CN115300853B

CN115300853B - Water outlet control method and device of fire engine and fire engine

Info

Publication number: CN115300853B
Application number: CN202210908363.XA
Authority: CN
Inventors: 张超敏
Original assignee: Sany Automobile Manufacturing Co Ltd
Current assignee: Sany Automobile Manufacturing Co Ltd
Priority date: 2022-07-29
Filing date: 2022-07-29
Publication date: 2023-06-23
Anticipated expiration: 2042-07-29
Also published as: CN115300853A

Abstract

The invention relates to the field of vehicles, and provides a water outlet control method and device of a fire engine and the fire engine, wherein the method comprises the following steps: respectively acquiring the working states of all the water outlet valve assemblies; judging whether the water valve assembly works normally or not based on the working state of each water outlet valve assembly, and obtaining a judging result; based on the judging result, matching a water outlet mode determining mode of the fire truck, and selecting the water outlet mode of the fire truck through the water outlet mode determining mode; and controlling at least one path of water outlet water of the fire truck based on the water outlet mode. The water outlet control process can automatically outlet water according to the determined water outlet mode in a corresponding water outlet mode without manual regulation, is more accurate and reliable, and solves the problems of low accuracy and reliability in the water outlet control process of the existing fire truck water outlet control method.

Description

Water outlet control method and device of fire engine and fire engine

Technical Field

The invention relates to the technical field of vehicles, in particular to a water outlet control method and device of a fire engine and the fire engine.

Background

The fire engine plays a vital role in the fire rescue process, the water outlet modes of the fire engine can be various, for example, the water outlet of the lower engine and the water outlet of the fire monitor of the upper engine can be selected by controlling the opening and closing of the related valves, so that the water outlet modes can be reasonably selected according to actual operation conditions.

However, the existing fire truck water outlet control method can only select the water outlet mode, and after the corresponding water outlet mode is selected, the water outlet flow or the water outlet pressure is controlled by manually adjusting the rotation speed of the fire pump, and the manual adjustment method cannot ensure that the water outlet pressure or the water outlet flow in the corresponding water outlet mode meets the actual requirement, and the rescue effect is easily influenced by frequent fluctuation of the water outlet pressure and the water outlet flow.

Therefore, the existing fire truck water outlet control method has the problem of low accuracy and reliability in the water outlet control process.

Disclosure of Invention

The invention provides a water outlet control method and device of a fire engine and the fire engine, which are used for solving the defects of low accuracy and reliability in the water outlet control process of the water outlet control method of the fire engine in the prior art and realizing accurate and reliable water outlet control of the fire engine.

In a first aspect, the present invention provides a method for controlling water output from a fire engine, the fire engine comprising a water output driving member, at least two water outlets, and at least two water output valve assemblies; the water outlet driving piece is respectively connected with the at least two paths of water outlets, and the water outlet valve assembly is arranged between each path of water outlet and the water outlet driving piece; the method comprises the following steps:

Respectively acquiring the working states of the water outlet valve assemblies;

judging whether the water outlet valve assemblies work normally or not based on the working states of the water outlet valve assemblies, and obtaining a judging result;

based on the judging result, matching a water outlet mode determining mode of the fire truck, and selecting the water outlet mode of the fire truck through the water outlet mode determining mode;

and controlling at least one path of water outlet of the fire truck to discharge water based on the water discharge mode.

According to the water outlet control method of the fire engine provided by the invention, the water outlet mode determining mode of the fire engine is matched based on the judging result, and the water outlet control method comprises the following steps:

if the judging result is that the water outlet valve assembly works normally, the water outlet mode determining mode is as follows: determining a water outlet mode of the fire engine based on the operating state of the water outlet valve assembly;

and/or the number of the groups of groups,

if the judging result is that the water outlet valve assembly works abnormally, the water outlet mode determining mode is as follows: acquiring a first flow value of a main pipeline connected with the water outlet driving piece and a second flow value of one water outlet of the at least two water outlets; a water outlet mode of the fire engine is determined based on the first flow value and the second flow value.

According to the water outlet control method of the fire engine, the water outlet of the fire engine comprises a first water outlet and a second water outlet, the water outlet valve assembly comprises a first water outlet valve and a second water outlet valve, the first water outlet valve is arranged between the first water outlet and the water outlet driving piece, and the second water outlet valve is arranged between the second water outlet and the water outlet driving piece;

the determining the water outlet mode of the fire engine based on the working state of the water outlet valve assembly comprises the following steps:

if the working state of the water outlet valve assembly is that the first water outlet valve is opened and the second water outlet valve is closed, determining that the water outlet mode is a first water outlet mode;

if the working state of the water outlet valve assembly is that the first water outlet valve is closed and the second water outlet valve is opened, determining that the water outlet mode is a second water outlet mode;

and if the working state of the water outlet valve assembly is that the first water outlet valve is opened and the second water outlet valve is opened, determining that the water outlet mode is a third water outlet mode.

The determining a water outlet mode of the fire engine based on the first flow value and the second flow value includes:

if the first flow value is larger than a preset flow value and the second flow value is zero, determining that the water outlet mode is a first water outlet mode;

if the first flow value and the second flow value are both larger than the preset flow value, determining a pipeline flow loss value based on the first flow value and the second flow value, wherein if the pipeline flow loss value is smaller than the first preset flow loss value, determining that the water outlet mode is a second water outlet mode;

and if the pipeline flow loss value is larger than a second preset flow loss value, determining that the water outlet mode is a third water outlet mode.

According to the water outlet control method of the fire truck provided by the invention, when the water outlet mode is the first water outlet mode, the controlling of water outlet of at least one water outlet of the fire truck based on the water outlet mode comprises the following steps:

acquiring a real-time water outlet pressure value and a target water outlet pressure value of the first path of water outlet;

determining a real-time rotating speed value of the water outlet driving piece corresponding to the real-time water outlet pressure value and a first target rotating speed value of the water outlet driving piece corresponding to the target water outlet pressure value based on a preset first corresponding relation; the first corresponding relation is used for representing the corresponding relation between the water outlet pressure value of the first path of water outlet and the rotating speed value of the water outlet driving piece;

And controlling the water outlet driving piece to operate according to the first target rotating speed value based on the real-time rotating speed value and the first target rotating speed value so as to control the first water outlet to outlet water according to the target water outlet pressure.

According to the water outlet control method of the fire truck provided by the invention, when the water outlet mode is the second water outlet mode, the controlling of water outlet of at least one water outlet of the fire truck based on the water outlet mode comprises the following steps:

acquiring a real-time water outlet flow value and a target water outlet flow value of the second path of water outlet;

determining a real-time rotating speed value of the water outlet driving piece corresponding to the real-time water outlet flow value and a second target rotating speed value of the water outlet driving piece corresponding to the target water outlet flow value based on a preset second corresponding relation; the second corresponding relation is used for representing the corresponding relation between the water outlet flow value of the second path of water outlet and the rotating speed value of the water outlet driving piece;

and controlling the water outlet driving piece to operate according to the second target rotating speed value based on the real-time rotating speed value and the second target rotating speed value so as to control the second water outlet to outlet water according to the target water outlet flow.

According to the water outlet control method of the fire truck provided by the invention, when the water outlet mode is the third water outlet mode, the water outlet control method for controlling at least one path of water outlet of the fire truck based on the water outlet mode further comprises the following steps:

controlling the water outlet driving piece to run according to the second target rotating speed value so as to control the water outlet of the first path of water outlet;

acquiring a real-time water outlet pressure value of the first path of water outlet;

if the real-time water outlet pressure value is higher than a preset pressure value, controlling the real-time water outlet pressure value of the first path of water outlet to be within the preset pressure value through a safety pressure limiting valve;

the safety pressure limiting valve is arranged on a branch pipeline where the first water outlet is located.

According to the water outlet control method of the fire engine provided by the invention, the water outlet control method for controlling at least one path of water outlet of the fire engine based on the water outlet mode further comprises the following steps:

and if the real-time water outlet pressure value of the first path of water outlet and/or the real-time water outlet flow value of the second path of water outlet are abnormal, controlling the water outlet mode to be changed into a fourth water outlet mode.

In a second aspect, the present invention also provides a water outlet control device for a fire engine, the fire engine including a water outlet driving member, at least two water outlets, and at least two water outlet valve assemblies; the water outlet driving piece is respectively connected with the at least two water outlets, and the water outlet valve assembly is arranged between the water outlet and the water outlet driving piece; the device comprises:

The acquisition module is used for respectively acquiring the working states of the water outlet valve assemblies;

the first processing module is used for judging whether the water outlet valve assembly works normally or not based on the working state of each water outlet valve assembly, and obtaining a judging result;

the second processing module is used for matching a water outlet mode determining mode of the fire truck based on the judging result and selecting the water outlet mode of the fire truck through the water outlet mode determining mode;

the third processing module is used for controlling at least one path of water outlet of the fire truck to discharge water based on the water discharge mode.

In a third aspect, the present invention also provides a fire engine, where the fire engine uses any one of the above-mentioned water outlet control methods of the fire engine or includes the above-mentioned water outlet control device of the fire engine.

According to the water outlet control method and device for the fire engine and the fire engine, whether the water outlet valve assembly works normally is judged through the working state of the water outlet valve assembly, the judging result is obtained, the water outlet mode of the fire engine is matched based on the judging result, the water outlet mode of the fire engine is further selected, finally water outlet of a water outlet of the fire engine is controlled based on the determined water outlet mode, water can be automatically discharged according to the determined water outlet mode under the corresponding water outlet mode without manual regulation in the water outlet control process, and the water outlet control process is more accurate and reliable.

Drawings

In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic flow chart of a water outlet control method of a fire truck according to the present invention;

FIG. 2 is a schematic diagram of a water outlet system of a fire truck according to an embodiment of the present invention;

FIG. 3 is a second schematic diagram of a water outlet system of a fire truck according to an embodiment of the present invention;

FIG. 4 is a second flow chart of the water outlet control method of the fire truck according to the present invention;

FIG. 5 is a schematic diagram of the implementation principle of controlling the water outlet driving member to operate according to a first target rotation speed value by a PID regulation algorithm to control the water outlet of the first path to outlet water according to a target water outlet pressure value in the embodiment of the invention;

FIG. 6 is a schematic diagram of an implementation principle of controlling the water outlet driving member to operate according to a second target rotation speed value by a PID regulation algorithm to control the water outlet of the second path to output water according to a target water outlet flow value in the embodiment of the invention;

FIG. 7 is a schematic diagram of a water outlet control device of a fire truck according to the present invention;

fig. 8 is a schematic structural diagram of an electronic device provided by the present invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The water outlet control method and device of the fire engine, the fire engine and the electronic equipment built based on the water outlet control method of the fire engine are described below with reference to fig. 1 to 8.

FIG. 1 illustrates a method for controlling the water outlet of a fire engine according to an embodiment of the present invention, the fire engine including a water outlet driving member, at least two water outlets, and at least two water outlet valve assemblies; the water outlet driving piece is respectively connected with at least two water outlets, and the water outlet valve assembly is arranged between each water outlet and the water outlet driving piece; the method may include:

Step 101: respectively acquiring the working states of all the water outlet valve assemblies;

in this embodiment, the working states of the outlet valve assembly mainly refer to an open state, a closed state and a fault state of the outlet valve assembly, where the fault state may be caused by jamming of the outlet valve assembly or damage to the valve body of the outlet valve assembly.

In this embodiment, the execution main body of the water outlet control method of the fire engine may be a controller, and the controller may be a vehicle controller of the fire engine itself, or may be a controller added for implementing the control function, and the execution main body is described as an example of the vehicle controller, and the vehicle controller is connected to each water outlet valve assembly, so that the vehicle controller may obtain data sent by each water outlet valve assembly, and further obtain the working state of each water outlet valve assembly.

Step 102: judging whether the water valve assembly works normally or not based on the working state of each water outlet valve assembly, and obtaining a judging result;

in this embodiment, if each outlet valve assembly is in a normal working state, it may be determined that the outlet valve assembly is working normally, for example, each outlet valve assembly is not in a fault state, that is, each outlet valve assembly is in either an open state or a closed state, which indicates that the outlet valve assembly is working normally.

If there is an operational anomaly of a water outlet valve assembly, such as if there is a failure of a water outlet valve assembly, it may be determined that the water outlet valve assembly is operational anomaly.

Step 103: based on the judging result, matching a water outlet mode determining mode of the fire truck, and selecting the water outlet mode of the fire truck through the water outlet mode determining mode;

because the water outlet valve assembly works normally and works abnormally, different water outlet mode determining modes can be adopted, for example, under the condition that the water outlet valve assembly works normally, the current water outlet mode can be directly determined based on the working state of each water outlet valve assembly, and then the water outlet mode of the fire truck, namely, the water outlet mode under the current water outlet mode, can be determined. In the practical application process, the corresponding water outlet modes under the working states of the water outlet valves can be preset, namely, the corresponding relation between the working states of the water outlet valves and the water outlet modes is preset, so that the corresponding water outlet modes can be directly determined after the working states of the water outlet valves are determined.

If the water outlet valve assemblies work abnormally, the water outlet mode of the fire truck cannot be determined according to the working states of the water outlet valve assemblies, and at the moment, the water outlet mode can be determined according to other parameters in the water outlet system, for example, the water outlet mode can be determined based on flow data of related pipelines.

Step 104: and controlling at least one path of water outlet water of the fire truck based on the water outlet mode.

After the water outlet mode is determined, controlling a corresponding water outlet on the fire truck to outlet water according to the determined water outlet mode, wherein the water outlet can be determined according to the working state of a water outlet valve assembly, for example, a certain water outlet valve assembly is in an open state, and correspondingly, the water outlet on a branch pipe where the water outlet valve assembly is positioned is opened, and water can be discharged according to the water outlet mode; if a certain water outlet valve assembly is in a closed state, correspondingly, a water outlet on a branch pipe where the water outlet valve assembly is positioned is closed, and the water outlet does not need to be used for discharging water according to the water outlet mode.

In an exemplary embodiment, based on the determination result, the water outlet mode determining manner of the fire truck may specifically include:

if the judgment result is that the water outlet valve assembly works normally, the water outlet mode determining mode is as follows: determining a water outlet mode of the fire engine based on the working state of the water outlet valve assembly;

and/or the number of the groups of groups,

if the judgment result is that the water outlet valve assembly works abnormally, the water outlet mode determining mode is as follows: acquiring a first flow value of a main pipeline connected with the water outlet driving piece and a second flow value of one water outlet of at least two water outlets; a water out mode of the fire engine is determined based on the first flow value and the second flow value.

In this embodiment, if it is determined that the operation of the water valve assembly is normal, the water outlet mode of the fire engine is determined directly by the operation state of the water outlet valve assembly, and if it is determined that the operation of the water valve assembly is abnormal, the water outlet mode of the fire engine is determined by the first flow value of the main pipeline connected to the water outlet driving assembly and the second flow value of one of the at least two water outlets.

In this embodiment, if the working state of one outlet valve assembly among the plurality of outlet valve assemblies is abnormal, it may be determined that the outlet valve assembly is abnormal, for example, if the working state of one outlet valve in the outlet valve assembly is a fault state, it may be determined that the outlet valve assembly is abnormal, and at this time, the outlet mode cannot be accurately determined by the working state of the outlet valve assembly.

Based on this, after the working abnormality of the water outlet valve assembly is determined, the first flow value of the main pipeline and the second flow value of one of the at least two water outlets are obtained, and the fire engine is still provided with two water outlets, the first water outlet is the lower water outlet, the second water outlet is the fire monitor water outlet of the upper vehicle, the second flow value may be the water outlet value of the second water outlet, that is, the water outlet value of the fire monitor water outlet, and based on the obtained two flow values, the corresponding water outlet mode may be further determined.

Through the selection process of the water outlet mode determination mode, the corresponding water outlet mode determination mode can be selected according to the actual condition of the water outlet valve assembly, and the determined water outlet mode is ensured to be more accurate and reliable.

In an exemplary embodiment, the water outlet of the fire engine may specifically include a first path of water outlet and a second path of water outlet, the water outlet valve assembly includes a first water outlet valve and a second water outlet valve, the first water outlet valve is disposed between the first path of water outlet and the water outlet driving member, and the second water outlet valve is disposed between the second path of water outlet and the water outlet driving member;

determining a water outlet mode of the fire engine based on the operating state of each water outlet valve assembly may include:

if the working state of the water outlet valve assembly is that the first water outlet valve is opened and the second water outlet valve is opened, the water outlet mode is determined to be a third water outlet mode.

In this embodiment, the fire engine has two water outlets of the first water outlet and the second water outlet and two water outlet valves of the first water outlet valve and the second water outlet valve as an example, where the first water outlet may be a lower water outlet, and the second water outlet may be a fire monitor water outlet of the upper vehicle.

Fig. 2 shows a water outlet system provided with two water outlets and two water outlet valves on a fire engine, in this embodiment, a water outlet driving member comprises an engine 201 and a fire pump 202, the engine 201 and the fire pump 202 are connected through a transmission shaft, the rotation speed of the fire pump 202 can be controlled by controlling the rotation speed of the engine 201, so that the fire pump 202 is driven by the engine 201 to provide water outlet power for the two water outlets, in this embodiment, a first pressure sensor 203 and a first flow sensor 204 are arranged on a main pipeline where the engine 201 and the fire pump 202 are located, the first pressure sensor 203 is used for detecting the water outlet pressure value in the main pipeline, and the first flow sensor is used for detecting the first flow value in the main pipeline;

in this embodiment, the first path of water outlet is a get-off water outlet, a first water outlet valve 205, a second pressure sensor 206 and a safety pressure limiting valve 207 are arranged on a branch pipe where the get-off water outlet is located, the first water outlet valve 205 is used for controlling the on and off of the get-off water outlet, the second pressure sensor 206 is used for detecting the outlet pressure value of the get-off water outlet, and the safety pressure limiting valve 207 is used for limiting the outlet pressure value of the first path of water outlet within a safety pressure range;

in this embodiment, the second path of water outlet is a fire monitor water outlet 208 of the on-vehicle, a branch pipe where the fire monitor water outlet 208 is located is provided with a second flow sensor 209 and a second water outlet valve 210, the second flow sensor 209 is used for detecting a second flow value of the fire monitor water outlet 208, and the second water outlet valve 210 is used for controlling opening and closing of the fire monitor water outlet 208.

Referring to fig. 3, in this example, an engine 201, a fire pump 202, a first pressure sensor 203, a first flow sensor 204, a first outlet valve 205, a second pressure sensor 206, a safety pressure limiting valve 207, a fire monitor outlet 208, a second flow sensor 209, and a second outlet valve 210 may all be connected to a controller 211;

the controller 211 obtains data sent by the first pressure sensor 203, the second pressure sensor 206, the first flow sensor 204, the second flow sensor 209, the first water outlet valve 205, the second water outlet valve 210 and the like in real time, judges the current water outlet mode (such as the water outlet of a lower car, the water outlet of a fire monitor of an upper car or three-dimensional water outlet), intelligently selects the corresponding water outlet mode (such as a constant-current water outlet mode, a constant-pressure water outlet mode or the constant-current flow of the upper car and the safe pressure limiting water outlet mode of the lower car), and further controls the real-time actions of the engine 201, the fire pump 202, the safe pressure limiting valve 207 and the like through the determined water outlet mode, so that the water outlet control of the water outlet of the lower car and the water outlet 208 of the fire monitor is realized through the controller 211, various water outlet operation demands of the fire truck are met, and the fire extinguishing efficiency and the use safety of the fire truck are ensured.

In addition, the fire truck of the embodiment is further provided with a parameter setting knob 301, the parameter setting knob 301 is connected with the controller 211, and parameters related to the water outlet control process can be set through the parameter setting knob 301.

According to the embodiment, different water outlet modes can be determined according to the working states of the two water outlet valves, the first water outlet is a lower water outlet, the second water outlet is a fire monitor water outlet of an upper car, if the first water outlet valve is opened and the second water outlet valve is closed, the current water outlet mode of the fire truck, namely the lower water outlet, is illustrated, at the moment, the first water outlet mode can be a constant pressure water outlet mode, and thus the first water outlet can be controlled to outlet water at constant water outlet pressure;

if the first water outlet valve is closed and the second water outlet valve is opened, the current water outlet mode of the fire monitor of the fire truck is indicated, and the second water outlet mode can be a constant-flow water outlet mode at the moment, so that the second water outlet can be controlled and controlled to outlet water at constant water outlet flow;

if the first water outlet valve and the second water outlet valve are both opened, the current three-dimensional water outlet mode of the fire engine is indicated, and the third water outlet mode can be a constant water flow on the fire engine and a safe pressure-limiting water outlet mode of the fire engine off, so that the second water outlet can be controlled to outlet water at a constant water outlet flow, and the first water outlet is controlled to outlet water within a safe water outlet pressure range.

In an exemplary embodiment, the water outlet of the fire engine comprises a first path of water outlet and a second path of water outlet, the water outlet valve comprises a first water outlet valve and a second water outlet valve, the first water outlet valve is arranged between the first path of water outlet and the water outlet driving piece, and the second water outlet valve is arranged between the second path of water outlet and the water outlet driving piece;

Determining a water outlet mode of the fire engine based on the first flow value and the second flow value may include:

if the first flow value is larger than the preset flow value and the second flow value is zero, determining that the water outlet mode is a first water outlet mode;

if the pipeline flow loss value is larger than the second preset flow loss value, determining that the water outlet mode is a third water outlet mode.

In the practical application process, the corresponding water outlet modes of the two flow values under different states, namely the corresponding relation between the states of the first flow value and the second flow value and the water outlet modes, can be preset, and the corresponding water outlet modes can be directly determined based on the preset corresponding relation after the first flow value and the second flow value are determined.

In this embodiment, the implementation scheme of determining the water outlet mode of the fire engine based on the first flow value and the second flow value is further described by taking the fire engine including two water outlets of the first water outlet and the second water outlet and two water outlet valves of the first water outlet valve and the second water outlet valve as examples.

If the first flow value is greater than the preset flow value and the second flow value is zero, it is indicated that another water outlet except the water outlet corresponding to the second flow value is in water outlet, in this embodiment, the second flow value is taken as the water outlet value of the second path of water outlet, the first path of water outlet is the lower car water outlet, and the second path of water outlet is the fire monitor water outlet of the upper car as an example, if the first flow value is greater than the preset flow value and the second flow value is zero, it is indicated that the first path of water outlet is in water outlet at this time, that is, the water outlet mode of the lower car water outlet at this time, the first water outlet mode may be the first water outlet mode at this time, specifically may be the constant pressure water outlet mode, so that the first path of water outlet can be controlled to discharge water with constant water outlet pressure;

if the first flow value and the second flow value are both greater than the preset flow value, the pipeline flow loss value needs to be further determined based on the first flow value and the second flow value, and in this embodiment, the calculation formula of the pipeline flow loss value is as follows:

where P represents the line flow loss, L1 represents the first flow value, and L2 represents the second flow value.

Further, comparing the obtained pipeline flow loss with a first preset flow loss value and a second preset flow loss value, and determining a current water outlet mode, and determining a current corresponding water outlet mode, wherein the specific determining mode is as follows:

If the pipeline flow loss value is smaller than a first preset flow loss value, namely P < P1, determining that the water outlet mode is a second water outlet mode, indicating that the fire engine is a fire monitor water outlet mode of the upper fire engine at present, wherein the second water outlet mode can be a constant flow water outlet mode, and controlling a second water outlet to outlet water at constant water outlet flow;

if the pipeline flow loss value is larger than a second preset flow loss value, namely P > P2, the current three-dimensional water outlet mode of the fire truck is indicated, and the third water outlet mode can be a constant flow on the truck and a safe pressure-limiting water outlet mode on the truck off at the moment, so that the second water outlet can be controlled to outlet water at a constant water outlet flow, and the first water outlet is controlled to outlet water in a safe water outlet pressure range.

In the actual application process, the first preset flow loss value P1 and the second preset flow loss value P2 may be expert experience values, and may be set reasonably according to the actual application scenario.

Referring to fig. 4, the water outlet mode determining process of the fire truck in this embodiment may be specifically divided into two situations, taking the scenario shown in fig. 2 as an example, where the first water outlet valve is a lower water outlet valve, the second water outlet valve is a gun water outlet valve, and the first situation is that the corresponding water outlet mode is determined by the working state of the water outlet valve, where the implementation flow is specifically as follows:

Step 401: judging whether the cannon water outlet valve and the off water outlet valve can work normally and feed back, namely judging whether the water outlet valve assembly works normally or not;

step 402: if the judgment result is yes, namely, the gun water outlet valve and the get-off water outlet valve can work normally and feed back, whether the gun water outlet valve is closed and the get-off water outlet valve is opened is further judged, and if so, the water outlet mode is determined to be a first water outlet mode, namely, a constant-pressure water outlet mode;

step 403: if the judging condition of the step 402 is not met, further judging whether the gun water outlet valve is opened and the off water outlet valve is closed, and if so, determining that the water outlet mode is a second water outlet mode, namely a constant-flow water outlet mode;

step 404: if the judging condition in the step 403 is not met, further judging whether the gun water outlet valve is opened and the get-off water outlet valve is opened, if so, determining that the water outlet mode is a third water outlet mode, namely, the get-on water outlet adopts a constant-flow water outlet mode and the get-off water outlet adopts a safe pressure limiting mode.

The second situation is that the corresponding water outlet mode is determined through the first flow value and the second flow value, the first flow value is the main pipeline water outlet flow in the scene shown in fig. 2, the second flow value is the fire monitor flow, the preset flow value is Q, and the implementation flow under the situation is specifically as follows:

Step 405: if the judgment result of the step 401 is no, that is, the gun water outlet valve and/or the off-vehicle water outlet valve cannot work normally and feed back, further judging whether the main pipeline water outlet flow rate > Q is met and the fire monitor flow rate is 0, if so, determining that the water outlet mode is a first water outlet mode, that is, a constant-pressure water outlet mode;

step 406: if the determination condition in the step 405 is not satisfied, further determining whether the main pipeline water outlet flow rate L1> Q and the fire monitor flow rate L2> Q are satisfied, and if so, determining that the water outlet mode is a second water outlet mode, namely a constant flow water outlet mode;

step 407: if the determination condition in step 406 is not satisfied, it is further determined whether the main pipeline water outlet flow rate L1> Q and the fire monitor flow rate L2> Q and (L1-L2)/L1 > P2 are satisfied, and if so, it is determined that the water outlet mode is a third water outlet mode, that is, the on-vehicle water outlet adopts a constant-flow water outlet mode and the off-vehicle water outlet adopts a safe pressure limiting mode.

In an exemplary embodiment, when the water outlet mode is the first water outlet mode, controlling at least one water outlet of the fire truck to outlet water based on the water outlet mode may specifically include:

acquiring a real-time water outlet pressure value and a target water outlet pressure value of a first path of water outlet;

Based on a preset first corresponding relation, determining a real-time rotating speed value of the water outlet driving piece corresponding to the real-time water outlet pressure value and a first target rotating speed value of the water outlet driving piece corresponding to the target water outlet pressure value; the first corresponding relation is used for representing the corresponding relation between the water outlet pressure value of the first path of water outlet and the rotating speed value of the water outlet driving piece;

and controlling the water outlet driving piece to operate according to the first target rotating speed value based on the real-time rotating speed value and the first target rotating speed value so as to control the first water outlet to outlet water according to the target water outlet pressure value.

In this embodiment, the real-time outlet water pressure value of the first path of outlet water may be detected by a second pressure sensor disposed on a branch pipe where the first path of outlet water is located, the target outlet water pressure value may be preset according to actual experience, and the data corresponding to the first correspondence may be stored in an expert database.

When the water outlet driving part is controlled, the water outlet driving part can be controlled to operate according to the first target rotating speed value in a closed-loop control mode, and in particular, the closed-loop control scheme can be realized by adopting a closed-loop control algorithm.

In the actual application process, after determining a real-time rotation speed value of the water outlet driving piece corresponding to the real-time water outlet pressure value and a first target rotation speed value of the water outlet driving piece corresponding to the target water outlet pressure value based on a preset first corresponding relation, the process of controlling the first path of water outlet to outlet water according to the target water outlet pressure value is specifically as follows:

And performing first-stage self-adaptive PID control based on the difference between the real-time rotating speed value of the water outlet driving piece and the first target rotating speed value, enabling the real-time rotating speed value of the water outlet driving piece to be quickly close to the first target rotating speed value, and performing second-stage self-adaptive PID control based on the difference between the target water outlet pressure value and the actual water outlet pressure value after the difference between the real-time rotating speed value and the first target rotating speed value is smaller than a set value so as to control the first-path water outlet to outlet water according to the target water outlet pressure.

Referring to fig. 5, the method specifically may be implemented by a controller configured with a PID regulation algorithm, the target water outlet pressure value is used as a given value of the controller and is input to the controller, a first target rotation speed value of the water outlet driving member may be determined by an expert database based on the target water outlet pressure value, and the first target rotation speed value is input to the controller as an initial rotation speed, meanwhile, the real-time water outlet pressure value is also input to the controller as a measured value, and after the operation of the controller, the expert database, the actual and target water outlet pressure changes and the adaptive PID control algorithm are fused, the rotation speed value of the regulated water outlet driving member may be output, in this embodiment, the rotation speed of the engine may be obtained by the controller, and since there is a fixed transmission ratio between the engine and the fire pump, the rotation speed of the fire pump may be directly determined by the rotation speed of the transmitter, and the rotation speed value of the water outlet driving member may be controlled to reach the first target rotation speed value by continuously performing closed-loop regulation on the fire pump, and may be operated according to the first target rotation speed value.

In an exemplary embodiment, when the water outlet mode is the second water outlet mode, controlling at least one water outlet of the fire truck to outlet water based on the water outlet mode may specifically include:

and controlling the water outlet driving piece to operate according to the second target rotating speed value based on the real-time rotating speed value and the second target rotating speed value so as to control the second water outlet to outlet water according to the target water outlet flow value.

In this embodiment, the real-time water outlet flow value may be detected by a second flow sensor on the branch where the second outlet is located, the target water outlet flow value may be preset based on actual experience, and the data corresponding to the second correspondence may be stored in an expert database.

Similarly to the above embodiment, when the water outlet driving member is controlled, the water outlet driving member can be controlled to operate according to the second target rotation speed value in a closed-loop control manner, and in particular, the above closed-loop control scheme can be implemented by adopting an algorithm controller capable of implementing closed-loop control.

In the actual application process, after determining the real-time rotation speed value of the water outlet driving piece corresponding to the real-time water outlet flow value and the second target rotation speed value of the water outlet driving piece corresponding to the target water outlet flow value based on the preset second corresponding relation, the process of controlling the second water outlet to outlet water according to the target water outlet flow value is specifically as follows:

and performing first-stage self-adaptive PID control based on the difference between the real-time rotating speed value of the water outlet driving piece and the second target rotating speed value, enabling the real-time rotating speed value of the water outlet driving piece to be quickly close to the second target rotating speed value, and performing second-stage self-adaptive PID control based on the difference between the target water outlet flow value and the actual water outlet flow value after the difference between the real-time rotating speed value and the second target rotating speed value is smaller than a set value so as to control the second water outlet to outlet water according to the target water outlet flow.

Referring to fig. 6, the method specifically may be implemented by a controller configured with a PID regulation algorithm, the target water outlet flow value is used as a given value of the controller and is input to the controller, based on the second correspondence and the target water outlet flow value, a second target rotation speed value of the water outlet driving member may be determined, and the second target rotation speed value is input to the controller as an initial rotation speed, meanwhile, the real-time water outlet flow value is also input to the controller as a measured value, and after the calculation of the controller, an expert database, an actual and target water outlet flow change and an adaptive PID control algorithm are fused, the rotation speed value of the regulated water outlet driving member may be output, and in this embodiment, the rotation speed of the engine may be obtained by the controller.

In an exemplary embodiment, when the water outlet mode is the third water outlet mode, controlling at least one water outlet of the fire truck to outlet water based on the water outlet mode may further include:

acquiring a real-time water outlet pressure value of a first path of water outlet;

if the real-time water outlet pressure value is higher than the preset pressure value, controlling the real-time water outlet pressure value of the first path of water outlet to be within the preset pressure value through a safety pressure limiting valve;

the safety pressure limiting valve is arranged on a branch pipeline where the first path of water outlet is located.

In the third water outlet mode, the first water outlet and the second water outlet can simultaneously discharge water, the second water outlet discharges water according to the constant-flow water outlet mode, and when the first water outlet is a lower water outlet, the potential safety hazard is easy to occur in consideration of the fact that the water outlet pressure value of the lower water outlet is too high, so that in the embodiment, when the first water outlet and the second water outlet synchronously discharge water, namely in a three-dimensional water outlet mode, the first water outlet discharges water according to a safety pressure limiting mode.

Specifically, a preset pressure value can be preset as a pressure upper limit value, and the real-time water outlet pressure value of the first path of water outlet is controlled within the preset pressure value through a safety pressure limiting valve, so that the water outlet safety of the first path of water outlet is ensured.

In an exemplary embodiment, based on the water outlet mode, controlling at least one water outlet of the fire engine to outlet water may further include:

if the real-time water outlet pressure value of the first path of water outlet and/or the real-time water outlet flow value of the second path of water outlet are abnormal, the water outlet mode is controlled to be changed into a fourth water outlet mode.

In the practical application process, the real-time outlet pressure value of the first path of water outlet can be directly detected by a second pressure sensor arranged on a branch pipe where the first path of water outlet is located, and also can be indirectly detected by a first pressure sensor arranged on a main pipe, so that when the real-time outlet pressure value of the first path of water outlet is obtained, firstly, the pressure data collected and uploaded by the second pressure sensor can be obtained, if the pressure data uploaded by the second pressure sensor is abnormal, the pressure data collected and uploaded by the first pressure sensor can be obtained, and the pipeline pressure loss value is subtracted from the pressure data uploaded by the first pressure sensor, so that the real-time outlet pressure value of the first path of water outlet can be indirectly obtained, and if the pressure data uploaded by the first pressure sensor is abnormal, that is, the first pressure sensor and the second pressure sensor can not accurately obtain the pressure data, at the moment, the real-time outlet pressure value of the first path of water outlet can be judged to be abnormal, and the fourth outlet mode can be obtained.

Similarly, the real-time outlet flow value of the second outlet can be directly detected by the second flow sensor arranged on the branch pipe where the second outlet is located, or can be indirectly detected by the first flow sensor arranged on the main pipe, so that when the real-time outlet flow value of the second outlet is obtained, firstly, the real-time outlet flow value of the second outlet can be obtained through the flow data collected and uploaded by the second flow sensor, if the flow data uploaded by the second flow sensor is abnormal, the flow data collected and uploaded by the first flow sensor is obtained, and the real-time outlet flow value of the second outlet can be indirectly obtained by subtracting the pipeline flow loss value from the flow data uploaded by the first flow sensor, if the flow data uploaded by the first flow sensor is abnormal, that is, the first flow sensor and the second flow sensor can not accurately obtain the flow data, and at the moment, the real-time outlet flow value of the second outlet is abnormal can be judged, and the fourth outlet mode can be obtained.

In this embodiment, the fourth water outlet mode may be a constant rotation speed water outlet mode, and the water outlet driving member is controlled to operate at a preset rotation speed value, so as to control the first water outlet or the second water outlet to stably outlet water.

It should be noted that, in this embodiment, the positions of the water outlet and the water outlet valve on the fire truck are mainly the layout mode corresponding to the actual vehicle configuration state, the position layout scheme provided in the foregoing embodiment is only one or more preferred embodiments, after the layout scheme of the water outlet and the water outlet valve is adjusted, the part execution logic of the water outlet control method of the fire truck provided in this embodiment may be adaptively adjusted due to the layout change of the water outlet and the water outlet valve, for example, when more than two water outlets exist, that is, when more than two water outlet modes exist, the corresponding water outlet mode may be adaptively increased, so as to meet the corresponding water outlet control requirements under different water outlet modes.

The water outlet control device of the fire truck provided by the invention is described below, and the water outlet control device of the fire truck described below and the water outlet control method of the fire truck described above can be correspondingly referred to each other.

FIG. 7 illustrates a water outlet control device for a fire engine including a water outlet driver, at least two water outlets, and at least two water outlet valve assemblies, according to an embodiment of the present invention; the water outlet driving piece is respectively connected with at least two water outlets, and the water outlet valve assembly is arranged between the water outlets and the water outlet driving piece; the device comprises:

The acquisition module 701 is configured to acquire an operating state of each outlet valve assembly;

the first processing module 702 is configured to determine, based on the operation status of each water outlet valve assembly, whether the water outlet valve assembly is working normally, and obtain a determination result;

the second processing module 703 is configured to match a water outlet mode determining mode of the fire truck based on the determination result, and select a water outlet mode of the fire truck according to the water outlet mode determining mode;

the second processing module 704 is configured to control at least one water outlet of the fire engine to output water based on the water output mode.

In an exemplary embodiment, the second processing module 703 may specifically be configured to:

and/or the number of the groups of groups,

In an exemplary embodiment, the water outlet of the fire engine specifically comprises a first path of water outlet and a second path of water outlet, the water outlet valve assembly comprises a first water outlet valve and a second water outlet valve, the first water outlet valve is arranged between the first path of water outlet and the water outlet driving piece, and the second water outlet valve is arranged between the second path of water outlet and the water outlet driving piece;

The second processing module 703 may specifically determine the water outlet mode of the fire truck based on the working state of the water outlet valve assembly through the following process:

In an exemplary embodiment, the water outlet of the fire engine comprises a first path of water outlet and a second path of water outlet, the water outlet valve assembly comprises a first water outlet valve and a second water outlet valve, the first water outlet valve is arranged between the first path of water outlet and the water outlet driving piece, and the second water outlet valve is arranged between the second path of water outlet and the water outlet driving piece;

the second processing module 703 may specifically determine the water outlet mode of the fire truck based on the first flow value and the second flow value through the following process:

If the first flow value and the second flow value are both larger than the preset flow value, determining a pipeline flow loss value based on the first flow value and the second flow value; if the pipeline flow loss value is smaller than the first preset flow loss value, determining that the water outlet mode is a second water outlet mode;

In an exemplary embodiment, when the water outlet mode is the first water outlet mode, the third processing module 704 may specifically be configured to:

In an exemplary embodiment, when the water outlet mode is the second water outlet mode, the third processing module 704 may specifically be configured to:

In an exemplary embodiment, when the water outlet mode is the third water outlet mode, the third processing module 704 may specifically be configured to:

In an exemplary embodiment, the second processing module 703 may be further specifically configured to:

In summary, according to the water outlet control device for the fire engine provided by the embodiment of the invention, the first processing module is used for judging whether the water outlet valve assemblies work normally or not based on the working states of the water outlet valve assemblies, the judging result is obtained, the second processing module is used for matching the water outlet mode determining mode of the fire engine based on the judging result, the water outlet mode of the fire engine is selected according to the water outlet mode determining mode, finally the third processing module is used for controlling the water outlet of the fire engine based on the determined water outlet mode, the water outlet control device can automatically outlet water according to the determined water outlet mode under the corresponding water outlet mode without manual regulation, and the water outlet control process is more accurate and reliable.

In addition, the embodiment of the invention also provides a fire engine, which uses the water outlet control method of the fire engine or comprises the water outlet control device of the fire engine.

In this embodiment, the fire engine is provided with multiple water outlet modes, for example, the fire engine can be configured with two water outlet modes of water outlet of the fire monitor of the upper engine and water outlet of the fire hose of the lower engine (i.e. water outlet of the lower engine), in this case, the first water outlet can be the water outlet of the lower engine, the second water outlet can be the water outlet of the fire monitor, by adopting the water outlet control method of the fire engine, the water outlet of the fire monitor of the upper engine can meet the requirement of stable output of water flow, the water outlet of the fire hose of the lower engine meets the requirement of stable output of water pressure, and the three-dimensional water outlet (i.e. water outlet of the fire monitor of the upper engine and the water outlet of the fire hose of the lower engine) meets the requirement of stable output of water flow of the upper engine and safe and stable output of water pressure of the water outlet of the lower engine, thereby improving the accuracy, reliability and safety of the water outlet process.

Fig. 8 illustrates a physical structure diagram of an electronic device, as shown in fig. 8, which may include: a processor 801, a communication interface (Communications Interface) 802, a memory 803, and a communication bus 804, wherein the processor 801, the communication interface 802, and the memory 803 communicate with each other through the communication bus 804. The processor 801 may call logic instructions in the memory 803 to perform a method of controlling water delivery of a fire truck, the method comprising: respectively acquiring the working states of all the water outlet valve assemblies; judging whether the water valve assembly works normally or not based on the working state of each water outlet valve assembly, and obtaining a judging result; based on the judging result, matching a water outlet mode determining mode of the fire truck, and selecting the water outlet mode of the fire truck through the water outlet mode determining mode; and controlling at least one path of water outlet water of the fire truck based on the water outlet mode.

Further, the logic instructions in the memory 803 described above may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, are capable of executing the water outlet control method of the fire truck provided by the above embodiments, the method comprising: respectively acquiring the working states of all the water outlet valve assemblies; judging whether the water valve assembly works normally or not based on the working state of each water outlet valve assembly, and obtaining a judging result; based on the judging result, matching a water outlet mode determining mode of the fire truck, and selecting the water outlet mode of the fire truck through the water outlet mode determining mode; and controlling at least one path of water outlet water of the fire truck based on the water outlet mode.

In still another aspect, the present invention further provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the water outlet control method of the fire truck provided in the above embodiments, the method comprising: respectively acquiring the working states of all the water outlet valve assemblies; judging whether the water valve assembly works normally or not based on the working state of each water outlet valve assembly, and obtaining a judging result; based on the judging result, matching a water outlet mode determining mode of the fire truck, and selecting the water outlet mode of the fire truck through the water outlet mode determining mode; and controlling at least one path of water outlet water of the fire truck based on the water outlet mode.

The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. The water outlet control method of the fire engine is characterized in that the fire engine comprises a water outlet driving piece, at least two water outlets and at least two water outlet valve assemblies; the water outlet driving piece is respectively connected with the at least two paths of water outlets, and the water outlet valve assembly is arranged between each path of water outlet and the water outlet driving piece; the at least two water outlets comprise a first water outlet and a second water outlet, the at least two water outlet valve assemblies comprise a first water outlet valve and a second water outlet valve, the first water outlet valve is arranged between the first water outlet and the water outlet driving piece, and the second water outlet valve is arranged between the second water outlet and the water outlet driving piece; the method comprises the following steps:

respectively acquiring the working states of the water outlet valve assemblies;

based on the judging result, matching a water outlet mode determining mode of the fire truck, and selecting the water outlet mode of the fire truck through the water outlet mode determining mode; the water outlet mode comprises a constant-pressure water outlet mode, a constant-flow water outlet mode and a constant-rotation-speed water outlet mode, or the second water outlet adopts a constant-flow water outlet mode and the first water outlet adopts a safe pressure-limiting water outlet mode;

Controlling at least one path of water outlet of the fire truck to discharge water based on the water discharge mode;

the determining mode of the water outlet mode of the fire truck based on the judging result comprises the following steps:

if the judging result is that the water outlet valve assembly works abnormally, the water outlet mode determining mode is as follows: acquiring a first flow value of a main pipeline connected with the water outlet driving piece and a second flow value of one water outlet of the at least two water outlets; determining a water outlet mode of the fire truck based on the first flow value and the second flow value;

2. The method of controlling water outlet of a fire engine according to claim 1, wherein the determining a water outlet mode of the fire engine based on an operation state of the water outlet valve assembly comprises:

3. The water outlet control method of a fire truck according to claim 1 or 2, wherein, when the water outlet mode is a first water outlet mode, the controlling at least one path of water outlet water of the fire truck based on the water outlet mode includes:

4. The water outlet control method of a fire truck according to claim 1 or 2, wherein, when the water outlet mode is a second water outlet mode, the controlling at least one path of water outlet water of the fire truck based on the water outlet mode includes:

5. The method for controlling water outlet of fire truck according to claim 4, wherein when the water outlet mode is a third water outlet mode, the controlling water outlet of at least one of the water outlets of the fire truck based on the water outlet mode further comprises:

6. The water outlet control method of a fire engine according to any one of claims 1 to 2, wherein the controlling the water outlet of at least one of the water outlets of the fire engine based on the water outlet pattern further comprises:

7. A fire truck water outlet control device for implementing the fire truck water outlet control method according to any one of claims 1 to 6, characterized in that the fire truck comprises a water outlet driving member, at least two water outlets and at least two water outlet valve assemblies; the water outlet driving piece is respectively connected with at least two water outlets, and the water outlet valve assembly is arranged between the water outlet and the water outlet driving piece; the device comprises:

8. A fire engine, wherein the fire engine uses the water outlet control method of the fire engine according to any one of claims 1 to 6 or comprises the water outlet control device of the fire engine according to claim 7.