阅读说明：本技术 消防炮射程的控制方法、控制系统和消防车 (Control method and control system for firing range of fire monitor and fire truck ) 是由 彭江华 郑丽文 刘玲 于 2019-09-30 设计创作，主要内容包括：本发明提供了一种消防炮射程的控制方法、控制系统和包括上述控制系统的消防车,控制方法包括如下步骤：设定消防炮的目标角度范围；检测消防炮的炮管与水平面之间的夹角θ；根据检测结果控制炮管,使夹角θ落入目标角度范围内。本发明所提供的控制方法,通过设定消防炮的炮管与水平面之间的目标角度范围,以对消防炮的喷射角度进行准确控制,使得在消防车需要最大射程喷射时,不论臂架和消防炮处于何种姿态,可以进行自动调整并使消防炮的炮管锁定在设定的角度,省时省力,从而可以实现消防炮射程的任意控制,进而使喷射出的射流的覆盖范围更广,以提高消防炮的使用效率,并达到更加有效的消防效果。(The invention provides a control method and a control system for the range of a fire monitor and a fire truck comprising the control system, wherein the control method comprises the following steps: setting a target angle range of the fire monitor; detecting an included angle theta between a gun barrel of the fire monitor and the horizontal plane; and controlling the gun barrel according to the detection result to enable the included angle theta to fall within the range of the target angle. According to the control method provided by the invention, the target angle range between the gun barrel of the fire monitor and the horizontal plane is set to accurately control the injection angle of the fire monitor, so that when the fire truck needs maximum range injection, no matter what posture the arm support and the fire monitor are in, the automatic adjustment can be carried out, the gun barrel of the fire monitor is locked at the set angle, time and labor are saved, the arbitrary control of the range of the fire monitor can be realized, the coverage range of the injected jet flow is wider, the use efficiency of the fire monitor is improved, and a more effective fire-fighting effect is achieved.)

1. A control method for the range of a fire monitor is characterized by comprising the following steps:

setting a target angle range of the fire monitor;

detecting an included angle theta between a gun barrel of the fire monitor and the horizontal plane;

and controlling the gun barrel according to the detection result to enable the included angle theta to fall into the target angle range.

2. The control method according to claim 1,

the target angle range is a preset angle range, and the preset angle range is [28 degrees ] and [ 32 degrees ];

or the target angle range is a user-defined angle range.

3. The control method according to claim 1 or 2, wherein the fire monitor is mounted on a fire truck, the fire truck is provided with an arm support, the fire monitor is arranged at the tail end of the arm support through a base of the fire monitor, a head end of the arm support is connected with a truck body of the fire truck, and the step of detecting the included angle θ between a gun tube of the fire monitor and a horizontal plane specifically comprises the following steps:

detecting the spraying direction of the gun barrel and the elevation angle alpha between the arm support connected with the base;

detecting an elevation angle beta between the arm support connected with the vehicle body and a horizontal plane;

obtaining a detection result about the included angle theta according to a formula, wherein the formula is theta-alpha + beta-180 degrees;

and feeding back the detection result.

4. The control method according to claim 3, wherein the step of controlling the gun barrel according to the detection result so that the included angle θ falls within the target angle range specifically comprises:

judging whether the included angle theta between the gun barrel and the horizontal plane is within the target angle range or not;

if the included angle theta is not within the range of the target angle, rotating the gun barrel according to a detection result and acquiring the included angle theta between the gun barrel and the horizontal plane in real time, and when the included angle theta falls into the target angle, stopping rotating to lock the gun barrel at the current position; after the gun barrel rotates to the extreme position and the included angle theta is still not within the target angle range, locking the gun barrel at the extreme position and driving the arm support to rotate according to the detection result, and locking the arm support at the current position until the included angle theta falls into the target angle range;

and if the included angle theta is within the target angle range, locking the gun barrel at the current position.

5. The control method according to claim 3, wherein the step of controlling the gun barrel according to the detection result so that the included angle θ falls within the target angle range specifically comprises:

judging whether the included angle theta between the gun barrel and the horizontal plane is within the target angle range or not;

if the included angle theta is not within the target angle range, calculating a difference value delta theta between the current included angle theta and an angle set in the target angle range, judging whether the difference value between the current angle of the gun barrel and a limit angle to which the gun barrel can rotate is larger than the difference value delta theta, and if the difference value is larger than or equal to the difference value delta theta, controlling the rotation angle delta theta of the gun barrel and then locking the gun barrel at the current position; if the difference value is smaller than delta theta, controlling the gun barrel to rotate to a limit angle, and then controlling the arm support connected with the fire monitor to rotate, so that the included angle theta falls into the target angle range, and locking the arm support at the current position;

and if the included angle theta is within the target angle range, locking the gun barrel at the current position.

6. The control method according to claim 3, wherein the arm support is a multi-section arm support and comprises a first section arm support and a last section arm support, the first section arm support is connected with a vehicle body of the fire fighting vehicle, the last section arm support is connected with a base of the fire monitor, and the step of detecting the included angle θ between the monitor pipe of the fire monitor and the horizontal plane specifically comprises the following steps:

detecting an elevation angle alpha between the gun barrel and the tail boom;

detecting an elevation angle beta 1 between the first section of arm support and a horizontal plane;

detecting elevation angles beta 2, beta 3, … … and beta n between each section of arm support and the arm support connected with the tail end of the arm support, wherein n is the number of the sections of the multi-section arm support;

obtaining a detection result according to a preset formula;

and feeding back the detection result.

7. The control method according to claim 1 or 2, wherein the fire monitor is connected with a fire pump and a water tank for supplying fire-fighting water to the fire monitor, the control method further comprising the steps of:

setting water level preset values H1 and H2, wherein H1> H2;

judging the height relation between the water level height H in the water tank and the water level preset values H1 and H2;

if the water level height H in the water tank is higher than a water level preset value H1, adjusting the rotating speed of the fire pump through a controller, and increasing the jet flow to the maximum flow;

if the water level height H in the water tank is lower than a water level preset value H2, reducing the rotation speed of the fire pump to reduce the jet flow;

and if the water level height H in the water tank is between the water level preset values H1 and H2, controlling the fire pump to operate at the current rotating speed.

8. The control method according to claim 1 or 2, characterized by further comprising the steps of:

judging whether an included angle between a fire fighting truck body and a horizontal plane is larger than an allowable angle or not;

if the included angle between the body of the fire fighting truck and the horizontal plane is larger than the allowable angle, leveling the body;

wherein the allowed angle is a preset angle or a user-defined angle.

9. A control system of a fire monitor range, comprising:

the fire monitor is provided with a pitching rotating mechanism, and the pitching rotating mechanism is used for driving a monitor tube of the fire monitor to rotate in the vertical direction so as to change an included angle theta between the monitor tube and a horizontal plane;

the detection device is used for detecting an included angle theta between a gun barrel of the fire monitor and the horizontal plane;

and the controller is electrically connected with the pitching rotating mechanism and the detection device and used for setting a target angle range of a gun barrel of the fire monitor and driving the pitching rotating mechanism so as to enable the included angle theta to fall into the target angle range.

10. The control system of claim 9,

the controller comprises a fire monitor controller and an on-board controller, and the fire monitor controller is connected with the on-board controller through a CAN communication bus; the fire monitor controller is electrically connected with the pitching rotating mechanism;

the detection device comprises a fire monitor pitching angle detection device, an arm support tilt angle sensor and a vehicle body horizontal tilt angle sensor;

the fire monitor pitching angle detection device is arranged on the fire monitor, is electrically connected with the fire monitor controller, is used for detecting the elevation angle between a monitor pipe of the fire monitor and an arm support connected with a base of the fire monitor, and feeds back the detection result to the fire monitor controller; the cantilever crane inclination angle sensor is electrically connected with the vehicle-mounted controller and is used for detecting the elevation angle between a cantilever crane connected with the vehicle body of the fire fighting vehicle and feeding back the detection result to the vehicle-mounted controller; the vehicle body horizontal inclination angle sensor is electrically connected with the vehicle-mounted controller and is used for detecting an included angle between a vehicle body of the fire fighting vehicle and a horizontal plane and feeding back a detection result to the vehicle-mounted controller;

the control system comprises an arm support rotating mechanism, and the arm support rotating mechanism is electrically connected with the vehicle-mounted controller and is used for controlling the arm support to rotate.

11. A fire fighting vehicle comprising a control system for the range of a fire monitor as claimed in claim 9 or 10.

Technical Field

The invention relates to the technical field of range control of fire monitor, in particular to a control method and a control system of the range of the fire monitor and a fire truck comprising the control system.

Background

At present, the spraying posture (such as angle, pressure, flow and the like) of a fire monitor on a fire truck is controlled through manual operation, but the spraying condition of the fire monitor cannot be observed exactly due to a long distance during control. In the prior art, part of the fire monitor is provided with the attitude display of the fire monitor, but the price is high, the displayed content is limited, and the fire monitor needs to be separately configured, carried and installed, so that the overall layout difficulty of the fire truck is increased, and the fire monitor is not suitable for wide use. Especially for the injection angle of the fire monitor, the existing control method can not realize the quick and accurate positioning of the monitor tube of the fire monitor, and the manual repeated debugging is needed, which wastes time and labor, thereby being difficult to quickly achieve the expected fire-fighting effect.

Disclosure of Invention

In order to solve at least one of the above technical problems, an object of the present invention is to provide a method for controlling a range of a fire monitor.

It is yet another object of the present invention to provide a control system for the range of a fire monitor.

It is a further object of the present invention to provide a fire fighting vehicle including the above control system.

In order to achieve the above object, a technical solution of a first aspect of the present invention provides a method for controlling a range of a fire monitor, including the steps of: setting a target angle range of the fire monitor; detecting an included angle theta between a gun barrel of the fire monitor and the horizontal plane; and controlling the gun barrel according to the detection result to enable the included angle theta to fall into the target angle range.

Specifically, the main parameters influencing the firing range of the fire monitor in the control method of the firing range of the fire monitor provided by the scheme comprise jet flow, jet pressure, jet angle, wind direction and the like. The spraying angle belongs to the internal factor that can be controlled, and in the injection process of fire gun, general injection flow and injection pressure are definite, can control the range of fire gun through the spraying angle of control fire gun like this. Firstly, a target angle range is set, and the target angle range is used for controlling the gun barrel of the fire monitor to be adjusted to a set angle so as to control the angle of the jet flow of the fire monitor. Compared with the prior fire monitor, the jet angle is controlled by manual operation, and the operation is estimated without a reasonable and accurate angle because the actual elevation angle of the fire monitor cannot be observed. Through setting up the target angle scope, can make the anticipated effect of fire gun time operating personnel, for example set for certain target angle scope and make the height that the fire gun jetted the highest, or set for certain target angle scope and make the range that the fire gun jetted the farthest to deal with different fire control environment. It will be appreciated that this target angular range is both a vector and a scalar quantity, defining both the direction of pointing of the fire monitor barrel and the angle between the barrel and the horizontal. And then detecting an included angle theta between a gun barrel of the fire monitor and the horizontal plane to obtain a detection result, wherein the difference value between the detection result and the angle set in the target angle range is the basis of the adjustment angle of the gun barrel of the fire monitor, if the detection result is in the target angle range (or can be a specific angle value in the target angle range), the position of the gun barrel of the fire monitor is locked, so that the posture of the fire monitor meets the requirements of operators under the existing jet flow and jet pressure, if the detection result is smaller than the smaller set angle in the target angle range, the gun barrel is automatically controlled to rotate upwards through a control system (such as an on-board controller and a fire monitor controller) so that the included angle theta between the gun barrel and the horizontal plane is equal to the angle set in the target angle range, and then the position of the gun barrel of the fire monitor is locked. On the contrary, if the detection result is larger than the larger set angle in the target angle range, the control system automatically controls the gun barrel to rotate downwards so that the included angle theta between the gun barrel and the horizontal plane falls into the target angle range, and then the position of the fire-fighting gun barrel is locked.

Increased the automatic control function to the barrel angle of fire gun for prior art, according to the target angle scope of the fire gun after setting for, adjust the barrel of fire gun to the angle that operating personnel needs through control system, than relying on manual operation control fire gun gesture (such as angle, pressure, flow etc.) save time more, efficiency is higher, can be through control injection angle, control the range of fire gun fast and spray fluidic coverage, thereby reach the fire control effect of expectation more fast. Especially, for the fire-fighting operation with time pressure, the rescue time is reduced, and the capability of the fire monitor or the fire truck with the fire monitor for safety guarantee is improved. Compared with the technical scheme of arranging the attitude display of the fire monitor in the prior art, the control method has the advantages that corresponding operation control can be carried out by an operator without observing the content on the display, the control process is simpler, and the cost is reduced.

In addition, the control method in the above technical solution provided by the present invention may further have the following additional technical features:

in the above technical solution, the target angle range is a preset angle range, and the preset angle range is [28 °, 32 ° ]; or the target angle range is a user-defined angle range.

In any one of the above technical solutions, the fire monitor is installed on a fire truck, the fire truck is provided with an arm support, the fire monitor is arranged at the tail end of the arm support through a base of the fire monitor, a head end of the arm support is connected with a truck body of the fire truck, and the step of detecting the included angle θ between a gun tube of the fire monitor and a horizontal plane specifically includes: detecting an elevation angle alpha between the gun barrel and the arm support connected with the base; detecting an elevation angle beta between the arm support connected with the vehicle body and a horizontal plane; obtaining a detection result about the included angle theta according to a formula, wherein the formula is theta-alpha + beta-180 degrees; and feeding back the detection result.

In the above technical solution, the step of "controlling the gun barrel according to the detection result so that the included angle θ falls within the target angle range" specifically includes: judging whether the included angle theta between the gun barrel and the horizontal plane is within the target angle range or not; if the included angle theta is not within the range of the target angle, rotating the gun barrel according to a detection result and acquiring the included angle theta between the gun barrel and the horizontal plane in real time, and when the included angle theta falls into the target angle, stopping rotating to lock the gun barrel at the current position; after the gun barrel rotates to the extreme position and the included angle theta is still not within the target angle range, locking the gun barrel at the extreme position and driving the arm support to rotate according to the detection result, and locking the arm support at the current position until the included angle theta falls into the target angle range; and if the included angle theta is within the target angle range, locking the gun barrel at the current position.

In the above technical solution, the step of "controlling the gun barrel according to the detection result so that the included angle θ falls within the target angle range" specifically includes: judging whether the included angle theta between the gun barrel and the horizontal plane is within the target angle range or not; if the included angle theta is not within the target angle range, calculating a difference value delta theta between the current included angle theta and an angle set in the target angle range, judging whether the difference value between the current angle of the gun barrel and a limit angle to which the gun barrel can rotate is larger than the difference value delta theta, and if the difference value is larger than or equal to the difference value delta theta, controlling the rotation angle delta theta of the gun barrel and then locking the gun barrel at the current position; if the difference value is smaller than delta theta, controlling the gun barrel to rotate to a limit angle, and then controlling the arm support connected with the fire monitor to rotate, so that the included angle theta falls into the target angle range, and locking the arm support at the current position; and if the included angle theta is within the target angle range, locking the gun barrel at the current position.

In the above technical solution, the boom is a multi-section boom, and includes a first section boom and a last section boom, the first section boom is connected to the body of the fire fighting truck, the last section boom is connected to the base of the fire monitor, and the step of detecting the included angle θ between the monitor pipe of the fire monitor and the horizontal plane specifically includes: detecting an elevation angle alpha between the gun barrel and the tail boom; detecting an elevation angle beta 1 between the first section of arm support and a horizontal plane; detecting elevation angles beta 2, beta 3, … … and beta n between each section of arm support and the arm support connected with the tail end of the arm support, wherein n is the number of the sections of the multi-section arm support; obtaining a detection result according to a preset formula; and feeding back the detection result.

In any of the above technical solutions, the control method for the fire monitor connected with a fire pump and a water tank for providing fire water for the fire monitor further includes the following steps: setting water level preset values H1 and H2, wherein H1> H2; judging the height relation between the water level height H in the water tank and the water level preset values H1 and H2; if the water level height H in the water tank is higher than a water level preset value H1, adjusting the rotating speed of the fire pump through a controller, and increasing the jet flow to the maximum flow; if the water level height H in the water tank is lower than a water level preset value H2, reducing the rotation speed of the fire pump to reduce the jet flow; and if the water level height H in the water tank is between the water level preset values H1 and H2, controlling the fire pump to operate at the current rotating speed.

In the above technical solution, the control method further includes the steps of: judging whether an included angle between a fire fighting truck body and a horizontal plane is larger than an allowable angle or not; if the included angle between the body of the fire fighting truck and the horizontal plane is larger than the allowable angle, leveling the body; wherein the allowed angle is a preset angle or a user-defined angle.

The technical scheme of the second aspect of the invention provides a control system for the range of a fire monitor, which comprises: the fire monitor is provided with a pitching rotating mechanism, and the pitching rotating mechanism is used for driving a monitor tube of the fire monitor to rotate in the vertical direction so as to change an included angle theta between the monitor tube and a horizontal plane; the detection device is used for detecting an included angle theta between a gun barrel of the fire monitor and the horizontal plane; and the controller is electrically connected with the pitching rotating mechanism and the detection device and used for setting a target angle range of a gun barrel of the fire monitor and driving the pitching rotating mechanism so as to enable the included angle theta to fall into the target angle range.

Specifically, the control system of the fire monitor range comprises a pitching rotating mechanism, a detection device and a controller which are arranged on the fire monitor. The controller is respectively electrically connected with the pitching rotating mechanism and the detection device, so that the detection structure sent by the structure detection device can drive the pitching rotating mechanism to drive the gun barrel on the fire monitor to rotate on a vertical plane, and the opening of the gun barrel points to different angles relative to the horizontal plane. In addition, the controller has the functions of setting a target angle range, receiving an instruction of an operator and processing and comparing data, when the controller receives the instruction of the operator (such as a corresponding instruction key or a window of an operation panel), the detection device detects an included angle theta between a gun barrel of the fire monitor and a horizontal plane and feeds back a detection result to the controller, the controller receives the detection result and compares the detection result with the set target angle range, and then sends a control signal to the pitching rotating mechanism according to the comparison result to drive the pitching rotating mechanism to make corresponding action. Make control process simpler through the control system who sets up fire gun range, saved the process that operating personnel estimated and angle of adjustment repeatedly in actual operation engineering simultaneously for control process is more high-efficient, can reach the angle scope that operating personnel envisioned in the shorter time, thereby through realizing more accurate and quick control effect to fire gun range.

In the technical scheme, the controller comprises a fire monitor controller and an on-board controller, and the fire monitor controller is connected with the on-board controller through a CAN communication bus; the fire monitor controller is electrically connected with the pitching rotating mechanism; the detection device comprises a fire monitor pitching angle detection device, an arm support tilt angle sensor and a vehicle body horizontal tilt angle sensor; the fire monitor pitching angle detection device is arranged on the fire monitor, is electrically connected with the fire monitor controller, is used for detecting the elevation angle between a monitor pipe of the fire monitor and an arm support connected with a base of the fire monitor, and feeds back the detection result to the fire monitor controller; the cantilever crane inclination angle sensor is electrically connected with the vehicle-mounted controller and is used for detecting the elevation angle between a cantilever crane connected with the vehicle body of the fire fighting vehicle and feeding back the detection result to the vehicle-mounted controller; the vehicle body horizontal inclination angle sensor is electrically connected with the vehicle-mounted controller and is used for detecting an included angle between a vehicle body of the fire fighting vehicle and a horizontal plane and feeding back a detection result to the vehicle-mounted controller; the control system comprises an arm support rotating mechanism, and the arm support rotating mechanism is electrically connected with the vehicle-mounted controller and is used for controlling the arm support to rotate.

The technical scheme of the third aspect of the invention provides a fire fighting truck, which comprises the control system for the fire monitor range of any one of the technical schemes of the second aspect.

The fire fighting truck provided by the technical scheme of the third aspect of the invention comprises the control system of any one of the technical schemes of the second aspect, so that all the beneficial effects of any one of the technical schemes are achieved, and the details are not repeated.

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.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a flow chart of a method for controlling the range of a fire monitor according to an embodiment of the present invention;

fig. 2 is a schematic flowchart of step S30 according to an embodiment of the present invention;

FIG. 3 is a schematic view of the range of a fire monitor according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a fire monitor and boom according to an embodiment of the present invention;

fig. 5 is a flowchart illustrating step S20 according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a fire engine according to an embodiment of the present invention;

FIG. 7 is a partial flow diagram of a control method according to an embodiment of the invention;

FIG. 8 is a schematic structural diagram of a control system for the range of a fire monitor according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of a control system for the range of a fire monitor according to an embodiment of the invention.

Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 9 is:

10 a controller; 101 a fire monitor controller; 102 a vehicle-mounted controller; 20 a detection device; 201 pitch angle detection means; 202 boom tilt angle sensor; 203, a vehicle body horizontal inclination angle sensor; 30 a pitch rotation mechanism; 31 gun barrel; 40 arm support rotating mechanism; 41 arm support; 50 horizontal plane.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

Methods and systems for controlling the range of a fire monitor according to some embodiments of the present invention are described below with reference to fig. 1-9.