A grid-based fire vehicle real-time monitoring and tracking method

Abstract

The present application relates to the field of digital information technology, and provide a kind of based on grid's fire vehicle real-time monitoring tracking method, the method provided by the present application generates fire jurisdiction grid map, vehicle position grid and monitoring position grid by carrying out three-dimensional gridding treatment to fire jurisdiction, fire vehicle and monitoring camera, judges the relationship between vehicle position grid and the monitoring position grid in its buffer zone, judges vehicle height, and then assists command personnel to guide fire vehicle, so that fire vehicle can be efficiently and rapidly monitored and tracked.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of digital information technology, and provides a grid-based real-time monitoring and tracking method for fire vehicles. BACKGROUND

[0002] At present, the industrialization and urbanization construction process in China is accelerating, and in the process of accelerating, the fire hazards in cities are becoming more and more prominent. The diversity, uncertainty and uncontrollability of fire accidents have increased the difficulty of fire safety management. Fire vehicles are one of the important tools for rescue and emergency, and the vehicle condition greatly affects the police. This makes fire management personnel and units must understand the attendance of the vehicle, the state of the personnel in the vehicle and the information of the scene environment at the first time, and timely implement remote command and dispatch according to the above information.

[0003] At present, the common technical solution for real-time monitoring and tracking of fire vehicles in fire rescue and emergency is the GPS positioning technology of fire vehicles. The vehicle position is queried in a buffer zone to determine whether the monitoring camera is within the buffer zone. Since the monitoring camera in reality cannot shoot the vehicle due to reasons such as angle and height, real-time tracking errors and failures occur, so the condition of the fire vehicle cannot be monitored in real time.

[0004] For example, when the fire vehicle is driving on a bridge, the buffer zone query will obtain a monitoring camera under the bridge, which causes real-time tracking errors because the monitoring camera under the bridge cannot shoot the fire vehicle on the bridge. Moreover, the existing buffer zone query is too slow, and when the query result is obtained, the fire vehicle has arrived at the next monitoring point. Therefore, there is a need for a method that can quickly and accurately monitor and track fire vehicles in real time. SUMMARY

[0005] To solve the problem of the prior art that the fire vehicle cannot be quickly and accurately monitored and tracked in real time, the present application provides a method for quickly and accurately monitoring and tracking fire vehicles in real time, comprising:

[0006] S10: constructing a fire jurisdiction grid map, grid dividing and coding the fire jurisdiction, and obtaining the fire jurisdiction grid map;

[0007] S20: constructing a vehicle position grid, three-dimensionally griding the real-time position of the fire vehicle to be monitored in the fire jurisdiction, obtaining the vehicle position grid, and the grid size of the vehicle position grid being consistent with the grid size of the fire jurisdiction grid;

[0008] S30: constructing a monitoring position grid, three-dimensionally griding all monitoring cameras in the fire jurisdiction, and obtaining the monitoring position grid;

[0009] The number of the monitoring position grid corresponds to the number of all monitoring cameras.

[0010] S40: Obtain the monitoring position grids in the buffer range of the vehicle position grid by using the buffer technology of the grid, and generate a buffer monitoring position grid set;

[0011] S50: Compare the vehicle position grid with the buffer monitoring position grid set, determine whether the buffer monitoring position grid is a real-time tracking monitoring grid, and if so, perform real-time monitoring and tracking on the fire vehicle to be monitored through the real-time tracking monitoring grid.

[0012] Further, step S30 constructs a monitoring position grid, and the steps are as follows: constructing a monitoring information index table for each monitoring camera in the fire jurisdiction; the monitoring information index table includes a monitoring camera identification code ID, a monitoring working state m, and a position grid code c; determining all monitoring cameras in a normal working state in the buffer range of the vehicle position grid according to the constructed monitoring information index table, performing three-dimensional gridding on the monitoring cameras in the normal working state, and generating a monitoring position grid.

[0013] Further, in step S40, the buffer is supported by binary calculation of the grid code, and the buffer of the grid adopts two buffer calculation methods of distance and grid number, and converts the buffer from an image concept to code operation.

[0014] Further, step S50 determines that the buffer monitoring position grid is a real-time tracking monitoring grid, and the steps are as follows:

[0015] According to the grid map of the fire jurisdiction, the vehicle position grid of the fire vehicle to be monitored is determined as c_0;

[0016] Taking the fire vehicle to be monitored as the center, the buffer monitoring position grid set in the buffer range of the vehicle position grid is determined as B^1 according to the grid map of the fire jurisdiction;

[0017] The buffer monitoring position grid set B^1 of the buffer of the vehicle position grid = {c_n | n = 1…N}, N is the number of buffer monitoring position grids in the buffer range of the vehicle position grid, and c_n is the Nth buffer monitoring position grid;

[0018] By comparing whether there is a monitoring position grid with a grid height higher than the vehicle position grid c_0 in the buffer monitoring position grid set B^1, it is determined whether the buffer monitoring position grid of the current buffer is a real-time tracking monitoring grid.

[0019] Further, the buffer monitoring position grid set B^1 is compared to determine whether there is a monitoring position grid with a grid height higher than the vehicle position grid c_0, and the specific method is as follows:

[0020] For the n-th monitoring position grid c_n in the buffer monitoring position grid set and the vehicle position grid c_0, if the following conditions are met simultaneously, the monitoring position grid is a real-time tracking monitoring grid:

[0021] Condition 1: height(c_n, c_0)>0; wherein height(c_n, c_0) represents the difference between the height of c_n and the height of c_0, that is, the height of c_n needs to be higher than the height of c_0;

[0022] Condition 2: the working state of c_n is normal working;

[0023] Condition 3: if the number of c_n satisfying condition 2 is more than 1, the monitoring position grid closest to c_0 is selected from B^1.

[0024] Further, it also includes

[0025] S60: constructing a fire-fighting component position grid, three-dimensionally gridding all fire-fighting components in the fire-fighting jurisdiction grid map range to obtain a fire-fighting component position grid set, and establishing a fire-fighting component information index table;

[0026] S70: using the grid buffer technology to query the fire-fighting component position grid in the vehicle position grid buffer, and generating a target component grid set

[0027] Further, the fire-fighting components in the vehicle position grid buffer range are queried, and the specific method is:

[0028] The component position grid is c_m;

[0029] Three levels of grid buffers are established for the vehicle position grid, the component position grids in the three levels of grid buffer ranges are queried, and if the following conditions are met, the component position grid is a target component grid:

[0030] Condition 1: the working state of c_m is normal working;

[0031] Condition 2: the type of c_m is the query type;

[0032] The distance threshold values of the three levels of grid buffers are set to 100m, 200m and 500m respectively.

[0033] Further, the present application also provides a grid-based fire-fighting vehicle real-time monitoring and tracking device, characterized in that:

[0034] The fire-fighting jurisdiction grid map construction module performs grid subdivision and coding on the fire-fighting jurisdiction to obtain a fire-fighting jurisdiction grid map;

[0035] A vehicle position grid construction module performs three-dimensional gridding on a real-time position of a to-be-monitored fire vehicle in a fire jurisdiction to obtain a vehicle position grid, wherein a grid size of the vehicle position grid is consistent with a grid size of the fire jurisdiction grid;

[0036] A monitoring position grid construction module performs three-dimensional gridding on all monitoring cameras in the fire jurisdiction to obtain a monitoring position grid;

[0037] The number of the monitoring position grids corresponds to the number of all the monitoring cameras;

[0038] A buffer monitoring position grid set acquisition module acquires monitoring position grids in a buffer range of the vehicle position grid by using a grid buffer technology to generate a buffer monitoring position grid set;

[0039] A judgment module compares the vehicle position grid with the buffer monitoring position grid set to determine whether the buffer monitoring position grid is a real-time tracking monitoring grid, and if so, the to-be-monitored fire vehicle is monitored and tracked in real time through the real-time tracking monitoring grid;

[0040] A fire component position grid construction module performs three-dimensional gridding on all fire components in the range of the fire jurisdiction grid map to obtain a fire component position grid set, and establishes a fire component information index table;

[0041] A target component grid set determination module queries fire component position grids in a buffer range of the vehicle position grid by using a grid buffer technology to generate a target component grid set.

[0042] Further, the application also provides a computer readable storage medium, characterized in that the computer readable storage medium has computer instructions, and the computer is executed by the processor to realize the grid-based fire vehicle real-time monitoring tracking method according to any one of the above.

[0043] Further, the application also provides an electronic device, characterized in that it comprises at least one processor and a memory in communication connection with the processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the processor to execute the grid-based fire vehicle real-time monitoring tracking method according to any one of the above.

[0044] Compared with the prior art, the grid-based fire vehicle real-time monitoring and tracking method provided by the application can not only determine the specific position of the fire vehicle on the plane, but also clearly determine the height of the fire vehicle during the travel process, and truly achieve accurate monitoring and tracking of the position of the fire vehicle to be monitored.

[0045] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art upon examination of the following or can be learned by practice of the present application. The objects and other advantages of the present application can be realized and attained by the structure particularly pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings described in the following description are some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without any creative effort. In the following description, the positional relationship described in the drawings is the direction of the components drawn in the drawings as the reference, unless otherwise specified.

[0047] Figure 1 A flowchart of a grid-based fire vehicle real-time monitoring and tracking method provided by the present application;

[0048] Figure 2 A grid map of a fire jurisdiction provided by the present application;

[0049] Figures 3 to 6 A process diagram for determining a real-time tracking grid during the travel of a fire vehicle provided by the present application. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, but not all the embodiments. The technical features designed in different embodiments of the present application can be combined with each other as long as they do not conflict with each other. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative effort are within the scope of protection of the present application.

[0051] In the description of the present application, it should be noted that all the terms (including technical terms and scientific terms) used by the present application have the same meaning as that generally understood by the ordinary skilled person in the field to which the present application belongs, and cannot be understood as a limitation on the present application; It should be further understood that the terms used by the present application should be understood as having the same meaning as the terms in the context of the present application and the related field, and should not be understood in an idealized or overly formal sense, except as expressly defined in the present application.

[0052] Reference Figure 1 , which is a flowchart of a grid-based fire vehicle real-time monitoring and tracking method provided by an embodiment of the present application, comprising:

[0053] S10: Constructing a fire jurisdiction grid map, performing grid division and coding on the fire jurisdiction, and obtaining a fire jurisdiction grid map;

[0054] In specific implementation, the fire jurisdiction grid map is constructed, as shown in Figure 2 The grid division and coding are performed on the three-dimensional grid of the management fire jurisdiction, not only on the two-dimensional space of the horizontal plane, but also on the grid of the spatial height.

[0055] S20: Constructing a vehicle position grid, performing three-dimensional gridding on the real-time position of the to-be-monitored fire vehicle in the fire jurisdiction, obtaining a vehicle position grid, and the grid size of the vehicle position grid is consistent with the grid size of the fire jurisdiction grid;

[0056] Specifically, the position of the to-be-monitored fire vehicle is changing in real time during the process of driving to the rescue site, so it is necessary to update the position of the to-be-monitored fire vehicle in real time. After the fire jurisdiction is divided and coded using the Beidou grid position code earth division grid coding technology, preferably, the vehicle position is three-dimensionally gridded using a grid consistent with the size of the fire jurisdiction grid map, so that the position of the to-be-monitored fire vehicle in the fire jurisdiction can be quickly located.

[0057] In addition, like the three-dimensional grid division of the management fire jurisdiction, the to-be-monitored fire vehicle is also three-dimensionally gridded, which can obtain the height of the fire vehicle, and further determine the specific position of the to-be-monitored fire vehicle in the height, preventing the monitoring personnel from guiding the to-be-monitored fire vehicle incorrectly due to unclear height position, causing the to-be-monitored fire vehicle to be incorrectly guided to the wrong height bridge, or failing to distinguish the to-be-monitored fire vehicle on the bridge or under the bridge, and thus causing the vehicle to enter the wrong route, causing rescue delay.

[0058] S30: Construct a monitoring position grid, three-dimensionally grid all the monitoring cameras in the fire control jurisdiction to obtain the monitoring position grid;

[0059] After determining the rescue site, extract all the monitoring cameras in the fire control jurisdiction to which the rescue site belongs, three-dimensionally grid the positions of the cameras, and the grid size in the monitoring position grid set is 8-level grid. Then construct the monitoring position grid, and the steps are as follows:

[0060] Construct a monitoring information index table for each monitoring camera in the fire control jurisdiction;

[0061] The monitoring information index table includes the monitoring camera identification code ID, the monitoring working state m, and the position grid code c.

[0062] According to the constructed monitoring information index table, determine all the monitoring cameras in the normal working state in the buffer area of the vehicle position grid, three-dimensionally grid the monitoring cameras in the normal working state to generate the monitoring position grid. The number of the monitoring position grid corresponds to the number of all the monitoring cameras.

[0063] Preferably, the monitoring camera is a road monitoring camera, but is not limited to a road monitoring camera, and can also be other types of cameras from which the fire control management system can collect information.

[0064] S40: Obtain the monitoring position grid in the buffer area of the vehicle position grid by using the grid buffer technology, and generate a buffer monitoring position grid set;

[0065] The buffer area refers to the area range that needs to be monitored, so the buffer area of the vehicle position grid refers to the monitoring area determined with the vehicle as the center that needs to be monitored. The grid buffer technology refers to using the Beidou grid to draw the buffer area.

[0066] The grid code supports binary calculation of the buffer area, and the buffer area is converted from the image concept to code operation by using two ways of calculating the buffer area, i.e., distance and grid number, thereby improving the efficiency of generating the buffer area.

[0067] The traditional buffer area is generated by using points, lines, and surfaces to generate a surface concept, and data superposition is performed by using the generated surface to query data, which is called the image concept. However, the traditional calculation method has a defect. When a specific buffer area of a certain location needs to be located, a new surface needs to be generated to perform data superposition to query data, and it is impossible to unify the buffer area of the fire control management jurisdiction, which makes the traditional buffer area calculation time-consuming and low in efficiency.

[0068] The grid buffer only needs to calculate the encoding set of all grids in the buffer range, and the data can be queried through the encoding of the grid, which is an encoding operation. The traditional face is determined as a three-dimensional point in space, realizing the conversion from two-dimensional to one-dimensional, so that the buffer can be specified and located at the same time, without repeated calculation, greatly improving the calculation efficiency of the buffer.

[0069] In addition, the grid buffer can use two buffer calculation methods of distance and grid number. The distance refers to generating the grid code within the range of a certain distance as the generation condition, such as drawing 500 meters, and generating the grid code within the range of 500 meters. The grid number refers to taking a certain number of grids as the range, such as drawing 100 8-level grids, which corresponds to a range of 100 meters.

[0070] The vehicle position grid buffer adopts the distance buffer method, and the distance threshold is preferably set to 100 meters. It should be noted that the distance threshold here is not limited to 100 meters, but can also be 200 meters, 500 meters, 800 meters, etc., which can be selected according to actual needs.

[0071] Using the grid buffer technology, the monitoring position grids within the buffer range of the vehicle position grid are obtained, and a buffer monitoring position grid set is generated. During the driving of the to-be-monitored fire vehicle, a three-dimensional grid is established with the to-be-monitored fire vehicle as the center, and the information of all monitoring cameras within the selected buffer range is determined. These monitoring position grids are buffer monitoring position grids, which are collected to form a buffer monitoring position grid set. The specific monitoring position is represented by a three-dimensional code through the Beidou three-dimensional grid. Because the to-be-monitored fire vehicle is always moving, the monitoring cameras within the vehicle position grid buffer range are also always changing. New buffer monitoring position grids are always determined in real time along with the real-time changes during the driving of the to-be-monitored fire vehicle.

[0072] S50: Compare the vehicle position grid with the buffer monitoring position grid set to determine whether the buffer monitoring position grid is a real-time tracking monitoring grid. If so, the to-be-monitored fire vehicle is monitored and tracked in real time through the real-time tracking monitoring grid.

[0073] Because the monitoring around the to-be-monitored fire vehicle is always changing as the to-be-monitored fire vehicle drives forward, in order to determine whether the current buffer monitoring position grid is an effective monitoring position grid of the current driving position of the to-be-monitored fire vehicle, i.e., the real-time tracking monitoring grid of the to-be-monitored fire vehicle, the vehicle position grid needs to be compared with the buffer monitoring position grid set to avoid the misjudgment of the route by the subsequent command personnel due to the delay of the monitoring data. Figures 3 to 6The real-time tracking grid process shown in the figure is determined in real time during the running of the fire truck, wherein the monitoring in the block is real-time tracking monitoring, and the grid corresponding thereto is a real-time tracking monitoring grid.

[0074] The buffer zone monitoring position grid set is determined as a real-time tracking monitoring grid, and the steps are as follows:

[0075] According to the fire jurisdiction grid map, the vehicle position grid of the to-be-monitored fire vehicle is determined as c_0.

[0076] According to the fire jurisdiction grid map, the buffer zone monitoring position grid set in the buffer zone range of the vehicle position grid of the to-be-monitored fire vehicle is determined as B^1.

[0077] The buffer zone monitoring position grid set B^1={c_n|n=1…N}, N is the number of buffer zone monitoring position grids in the buffer zone range of the vehicle position grid, and c_n is the Nth buffer zone monitoring position grid.

[0078] Because in the prior art, when the to-be-monitored fire vehicle is on the bridge, the real-time tracking monitoring camera collected is a monitoring camera under the bridge, which leads to misjudgment by the commander, but according to common sense, in order to monitor road vehicles, the physical height of the monitoring camera is higher than the height of the vehicle, in addition, the Beidou grid has a height attribute, so whether the buffer zone monitoring position grid set B^1 has a monitoring position grid higher than the vehicle position grid c_0 can be compared to determine whether the buffer zone monitoring position grid set of the current buffer zone is a real-time tracking monitoring grid.

[0079] Whether the buffer zone monitoring position grid set B^1 has a monitoring position grid higher than the vehicle position grid c_0 is compared, and the specific method is as follows:

[0080] For the nth monitoring position grid c_n in the buffer zone monitoring position grid set and the vehicle position grid c_0, if the following conditions are met at the same time, the monitoring position grid is a real-time tracking monitoring grid:

[0081] Condition 1: height(c_n, c_0)>0; wherein height(c_n, c_0) represents the height difference between c_n and c_0, that is, c_n is higher than c_0 in height;

[0082] Condition 2: the working state of c_n is normal working;

[0083] Condition 3: if the number of c_n satisfying condition 2 is more than one, the monitoring position grid closest to c_0 is selected from B^1.

[0084] The grid-based real-time monitoring and tracking method for fire vehicles provided in the embodiment of the application further comprises:

[0085] S60: Constructing a fire-fighting component position grid, three-dimensionally gridding all fire-fighting components within the range of the fire-fighting jurisdiction grid map to obtain a fire-fighting component position grid, and establishing a fire-fighting component information index table;

[0086] The fire-fighting component information index table includes a component identification code ID, a component type t, a working state m, a longitude Lon, a latitude Lat, and a position grid code c;

[0087] The fire-fighting related components include fire hydrants, dangerous sources, water sources, etc. Gridding the fire-fighting related components near the monitored fire-fighting vehicle can help fire-fighting management personnel and units to first understand the information of fire hydrants, dangerous sources, water sources, etc. near the rescue site and / or vehicle position, greatly improving the role of remote command and dispatch.

[0088] After determining the fire-fighting related components, first, classify and identify the fire-fighting related components, such as marking dangerous sources as a type, which includes places like gas stations, gas filling stations, or other places that are easy to explode when encountering fire; marking fire hydrants as a type; and then marking nearby places like lakes, rivers, and other places that can provide water sources as a water source type.

[0089] S70: Using the buffer zone technology of the grid, querying the fire-fighting component position grid within the vehicle position grid buffer zone to generate a target component grid set.

[0090] Querying the fire-fighting components within the range of the vehicle position grid buffer zone, the specific method is:

[0091] The component position grid is c_m;

[0092] Three levels of grid buffer zones are established for the vehicle position grid, and the component position grids within the range of the three levels of grid buffer zones are queried. If the following conditions are met, the component position grid is a target component grid:

[0093] Condition 1: The working state of c_m is normal working;

[0094] Condition 2: The type of c_m is the query type;

[0095] The distance thresholds of the three levels of grid buffer zones are set to 100 meters, 200 meters, and 500 meters, respectively.

[0096] It should be noted that the set thresholds are not limited to 100 meters, 200 meters, and 500 meters,

[0097] When the set threshold is 100 meters, the dynamics of the fire-fighting vehicle can be clearly and carefully observed, but if the grid is set to exceed 500 meters, the fire-fighting vehicle cannot be observed, so 500 meters is selected;

[0098] The prior art determines a center point, such as a rescue site or a rescue vehicle, first, then determines a required range from the center point, and then searches for fire-fighting rescue components in the range, so that the entire rescue process needs to go through multiple steps, wasting rescue time. The fire-fighting related components are three-dimensionally gridded in the application, and the positions of the fire-fighting related components are positioned in the grid under the premise that the fire-fighting jurisdiction is gridded, and the positions of the fire-fighting related components will not change easily, the information of the fire-fighting components to be positioned can be quickly positioned, a rescue strategy is established, and rescue measures are timely implemented.

[0099] The application also provides a grid-based fire-fighting vehicle real-time monitoring and tracking device, characterized by comprising:

[0100] A fire-fighting jurisdiction grid map construction module is configured to perform grid division and coding on the fire-fighting jurisdiction to obtain a fire-fighting jurisdiction grid map;

[0101] A vehicle position grid construction module is configured to perform three-dimensional gridding on the real-time position of the fire-fighting vehicle in the fire-fighting jurisdiction to obtain a vehicle position grid, wherein the grid size of the vehicle position grid is consistent with the grid size of the fire-fighting jurisdiction grid;

[0102] A monitoring position grid construction module is configured to perform three-dimensional gridding on all monitoring cameras in the fire-fighting jurisdiction to obtain a monitoring position grid;

[0103] The number of the monitoring position grids corresponds to the number of all the monitoring cameras;

[0104] A buffer zone monitoring position grid set acquisition module is configured to acquire the monitoring position grids in the buffer zone range of the vehicle position grid by using the buffer zone technology of the grid, and generate a buffer zone monitoring position grid set;

[0105] A judgment module is configured to compare the vehicle position grid with the buffer zone monitoring position grid set, determine whether the buffer zone monitoring position grid is a real-time tracking monitoring grid, and if so, perform real-time monitoring and tracking on the fire-fighting vehicle through the real-time tracking monitoring grid;

[0106] A fire-fighting component position grid construction module is configured to perform three-dimensional gridding on all fire-fighting components in the range of the fire-fighting jurisdiction grid map to obtain a fire-fighting component position grid set, and establish a fire-fighting component information index table;

[0107] A target component grid set determination module is configured to query the fire-fighting component position grids in the buffer zone of the vehicle position grid by using the buffer zone technology of the grid, and generate a target component grid set.

[0108] The embodiment of the present application further provides a computer readable storage medium, wherein the computer readable storage medium stores computer instructions, and the computer instructions are executed by a processor to realize the grid-based fire vehicle real-time monitoring and tracking method.

[0109] The embodiment of the present application further provides a computer device, comprising at least one processor and a memory connected with the processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to make the processor execute the grid-based fire vehicle real-time monitoring and tracking method.

[0110] In addition, those skilled in the art should understand that, although there are many problems in the prior art, each embodiment or technical solution of the present application can only improve in one or several aspects, and it is not necessary to solve all the technical problems listed in the prior art or background art at the same time. Those skilled in the art should understand that the content not mentioned in a claim should not be regarded as a limitation of the claim.

[0111] Although the terms such as fire jurisdiction grid, vehicle position grid, monitoring position grid and the like are used more frequently herein, the possibility of using other terms is not excluded. The use of these terms is only for the convenience of describing and explaining the essence of the present application; any additional limitation by interpreting them is contrary to the spirit of the present application; the terms "first", "second", and the like (if any) in the specification and claims of the embodiments of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence.

[0112] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A grid-based fire vehicle real-time monitoring tracking method, characterized in that: comprising S10: constructing a fire jurisdiction grid map, grid partitioning and coding the fire jurisdiction to obtain a fire jurisdiction grid map; S20: constructing a vehicle position grid, three-dimensionally gridizing the real-time position of the to-be-monitored fire vehicle in the fire jurisdiction to obtain a vehicle position grid, the grid size of the vehicle position grid being consistent with the grid size of the fire jurisdiction grid; S30: constructing a monitoring position grid, three-dimensionally gridizing all monitoring cameras in the fire jurisdiction to obtain a monitoring position grid; wherein the number of monitoring position grids corresponds to the number of all monitoring cameras; S40: using the buffer area technology of the grid, obtaining the monitoring position grids in the buffer area range of the vehicle position grid to generate a buffer area monitoring position grid set; S50: comparing the grid height of the vehicle position grid with the buffer area monitoring position grid set to determine whether the buffer area monitoring position grid is a real-time tracking monitoring grid, and if so, performing real-time monitoring tracking on the to-be-monitored fire vehicle through the real-time tracking monitoring grid; wherein the determination of the buffer area monitoring position grid as a real-time tracking monitoring grid is as follows: determining the vehicle position grid of the to-be-monitored fire vehicle as c_0 according to the fire jurisdiction grid map; determining the buffer area monitoring position grid set in the buffer area range of the vehicle position grid as B^1 according to the fire jurisdiction grid map with the to-be-monitored fire vehicle as the center; the buffer area monitoring position grid set B^1 of the vehicle position grid buffer area, N being the number of the buffer area monitoring position grids in the buffer area range of the vehicle position grid, and c_n being the nth buffer area monitoring position grid; for the nth monitoring position grid c_n in the buffer area monitoring position grid set and the vehicle position grid c_0, if the following conditions are met simultaneously, the monitoring position grid is a real-time tracking monitoring grid: condition 1: height(c_n, c_0)>0; wherein height(c_n, c_0) represents the difference between the height of c_n and the height of c_0, i.e. the height of c_n needs to be higher than the height of c_0; condition 2: the working state of c_n is normal working; condition 3: if the number of c_n satisfying condition 2 exceeds 1, the monitoring position grid closest to c_0 is selected from B^1; by comparing whether there is a monitoring position grid in the buffer area monitoring position grid set B^1 whose height is higher than that of the vehicle position grid c_0, it is determined whether the buffer area monitoring position grid of the current buffer area is a real-time tracking monitoring grid.

2. The grid based fire fighting vehicle real time monitoring tracking method as claimed in claim 1 wherein: Step S30 of constructing a monitoring position grid is as follows: constructing a monitoring information index table for each monitoring camera in the fire jurisdiction; the monitoring information index table includes monitoring camera identification code ID, monitoring working state m, and position grid code c; According to the constructed monitoring information index table, all monitoring cameras in a buffer range of the vehicle position grid in a normal working state are determined, the monitoring cameras in the normal working state are three-dimensionally gridded, and a monitoring position grid is generated.

3. The grid based fire fighting vehicle real time monitoring tracking method as claimed in claim 1 wherein: In step S40, a grid coding support binary calculation buffer is used, and the buffer of the grid is calculated in two ways of distance and grid number, so as to convert the buffer from an image concept to a coding operation.

4. The grid based fire vehicle real time monitoring tracking method as claimed in claim 1 wherein, Further comprising S60: constructing a fire-fighting component position grid, three-dimensionally gridding all fire-fighting components in a range of the fire-fighting jurisdiction grid map to obtain a set of fire-fighting component position grids, and establishing a fire-fighting component information index table; S70: using a buffer technology of a grid to query the fire-fighting component position grids in a buffer range of the vehicle position grid, and generating a target component grid set.

5. The grid-based fire vehicle real-time monitoring tracking method according to claim 4, characterized in that, The fire-fighting components in the buffer range of the vehicle position grid are queried in the following specific method: The component position grid is c_m; Three levels of grid buffers are established for the vehicle position grid, the component position grids in the buffer ranges of the three levels of grid buffers are queried, and if the following conditions are met, the component position grid is a target component grid: Condition 1: the working state of c_m is normal working; Condition 2: the type of c_m is a query type; The distance threshold values of the three levels of grid buffers are set to 100 m, 200 m and 500 m respectively.

6. A grid-based real-time monitoring and tracking device for fire-fighting vehicles, which is used to implement the grid-based real-time monitoring and tracking method for fire-fighting vehicles according to any one of claims 1-5, and characterized in that: a fire-fighting jurisdiction grid map construction module is used to subdivide and code the fire-fighting jurisdiction to obtain a fire-fighting jurisdiction grid map; a vehicle position grid construction module is used to three-dimensionally grid the real-time position of a fire-fighting vehicle to be monitored in the fire-fighting jurisdiction to obtain a vehicle position grid, and the grid size of the vehicle position grid is consistent with the grid size of the fire-fighting jurisdiction grid; a monitoring position grid construction module is used to three-dimensionally grid all monitoring cameras in the fire-fighting jurisdiction to obtain a monitoring position grid; the number of the monitoring position grid corresponds to the number of all monitoring cameras; a buffer monitoring position grid set acquisition module is used to acquire the monitoring position grids in a buffer range of the vehicle position grid by using a buffer technology of a grid to generate a buffer monitoring position grid set; a judgment module is used to compare the vehicle position grid with the buffer monitoring position grid set to determine whether the buffer monitoring position grid is a real-time tracking monitoring grid, and if so, the fire-fighting vehicle to be monitored is tracked in real time through the real-time tracking monitoring grid; a fire-fighting component position grid construction module is used to three-dimensionally grid all fire-fighting components in a range of the fire-fighting jurisdiction grid map to obtain a set of fire-fighting component position grids, and establish a fire-fighting component information index table; a target component grid set determination module is used to query the fire-fighting component position grids in a buffer range of the vehicle position grid by using a buffer technology of a grid to generate a target component grid set.

7. A computer-readable storage medium, characterized in that: The computer readable storage medium has computer instructions, and the computer is executed by the processor to realize the grid-based fire vehicle real-time monitoring tracking method in any one of claims 1-5.

8. An electronic device, comprising: The computer readable storage medium has computer instructions, and the computer is executed by the processor to realize the grid-based fire vehicle real-time monitoring tracking method in any one of claims 1-5.

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