CN114733116A - Airport fire engine puncture arm control system - Google Patents
Airport fire engine puncture arm control system Download PDFInfo
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- CN114733116A CN114733116A CN202210317713.5A CN202210317713A CN114733116A CN 114733116 A CN114733116 A CN 114733116A CN 202210317713 A CN202210317713 A CN 202210317713A CN 114733116 A CN114733116 A CN 114733116A
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- arm
- control system
- puncture
- upper arm
- puncture needle
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
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Abstract
The utility model provides an airport fire engine puncture arm control system, has solved the inconvenient problem of efficiency of present puncture arm control. It comprises a rotary table, an upper arm, an inner wall of the upper arm and a puncture needle; the multi-path hydraulic valve is connected with the rotary table, the upper arm, the inner wall of the upper arm and the puncture needle and pushes the rotary table, the upper arm, the inner wall of the upper arm and the puncture needle to move correspondingly; the signal acquisition system acquires the position information of the arm support; and the control system transmits the acquired position information to the control system, transmits the position information to the multi-path hydraulic valve after analysis by the control system, controls the multi-path hydraulic valve to perform corresponding actions, and controls the puncture needle to automatically reach a low attack position, a medium attack position, a high attack position and a user preset attack position.
Description
Technical Field
The invention relates to the technical field of fire engine control, in particular to a control system for a puncture arm of an airport fire engine.
Background
The use of airport fire engine puncture arm can increase rescue speed in the at utmost, provides the efficiency of airport rescue to guarantee the promptness and the security of rescue in furthest, guarantee personnel's life safety. But present domestic present airport fire engine puncture arm all relies on the import, and domestic still does not have this type of arm and control system, though adopt other class fire engines of lifting high class can put out a fire the operation to the aircraft, but whole adaptation effect is relatively poor, can't put out a fire to the aircraft puncture rescue, needs the operation of primary and secondary operation cooperation during the operation, operates complicated inefficiency.
Disclosure of Invention
Aiming at the situation, the invention provides a control system of a puncture arm of an airport fire truck, which effectively solves the problems of inconvenient control and low efficiency of the existing puncture arm.
In order to achieve the aim, the control system for the puncture arm of the airport fire truck comprises a rotary table, an upper arm, an inner wall of the upper arm and a puncture needle;
the multi-path hydraulic valve is connected with the rotary table, the upper arm, the inner wall of the upper arm and the puncture needle and pushes the rotary table, the upper arm, the inner wall of the upper arm and the puncture needle to move correspondingly;
the signal acquisition system acquires the position information of the arm support;
the control system transmits the acquired position information to the control system, the control system transmits the position information to the multi-path hydraulic valve after analyzing the position information, controls the multi-path hydraulic valve to perform corresponding actions, and controls the puncture needle to automatically reach a low attack position, a middle attack position, a high attack position and a preset attack position of a user.
Preferably, the information acquisition system comprises a lower arm angle sensor, the lower arm angle sensor is mounted on the lower arm, and the lower arm angle sensor detects the angle position of the lower arm;
the upper arm angle sensor is mounted on the upper arm and detects the angle position of the upper arm;
and the rotary encoder is arranged on the rotary table and is used for detecting the rotating direction of the rotary table.
Preferably, the information acquisition system further comprises a length sensor, the length sensor is mounted on the upper arm, and the length sensor detects the length of the upper arm;
the proximity switch A is arranged on the upper arm and detects whether the inner arm of the upper arm stretches in place or not;
the proximity switch B is arranged on the rotary table and detects whether the rotary table returns to a middle position or not;
the proximity switch C is arranged on the large arm and detects the maximum limit position of the large arm;
travel switch a and travel switch B, travel switch A, B detects whether the lower and upper arms are in place.
Preferably, the control system executes the following program steps:
s1, initializing the system;
s2, detecting whether each sensor works normally;
s3, enabling the sensor to work normally, and entering control mode selection;
s4, selecting a boom control mode, enabling a handle control signal, and instructing the boom to work by mounting a handle;
s5, detecting whether the arm support action needs to be limited by a sensor;
s6, if the result in S5 is negative, the arm support works normally according to the handle instruction;
s7, returning to S3, selecting a puncture needle control mode, and automatically switching the pipelines in the puncture mode;
s8, enabling control of a handle, selecting a puncture needle working mode and enabling a puncture function;
s9, S8, the result is that the puncture needle is ejected;
and S10, monitoring the state of the sensor in real time by the system, and executing the arm support action according to program logic.
Preferably, if the result in the step S5 is yes, the system alarms and feeds back to the step S4.
Preferably, if the result in step S8 is no, a puncture waiting command is issued and transmitted to the puncture needle operation mode selection.
Preferably, step S3 is executed to select a water cannon control mode;
s11, automatically switching the pipelines in the water cannon mode, and enabling a handle signal;
s12, the information acquisition system detects whether the water cannon reaches the limit position;
s13, if the result in the step S12 is negative, the water cannon controller receives a handle CAN command and the water cannon acts;
s14, go to step S10.
Preferably, the system further comprises a human-computer interaction display, the human-computer interaction display is connected with the control system, and the human-computer interaction display displays all working information.
The invention obtains corresponding effects through a corresponding method, which comprises the following steps: 1) controlling the arm support to realize corresponding actions according to the functional requirements of the handle, detecting the position, the angle and the length of the arm support through a sensor, and automatically protecting the arm support according to the logical control of a program, so that the arm support is operated according to a specified operation range under the condition of manual operation; 2) when the operation range of the arm support reaches a limited area, the arm support action can be automatically decelerated, when the arm support operation exceeds a safe operation curve, the arm support action can be automatically stopped, and if an operator continues to control the handle in a dangerous direction, an audible and visual alarm can be given; 3) the arm support has the function of reaching the attack position by one key and is provided with three function keys of the attack position, and the arm support can be controlled to quickly reach the low, medium and high attack positions respectively and then is matched with the handle for fine adjustment, so that an operator can conveniently and quickly lift the arm support to the specified position; 3) the arm support has the function of reaching the attack position by one key and is provided with three function keys of the attack position, and the arm support can be controlled to quickly reach the low, medium and high attack positions respectively and then is matched with the handle for fine adjustment, so that an operator can conveniently and quickly lift the arm support to the specified position; 4) the arm support has a one-key withdrawing function, the arm support can be withdrawn to the initial state through the one-key withdrawing function no matter what posture the arm support is in, and the arm support can be withdrawn conveniently and quickly; 5) according to standard requirements, the rotation angle of the arm support is set to be 15 degrees in left rotation and 15 degrees in right rotation, and the arm support is guaranteed to be smooth and have no impact in the rotation process; 6) the water cannon control adopts a CAN bus mode, and the water cannon action CAN be controlled by formulating a communication protocol, so that the control of the water cannon and the control of the arm support are combined together; 7) the original puncture is changed into ejection, and meanwhile, the tilt angle sensor arranged on the puncture needle device can control the pitching mode of the puncture needle to ensure that the puncture needle follows the arm support or is absolutely horizontal; 8) the composite handle is adopted for control, and one handle is used for controlling the arm support and the water cannon, so that the operation is more centralized; 9) the man-machine interaction display 7 is used for displaying the posture of the arm support in real time, and meanwhile, the image of the head camera of the arm can be transmitted to the man-machine interaction display 7 for displaying, so that the arm support is ensured to be suitable for the configuration of any chassis; 10) an arm support action indicator lamp is mounted at the front end of the arm support to prompt a bystander that the arm support is in an operation state, and three LEDs are mounted for lighting and the like to provide light sources for the arm support to operate at last night.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic view of the mechanical structure of the present invention.
FIG. 2 is a system topology diagram of the present invention.
FIG. 3 is a flow chart of a control system according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made in detail with reference to the accompanying drawings 1 to 3.
As shown in the figures 1-3, the single and unique operating handle of the cab, the man-machine interaction display 7 and the like are adopted in the invention, the hydraulic valve 2 is regulated and controlled by PWM through the logic processing and calculation of the controller, so that the rotary table 1, the lower arm, the upper arm 4, the inner arm of the upper arm 4 and the puncture needle 6 can automatically reach a low attack position, a middle attack position, a high attack position and a preset attack position of a user, and can be recovered by one key or manually operated to reach the pre-attack position.
The upper arm 4 angle sensor and the lower arm angle sensor are provided with redundancy functions, the two angle sensors detect the angles of the main arm support and the folding arm support, the length sensors are also provided with redundancy functions and are used for detecting the length of the upper arm 4, the rotary encoder detects the rotating direction of the rotary table 1, the handle operates the arm support and the rotary table 1 to act, the proximity switch A detects that the inner arm of the upper arm 4 is retracted in place, the proximity switch B detects the middle position of the rotary table 1, the proximity switch C detects the maximum limit position of the large arm, the travel switch A and the travel switch B detect that the lower arm and the upper arm 4 fall in place, all signals enter a control system, and the automobile body area protection is limited through logic control and data processing. The center protection, the electronic amplitude limitation and the telescopic limit protection of the turntable 1. The buffer stop at the telescopic limit position and the multi-amplitude control.
The thorn arm and control system mainly comprises a main controller, an expansion node, a length sensor with a redundancy function, a rotary encoder, a handle, a man-machine interaction display 7, a CAN bus communication technology for connection, and also comprises various signal input elements such as an ultrasonic sensor, an inclination angle sensor and a proximity switch, and hydraulic execution elements such as a proportional valve and a switching value valve; the main controller comprises two paths of CAN signals and is used for communicating with the expansion node, the sensor, the human-computer interaction display 7, the handle and the water cannon to complete the actions of the lower arm, the upper arm 4, the inner arm of the upper arm 4 and the puncture needle 6;
the handle is used for sending out each control instruction, the human-computer interaction display 7 comprises a human-computer interaction interface for displaying the state of the arm support and displaying relevant parameters, and the human-computer interaction display is divided into a main interface, a video interface, an alarm interface, a parameter calibration interface, a port display interface and a parameter setting interface of a display screen, wherein the main interface displays the motion track, the extension height, the working amplitude, the amplitude variation angle, the safe working range and other information of the arm support in real time, the alarm interface can display all alarm information, the parameter calibration interface comprises handle signal calibration, valve parameter calibration, sensor parameter calibration and amplitude calibration, and the port display interface can display all collected data states and directly look for the working condition of each sensor of the arm support.
As shown in figure 2, each sensor and input are mounted to the input end of the controller through CAN communication between the main controller and the expansion node, and large arm action and puncture fire extinguishing operation are performed through logic control and PWM regulation of a plurality of hydraulic valves.
As shown in fig. 3, the arm support control adopts a composite handle, which can realize the left-right rotation, the pitching of the main arm, the pitching of the folding arm and the stretching of the inner arm of the arm support, the universal thumb key in the middle of the handle can control the directions of the water cannon and the puncture needle, and other function keys also correspond to the mode switching of the water cannon and the puncture needle. The concentrated control mode shift operator is more convenient to use, in addition, due to the three attack position keys, the operator can use one key to attack the key according to the field condition to enable the arm support to automatically extend to the high, middle and low attack positions, then the handle is used for carrying out fine operation, the arm support reaches the accurate operation position, and the operation speed of the arm support is improved.
In order to enable the new puncture arm to meet the requirements of various chassis, a display is arranged in the cab, and the action of the arm support is projected onto the display through programming, so that the operator in the cab can see the posture of the arm support through the display even through directly observing the posture of the arm support by naked eyes, and the condition around the arm support can be observed through the display by arranging a camera at the top end of the arm support, thereby greatly widening the view field of the operator.
In the figure, the control of the boom mainly comprises the following steps:
s1, the controller receives the handle signal of the controller and converts the handle signal into an action request code; when the automatic attack position or one-key recovery is executed, receiving a human-computer interaction display 7 or a button signal, and outputting a request code according to the real-time mechanical structure state;
s2, performing distribution, if there is no abnormal alarm of sensor and the Action Register of the corresponding Action is 0, executing S2;
s3, if the Action Executing of the Action state arbitrator is 0, the Action Executing of the Action state arbitrator is 1, and the Action is executed;
and S4, analyzing and calculating the corresponding position parameters of the action machine to be executed according to the action request code, introducing the value and the set coefficients K, the dead zone, the Ase slope, the Des slope, the Max maximum value and the Min minimum value into a program, inputting the PWM speed regulating value, and outputting the PWM speed regulating value to the hydraulic speed regulating element.
When S1 executes the one-key retrieving, the steps are as follows:
s11, judging whether the puncture needle 6 is parallel to the upper arm 4, if not, executing leveling action;
s12, judging whether the centering condition is met or not, if not, adjusting, and if so, adjusting the lower arm and the upper arm 4 and sending corresponding action request codes;
s13, executing the centering action, and sending a corresponding action request code;
s14, after the previous step is finished, the action of retracting the inner arm of the upper arm 4 is executed, and a corresponding action request code is sent;
s15, after the previous step is finished, the lower arm is retracted, the upper arm 4 is subjected to follow-up control, and a corresponding action request code is sent;
and S16, after the previous step is finished, retracting the upper arm 4 and sending a corresponding action request code.
When the position is automatically attacked, the steps are as follows:
s11', executing lifting lower arm, carrying out follow-up control on upper arm 4, and sending corresponding action request code;
s12', after the previous step is finished, the motion of extending the inner arm of the upper arm 4 is executed, and a corresponding motion request code is sent;
and S13', executing the pitching motion of the puncture needle 6 after the previous step is finished, and sending a corresponding motion request code.
In addition, in the parameter setting, a controller with a function of storing a register is adopted, at the moment of power-on, the rotary table 1 is steered left and right, the coefficients such as the lower arm lifting, the upper arm 4 stretching, the pricking pin pitching and the like, the K finger, the dead zone, the Asc slope, the Des slope, the Max maximum value, the Min minimum value and the maximum and minimum values corresponding to all sensors are sent to the man-machine interaction display 7 through CAN communication, the current state parameter information of the large arm and the like CAN be sent to the man-machine interaction display 7 through CAN communication, the parameter CAN be adjusted on the display so as to achieve the constraint and adjustment of the action, when the parameter of the display is changed, a CAN modification message CAN be sent, the controller modifies and adjusts the corresponding parameter according to the message ID, and the register start adr of the controller is stored as 0. And the stored parameters are read in real time and are brought into a logic program for control when the action is executed.
Claims (8)
1. A control system for a puncture arm of an airport fire truck comprises a rotary table (1), an upper arm (4), an inner wall (5) of the upper arm and a puncture needle (6); it is characterized in that the preparation method is characterized in that,
the multi-way hydraulic valve 2 is connected with the turntable (1), the upper arm (4), the inner wall (5) of the upper arm and the puncture needle (6) and pushes the turntable, so as to move correspondingly;
the signal acquisition system acquires the position information of the arm support;
the control system transmits the acquired position information to the control system, the control system transmits the position information to the multi-path hydraulic valve after analyzing the position information, controls the multi-path hydraulic valve to perform corresponding actions, and controls the puncture needle (6) to automatically reach a low attack position, a middle attack position, a high attack position and a preset attack position of a user.
2. The airport fire fighting vehicle puncture arm control system of claim 1, wherein the information acquisition system comprises a lower arm angle sensor mounted on a lower arm, the lower arm angle sensor detecting an angular position of the lower arm;
the upper arm (4) angle sensor is mounted on the upper arm (4), and the upper arm (4) angle sensor detects the angle position of the upper arm (4);
and the rotary encoder is arranged on the rotary table (1) and is used for detecting the rotating direction of the rotary table (1).
3. The airport fire fighting vehicle puncture arm control system of claim 1, wherein the information acquisition system further comprises a length sensor mounted on the upper arm (4), the length sensor detecting the length of the upper arm (4);
the proximity switch A is arranged on the upper arm (4) and detects whether the inner arm of the upper arm (4) stretches in place or not;
the proximity switch B is arranged on the rotary table (1) and detects whether the rotary table (1) returns to a middle position or not;
the proximity switch C is arranged on the large arm and detects the maximum limit position of the large arm;
a travel switch A and a travel switch B, and a travel switch A, B detects whether the lower arm and the upper arm (4) are in place.
4. The airport fire fighting vehicle piercing arm control system of any of claims 1 to 3, wherein the control system performs the programmed steps of:
s1, initializing the system;
s2, detecting whether each sensor works normally;
s3, enabling the sensor to work normally, and entering control mode selection;
s4, selecting a boom control mode, enabling a handle control signal, and instructing the boom to work by mounting a handle;
s5, detecting whether arm support action needs to be limited by a sensor;
s6, if the result in S5 is negative, the arm support works normally according to the handle instruction;
s7, returning to S3, selecting a control mode of the puncture needle (6), and automatically switching the pipelines in the puncture mode;
s8, enabling control of a handle, selecting a working mode of the puncture needle (6) and enabling a puncture function;
s9, S8 shows that the puncture needle (6) is ejected;
and S10, monitoring the state of the sensor in real time by the system, and executing the arm support action according to the program logic.
5. The airport fire fighting vehicle puncture arm control system of claim 4, wherein if the result of step S5 is yes, the system alarms and feeds back to step S4.
6. The control system of the airport fire fighting vehicle puncture arm of claim 4, wherein if the result of the step S8 is negative, a command for waiting for puncture is issued and the selection of the operation mode of the puncture needle (6) is transmitted.
7. The airport fire fighting vehicle puncture arm control system of claim 4, wherein step S3 is executed to select a water cannon control mode;
s11, automatically switching the pipelines in the water cannon mode, and enabling a handle signal;
s12, detecting whether the water cannon reaches the limit position by the information acquisition system;
s13, if the result in the step S12 is negative, the water cannon controller receives a handle CAN command and the water cannon acts;
s14, executing step S10.
8. The control system of the airport fire fighting truck puncture arm according to claim 1, further comprising a human-computer interaction display (7), wherein the human-computer interaction display (7) is connected with the control system, and the human-computer interaction display (7) displays various working information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210317713.5A CN114733116A (en) | 2022-03-29 | 2022-03-29 | Airport fire engine puncture arm control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210317713.5A CN114733116A (en) | 2022-03-29 | 2022-03-29 | Airport fire engine puncture arm control system |
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| CN114733116A true CN114733116A (en) | 2022-07-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210317713.5A Pending CN114733116A (en) | 2022-03-29 | 2022-03-29 | Airport fire engine puncture arm control system |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040039510A1 (en) * | 1999-07-30 | 2004-02-26 | Oshkosh Truck Corporation | Control system and method for an equipment service vehicle |
| US20070034389A1 (en) * | 2005-08-10 | 2007-02-15 | Crash Rescue Equipment Service, Inc. | Extensible aerial boom having two independently operated fluid nozzles |
| CN102566584A (en) * | 2011-12-20 | 2012-07-11 | 长沙中联消防机械有限公司 | Engineering machinery, and control method, device and system for rotation and centering of arm support of engineering machinery |
| CN105477807A (en) * | 2016-01-21 | 2016-04-13 | 上海金盾特种车辆装备有限公司 | Nitrogen and hydraulic powered impact piercing gun for water tower fire truck in airport |
| US20180221694A1 (en) * | 2017-02-08 | 2018-08-09 | Oshkosh Corporation | Fire apparatus piercing tip ranging and alignment system |
| CN108404322A (en) * | 2018-02-08 | 2018-08-17 | 威海广泰空港设备股份有限公司 | The airport crash fire vehicle of fire-extinguishing function concurrently is punctured with high-altitude |
| CN111825035A (en) * | 2019-04-19 | 2020-10-27 | 湖北省专用汽车研究院 | Intelligent buffer control system and method for hybrid arm type overhead working truck |
| CN111825032A (en) * | 2019-04-21 | 2020-10-27 | 湖北省专用汽车研究院 | Pre-operation position identification and automatic unfolding control system and method for folding arm overhead working vehicle |
-
2022
- 2022-03-29 CN CN202210317713.5A patent/CN114733116A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040039510A1 (en) * | 1999-07-30 | 2004-02-26 | Oshkosh Truck Corporation | Control system and method for an equipment service vehicle |
| US20070034389A1 (en) * | 2005-08-10 | 2007-02-15 | Crash Rescue Equipment Service, Inc. | Extensible aerial boom having two independently operated fluid nozzles |
| CN102566584A (en) * | 2011-12-20 | 2012-07-11 | 长沙中联消防机械有限公司 | Engineering machinery, and control method, device and system for rotation and centering of arm support of engineering machinery |
| CN105477807A (en) * | 2016-01-21 | 2016-04-13 | 上海金盾特种车辆装备有限公司 | Nitrogen and hydraulic powered impact piercing gun for water tower fire truck in airport |
| US20180221694A1 (en) * | 2017-02-08 | 2018-08-09 | Oshkosh Corporation | Fire apparatus piercing tip ranging and alignment system |
| CN108404322A (en) * | 2018-02-08 | 2018-08-17 | 威海广泰空港设备股份有限公司 | The airport crash fire vehicle of fire-extinguishing function concurrently is punctured with high-altitude |
| CN111825035A (en) * | 2019-04-19 | 2020-10-27 | 湖北省专用汽车研究院 | Intelligent buffer control system and method for hybrid arm type overhead working truck |
| CN111825032A (en) * | 2019-04-21 | 2020-10-27 | 湖北省专用汽车研究院 | Pre-operation position identification and automatic unfolding control system and method for folding arm overhead working vehicle |
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