초록 ▼

A turret control system and method for a fire fighting vehicle is disclosed. The turret control system includes one or more control modules, such as an envelope control module, turret targeting module, a turret pan module, a turret deploy module, a turret store module. The preferred turret control s

A turret control system and method for a fire fighting vehicle is disclosed. The turret control system includes one or more control modules, such as an envelope control module, turret targeting module, a turret pan module, a turret deploy module, a turret store module. The preferred turret control system also provides improved turret control flexibility and improved operator feedback.

대표청구항 ▼

What is claimed is: 1. A method of controlling a turret mounted on a fire fighting vehicle, comprising: storing information in a turret motion controller, the information pertaining to a desired movement of the turret; and controlling movement of the turret using the turret motion controller, the m

What is claimed is: 1. A method of controlling a turret mounted on a fire fighting vehicle, comprising: storing information in a turret motion controller, the information pertaining to a desired movement of the turret; and controlling movement of the turret using the turret motion controller, the movement of the turret being controlled in accordance with the information; wherein the turret comprises an adjustable mount assembly and a turret nozzle, the adjustable mount assembly being mounted to a chassis and vehicle body combination, the mount assembly including a fire-extinguishing agent delivery system capable of transporting a fire-extinguishing agent through the mount assembly, the turret nozzle being mounted to the adjustable mount assembly, and the turret nozzle being capable of receiving the fire-extinguishing agent from the mount assembly; wherein the fire fighting vehicle comprises a power distribution and control system, the power distribution and control system further including a power source, a power transmission link, a plurality of output devices, a plurality of input devices, a communication network, and a plurality of interface modules; wherein the plurality of output devices including a plurality of actuators capable of adjusting the mount assembly to adjust the position and orientation of the turret nozzle; wherein the plurality of input devices including a plurality of position sensors capable of providing position information pertaining to the position and orientation of the turret nozzle, and the plurality of input devices further including an input device associated with an operator interface; wherein the plurality of interface modules are coupled to the power source by way of the power transmission link, the plurality of interface modules being interconnected to each other by way of the communication network, and the plurality of interface modules being coupled to the plurality of input devices and to the plurality of output devices by way of respective communication links, and the plurality of interface modules including one or more interface modules that are coupled to the plurality of position sensors, the plurality of actuators, and the input device associated with an operator interface; and wherein the turret controller comprises at least one of the plurality of interface modules. 2. The method according to claim 1, wherein the information pertains to a deploy position, the deploy position being a position in which the turret is positioned to dispense the fire extinguishing agent on a region of interest; and wherein, during the controlling step, the turret is delivered from a store position to the deploy position, the store position being a position in which the turret is stored for vehicle travel. 3. The method according to claim 2, wherein the information for the deploy position is stored in the turret controller in response to operator inputs, and wherein the method further comprises acquiring operator inputs that define a plurality of deploy positions. 4. The method according to claim 2, wherein the information for the deploy position is stored in the turret controller in response to operator inputs, and wherein the operator inputs are acquired as the fire fighting vehicle approaches the scene of a fire. 5. The method according to claim 1, wherein the controlling step comprises causing the turret to move in a predetermined pattern. 6. The method according to claim 1, further comprising in a first mode of operation, acquiring operator inputs and causing the turret to move in a pattern in accordance with the operator inputs, wherein the causing step is performed in real time as the operator inputs are acquired; then in a second mode of operation, causing the turret to move in accordance with the pattern, wherein the causing step is performed based on information stored during the first mode of operation, such that turret movement is controlled based on previously acquired operator inputs. 7. The method according to claim 1, wherein the information is information pertaining to a motion profile for repetitively moving the turret in accordance with a pattern; wherein, during the controlling step, the turret is repetitively moved in accordance with the pattern; and wherein the method further comprises dispensing the fire extinguishing agent from the turret while the turret is moving in accordance with the pattern. 8. The method according to claim 1, wherein the information pertains to a store position, the store position being a position in which the turret is stored for vehicle travel; and wherein, during the controlling step, the turret is delivered from a deploy position to the store position, the deploy position being a position in which the turret is positioned to dispense the fire extinguishing agent on a region of interest. 9. The method according to claim 8, further comprising engaging an actuator when the turret reaches the store position, the actuator being coupled to a lock mechanism that locks the turret in place after the turret reaches the store position. 10. The method according to claim 1, wherein the turret comprises a first arm, a second arm, and a third arm, and wherein the second arm is pivotably coupled to the first arm and the third arm is pivotably coupled to the second arm. 11. The method according to claim 1, wherein the information comprises a series of waypoints, and wherein the controlling step comprises successively delivering the turret to the series of waypoints. 12. A method of controlling a turret mounted on a fire fighting vehicle, comprising: storing information in a turret motion controller, the information pertaining to a desired movement of the turret; and controlling movement of the turret using the turret motion controller, the movement of the turret being controlled in accordance with the information; wherein the information comprises a series of waypoints, and wherein the controlling step comprises successively delivering the turret to the series of waypoints; wherein the series of waypoints are stored during an operator programming mode of the turret controller; wherein, during the operator programming mode, the turret is controlled in response to operator inputs and measurements of the position of the turret are repetitively acquired; and wherein the series of waypoints are stored based on the measurements of the position of the turret acquired during the operator programming mode; wherein the controlling step comprises (1) providing one of the series of waypoints as input to a feedback control system, the feedback control system being at least partially implemented by the turret controller; (2) measuring the position of the turret; (3) comparing the measured position of turret with the one of the series of waypoints; (4) controlling the turret so as to reduce a difference between the measured position of the turret and the one of the series of waypoints; and (5) repeating steps (1)-(4) for remaining ones of the series of waypoints. 13. The method according to claim 12, wherein the series of waypoints are stored during an operator programming mode of the turret controller; wherein, during the operator programming mode, the turret is controlled in response to operator inputs and measurements of the position of the turret are repetitively acquired; and wherein the series of waypoints are stored based on the measurements of the position of the turret acquired during the operator programming mode. 14. The method according to claim 12, wherein the turret comprises a first arm, a second arm and a third arm, and wherein the second arm is pivotably coupled to the first arm and the third arm is pivotably coupled to the second arm. 15. A method of controlling a turret mounted on a fire fighting vehicle, comprising: storing information in a turret motion controller, the information pertaining to a desired movement of the turret, the turret including a first arm, a second arm, and a third arm, the second arm being pivotably coupled to the first arm and the third arm being pivotably coupled to the second arm; and controlling movement of the turret using the turret motion controller, the movement of the turret being controlled in accordance with the information; wherein the information is used to generate first control signals to control motion of the turret, the information directing movement of the turret in such a way that the turret is susceptible to impacting the fire fighting vehicle; and wherein the method further comprises preventing the turret from impacting the fire fighting vehicle, including determining that the turret is susceptible to impacting the fire fighting vehicle, and in response to the determining step, providing the turret with second control signals that are different than the first control signals, the second control signals directing movement of the turret in such a way that the turret does not impact the fire fighting vehicle. 16. The method according to claim 15, wherein the information also pertains to a deploy position, the deploy position being a position in which the turret is positioned to dispense a fire extinguishing agent on a region of interest; and wherein, during the controlling step, the turret is delivered from a store position to the deploy position, the stare position being a position in which the turret is stored for vehicle travel. 17. The method according to claim 15, wherein the controlling step also comprises causing the turret to move in a predetermined pattern. 18. The method according to claim 15, further comprising in a first mode of operation, acquiring operator inputs and causing the turret to move in a pattern in accordance with the operator inputs, wherein the causing step is performed in real time as the operator inputs are acquired; then in a second mode of operation, causing to turret to move in accordance with the pattern, wherein the causing step is performed based on information stored during the first mode of operation, such that turret movement is controlled based on previously acquired operator inputs. 19. The method according to claim 15, wherein the information also pertains to a motion profile for repetitively moving the turret in accordance with a pattern; wherein, during the controlling step, the turret is repetitively moved in accordance with the pattern; and wherein the method further comprises dispensing a fire extinguishing agent from the turret while the turret is moving in accordance with the pattern. 20. The method according to claim 15, wherein the information also pertains to a store position, the store position being a position in which the turret is stored for vehicle travel; and wherein, during the controlling step, the turret is delivered from a deploy position to the store position, the deploy position being a position in which the turret is positioned to dispense a fire extinguishing agent on a region of interest. 21. The method according to claim 15, wherein the information also comprises a series of waypoints, and wherein the controlling step comprises successively delivering the turret to the series of waypoints. 22. A fire fighting vehicle comprising: (A) a chassis and a vehicle body mounted on the chassis, the chassis and vehicle body in combination including an operator compartment capable of receiving a human operator, the operator compartment including steering and throttle controls for receiving operator inputs to control movement of the fire fighting vehicle along a road; (B) a turret including (1) an adjustable mount assembly, the adjustable mount assembly being mounted to the chassis and vehicle body combination, and the mount assembly including a fire-extinguishing agent delivery system capable of transporting a fire-extinguishing agent through the mount assembly; (2) a turret nozzle, the turret nozzle being mounted to the adjustable mount assembly, and the turret nozzle being capable of receiving the fire-extinguishing agent from the mount assembly; and (C) a turret control system, to turret control system including a plurality of actuators capable of adjusting the mount assembly to permit the position and orientation of the turret nozzle to be adjusted, the turret control system further including a turret controller coupled to the plurality of actuators, to turret controller storing position information pertaining to a desired position of the turret; and the turret controller being programmed to control movement of the turret in accordance with the position information; wherein the fire fighting vehicle comprises a power distribution and control system, the power distribution and control system further including a power source, a power transmission link, a plurality of output devices, a plurality of input devices, a communication network, and a plurality of interface modules; wherein the plurality of actuators are among the plurality of output devices; wherein the plurality of input devices including a plurality of position sensors capable of providing position information pertaining to the position and orientation of the turret nozzle, and the plurality of input devices further including an input device associated wit an operator interface; wherein the plurality of interface modules are coupled to the power source by way of the power transmission link, the plurality of interface modules being interconnected to each other by way of the communication network, and the plurality of interface modules being coupled to the plurality of input devices and to the plurality of output devices by way of respective communication links, and the plurality of interface modules including one or more interface modules that are coupled to the plurality of position sensors, the plurality of actuators, and the input device associated with an operator interface; and wherein the turret controller comprises at least one of the plurality of interface modules. 23. The vehicle according to claim 22, wherein the position information pertains to a deploy position, the deploy position being a position in which the turret is positioned to dispense the fire extinguishing agent on a region of interest; and wherein the turret controller is programmed to cause the turret to move from a store position to the deploy position, the store position being a position in which the turret is stored for vehicle travel. 24. The vehicle according to claim 23, wherein the turret controller is programmed to store the position information for the deploy position based on operator inputs, and wherein the turret controller is programmed to store a plurality of deploy positions. 25. The vehicle according to claim 22, wherein the turret controller is programmed to cause the turret to move in a fixed predetermined pattern. 26. The vehicle according to claim 22, further comprising in a first mode of operation, the turret controller is programmed to acquire operator inputs and to cause the turret to move in a pattern in accordance with the operator inputs, the turret controller causing the turret to move in real time as the operator inputs are acquired; then in a second mode of operation, the turret controller is programmed to cause the turret to move in accordance with the pattern, the turret controller causing the turret to move base on information stored during the first mode of operation, such that the turret controller controls turret movement based on previously acquired operator inputs. 27. The vehicle according to claim 22, wherein the position information is information pertaining to a motion profile for repetitively moving the turret in accordance with a pattern; wherein the turret controller is programmed to cause the turret to repetitively move in accordance with the pattern; and wherein the turret controller is programmed to cause the turret to dispense the fire extinguishing agent from the turret while the turret is moving in accordance with the pattern. 28. The vehicle according to claim 22, wherein the turret comprises a first arm, a second arm, and a third arm, and wherein the second arm is pivotably coupled to the first art and the third arm is pivotably coupled to the second arm. 29. A fire fighting vehicle comprising: (A) a chassis and a vehicle body mounted on the chassis, the chassis and vehicle body in combination including an operator compartment capable of receiving a human operator, the operator compartment including steering and throttle controls for receiving operator inputs to control movement of the fire fighting vehicle along a road; (B) a turret including (1) an adjustable mount assembly, the adjustable mount assembly being mounted to the chassis and vehicle body combination, and the mount assembly including a fire-extinguishing agent delivery system capable of transporting a fire-extinguishing agent through the mount assembly; (2) a turret nozzle, the turret nozzle being mounted to the adjustable mount assembly, and the turret nozzle being capable of receiving the fire-extinguishing agent from the mount assembly; and (C) a turret control system, the turret control system including a plurality of actuators capable of adjusting the mount assembly to pent the position and orientation of the turret nozzle to be adjusted, the turret control system further including a turret controller coupled to the plurality of actuators, the turret controller storing position information pertaining to a desired position of the turret; and the turret controller being programmed to control movement of the turret in accordance with the position information; wherein the position information comprises a series of waypoints in the turret controller, and wherein the turret controller is programmed to cause the turret to be successively delivered to the series of waypoints; wherein the series of waypoints are stored during an operator programming mode of the turret controller; wherein, during the operator programming mode, the turret controller is programmed to control the turret in response to operator inputs and repetitively acquire measurements of the position; and wherein the series of waypoints are stored based on the measurements of the position of the turret acquired during the operator programming mode. 30. The vehicle according to claim 29, wherein the turret controller is programmed to (1) provide one of the series of waypoints as input to a feedback control system, the feedback control system being at least partially implemented by the turret controller; (2) measure the position of the turret; (3) compare the measured position of the turret with the one of the series of waypoints; (4) control the turret so as to reduce a difference between the measured position of the turret and the one of the series of waypoints. 31. A fire fighting vehicle comprising: (A) a chassis and a vehicle body mounted on the chassis, the chassis and vehicle body in combination including an operator compartment capable of receiving a human operator, the operator compartment including steering and throttle controls for receiving operator inputs to control movement of the fire fighting vehicle along a road; (B) a turret including (1) an adjustable mount assembly, the adjustable mount assembly being mounted to the chassis and vehicle body combination, and the mount assembly including a fire-extinguishing agent delivery system capable of transporting a fire-extinguishing agent through the mount assembly; (2) a turret nozzle, the turret nozzle being mounted to the adjustable mount assembly, and the turret nozzle being capable of receiving the fire-extinguishing agent from the mount assembly; and (C) a turret control system, the turret control system including a plurality of output devices, a communication network, and a plurality of microprocessor-based interface modules, the plurality of interface modules being Interconnected to each other by way of the communication network, the plurality of interface modules being coupled to the plurality of output devices, the plurality of output devices including a plurality of actuators capable of adjusting the mount assembly to permit the position and orientation of the turret nozzle to be adjusted, the turret control system further including a turret controller communicatively coupled to the plurality of actuators, the turret controller storing position information pertaining to a desired position of the turret; and the turret controller being programmed to control movement of the turret in accordance with the position information; wherein the turret controller is programmed to use the position information to generate first control signals to control motion of the turret, the position information directing movement of the turret in such a way that the turret is susceptible to imparting the fire fighting vehicle; and wherein the turret controller is further programmed to prevent the turret from impacting the fire fighting vehicle, including being programmed to determine that the turret is susceptible to impacting the fire fighting vehicle, and in response, provide the turret with second control signals that are different than the first control signals, the second control signals directing movement of the turret in such a way that the turret does not impact the fire fighting vehicle. 32. A fire fighting vehicle comprising (A) a turret comprising (1) an adjustable mount assembly, the adjustable mount assembly being mounted to the chassis and vehicle body combination, and the mount assembly including a fire-extinguishing agent delivery system capable of transporting a fire-extinguishing agent through the mount assembly, (2) a turret nozzle, the turret nozzle being mounted to the adjustable mount assembly, and the turret nozzle being capable of receiving the fire-extinguishing agent from the mount assembly, and (B) a power distribution and control system, the power distribution and control system further including (1) a power source; (2) a power transmission link; (3) a plurality of output devices, the plurality of output devices including a plurality of actuators capable of adjusting the mount assembly to adjust the position and orientation of the turret nozzle, (4) a plurality of input devices, the plurality of input devices including a plurality of position sensors capable of providing position information pertaining to the position and orientation of the nozzle, and the plurality of input devices further including an input device associated with an operator interface, (5) a communication network, and (6) a plurality of microprocessor-based interface modules, the plurality of interface modules being coupled to the power source by way of the power transmission link, the plurality of interface modules being interconnected to each other by way of the communication network, and the plurality of interface modules being coupled to the plurality of input devices and to the plurality of output devices by way of respective communication links, and the plurality of interface modules including one or more interface modules that are coupled to the plurality of position sensors, the plurality of actuators, and the input device associated with an operator interface; and wherein the plurality of interface modules, the plurality of input devices, and the plurality of output devices are distributed throughout the fire fighting vehicle; and wherein each respective interface module is locally disposed with respect to the respective input and output devices to which the respective interface module is coupled so as to permit distributed data collection from the plurality of input devices and distributed power distribution to the plurality of output devices; wherein the one or more interface modules is programmed to store position information pertaining to a desired position of the turret, and to control movement of the turret in accordance with the position information.