) Remote manipulation mode: with reference to Fig. 4 The entire vehicle is equipped with ad-hoc mesh network technology (wireless mesh network technology), and the vehicle is equipped with a vehicle-mounted mesh system 77, which is connected to the controller 4 on the vehicle via a CAN bus 44 and transmits a vehicle status information signal to it, and the vehicle-mounted mesh system 77 is in signal communication with a fire scene monitoring system 78 via the wireless connection and transmits video information to it; when the vehicle operates in a high-risk environment, such as an environment with toxic gas or high temperature, the operator uses the relay mesh system 76 or the handheld mesh terminal 75 to achieve real-time display of a fire scene monitoring screen and remote manipulation of the operating process via wireless communication.

[0083] As can be seen, based on the provided multi-point manipulation system, the fire engine 100 can achieve, in addition to the conventional manipulation mode on the turntable, under-cabin manipulation in driving mode and remote manipulation in a high-risk environment, such as an environment with toxic gas or high temperature, which is why the fire engine 100 can better adapt to the complex environment of the rescue site and effectively adapt the rescue flexibility and operator safety.

[0084] Overall, the Fire Engine 100, in its current configuration, is a highly maneuverable and multifunctional aerial fire engine. It features an all-terrain chassis and incorporates multi-tool combination, personnel rescue, load lifting, and obstacle removal capabilities. The Fire Engine 100 can operate in several modes, including outrigger-supported, tire-supported, and road-legal modes. It also offers multiple manipulation modes, such as turntable, under-cabin, and remote operation. This makes the Fire Engine 100 more adaptable to various operational scenarios, offering greater operational flexibility and making it more practical and safer to operate.

[0085] Based on the fire engine 100 of each of the above embodiments, the present application also provides a control method for the fire engine 100.

[0086] With reference to the Fig. 5 to Fig. 6, the tax procedure provided in the present application includes the following: S100, Determine whether a target operating mode of fire engine 100 is a tire-borne operating mode; and S200, whether the target operating mode is intended to be the tire-borne operating mode, control that the fire engine 100 is parked, that a support 2 of the fire engine 100 is not extended, that wheels 12 touch the ground, that an active suspension system 13 is locked after leveling has been performed, and that an operating system 3 is performing operation.

[0087] Furthermore, it includes, with reference to Fig. 6. In some embodiments, determining whether a target operating mode of the fire engine 100 is a tire-borne operating mode is as follows: If the fire engine must perform parked operation 100 and an operating room does not allow the extension of support 2, determine that the target operating mode is the tire-supported operating mode.

[0088] With further reference to Fig. 6. In some embodiments, the control procedure further includes the following: Determine whether the target operating mode of fire engine 100 is a driving operating mode; and If it is determined that the target operating mode of the fire engine is the driving operating mode, control that the support 2 is not extended, that the wheels 12 are touching the ground, that the fire engine 100 is driving, that the active suspension system 13 performs leveling in real time while the fire engine 100 is driving, and that the operating system 3 performs operation while the fire engine 100 is driving.

[0089] Determining whether the target operating mode of the fire engine 100 is a driving operating mode may specifically involve the following: If the fire engine 100 has to extinguish a variable fire, determine that the target operating mode should be the driving operating mode.

[0090] Additionally, if referring to Fig. 6. In some embodiments, where the target operating mode is the driving operating mode, the control method includes at least one of the following: Before the fire engine 100 starts driving, adjust the active suspension system 13 to implement leveling; while driving the fire engine 100, controlling the speed of the fire engine 100, provided that it does not exceed a threshold value; and while driving the fire engine 100, controlling the fire engine 100 to reduce its driving speed if a vibration acceleration of a ladder arrangement 36 exceeds a limit value.

[0091] With reference to Fig. 6. In some embodiments, the control procedure includes the following: Determine whether the target operating mode of fire engine 100 is a support-mounted operating mode; and If it is determined that the target operating mode is the support-supported operating mode, control that the fire engine 100 is parked, that the active locking system 13 is locked, that the support 2 is extended, and that the wheels 12 are lifted off the ground, and that the operating system 3 is executed.

[0092] Furthermore, in some embodiments, determining whether the target operating mode of the fire engine 100 is a support-mounted operating mode includes the following: If the fire engine 100 has to perform parked operation and an operating room allows the extension of the support 2, determine that the target operating mode should be the support-supported operating mode.

[0093] The control process is implemented in each of the above embodiments under the control of controller 4. With reference to Fig. 3 The controller 4 includes a memory 41 and a processor 42, which is coupled to the memory 41, the processor 42 is configured to execute the control procedure of the embodiments of the present application based on instructions stored in the memory 41.

[0094] Specifically includes, with reference to Fig.In some embodiments, the controller 4 includes a memory 41, a processor 42, a communication interface 43, and a CAN bus 44. The memory 41 is configured to store instructions. The processor 42 is coupled to the memory 41 and configured to execute the control procedure in each of the embodiments described above, based on the instructions stored in the memory 41. The memory 41, the processor 42, and the communication interface 43 are interconnected via the CAN bus 44.

[0095] The memory 41 can be high-speed RAM or non-volatile memory, etc. The memory 41 can also be a memory array. The memory 41 can also be divided into blocks, and the blocks can be combined into virtual volumes according to certain rules. The processor 42 can be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the control procedure of this application.

[0096] The above descriptions are only exemplary embodiments of the present application, which are not intended to restrict the present application, and all modifications, equivalent substitutions, improvements and the like which are within the spirit and concept of the present application should be included within the scope of protection of the present application.

Claims

[1] Fire engine (100) comprising the following: a chassis (1) comprising a vehicle body (11), wheels (12) and an active suspension system (13), wherein the wheels (12) are arranged on the vehicle body (11), and wherein the active suspension system (13) connects the wheels (12) and the vehicle body (11); a support (2) which is arranged on the vehicle body (11); an operating system (3) arranged on the vehicle body (11) to perform firefighting operations; and a controller (4) which is in signal communication with the support (2), the active suspension system (13) and the operating system (3), for controlling the support (2), the active suspension system (13) and the operating system (3) so that they work together to achieve a tire-supported operating mode, wherein the controller (4) in the tire-supported operating mode controls that the fire engine (100) is parked, that the support (2) is not extended, that the wheels (12) touch the ground, that the active suspension system (13) is locked after performing leveling, and that the operating system (3) performs operation. [2] Fire engine (100) according to claim 1, wherein the controller (4) is configured to control the support (2), the active suspension system (13) and the operating system (3) to work together to achieve at least one of a driving mode and a support-supported operating mode, wherein: the controller (4) in the driving mode controls that the support (2) is not extended, that the wheels (12) touch the ground, that the fire engine (100) drives, that the active suspension system (13) performs leveling in real time while the fire engine (100) is driving, and that the operating system (3) performs operation while the fire engine (100) is driving; The controller (4) in the support-supported operating mode controls that the fire engine (100) is parked, that the active suspension system (13) is locked, that the support (2) is extended and the wheels (12) are lifted off the ground, and that the operating system (3) performs operation. [3] Fire engine (100) according to claim 2, wherein the fire engine (100) comprises a detection system (61) for detecting a road condition, and the controller (4) is in signal communication with the detection system (61) and adjusts the active suspension system (13) according to the road condition detected by the detection system (61) in order to implement leveling. [4] Fire engine (100) according to claim 2, wherein the controller (4) in the driving mode controls a driving speed of the fire engine (100) with the proviso not to exceed a threshold value; and / or the controller (4) in the driving mode controls the fire engine (100) with the proviso to reduce a driving speed if a vibration acceleration of a ladder arrangement (36) of the operating system (3) exceeds a limit value. [5] Fire engine (100) according to claim 4, wherein the operating system (3) comprises a fire monitor (31), and the threshold is determined according to a spray flow rate of the fire monitor (31) in the driving mode; and / or the fire engine (100) comprises a detector (62) for detecting vibrations of the ladder assembly (36) in order to determine whether the vibration acceleration of the ladder assembly (36) exceeds the limit value. [6] Fire engine (100) according to claim 1, wherein the fire engine (100) is configured as at least one of the following: the active suspension system (13) includes a suspension cylinder (14); the support (2) is an H-shaped support (21); the chassis (1) is an off-road chassis (15). [7] Fire engine (100) according to any one of claims 1 to 6, wherein the fire engine (100) comprises at least one of the following: an under-cabin manipulation panel (72) arranged in an under-cabin (52) of the fire engine (100) to manipulate the operating system (3) to perform operation; a remote manipulation system (74) in signal connection with the controller (4) and / or a fire scene monitoring system (78) of the fire engine (100) to manipulate the fire engine (100) remotely and / or to monitor a fire scene remotely. [8] Fire engine (100) according to claim 7, wherein the remote manipulation system (74) comprises a handheld MESH terminal (75) and / or a relay MESH system (76). [9] Fire engine (100) according to any one of claims 1 to 6, wherein the operating system (3) comprises an extinguishing agent supply system and a fire monitor (31), wherein the extinguishing agent supply system is connected to the fire monitor (31) and comprises at least two water supply systems (33), foam supply systems (34) and dry powder supply systems (35) to supply at least two of water, foam and dry powder to the fire monitor (31); and / or the operating system (3) comprises a ladder assembly (36) and a lifting mechanism (37), and the lifting mechanism (37) is provided at an upper end of the ladder assembly (36) to perform load lifting and obstacle removal operations at a rescue location. [10] Fire engine (100) according to any one of claims 1 to 6, wherein the fire engine (100) is a turntable fire engine. [11] Control method of the fire engine (100) according to any one of claims 1 to 10, comprising the following: Determine whether a target operating mode of the fire engine (100) is a tire-borne operating mode; and If it is determined that the target operating mode is the tire-borne operating mode, controls ensure that the fire engine (100) is parked, that a support (2) of the fire engine (100) is not extended, that wheels (12) touch the ground, that an active suspension system (13) is locked after leveling is performed, and that an operating system (3) is executed. [12] Control method according to claim 11, wherein determining whether a target operating mode of the fire engine (100) is a tire-borne operating mode comprises: If the fire engine (100) has to perform parked operation and an operating space does not allow the extension of the support (2), determine that the target operating mode is the tire-supported operating mode. [13] Tax procedure according to claim 11, comprising the following: Determine whether the target operating mode of the fire engine (100) is a driving operating mode; and If it is determined that the target operating mode of the fire engine is the driving operating mode, control that the support (2) is not extended, that the wheels (12) are touching the ground, that the fire engine (100) is driving, that the active suspension system (13) performs leveling in real time while the fire engine (100) is driving, and that the operating system (3) performs operation while the fire engine (100) is driving. [14] Control method according to claim 13, wherein determining whether the target operating mode of the fire engine (100) is a driving operating mode comprises: If the fire engine (100) has to extinguish a variable fire, determine that the target operating mode should be the driving operating mode. [15] Control method according to claim 13, wherein, if the target operating mode is the driving operating mode, the control method comprises at least one of the following: Before the fire engine (100) starts driving, adjust the active suspension system (13) to implement leveling; while driving the fire engine (100), controlling the speed of the fire engine (100) so that it does not exceed a threshold; and while driving the fire engine (100), steering the fire engine (100) to reduce its driving speed when a vibration acceleration of a ladder assembly (36) of the fire engine (100) exceeds a limit value. [16] Tax procedure according to any one of claims 11 to 15, comprising the following: Determine whether the target operating mode of the fire engine (100) is a support-mounted operating mode; and If it is determined that the target operating mode is the support-supported operating mode, control that the fire engine (100) is parked, that the active suspension system (13) is locked, that the support (2) is extended and the wheels (12) are carried off the ground, and that the operating system (3) performs operation. [17] Control method according to claim 16, wherein determining whether the target operating mode of the fire engine (100) is a support-supported operating mode comprises: If the fire engine (100) must perform parked operation and an operating room allows the extension of the support (2), determine that the target operating mode should be the support-supported operating mode.

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