The invention relates to a control method, a storage method, a calculation device, a storage medium and a fire fighting truck for reciprocating rescue of an elevating fire fighting truck, and the control method comprises the following steps: setting a time interval t delta, and when the time is n * t delta, calculating or reading the amplitude R and the height H of a boom and the rotation angle beta of a turntable according to the posture of the boom; coding the state of each moving part of the arm support to form an arm support moving direction parameter A; constructing a working platform position matrix P; storing a matrix P from path start to path end; reading the matrix P of the next time interval, and performing inverse kinematics solution to obtain the attitude value of each moving part of the cantilever crane as the target value of the movement of the cantilever crane at the next time interval; controlling each moving part of the cantilever crane, so that the moving parts reach the postures stored in the matrix P at the next time interval; and the path playback at each moment is completed. According to the method, the variable space required by storage can be reduced, the synchronization degree of multi-action movement during path playback is improved, and the playback error is reduced.
本发明涉及举高消防车往复救援的控制方法、存储方法、计算装置、存储介质和消防车,控制方法包括:设置时间间隔tΔ,当时间为n×tΔ时,根据臂架姿态计算或读取臂架幅度R、高度H和转台回转角度β;对臂架各运动部件的状态进行编码,形成臂架运动方向参数A;构建工作平台位置矩阵P;储存路径开始到路径结束的矩阵P;读取下一时间间隔的矩阵P,进行逆运动学求解,得到臂架各运动部件的姿态值,作为臂架下一时间间隔运动的目标值;对臂架各运动部件进行控制,使其在下一时间间隔到达矩阵P中存储的姿态;直到完成各时刻的路径回放。本发明可以降低存储所需要的变量空间,提升路径回放时多动作运动的同步程度,减小回放误差。
Control method, storage method and calculation device for reciprocating rescue of elevating fire fighting truck, storage medium and fire fighting truck
举高消防车往复救援的控制方法、存储方法、计算装置、存储介质和消防车
2025-02-25
Patent
Electronic Resource
Chinese
IPC: | A62C FIRE-FIGHTING , Feuerbekämpfung / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last |
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