CN117846482A - Aerial ladder arm support and ladder step alignment control method and device - Google Patents

Abstract

The invention discloses an aerial ladder arm support, a ladder step alignment control method and a ladder step alignment control device.

Description

Aerial ladder arm support and ladder step alignment control method and device

Technical Field

The invention relates to the technical field of fire rescue, in particular to an aerial ladder arm support and ladder step alignment control method and device.

Background

The aerial ladder fire truck is an important component of a high-rise fire truck, is called as the aerial ladder truck for short, mainly takes rescue work and has the function of spraying and extinguishing fire. The ladder frame of the aerial ladder fire truck is of a telescopic straight arm structure, the bottom of the ladder frame is hinged with the boarding turntable, the front end of the ladder frame is connected with the operation platform, and rescue work in different amplitudes and different operation ranges is realized through different actions such as revolving of the turntable, amplitude variation of the ladder frame, expansion of the ladder frame and the like.

However, when the boom is extended and retracted by the existing cloud ladder, the steps extending out of the boom are difficult to align with the steps of the fixed main arm, so that the cloud ladder is inconvenient for people to step on and cannot be unfolded for rapid rescue.

Disclosure of Invention

The invention aims to provide an aerial ladder arm support, a ladder step alignment control method and a ladder step alignment control device, which can enable any second ladder step to be aligned with a first ladder step positioned at the forefront end of a main arm, so that stepping by personnel is facilitated, and rapid rescue is facilitated.

In a first aspect, the invention provides an aerial ladder arm support, which comprises a main arm and a telescopic arm slidably mounted in the main arm, wherein the telescopic arm is driven by a driving assembly to extend or retract from the front part of the main arm, the main arm comprises a plurality of first steps, the telescopic arm comprises a second step, the aerial ladder arm support further comprises a controller and a displacement detection member which are in communication connection, the displacement detection member is used for detecting the current extending length of the telescopic arm relative to the main arm, and the controller is used for judging whether the distance between any second step and the first step at the forefront end of the main arm meets a preset condition or not according to the current length under the condition that the driving assembly drives the telescopic arm to move, and if yes, the driving assembly is controlled to stop driving the telescopic arm.

In an optional embodiment, the controller is configured to determine, according to an operation result of the current length and the step pitch, whether a distance between any one of the second steps and the first step located at the forefront end of the main arm meets a preset condition when the driving assembly drives the telescopic arm to move.

In an alternative embodiment, the controller is configured to calculate a remainder Y according to the following formula, and determine whether the remainder is less than a preset value:

Y＝(C-A)MOD[(B-A)/X]；

wherein C represents the current length, a represents the extension length of the telescopic arm when fully retracted relative to the main arm, B represents the extension length of the telescopic arm when fully extended relative to the main arm, and X represents the number of second steps located outside the main arm when fully extended relative to the main arm.

In an optional embodiment, the aerial ladder arm rest further includes a position detecting member in communication connection with the controller, the position detecting member is mounted at the tail of the main arm, the position detecting member is configured to detect whether the telescopic arm is completely retracted relative to the main arm, and the controller is configured to determine whether a distance between any one of the second steps and the first step located at the forefront end of the main arm meets a preset condition according to the current length when the telescopic arm is driven by the driving assembly to move and the telescopic arm is not completely retracted relative to the main arm.

In an alternative embodiment, the aerial ladder arm support further comprises an electric control proportional valve in communication connection with the controller, the electric control proportional valve is connected with the driving assembly in series, and the controller is used for controlling the opening degree of the electric control proportional valve.

In an optional embodiment, the aerial ladder arm support further comprises a remote controller in communication connection with the controller, the remote controller is used for receiving a user instruction to send a control signal to the controller, and the controller is used for controlling the driving assembly to drive the telescopic arm to move under the condition that the control signal is received.

In a second aspect, the present invention provides a stair alignment control method, the method comprising:

under the condition that the driving component drives the telescopic arm to move, the current extending length of the telescopic arm relative to the main arm is obtained;

judging whether the distance between any second step and the first step positioned at the forefront end of the main arm meets a preset condition or not according to the current length;

if yes, the driving component is controlled to stop driving the telescopic arm.

In an optional embodiment, in the step of determining whether the distance between any second step and the first step located at the forefront end of the main arm meets the preset condition according to the current length, determining whether the distance between any second step and the first step located at the forefront end of the main arm meets the preset condition according to the operation result of the current length and the step distance.

In an optional embodiment, the step of determining whether the distance between any one of the second steps and the first step located at the forefront end of the main arm meets a preset condition according to the operation result of the current length and the step pitch specifically includes:

and calculating a remainder Y according to the following formula, and judging whether the remainder is smaller than a preset value or not:

Y＝(C-A)MOD[(B-A)/X]；

wherein C represents the current length, a represents the extension length of the telescopic arm when fully retracted relative to the main arm, B represents the extension length of the telescopic arm when fully extended relative to the main arm, and X represents the number of second steps located outside the main arm when fully extended relative to the main arm.

In a third aspect, the present invention provides a step alignment control device comprising:

the acquisition module is used for acquiring the current extending length of the telescopic arm relative to the main arm under the condition that the driving assembly drives the telescopic arm to move;

the judging module is used for judging whether the distance between any second step and the first step positioned at the forefront end of the main arm meets the preset condition or not according to the current length;

and the execution module is used for controlling the driving assembly to stop driving the telescopic arm under the condition that the preset condition is met.

The beneficial effects of the embodiment of the invention include:

through obtaining the current length that flexible arm stretches out for the main arm, then under the condition that drive assembly drive flexible arm removed, judge whether the distance of arbitrary second step and the first step that is located the main arm forefront satisfies the condition of predetermineeing according to current length, if so control drive assembly stop driving flexible arm to make flexible arm stop, realize that arbitrary second step can be aligned with the first step that is located the main arm forefront, thereby make things convenient for personnel to trample, do benefit to the quick rescue of expansion.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed 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 present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of an aerial ladder arm support according to an embodiment of the present invention;

FIG. 2 is a second schematic diagram of an aerial ladder arm support according to an embodiment of the present invention;

FIG. 3 is a functional block diagram of a controller, a position detecting member, a displacement detecting member and an electrically controlled proportional valve according to an embodiment of the present invention;

FIG. 4 is a schematic illustration of the first step and any second step at the forward most end of the main arm of an embodiment of the present invention when not aligned;

FIG. 5 is a schematic illustration of the alignment of a first step at the forward most end of a main arm and any second step in accordance with an embodiment of the present invention;

FIG. 6 is a block flow diagram of a step alignment control method according to an embodiment of the present invention;

fig. 7 is a functional block diagram of a step alignment control device according to an embodiment of the present invention.

Icon: 1-a displacement detecting member; 2-a position detecting member; 3-a first step; 4-a controller; 5-an electric control proportional valve; 6-a main arm; 7-telescoping arms; 8-a second step; 40-step alignment control device; 401-an acquisition module; 402-a judging module; 403-execution module.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal," "vertical," "overhang," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.

Referring to fig. 1 to 3, an embodiment of the present invention discloses an aerial ladder arm support, which may be used for an aerial ladder fire truck, and of course may also be used for other types of vehicles or lifting devices, where the aerial ladder arm support includes a main arm 6 and a telescopic arm 7 slidably mounted inside the main arm 6, the telescopic arm 7 is driven by a driving assembly to extend or retract from the front portion of the main arm 6, the main arm 6 includes a plurality of first steps 3, the telescopic arm 7 includes a plurality of second steps 8, where the aerial ladder arm support further includes a controller 4 and a displacement detecting member 1 in communication connection, the displacement detecting member 1 is used for detecting the current length of the telescopic arm 7 extending relative to the main arm 6, and the controller 4 is used for judging whether the distance between any second step 8 and the first step 3 located at the forefront end of the main arm 6 meets a preset condition according to the current length, if the telescopic arm 7 is driven by the driving assembly, controlling the driving assembly to stop driving the telescopic arm 7 so that any second step 8 can be stopped with the first step 3 located at the forefront end of the main arm 6, thereby enabling any second step 8 to be connected to the first step 7 by the first step 7, and the first step 7 can be conveniently extended to the first step 7 by the personnel at the foremost step 8.

The communication connection includes a wireless connection manner such as wifi, bluetooth, UWB, MTV, zigBe, NFC, or the like, and a wired connection manner such as a wire or an optical fiber. The driving assembly comprises a hydraulic driving mode, a pneumatic driving mode or an electric driving mode and the like. The embodiment is not particularly limited, and those skilled in the art can select and use the embodiment reasonably according to actual requirements.

Specifically, since the distance between two adjacent first steps 3 (the step pitch between the first steps 3) and the distance between two adjacent second steps 8 (the step pitch between the second steps 8) are generally equal, the case where the first steps 3 are not aligned with any one of the second steps 8 is a dislocation case as shown in fig. 4, the distance between one of the second steps 8 adjacent to the front end of the main arm 6 is significantly smaller than the step pitch, so that the step-over distance between the second steps 8 located in front of the first steps 3 from the first steps 3 located in front of the main arm 6 is significantly smaller than the step-over distance between the two adjacent first steps 3, and the step-over distance between the two adjacent second steps 8 after the first steps 3 crossing the front end of the main arm 6 is increased, so that the step-over distance between the two second steps 8 is increased, and the step-over speed is significantly changed without the need to change the rescue staff as much as possible, since the step-over speed is not required to change the step-over speed is continuously performed from the main arm 6 to the rescue staff.

Therefore, the controller 4 is configured to determine, according to the operation result of the current length and the step distance, whether the distance between any second step 8 and the first step 3 located at the forefront end of the main arm 6 meets a preset condition, so that after the telescopic arm 7 stops, the first step 3 located at the forefront end of the main arm 6 and any second step 8 are aligned in a superposition manner as shown in fig. 5, the distance between the first step 3 located at the forefront end of the main arm 6 and one second step 8 located at the front side of the main arm 6 is substantially close to the step distance, and the spanning distance between the person stepping on the second step 8 located at the front side of the first step 3 from the first step 3 located at the forefront end of the main arm 6 is substantially equal to the spanning distance between the adjacent two first steps 3, so that the person does not need to change the spanning distance when arriving at the telescopic arm 7 from the main arm 6, and the rescue efficiency is ensured by speed invariance.

In this embodiment, the displacement detecting member 1 is typically disposed at the front end of the telescopic arm 7, so that the telescopic arm 7 also protrudes a certain distance from the main arm 6 when it is fully retracted.

In detail, the controller 4 is configured to calculate a remainder Y according to the following formula (1), and determine whether the remainder is smaller than a preset value:

Y＝(C-A)MOD[(B-A)/X] (1)

wherein C represents the current length, a represents the extension length of the telescopic arm 7 when fully retracted relative to the main arm 6, B represents the extension length of the telescopic arm 7 when fully extended relative to the main arm 6, and X represents the number of second steps 8 located outside the main arm 6 when fully extended relative to the main arm 6.

So, in theory, if the increment length C-se:Sub>A of the telescopic arm 7 extending outward from the fully retracted initial position is just se:Sub>A multiple of the tread step distance (B-se:Sub>A)/X, where Y is 0, so that se:Sub>A second tread 8 located at the front side of se:Sub>A first tread 3 at the front end of the main arm 6 is located at se:Sub>A fixed position, that is, the tread step distance (B-se:Sub>A)/X, but during actual use, an error occurs due to the assembly accuracy, control delay, etc., the increment length C-se:Sub>A is not divided by the tread step distance (B-se:Sub>A)/X, and the remainder Y is not zero, so that Y is smaller than se:Sub>A preset value Z, that is, Y is smaller than Z, the control drive assembly stops driving the telescopic arm 7, so that the second tread 8 located at the front side of the first tread 3 at the front end of the main arm 6 is stopped at se:Sub>A fixed position, and the difference between the tread step distance 8 and the tread step distance (B-se:Sub>A)/X is small, thereby having little influence on the personnel.

The step pitch is calculated by adopting (B-ase:Sub>A)/X, which is because although the step pitch itself is ase:Sub>A fixed value, the step pitch of the aerial ladder arm support with different sizes and types is usually obtained by manually measuring with ase:Sub>A ruler, which consumes time and effort, but the step number is easy to obtain. Of course, in some embodiments, it is also possible to directly implement side step stride post entry into the controller, the controller directly calculating the remainder from the delta length and the step stride implemented entry.

In this embodiment, the aerial ladder arm rest further includes a position detecting member 2 communicatively connected to the controller 4, where the position detecting member 2 is disposed at the tail of the main arm 6, the position detecting member 2 is configured to detect whether the telescopic arm 7 is fully retracted relative to the main arm 6, and the controller 4 is configured to determine, according to the current length, whether the distance between any second step 8 and the first step 3 located at the forefront end of the main arm 6 meets a preset condition when the telescopic arm 7 is not fully retracted relative to the main arm 6, that is, the alignment process needs to be performed in a state where the telescopic arm 7 is not fully retracted, so as to ensure alignment accuracy.

It will be appreciated that the position sensing member 2 is mounted to the main arm 6 and may be located at any position on the main arm 6.

The aerial ladder arm support further comprises an electric control proportional valve 5 which is in communication connection with the controller 4, the electric control proportional valve 5 is connected with the driving assembly in series, and the controller 4 is used for controlling the opening degree of the electric control proportional valve 5 so as to control the power of the driving assembly and further control the extending or retracting speed of the telescopic arm 7.

It should be noted that, during the alignment process, the speed of extending or retracting the telescopic arm 7 is controlled, so that the speed of extending or retracting the telescopic arm 7 is slower, and thus the alignment error can be reduced.

The aerial ladder arm support further comprises a remote controller which is in communication connection with the controller 4, the remote controller is used for receiving a user instruction to send a control signal to the controller 4, and the controller 4 is used for judging whether the distance between any second step 8 and the first step 3 positioned at the forefront end of the main arm 6 meets the preset condition or not according to the current length under the condition that the control signal is received, so that personnel control is facilitated, and the alignment process is carried out. The remote controller can be integrated on an operation panel of the fire engine.

The controller 4 is usually a central processing unit (Central Processing Unit, CPU) and may be configured with a corresponding operating system, a control interface, etc., specifically, may be a digital logic control unit such as a single chip microcomputer, a DSP (Digital Signal Processing ), an ARM (Advanced RISC Machines, ARM processor), etc. capable of being used for automatic control, and may load control instructions into a memory at any time for storage and execution, and may be embedded with CPU instructions and units such as a data memory, an input/output unit, a power module, a digital analog, etc., and may be specifically set according to actual use conditions.

The embodiment of the invention also discloses a step alignment control method, which can be applied to the aerial ladder arm support of the embodiment, the method can be stored in the controller 4 in a program section manner and can be read, written and executed by the controller 4, and with reference to fig. 6, fig. 6 is a flow chart of the step alignment control method of the embodiment of the invention, wherein, it should be noted that, the steps shown in the flow chart of fig. 6 can be executed in a computer system such as a set of computer executable instructions, and although a logic sequence is shown in the flow chart, the steps shown or described can be executed in a sequence different from that herein in some cases. The specific flow shown in fig. 6 is described in detail below.

The stair alignment control method of the embodiment comprises the following steps:

step S1, under the condition that the driving component drives the telescopic arm 7 to move, the current extending length of the telescopic arm 7 relative to the main arm 6 is obtained;

step S2, judging whether the distance between any second step 8 and the first step 3 positioned at the forefront end of the main arm 6 meets the preset condition or not according to the current length;

and judging whether the distance between any second step 8 and the first step 3 positioned at the forefront end of the main arm 6 meets the preset condition according to the operation result of the current length and the step pitch.

In more detail, a remainder Y is calculated according to the following formula (1), and it is determined whether the remainder is smaller than a preset value:

Y＝(C-A)MOD[(B-A)/X] (1)

wherein C represents the current length, a represents the extension length of the telescopic arm 7 when fully retracted relative to the main arm 6, B represents the extension length of the telescopic arm 7 when fully extended relative to the main arm 6, and X represents the number of second steps 8 located outside the main arm 6 when fully extended relative to the main arm 6.

And step S3, if yes, the driving component is controlled to stop driving the telescopic arm 7.

In order to perform the corresponding steps of the above-described step alignment control method embodiment, an implementation of the step alignment control device 40 is given below. Further, referring to fig. 7, fig. 7 is a functional block diagram of a step alignment control device 40 according to an embodiment of the present invention. It should be noted that, the step alignment control device 40 provided in this embodiment may be stored in the controller 4 in a program module manner and may be executed by the controller 4, and the basic principle and the technical effects of the step alignment control device 40 are the same as those of the foregoing embodiment, and for brevity, reference may be made to the corresponding contents of the foregoing embodiment.

The step alignment control device 40 of the present embodiment includes an acquisition module 401, a judgment module 402, and an execution module 403.

The obtaining module 401 is configured to obtain a current extension length of the telescopic arm 7 relative to the main arm 6 when the driving assembly drives the telescopic arm 7 to move;

in the present embodiment, the acquisition module 401 can be used to perform step S1 shown in fig. 6.

The judging module 402 is configured to judge whether a distance between any one of the second steps 8 and one of the first steps 3 located at the forefront end of the main arm 6 meets a preset condition according to the current length;

in this embodiment, the determining module 402 can be used to perform step S2 shown in fig. 6.

The execution module 403 is configured to control the driving assembly to stop driving the telescopic boom 7 if a preset condition is satisfied.

In the present embodiment, the execution module 403 can be used to execute step S3 shown in fig. 6.

It should be noted that, in several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, functional modules in the embodiments of the present invention may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored on a computer readable storage medium. 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 of 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.

Finally, it should be noted that: in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; 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 or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims (10)

1. The utility model provides an aerial ladder cantilever crane, includes the main arm and slidable mounting in the inside flexible arm of main arm, flexible arm passes through drive assembly drive, in order to follow the front portion of main arm stretches out or withdraws, the main arm includes a plurality of first steps, flexible arm includes a plurality of second steps, its characterized in that, aerial ladder cantilever crane still includes communication connection's controller and displacement detection spare, displacement detection spare is used for detecting flexible arm for the current length that the main arm stretches out, the controller is used for under the drive assembly drive flexible arm removes the condition, according to current length judgement arbitrary second steps with be located the distance of first steps of main arm forefront satisfies the condition of predetermineeing, if, then control drive assembly stops driving flexible arm.

2. The aerial ladder arm support of claim 1, wherein the controller is configured to determine whether a distance between any one of the second steps and the first step located at the forefront end of the main arm satisfies a preset condition according to an operation result of the current length and the step pitch under a condition that the driving assembly drives the telescopic arm to move.

3. The aerial ladder arm support of claim 2, wherein the controller is configured to calculate a remainder Y according to the following formula, and determine whether the remainder is less than a preset value:

Y＝(C-A)MOD[(B-A)/X]；

wherein C represents the current length, a represents the extension length of the telescopic arm when fully retracted relative to the main arm, B represents the extension length of the telescopic arm when fully extended relative to the main arm, and X represents the number of second steps located outside the main arm when fully extended relative to the main arm.

4. The aerial ladder arm support of claim 1, further comprising a position detection member in communication with the controller, the position detection member being mounted to the main arm, the position detection member being configured to detect whether the telescopic arm is fully retracted relative to the main arm, the controller being configured to determine whether a distance between any of the second steps and the first step located at a foremost end of the main arm satisfies a preset condition based on the current length when the driving assembly drives the telescopic arm to move and the telescopic arm is not fully retracted relative to the main arm.

5. The aerial ladder arm support of claim 1, further comprising an electrically controlled proportional valve in communication with the controller, the electrically controlled proportional valve in series with the drive assembly, the controller configured to control an opening of the electrically controlled proportional valve.

6. The aerial ladder arm support of claim 1, further comprising a remote control communicatively coupled to the controller, the remote control configured to receive a user command to send a control signal to the controller, the controller configured to control the drive assembly to drive the telescoping arm to move upon receipt of the control signal.

7. A stair step alignment control method, the method comprising:

under the condition that the driving component drives the telescopic arm to move, the current extending length of the telescopic arm relative to the main arm is obtained;

judging whether the distance between any second step and the first step positioned at the forefront end of the main arm meets a preset condition or not according to the current length;

if yes, the driving component is controlled to stop driving the telescopic arm.

8. The stair alignment control method according to claim 7, wherein in the step of determining whether the distance between any one of the second stairs and the first stair located at the forefront end of the main arm satisfies a preset condition according to the current length, the distance between any one of the second stairs and the first stair located at the forefront end of the main arm is determined whether the distance satisfies the preset condition according to the operation result of the current length and the stair pitch.

9. The stair alignment control method according to claim 8, wherein the step of determining whether the distance between any one of the second stairs and the first stairs located at the forefront end of the main arm satisfies a preset condition according to the operation result of the current length and the stair step pitch specifically comprises:

and calculating a remainder Y according to the following formula, and judging whether the remainder is smaller than a preset value or not:

Y＝(C-A)MOD[(B-A)/X]；

wherein C represents the current length, a represents the extension length of the telescopic arm when fully retracted relative to the main arm, B represents the extension length of the telescopic arm when fully extended relative to the main arm, and X represents the number of second steps located outside the main arm when fully extended relative to the main arm.

10. A step alignment control device, comprising:

the acquisition module is used for acquiring the current extending length of the telescopic arm relative to the main arm under the condition that the driving assembly drives the telescopic arm to move;

the judging module is used for judging whether the distance between any second step and the first step positioned at the forefront end of the main arm meets the preset condition or not according to the current length;

and the execution module is used for controlling the driving assembly to stop driving the telescopic arm under the condition that the preset condition is met.