Automatic control method and system for emergency vehicle

Abstract

The invention discloses an automatic control method and system for an emergency vehicle, and relates to the technical field of emergency vehicles, and the method comprises the steps: determining a plurality of rescue nodes in a moving path based on the moving path, a plurality of fire parts of an emergency region, and rescue tools configured for the emergency vehicle; and according to the plurality of rescue nodes, the plurality of fire parts of the emergency area and the rescue range of the emergency vehicle, determining a rescue mode of the emergency vehicle at each rescue node so as to trigger automatic control of the emergency vehicle to the emergency area. Therefore, the rescue means of the emergency vehicle is optimized based on the current rescue mode of the emergency vehicle, the current posture of the emergency vehicle and the state of the corresponding fire part, optimization of the rescue means of the emergency vehicle is guaranteed, dynamic changes of the fire part are dynamically adapted, and meanwhile, the emergency vehicle rescue method and device are convenient to use. According to the disaster situation change event of the fire part, cooperative rescue of the surrounding vehicles and the emergency vehicle is triggered, and cooperative rescue of the surrounding vehicles and the emergency vehicle to each fire part is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of emergency vehicles, and in particular to an automatic control method and system for emergency vehicles. Background Art

[0002] With the development of science and technology, emergency vehicles are used in people's lives, and provide corresponding rescue to the place of fire. The emergency vehicle is equipped with mobile wheels and multiple rescue tools, and provides corresponding rescue to the fire part. In the existing technology, the emergency vehicle provides rescue to a single fire part, and cannot manage and control multiple fire parts in the emergency area, which affects the emergency vehicle's automated control of the emergency area. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art. The present invention provides an automatic control method and system for an emergency vehicle.

[0004] An embodiment of the present invention provides an automatic control method for an emergency vehicle, wherein the emergency vehicle is equipped with moving wheels and a plurality of rescue tools, and the automatic control method for the emergency vehicle includes: Determining a plurality of fire portions of the emergency area based on detecting the location of the emergency area; determining a movement path of the emergency vehicle relative to the emergency area based on a plurality of fire sections in the emergency area, a relative distance between the emergency vehicle and the emergency area, and a load status of the emergency vehicle; Determine a plurality of rescue nodes in the moving path based on the moving path, a plurality of fire sections in the emergency area, and rescue tools configured by the emergency vehicle; Determine the rescue mode of the emergency vehicle at each rescue node according to multiple rescue nodes, multiple fire parts of the emergency area, and the rescue range of the emergency vehicle; Optimizing the rescue means of the emergency vehicle based on the current rescue mode of the emergency vehicle, the current posture of the emergency vehicle, and the state of the corresponding fire part; The disaster situation change event of the fire part triggers the coordinated rescue of surrounding vehicles and emergency vehicles.

[0005] An embodiment of the present invention provides an automatic control system for an emergency vehicle, the automatic control system for the emergency vehicle is applied to the automatic control method for the emergency vehicle, and the automatic control system for the emergency vehicle includes: A detection module, for determining a plurality of fire portions of the emergency area based on detection of the location of the emergency area; a moving path module for determining a moving path of the emergency vehicle relative to the emergency area based on a plurality of fire sections in the emergency area, a relative distance between the emergency vehicle and the emergency area, and a load status of the emergency vehicle; A rescue node module, for determining a plurality of rescue nodes in the moving path based on the moving path, a plurality of fire sections in the emergency area, and rescue tools configured by the emergency vehicle; A rescue mode module is used to determine the rescue mode of the emergency vehicle at each rescue node according to multiple rescue nodes, multiple fire parts of the emergency area, and the rescue range of the emergency vehicle; A rescue means module, for optimizing the rescue means of the emergency vehicle based on the current rescue mode of the emergency vehicle, the current posture of the emergency vehicle and the state of the corresponding fire part; The collaborative rescue module is used to trigger collaborative rescue of surrounding vehicles and emergency vehicles according to changes in the disaster situation of the fire part.

[0006] In an embodiment of the present invention, through the method in the embodiment of the present invention, multiple fire parts of the emergency area are determined based on the detection of the location of the emergency area; the moving path of the emergency vehicle relative to the emergency area is determined according to the multiple fire parts of the emergency area, the relative distance between the emergency vehicle and the emergency area, and the load of the emergency vehicle; multiple rescue nodes in the moving path are determined based on the moving path, multiple fire parts of the emergency area, and the rescue tools equipped by the emergency vehicle; the rescue mode of the emergency vehicle at each rescue node is determined according to the multiple rescue nodes, the multiple fire parts of the emergency area, and the rescue range of the emergency vehicle, thereby ensuring the accuracy of the rescue mode of the emergency vehicle at each rescue node, so as to trigger the emergency vehicle's automatic control of the emergency area.

[0007] Therefore, the rescue means of the emergency vehicle are optimized based on the current rescue mode of the emergency vehicle, the current posture of the emergency vehicle and the status of the corresponding fire part, ensuring the optimization of the rescue means of the emergency vehicle and dynamically adapting to the dynamic changes of the fire part. At the same time, the coordinated rescue of surrounding vehicles and emergency vehicles is triggered according to the disaster situation change events of the fire part, realizing the coordinated rescue of surrounding vehicles and emergency vehicles for each fire part. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 is a flow chart of an automatic control method for an emergency vehicle in an embodiment of the present invention; Figure 2 is a flow chart of step S11 of the automatic control method for emergency vehicles in an embodiment of the present invention; Figure 3 is a flow chart of step S12 of the automatic control method for emergency vehicles in an embodiment of the present invention; Figure 4 is a flow chart of step S13 of the automatic control method for emergency vehicles in an embodiment of the present invention; Figure 5is a flow chart of step S14 of the automatic control method for emergency vehicles in an embodiment of the present invention; Figure 6 is a flow chart of step S15 of the automatic control method for emergency vehicles in an embodiment of the present invention; Figure 7 is a flow chart of step S16 of the automatic control method for emergency vehicles in an embodiment of the present invention; Figure 8 It is a schematic diagram of the structure of the automatic control system of the emergency vehicle in the embodiment of the present invention. DETAILED DESCRIPTION

[0009] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0010] See also Figures 1 to 8 , an automatic control method for an emergency vehicle, applied to an automatic control scenario of an emergency vehicle; the automatic control method for an emergency vehicle comprises: Step S11: determining a plurality of fire parts of the emergency area based on the detection of the location of the emergency area; Step S12: determining a moving path of the emergency vehicle relative to the emergency area according to the multiple fire parts in the emergency area, the relative distance between the emergency vehicle and the emergency area, and the load state of the emergency vehicle; Step S13: determining a plurality of rescue nodes in the moving path based on the moving path, a plurality of fire parts in the emergency area, and rescue tools configured by the emergency vehicle; Step S14: determining the rescue mode of the emergency vehicle at each rescue node according to the multiple rescue nodes, the multiple fire parts of the emergency area, and the rescue range of the emergency vehicle; Step S15: optimizing the rescue means of the emergency vehicle based on the current rescue mode of the emergency vehicle, the current posture of the emergency vehicle and the state of the corresponding fire part; Step S16: Triggering the coordinated rescue of surrounding vehicles and emergency vehicles according to the disaster change event of the fire part.

[0011] refer to Figure 2 , in step S11, a plurality of fire parts of the emergency area are determined based on the detection of the location of the emergency area; In the specific implementation process of the present invention, the specific steps are: S111: Determine an emergency area based on a town database, emergency signals, and multiple images taken by a drone, and mark the location of the emergency area; S112: Determine the emergency type of the emergency area according to the location of the emergency area, the shape of the emergency area, and the real-time image of the emergency area; S113: If the emergency type of the emergency area is a fire type, a plurality of fire parts of the emergency area are determined according to the detection of the location of the emergency area.

[0012] In an embodiment of the present application, the emergency area is determined based on the town database, emergency signals and multiple images taken by drones, and the location of the emergency area is marked, which is compatible with the overall consideration of the town database, emergency signals and multiple images taken by drones to ensure the accuracy of the emergency area.

[0013] At this time, the town database contains key data such as the city's geographic information, building layout, road network, and location of fire-fighting facilities; emergency signals come from fire alarms, smoke detectors, manual alarm buttons, etc. After the system receives these signals, it will immediately parse them and extract key information such as the specific location and type of the emergency event.

[0014] At the same time, drones were quickly dispatched to the sky above suspected emergency areas; drones were equipped with high-definition cameras and thermal imagers to capture images of the scene; image recognition technology and thermal imaging analysis were used to identify fire characteristics such as flames and smoke, as well as auxiliary information such as crowd gathering and traffic conditions; the town database information, emergency signals and drone image analysis results were comprehensively compared and analyzed; the specific location and scope of the emergency area, which is an enclosed space that includes the fire scene and its surrounding affected areas, was determined; the location of the emergency area, including key coordinates such as boundaries and center points, was marked.

[0015] Furthermore, the emergency type of the emergency area is determined according to the location of the emergency area, the shape of the emergency area and the real-time image of the emergency area, which is compatible with the overall consideration of the location of the emergency area, the shape of the emergency area and the real-time image of the emergency area, thereby ensuring the accuracy of the emergency type of the emergency area.

[0016] At this time, analyze the location of the emergency area, consider the geographical location of the emergency area, the surrounding environment (such as building type, population density, traffic conditions, etc.), and historical disaster records; observe the shape, size, and dynamic changes of the emergency area (such as flame spread trend, smoke diffusion direction, etc.) through drone photography or on-site monitoring video. The morphological information provides intuitive characteristics of emergency events, which helps to further narrow the scope of emergency types.

[0017] Use image recognition technology (such as deep learning) to analyze real-time images; identify key features in the image, such as flame color, smoke type, human behavior, etc.; real-time image analysis provides detailed information on emergency events and is a key basis for determining the type of emergency; further, conduct a comprehensive comparison and analysis of the location of the emergency area, the morphology of the emergency area and the image analysis results, based on the preset emergency type identification rules and database, as well as expert experience and historical cases; determine the type of emergency in the emergency area, such as fire, earthquake, flood, chemical leak, explosion, etc.

[0018] Specifically, suppose that at around 3 pm in an industrial park in a certain city, a suspected chemical leak suddenly occurred; the sensors in the park immediately triggered an emergency signal and sent an alarm message to the emergency management center; the emergency management center first analyzed the geographical location and surrounding environment of the park, and learned that the park was dominated by chemical companies and had experienced many chemical leaks in history; therefore, it was preliminarily judged that this emergency incident was related to a chemical leak; subsequently, a drone was dispatched to the scene for investigation; through the video taken by the drone, it was observed that a pipeline of a chemical facility in the park was ruptured, and a large amount of white smoke was ejected from the rupture and quickly spread to the surrounding area. These morphological characteristics are consistent with a chemical leak.

[0019] At the same time, the Emergency Management Center also received real-time images taken by surveillance cameras in the park; through image recognition technology, it identified the chemical composition characteristics of the white smoke, further confirming that this was a chemical leak; based on the comprehensive location, morphology and image analysis results, the Emergency Management Center finally determined that the type of emergency was a chemical leak; subsequently, it immediately activated the corresponding emergency plan, organized a professional rescue team to deal with it, and notified surrounding businesses and residents to take protective measures.

[0020] Therefore, if the emergency type of the emergency area is a fire type, multiple fire parts of the emergency area are determined based on the detection of the location of the emergency area, thereby realizing the detection of the location of the emergency area and ensuring the accuracy of the multiple fire parts of the emergency area.

[0021] At this point, in step S112, the emergency type has been determined to be fire through a comprehensive analysis of the emergency area; on-site inspections are carried out using drones, cameras on fire trucks, thermal imagers and other equipment; the specific location, boundaries and fire spread trends of the fire scene are accurately recorded, and at the same time, key features such as the color, brightness, shape of the flame, and the concentration and diffusion direction of the smoke are identified. Combined with the results of on-site inspections and image analysis, the fire scene is divided into multiple fire parts; the division of fire parts is based on factors such as the concentrated area of ​​the flame, the boundary of the fire spread, and the structure of the building; each fire part represents a relatively independent area of ​​the fire, requiring a separate rescue strategy and resource allocation.

[0022] In one embodiment of the present application, a fire part matching table is introduced, which lists the corresponding relationship between the location of the emergency area and the fire part; the fire part matching table is shown in Table 1: Table 1 Fire Part Matching Table

[0023] Assuming that the location of the emergency area is zone A and the emergency type is fire type, according to the fire part matching table, it is determined that the multiple fire parts in zone A are warehouse, distribution room and office.

[0024] refer to Figure 3 , in step S12, determining a moving path of the emergency vehicle relative to the emergency area according to the multiple fire parts in the emergency area, the relative distance between the emergency vehicle and the emergency area, and the load state of the emergency vehicle; In the specific implementation process of the present invention, the specific steps are: S121: Collect multiple fire parts in the emergency area and determine the spatial locations of the multiple fire parts; S122: Determine a relative distance between the emergency vehicle and the emergency area based on a comparison between the location of the emergency vehicle and the location of the emergency area; S123: collecting a plurality of load characteristics according to the load detection of the emergency vehicle, and determining the load state of the emergency vehicle according to the plurality of load characteristics, the moving speed of the emergency vehicle and the model of the emergency vehicle; S124: The spatial positions of multiple fire parts, the relative distance between the emergency vehicle and the emergency area, and the load status of the emergency vehicle are interacted, and the moving path of the emergency vehicle relative to the emergency area is determined according to the interaction of the relative distance between the emergency vehicle and the emergency area and the load status of the emergency vehicle. The emergency vehicle moves along the moving path and performs dynamic rescue on the multiple fire parts.

[0025] In an embodiment of the present application, multiple fire parts in the emergency area are collected, and the spatial positions of the multiple fire parts are determined, and the spatial positions of the multiple fire parts are introduced.

[0026] At this time, multiple fire parts in the emergency area are collected and further controlled. At the same time, GIS (geographic information system) technology is used to obtain the precise coordinates of the fire scene and its surrounding key points through GPS (global positioning system) equipment; drones or ground robots are used to conduct on-site surveys and send back the spatial location information of the fire parts in real time.

[0027] Furthermore, the relative distance between the emergency vehicle and the emergency area is determined based on the comparison between the location of the emergency vehicle and the location of the emergency area, thereby ensuring the accuracy of the relative distance between the emergency vehicle and the emergency area.

[0028] At this time, emergency vehicles should be equipped with GPS positioning systems to transmit the vehicle's current location information in real time; the emergency command center receives and displays the real-time location of all emergency vehicles through the monitoring platform; the location of the emergency area is marked and stored through the geographic information system (GIS); in emergency situations such as fire, the location of the emergency area is reported by on-site personnel or determined through a sensor network.

[0029] Use GIS software to compare the location of the emergency vehicle with the location of the emergency area; calculate the straight-line distance or shortest path distance between the two through geospatial methods; when considering factors such as road conditions and traffic congestion, more complex path planning methods are needed to calculate the actual driving distance; the location of the emergency vehicle and the location of the emergency area will change over time, so continuous monitoring and updating are required; when the emergency vehicle moves, its location information should be updated to the emergency command center in real time; the scope and location of the emergency area will also change due to the spread of fire or other factors, and need to be updated in a timely manner.

[0030] Furthermore, multiple load characteristics are collected based on the load detection of the emergency vehicle, and the load status of the emergency vehicle is determined based on the multiple load characteristics, the moving speed of the emergency vehicle and the model of the emergency vehicle, which is compatible with the overall consideration of multiple load characteristics, the moving speed of the emergency vehicle and the model of the emergency vehicle, thereby ensuring the accuracy of the load status of the emergency vehicle.

[0031] At this time, the emergency vehicles are load tested and multiple load characteristics are introduced to evaluate the quantity and type of rescue materials carried on the emergency vehicles, such as fire hoses, fire extinguishing agents, rescue tools, etc.; check the structural integrity of the vehicle, including the car body, frame, suspension system, etc., to ensure that they can withstand the load in emergency operations.

[0032] The load capacity of a vehicle is affected by its current moving speed; for example, when driving at high speeds, the stability and handling of the vehicle decrease, which affects its load capacity; when planning an emergency response, it is necessary to consider the vehicle's maximum safe speed and the appropriate speed under a specific load; different types of emergency vehicles have different load capacities and characteristics; for example, heavy fire trucks are able to carry more water and equipment, but are restricted in driving on narrow roads; based on the vehicle model and technical specifications provided by the manufacturer, its load status can be more accurately assessed; based on the above information, the load status of emergency vehicles can be classified, such as fully loaded, partially loaded, empty, etc., which helps the emergency command center make more informed decisions when dispatching vehicles and ensure that the dispatched vehicles can meet on-site needs.

[0033] Therefore, the spatial positions of multiple fire parts, the relative distance between the emergency vehicle and the emergency area, and the load status of the emergency vehicle are interacted, and the moving path of the emergency vehicle relative to the emergency area is determined based on the interaction of the relative distance between the emergency vehicle and the emergency area and the load status of the emergency vehicle. The emergency vehicle moves along the moving path and performs dynamic rescue on multiple fire parts, thereby realizing the interaction of the relative distance between the emergency vehicle and the emergency area and the load status of the emergency vehicle, and further accurately controlling the moving path of the emergency vehicle relative to the emergency area.

[0034] At this time, the spatial locations of multiple fire parts, the relative distances between emergency vehicles and emergency areas, and the load status of emergency vehicles are integrated. This information comes from different data sources, such as GIS systems, GPS positioning systems, vehicle monitoring systems, etc., and needs to be in a unified format and unit for comprehensive analysis.

[0035] The optimal movement path of the emergency vehicle is calculated based on the integrated information; factors taken into consideration include the urgency of the fire part, the load status of the emergency vehicle, road conditions, traffic congestion, etc.; during the movement of the emergency vehicle, the path is dynamically adjusted and optimized according to the actual situation; for example, if the fire in a certain fire part suddenly intensifies, the path needs to be replanned to give priority to that part; or, if the load status of an emergency vehicle changes (such as a large amount of fire extinguishing agent is consumed), it is necessary to reallocate tasks or dispatch other vehicles for support.

[0036] Emergency vehicles move along planned routes and carry out dynamic rescue according to the actual situation at the fire scene, which includes using firefighting equipment to extinguish fires, evacuate trapped people, and rescue property. Emergency vehicles should maintain communication with each other to share information and coordinate actions in a timely manner.

[0037] Specifically, suppose a fire breaks out in an industrial park. The emergency command center quickly dispatches two emergency vehicles (Vehicle A and Vehicle B) to the fire scene for rescue. The fire scene is divided into multiple parts, and the spatial location, fire size and urgency of each part have been determined through the GIS system and on-site investigation. The current location of Vehicle A and Vehicle B, the relative distance from the fire scene, and their respective load status have been obtained through the GPS positioning system and vehicle monitoring system.

[0038] Using the A* method, two optimal movement paths were calculated based on the urgency of the fire, the load status of vehicles A and B, and the road conditions; the path planning results showed that vehicle A should prioritize going to the part with the largest fire for rescue, while vehicle B would be responsible for handling other smaller fire parts; while vehicle A was on the way to the part with the largest fire, the command center received a report that the fire in that part suddenly intensified and more fire extinguishing agents were needed; the command center immediately adjusted the plan and decided to send vehicle B to carry additional fire extinguishing agents to support vehicle A, and replanned the path of vehicle B; at the same time, the command center also dispatched other resources, such as fire helicopters and water rescue teams, to respond to emergencies.

[0039] Vehicle A and Vehicle B moved according to the planned route and quickly launched rescue operations after arriving at the fire scene; Vehicle A used a high-pressure water gun and foam fire extinguishing agent to extinguish the largest part of the fire and successfully evacuated the trapped people; while supporting Vehicle A, Vehicle B also dealt with other smaller parts of the fire and ensured the safety of the surrounding areas.

[0040] refer to Figure 4 , in step S13, a plurality of rescue nodes in the moving path are determined based on the moving path, the plurality of fire parts in the emergency area, and the rescue tools configured by the emergency vehicle; In the specific implementation process of the present invention, the specific steps are: S131: collecting corresponding rescue signals based on the traversal of the emergency vehicle, and determining the rescue tools configured for the emergency vehicle according to the tracing of the rescue signals; S132: collecting multiple fire parts in the emergency area, and determining corresponding fire extinguishing positions according to the detection of the multiple fire parts in the emergency area; S133: The moving path, each fire-fighting position and the rescue tools equipped with the emergency vehicle are interacted, and a first node parameter is determined according to the moving path and the each fire-fighting position, and a second node parameter is determined according to the moving path and the rescue tools equipped with the emergency vehicle, and a plurality of rescue nodes in the moving path are determined based on the first node parameter, the second node parameter and the moving path.

[0041] In an embodiment of the present application, corresponding rescue signals are collected based on the traversal of the emergency vehicle, and the rescue tools equipped with the emergency vehicle are determined based on the tracing of the rescue signals, thereby ensuring the accuracy of the rescue tools equipped with the emergency vehicle.

[0042] At this time, when the emergency vehicle enters the emergency response area, the sensors and equipment on the vehicle start working to conduct traversal monitoring of the surrounding environment. These sensors include temperature sensors, smoke detectors, infrared cameras, sound recognition systems, etc., which are used to capture various rescue signals; rescue signals come from detectors at the fire scene, alarm systems, people's calls for help, video surveillance systems, etc.

[0043] The collected rescue signals will be immediately transmitted to the emergency command system or the central processor on the vehicle for analysis; the analysis process includes signal recognition, classification, priority sorting, etc. to determine which signals are emergency signals that require immediate response; based on the traced rescue signals, the emergency command system or the decision support system on the vehicle will determine the rescue tools that the emergency vehicle needs to be equipped with according to preset rules or methods. These tools include fire hoses, foam extinguishing agents, cutting tools, rescue stretchers, respirators, etc., depending on factors such as the type of fire, injuries to personnel, and on-site environment.

[0044] Furthermore, multiple fire parts in the emergency area are collected, and corresponding fire extinguishing positions are determined based on the detection of multiple fire parts in the emergency area, thereby ensuring the accuracy of the fire extinguishing position.

[0045] At this time, in the emergency response stage, the entire emergency area needs to be scanned and monitored comprehensively and quickly to identify all parts of the fire. This involves the use of a variety of sensors and technical means, such as infrared thermal imaging, visible light cameras, drone reconnaissance, ground reconnaissance teams, etc., to capture images, videos and temperature data of the fire scene; the collected data will be integrated into a central database for subsequent analysis and processing.

[0046] The collected data will be further analyzed and processed to identify specific fire parts, including the location, size, spread trend, etc. of the fire. Through these analyses, the actual situation of the fire scene can be understood more accurately, providing key information for the subsequent determination of the fire extinguishing location. After understanding the multiple fire parts at the fire scene, it is necessary to determine the best fire extinguishing location based on factors such as the severity of the fire, the spread trend, the surrounding environment and the distribution of personnel. The selection of the fire extinguishing location needs to consider multiple factors, such as the accessibility of the fire water source, the effective coverage of the fire extinguishing agent, and the safe passage for personnel evacuation. Once the fire extinguishing location is determined, a corresponding fire extinguishing strategy and action plan will be formulated, including dispatching emergency vehicles, deploying fire extinguishing resources, and organizing personnel evacuation.

[0047] Therefore, the moving path, each fire-fighting position and the rescue tools equipped with the emergency vehicle interact with each other, and the first node parameters are determined according to the moving path and the each fire-fighting position. The second node parameters are determined according to the moving path and the rescue tools equipped with the emergency vehicle. Based on the first node parameters, the second node parameters and the moving path, multiple rescue nodes in the moving path are determined, which is compatible with the overall consideration of the first node parameters, the second node parameters and the moving path, and ensures the accuracy of multiple rescue nodes in the moving path.

[0048] At this time, the previously determined moving path (obtained in step S124), various fire-fighting locations (determined in step S132), and the rescue tools equipped by the emergency vehicle (determined in step S131) ​​are interacted and integrated; based on the moving path and various fire-fighting locations, the nodes (i.e., the first nodes) where the emergency vehicle needs to stop or perform specific tasks are determined. These nodes are safe areas near the fire-fighting locations, and the emergency vehicles stop at these locations so that firefighters can quickly approach the fire scene to extinguish the fire; the first node parameters include the location of the node, parking requirements, safety conditions, etc.

[0049] According to the moving path and the rescue tools equipped by the emergency vehicle, determine the nodes (i.e., the second nodes) where the emergency vehicle needs to replenish supplies, replace tools, or rotate personnel. These nodes are preset supply stations, tool replacement points, or personnel rest areas; the second node parameters include the location of the node, the type and quantity of required supplies and tools, and the requirements for personnel rotation.

[0050] Based on the first node parameters, the second node parameters and the actual conditions of the moving path (such as road conditions, traffic congestion, weather conditions, etc.), multiple rescue nodes of the emergency vehicle in the entire moving path are determined. These rescue nodes are key locations where emergency vehicles need to stop during the mission. They support the smooth progress of emergency response and ensure the safety and efficiency of firefighters and emergency personnel.

[0051] Specifically, suppose a large fire occurs in an industrial park, and the emergency command center has determined the movement paths of emergency vehicles, various fire-fighting locations, and the rescue tools deployed; the emergency command center inputs this information into the emergency response management system for analysis and integration; based on the movement paths and fire-fighting locations, the emergency command center determines two first nodes: one is a safe area near the north of the fire site, and the other is another safe area near the south of the fire site. These two nodes are where emergency vehicles stop so that firefighters can quickly approach the fire site to extinguish the fire.

[0052] Taking into account the need for emergency vehicles to replenish fire extinguishing agents and replace tools, the emergency command center identified a second node: a preset supply station located at the edge of the industrial park; this supply station has sufficient fire extinguishing agents and spare tools to support the continuous combat capability of emergency vehicles.

[0053] Based on the first node parameters, the second node parameters and the actual situation of the moving path (such as road conditions and traffic congestion in the industrial park), the emergency command center determined the following rescue nodes: The first rescue node: After the emergency vehicle sets out from the starting point, it first stops at the northern safety area (the first node), and firefighters get off the vehicle to carry out preliminary fire extinguishing; the second rescue node: the emergency vehicle continues to move forward to the preset supply station (the second node) to replenish fire extinguishing agents and replace tools; the third rescue node: the emergency vehicle sets out again and stops at the southern safety area (another first node), and firefighters get off the vehicle to carry out further fire extinguishing and rescue work; as needed, the emergency command center also determines other rescue nodes to support the continued emergency response.

[0054] refer to Figure 5 , in step S14, the rescue mode of the emergency vehicle at each rescue node is determined according to the multiple rescue nodes, the multiple fire parts of the emergency area, and the rescue range of the emergency vehicle; In the specific implementation process of the present invention, the specific steps are: S141: Collect multiple rescue nodes, and match corresponding rescue tasks based on the multiple rescue nodes; S142: In each rescue node, the rescue scope of the emergency vehicle is determined based on the matching of the corresponding fire part and the rescue tools configured by the emergency vehicle; S143: Determine multiple rescue combinations based on multiple rescue nodes, multiple fire parts in the emergency area, and the rescue range of the emergency vehicle, and determine the rescue mode of the emergency vehicle at each rescue node according to the identification of the multiple rescue combinations.

[0055] In an embodiment of the present application, multiple rescue nodes are collected, and corresponding rescue tasks are matched based on the multiple rescue nodes; in each rescue node, the rescue scope of the emergency vehicle is determined based on the matching of the corresponding fire part and the rescue tools equipped by the emergency vehicle, thereby ensuring the accuracy of the rescue scope of the emergency vehicle.

[0056] At this time, the information of multiple rescue nodes obtained from the previous steps (such as S133) is collected and sorted in detail. These rescue nodes include preset emergency parking points, supply stations, personnel evacuation assembly points, temporary medical points, etc.; the information of each rescue node should include its geographical location, accessibility, surrounding environment, the number of emergency vehicles that can be accommodated, the types of services that can be provided, etc.

[0057] Specific rescue tasks are assigned to each node based on the characteristics and capabilities of each rescue node and the overall needs of emergency response. These tasks include but are not limited to: fire fighting, rescue (search and rescue of trapped persons, transfer of wounded persons), material supply (providing water, food, fuel, medical supplies, etc.), personnel evacuation, temporary shelter, information transmission, etc.; the matching process needs to comprehensively consider multiple factors such as the severity of the fire, the spread trend, the population density of the affected area, weather conditions, traffic conditions, etc.

[0058] Specifically, suppose a fire occurs in a large industrial park. The emergency command center has identified multiple rescue nodes and needs to match specific rescue tasks for these nodes.

[0059] Rescue Node 1: Located in an open area near the fire scene, away from flammable and explosive items, close to the main road, and easy to reach quickly; this node is assigned as a fire-fighting node, and emergency vehicles will stop here to use water guns, foam agents and other tools to carry out fire-fighting operations.

[0060] Rescue Node 2: Located in a safe area at the edge of the industrial park, far away from the fire scene, with enough space to accommodate a large number of people and vehicles; this node is assigned as a personnel evacuation assembly point, responsible for receiving personnel evacuated from the fire scene and providing temporary shelter and initial medical assistance.

[0061] Rescue Node 3: Located near the material warehouse in the industrial park, it has convenient transportation and sufficient storage space; this node is assigned as a material supply station, responsible for storing and distributing emergency materials such as food, water, medical supplies, fire extinguishing agents, etc. to support the needs of other rescue nodes.

[0062] Rescue Node 4: Located near the main entrance and exit of the industrial park, it is convenient for coordination with external rescue forces and material exchange; this node is assigned as an information transmission center, responsible for collecting, organizing and analyzing information from various rescue nodes, reporting to the emergency command center in a timely manner, and adjusting rescue strategies according to instructions.

[0063] Furthermore, it is necessary to understand in detail the specific conditions of the fire part corresponding to each rescue node, including the type of fire (such as solid material fire, liquid fire, gas fire, etc.), the size of the fire, the spread trend, whether dangerous chemicals are involved, etc. This information is crucial for determining the rescue scope of emergency vehicles and selecting appropriate rescue tools.

[0064] Next, it is necessary to evaluate the type, quantity, performance and scope of application of the rescue tools equipped on the emergency vehicles. These tools include water guns, foam fire extinguishers, dry powder fire extinguishers, cutting tools, rescue stretchers, medical equipment, etc. The evaluation process needs to consider factors such as the tools' fire extinguishing ability, rescue efficiency, ease of operation, and safety.

[0065] Based on the analysis of fire parts and rescue tools, the two are matched to determine which tools are suitable for which fire parts. This step needs to consider the degree of match between the characteristics of the fire and the capabilities of the tools to ensure that the selected tools can effectively respond to the fire; finally, based on the matching results of the fire parts and the rescue tools, combined with the mobility and accessibility of the emergency vehicles, the rescue scope of the emergency vehicles at each rescue node is determined; the rescue scope includes specific fire extinguishing areas, rescue routes, material supply areas, etc.; the rescue scope includes specific fire extinguishing areas, rescue routes, material supply areas, etc.

[0066] Specifically, suppose a fire occurs in a large warehouse, and the emergency command center has identified multiple rescue nodes and needs to determine the rescue range of the emergency vehicle for each node.

[0067] Rescue node A: located in the north of the warehouse, the fire type is solid material fire, the fire is large but the spread speed is slow; the emergency vehicle is equipped with a water gun and a foam fire extinguisher; according to the fire type and tool capabilities, the rescue scope of the emergency vehicle at rescue node A is determined to be a specific area in the north of the warehouse, and a water gun is used to extinguish the fire, and a foam fire extinguisher is used to extinguish a small fire that spreads to flammable items.

[0068] Rescue node B: located in the middle of the warehouse, the fire type is liquid fire, the fire is fierce and spreads rapidly; the emergency vehicle is equipped with dry powder fire extinguishers and cutting tools; considering the characteristics of liquid fire and the applicable scope of dry powder fire extinguishers, the rescue scope of the emergency vehicle at rescue node B is determined to be a specific area in the middle of the warehouse, dry powder fire extinguishers are used for fire extinguishing, and cutting tools are used to break down obstacles so that rescue personnel can approach the fire source for fire extinguishing and rescue.

[0069] Rescue node C: located in the south of the warehouse, far away from the fire source, but there are many trapped people who need rescue; the emergency vehicle is equipped with a rescue stretcher and medical equipment; according to the rescue needs, the rescue range of the emergency vehicle at rescue node C is determined to be a safe area in the south of the warehouse, which is used to receive and transfer trapped people and provide initial medical assistance.

[0070] Furthermore, multiple rescue combinations are determined based on multiple rescue nodes, multiple fire parts in the emergency area, and the rescue range of the emergency vehicle, and the rescue mode of the emergency vehicle at each rescue node is determined based on the identification of the multiple rescue combinations, which is compatible with the overall consideration of multiple rescue nodes, multiple fire parts in the emergency area, and the rescue range of the emergency vehicle, ensuring the accuracy of the multiple rescue combinations.

[0071] At this time, analyze in detail the geographical location relationship between each rescue node and multiple fire parts in the emergency area, the fire spread trend and potential risk factors; determine which rescue nodes are closest to the fire part and which nodes serve as support points or material supply stations; based on the rescue range of the emergency vehicle and the characteristics of the fire part (such as fire type, fire size, whether hazardous chemicals are involved, etc.), determine which vehicles are suitable for operating in which fire part; consider the vehicle's maneuverability, accessibility and tool configuration to ensure that the vehicle can effectively respond to fires within its rescue range.

[0072] According to the correspondence between rescue nodes and fire parts and the rescue scope of emergency vehicles, multiple rescue nodes and emergency vehicles are combined to form multiple rescue combinations; each rescue combination should include emergency vehicles, support vehicles, material supply points and personnel evacuation assembly points responsible for specific fire parts; each rescue combination is assigned a unique identifier to facilitate tracking and management during the emergency response process; according to the characteristics and needs of the rescue combination, the rescue mode of the emergency vehicle at each rescue node is determined, which includes centralized fire fighting, zoned rescue, circular supply, personnel evacuation and other modes; the rescue mode should take into account the dynamic changes of the fire scene to ensure the flexibility and adaptability of the emergency response.

[0073] Specifically, assuming that a fire occurs in a large industrial park, the emergency command center has determined the rescue ranges of multiple rescue nodes and emergency vehicles, and needs to form multiple rescue combinations to determine the rescue mode.

[0074] Analysis of the corresponding relationship between rescue nodes and fire parts: Rescue Node 1: located in the north of the industrial park, close to fire part A (solid material fire, large fire); Rescue Node 2: located in the middle of the industrial park, close to fire part B (liquid fire, fierce fire); Rescue Node 3: located in the south of the industrial park, far away from the fire source, can be used as a personnel evacuation assembly point and material supply station.

[0075] The rescue range of emergency vehicles matches the fire part: Emergency Vehicle 1: Equipped with water gun and foam fire extinguisher, suitable for fire fighting operations in fire part A; Emergency Vehicle 2: Equipped with dry powder fire extinguisher and cutting tools, suitable for fire fighting and rescue operations in fire part B; Emergency Vehicle 3: As a support vehicle, it carries additional supplies and equipment and can support other vehicles when needed.

[0076] Form a rescue team: Rescue combination 1: consists of emergency vehicle 1 and rescue node 1, responsible for firefighting operations in fire part A; Rescue combination 2: consists of emergency vehicle 2, rescue node 2 and support vehicle 3 (when necessary), responsible for firefighting and rescue operations in fire part B; Rescue combination 3: consists of rescue node 3 and standby emergency vehicles (not directly involved in firefighting, but ready to provide support at any time), responsible for personnel evacuation and material supply.

[0077] Determine rescue mode: Rescue combination 1 adopts centralized fire-fighting mode and strives to extinguish fire part A; rescue combination 2 adopts zone rescue mode, giving priority to rescuing trapped people in fire part B, and uses dry powder fire extinguishers to control the fire; after the fire is under control, it can be switched to centralized fire-fighting mode; rescue combination 3 adopts circular supply and personnel evacuation mode to ensure that rescue node 3 always has sufficient materials and equipment for other combinations to use, and to evacuate people in the industrial park in an orderly manner.

[0078] In one embodiment of the present application, the rescue nodes, the fire parts and the rescue ranges of the emergency vehicles are matched to determine the rescue combination; the rescue mode matching table is shown in Table 2: Table 2 Rescue mode matching table

[0079] In this rescue mode matching table, multiple nodes, fire parts and vehicles are combined to form four rescue combinations according to the location of the rescue node, the distribution of the fire part and the rescue range of the emergency vehicle; each combination clearly defines the fire part, emergency vehicle and its rescue range for which it is responsible.

[0080] refer to Figure 6 , in step S15, the rescue means of the emergency vehicle is optimized based on the current rescue mode of the emergency vehicle, the current posture of the emergency vehicle and the state of the corresponding fire part; In the specific implementation process of the present invention, the specific steps are: S151: At each rescue node, the emergency vehicle performs targeted rescue on the fire part along the corresponding rescue mode; S152: collecting multiple posture parameters of the emergency vehicle during the rescue process in real time, and determining the current posture of the emergency vehicle according to the multiple posture parameters, the rescue direction of the rescue tool, and the moving direction of the emergency vehicle; S153: Determine the state of the fire part based on the detection of the fire part; S154: Interact with the current rescue mode of the emergency vehicle, the current posture of the emergency vehicle and the state of the corresponding fire part, and determine the optimization event based on the interaction of the current rescue mode of the emergency vehicle, the current posture of the emergency vehicle and the state of the corresponding fire part, and optimize the rescue means of the emergency vehicle based on the optimization event to ensure that the emergency vehicle automatically controls the dynamically changing fire part.

[0081] In an embodiment of the present application, in each rescue node, the emergency vehicle performs targeted rescue on the fire part along the corresponding rescue mode; multiple posture parameters of the emergency vehicle during the rescue process are collected in real time, and the current posture of the emergency vehicle is determined based on multiple posture parameters, the rescue direction of the rescue tool, and the moving direction of the emergency vehicle. It is compatible with the overall consideration of multiple posture parameters, the rescue direction of the rescue tool, and the moving direction of the emergency vehicle, ensuring the accuracy of the current posture of the emergency vehicle.

[0082] At this point, the emergency response team has identified multiple rescue nodes based on the actual situation at the fire scene, and assigned corresponding rescue modes to each node. These rescue modes include centralized firefighting, zoned rescue, material supply, and personnel evacuation. Emergency vehicles will quickly arrive at designated rescue nodes according to dispatch instructions. During the arrival process, vehicles should maintain open communications so that they can receive new instructions or information at any time.

[0083] After arriving at the rescue node, the driver and operator of the emergency vehicle need to quickly identify the specific location of the fire, the size of the fire, the spread trend and the rescue target (such as trapped people, important equipment, etc.); according to the previously determined rescue mode, the operator of the emergency vehicle starts the corresponding rescue procedure; for example, if the rescue mode is centralized fire extinguishing, the operator will start equipment such as water guns or foam fire extinguishers to directly extinguish the fire; if the rescue mode is zoned rescue, the operator will organize a rescue team to enter the fire scene to search and rescue trapped people; during the rescue process, the operator of the emergency vehicle needs to pay close attention to changes in the fire scene, and flexibly adjust the rescue strategies and means according to the size of the fire and the spread trend; at the same time, the operator of the emergency vehicle also needs to maintain communication with other emergency vehicles and rescue teams to ensure the smooth progress of the rescue mission.

[0084] Furthermore, various sensors are installed on emergency vehicles, such as gyroscopes, accelerometers, angle sensors, etc., to collect the vehicle's attitude parameters in real time. These parameters include the vehicle's tilt angle, pitch angle, yaw angle, acceleration, etc.; the collected raw data needs to be pre-processed, such as filtering, denoising, etc., to improve the accuracy and reliability of the data; the processed data is transmitted to the central control system or data analysis platform via wireless or wired means.

[0085] According to the use of rescue tools (such as water guns, ladders, demolition tools, etc.) on the emergency vehicle, its direction relative to the vehicle body is determined. This requires a comprehensive judgment based on the vehicle posture parameters and the operating instructions of the rescue tools; the moving direction and speed of the emergency vehicle are obtained in real time through GPS positioning, inertial navigation systems and other means. This information helps to determine whether the vehicle is traveling along the predetermined route and whether the driving direction needs to be adjusted to better adapt to the rescue mission; combined with multiple posture parameters, the rescue direction of the rescue tools and the moving direction of the emergency vehicle, the current posture of the emergency vehicle is determined through method analysis, which includes the overall tilt of the vehicle, the direction of the rescue tools and the relative position relationship between the vehicle and the fire scene.

[0086] According to the determined current posture, if it is found that the vehicle posture does not meet the requirements of the rescue mission (such as excessive tilt, deviation from the direction, etc.), the central control system will issue an adjustment instruction to guide the driver or operator to adjust the vehicle posture to ensure the smooth progress of the rescue mission; at the same time, the system will also feedback the adjustment results to the driver or operator so that they can understand the changes in the vehicle posture; Furthermore, the state of the fire portion is determined based on the detection of the fire portion, thereby ensuring the accuracy of the state of the fire portion.

[0087] At this time, fire detection equipment, such as infrared thermal imagers, smoke detectors, flame detectors, etc., are deployed at the fire scene or potential fire risk areas. These devices can monitor key indicators such as temperature, smoke concentration, and the presence or absence of flames at the fire scene in real time; the fire detection equipment transmits the real-time collected data to the central control system or data analysis platform; the system pre-processes the received data, such as filtering, denoising, and calibration, to improve the accuracy and reliability of the data.

[0088] After analyzing the processed data, fire characteristics are extracted, such as flame color, shape, size, smoke concentration, diffusion speed, and temperature distribution. These characteristics help to judge the severity of the fire, the trend of spread, and the scope of impact. Combining the extracted fire characteristics with the preset fire status judgment criteria, the system judges the status of the fire part; the status includes initial fire, mid-term fire, fierce burning, fire under control, fire extinguished, etc.; according to the changes in the fire scene, the system updates the status of the fire part in real time and feeds back the updated results to the emergency response team, which helps the team to keep abreast of the latest situation at the fire scene so as to make correct decisions and actions.

[0089] Therefore, the current rescue mode of the emergency vehicle, the current posture of the emergency vehicle and the state of the corresponding fire part are interacted, and the optimization event is determined based on the interaction of the current rescue mode of the emergency vehicle, the current posture of the emergency vehicle and the state of the corresponding fire part, and the rescue means of the emergency vehicle are optimized based on the optimization event to ensure that the emergency vehicle automatically controls the dynamically changing fire part, thereby realizing automatic control of the emergency vehicle.

[0090] At this point, the control system on the emergency vehicle integrates information from multiple sources, including the current rescue mode (such as centralized firefighting, zoned rescue, etc.), the vehicle's current posture parameters (such as tilt angle, acceleration, etc.), and the state of the fire part (such as flame size, spread trend, etc.). This information interacts in real time through the vehicle's internal network or wireless communication; the control system analyzes and evaluates the integrated information to identify mismatches or potential risks between the vehicle's current state and the needs of the fire scene, which involves predictions of the stability of the vehicle's posture, rescue efficiency, and fire development trends; based on the results of data analysis, the control system determines key events that need to be optimized, including adjusting the rescue mode to more effectively respond to fires, adjusting the vehicle's posture to improve stability or firefighting efficiency, or reallocating rescue resources to respond to new fire hotspots.

[0091] For the determined optimization events, the control system formulates specific optimization strategies, which involve adjusting the speed, direction or posture of the vehicle, switching or combining different rescue tools, or adjusting the task allocation of the rescue team; the control system automatically executes the optimization strategy and adjusts the rescue means of the emergency vehicle; at the same time, the system continuously monitors the changes at the fire scene and dynamically adjusts the optimization strategy as needed to ensure that the emergency vehicle can flexibly respond to the dynamic changes of the fire; the system records the key decisions and operations during the optimization process, as well as the changes at the fire scene. This information provides valuable data for subsequent analysis and improvement; at the same time, the system provides real-time feedback to the emergency response team to understand the implementation and effectiveness of the optimization strategy.

[0092] In one embodiment of the present application, the current rescue mode of the emergency vehicle, the current posture of the emergency vehicle and the state of the corresponding fire part are interacted, and the optimization event is determined based on this information, so as to optimize the rescue means of the emergency vehicle and realize the automatic control of the dynamically changing fire part; the optimization event matching table is shown in Table 3: Table 3 Optimized event matching table

[0093] Explanation: Optimization event: the optimization target determined according to the current situation, such as increasing the fire-fighting force, stabilizing the vehicle posture, etc.; Current rescue mode: the type of rescue mission currently performed by the emergency vehicle, such as centralized fire-fighting, zoned rescue, etc.; Current posture condition: the current posture stability of the emergency vehicle, such as stable posture, unbalanced posture, tilted posture, etc.; Partial fire status: the specific situation at the fire scene, such as rapid spread of fire, high smoke concentration, fire under control, new hot spots appearing, etc.; Optimization means: optimization measures taken according to optimization events and current conditions, such as increasing the number of water guns, stabilizing the vehicle posture, and speeding up the supply of materials.

[0094] Assume that the emergency vehicle is performing a zone rescue mission. At this time, the fire in one area of ​​the fire scene is spreading rapidly, and the vehicle posture is stable. According to the optimization event matching table, the optimization event is A (increasing the firefighting force), and the optimization means is to increase the number of water guns and adjust the spray angle. The emergency vehicle control system will automatically adjust the rescue mode, increase the number of water guns, and adjust the spray angle to more effectively extinguish the rapidly spreading fire.

[0095] refer to Figure 7 , in step S16, triggering the coordinated rescue of surrounding vehicles and emergency vehicles according to the disaster change event of the fire part; In the specific implementation process of the present invention, the specific steps are: S161: monitor the fire part in real time, and determine a change event of the fire part according to fire images of different periods in the fire part; S162: determining a disaster situation change event of the fire part according to a change event of the fire part and the inventory of internal combustion-supporting materials of the fire part; S163: Determine the change degree of the fire part based on the disaster change event of the fire part; S164: If the degree of change of the fire part gradually becomes serious, a vehicle traversal is performed based on the location of the emergency vehicle, and surrounding vehicles are located. A collaborative rescue relationship is determined based on the surrounding vehicles and the emergency vehicle, and collaborative rescue of the surrounding vehicles and the emergency vehicle is achieved.

[0096] In an embodiment of the present application, the fire portion is monitored in real time, and change events of the fire portion are determined based on fire images of different periods in the fire portion.

[0097] At this time, advanced monitoring equipment, such as high-definition cameras, infrared thermal imagers, etc., are deployed at the fire scene or potential fire risk areas. These devices can capture images and videos of the fire scene in real time; the monitoring system is connected to the central control room or emergency response center to ensure that real-time monitoring data can be quickly transmitted to analysts or automatic analysis systems.

[0098] The monitoring equipment collects image data of the fire scene in real time, including visible light images and infrared thermal imaging data; the data preprocessing stage includes image enhancement, denoising, correction, etc. to improve image quality and analysis accuracy; extracts fire features from real-time images, such as flame color, shape, texture, and smoke concentration, diffusion rate, etc.; through pattern recognition technology, identifies flame and smoke areas in the image, providing a basis for the determination of subsequent change events.

[0099] Compare fire images at different time points and analyze the changing trends of flames and smoke, such as the speed of flame spread and the range of smoke diffusion. According to the preset fire change event definitions (such as flame spread, fire intensity, smoke diffusion, etc.), combined with the real-time image analysis results, determine the change events of the fire part. Once it is determined that the fire part has changed significantly, such as the flame spread to a new area or the fire intensity has increased significantly, the system should immediately trigger an alarm and notify the emergency response team. The emergency response team will take corresponding response measures according to the type and severity of the change event, such as increasing firefighting forces and adjusting rescue strategies.

[0100] Specifically, suppose a fire breaks out in a warehouse, and the emergency response team quickly arrives at the scene and starts the real-time monitoring system. Multiple high-definition cameras and infrared thermal imagers are deployed around and inside the warehouse. These devices capture images and videos of the fire scene in real time and transmit them to the central control room. The monitoring equipment collects image data of the fire scene in real time, including the blazing flames and the diffuse smoke. In the data preprocessing stage, the images are enhanced and denoised to improve the accuracy of the analysis. The color, shape and texture features of the flames, as well as the concentration and diffusion speed of the smoke, are extracted from the real-time images. Through pattern recognition technology, the flame and smoke areas in the image are successfully identified. By comparing the fire images at different time points, it is found that the flames spread rapidly from one corner of the warehouse to the entire warehouse, and the diffusion range of the smoke is also expanding. According to the preset definition of fire change events, it is determined that the fire part has undergone significant changes, namely the spread of flames and the spread of smoke. The system immediately triggers an alarm and notifies the emergency response team. According to the type and severity of the change event, the team quickly increases the firefighting force, adjusts the rescue strategy, and strengthens the safety protection measures on site.

[0101] Furthermore, the disaster change events of the fire part are determined based on the change events of the fire part and the inventory status of the internal combustible materials of the fire part, which is compatible with the overall consideration of the change events of the fire part and the inventory status of the internal combustible materials of the fire part, ensuring the accuracy of the disaster change events of the fire part.

[0102] At this time, obtain the changing event information of the fire scene from S161 or other monitoring systems, such as the flame spread speed, smoke diffusion, fire intensity increase or decrease, etc.; at the same time, understand the types, quantities and distribution locations of the combustible materials inside the fire scene; understand the types, quantities and distribution locations of the combustible materials inside the fire scene; analyze their impact on the development of the fire according to their types and properties, such as accelerating the spread of fire, increasing the risk of explosion, and generating toxic smoke, etc.; consider the inventory and distribution location of the combustible materials, and evaluate their impact on the speed and scope of the fire spread.

[0103] Combine the fire change event information and the combustible material assessment results to determine the disaster change events of the fire part; disaster change events include rapid intensification of fire, increased explosion risk, spread of toxic smoke, etc. These events are crucial to the formulation of emergency response strategies because they directly affect the safety of rescue personnel, the choice of fire extinguishing strategies, and the formulation of evacuation plans; according to the determined disaster change events, the emergency response plan is updated in a timely manner to ensure the effectiveness and safety of the rescue operation, which involves measures such as adjusting the fire extinguishing strategy, increasing rescue forces, and changing the evacuation route.

[0104] Specifically, suppose a fire breaks out at a chemical plant and the emergency response team is conducting rescue operations on site. Through image analysis by the monitoring system, it is found that the fire is rapidly spreading to a storage area of ​​the chemical plant. At the same time, sensor data shows that the temperature in the area is rising sharply and the smoke concentration is also increasing. The emergency response team learned that a large number of flammable chemicals, including methanol, acetone, etc., were stored in the storage area. The inventory of these chemicals was large and densely distributed, which increased the spread rate of the fire and the risk of explosion. Considering the flammability and explosiveness of methanol and acetone, the team assessed that these chemicals would accelerate the spread of the fire and cause explosions. At the same time, the smoke produced by the combustion of these chemicals contained toxic components, posing a threat to rescue workers and the surrounding environment. Combining the fire change event information and the combustion support material assessment results, the team determined that the disaster change event was a sharp intensification of the fire and an increased risk of explosion.

[0105] According to the confirmed disaster situation changes, the team immediately updated the emergency response plan, increased the firefighting force, and mobilized more fire trucks and firefighters to the scene. At the same time, the evacuation route was changed to ensure that rescue workers and surrounding residents could evacuate the fire area quickly and safely; Further, the change degree of the fire part is determined based on the disaster change event of the fire part, and the change degree of the fire part is introduced.

[0106] At this point, the disaster change events determined in step S162 are analyzed in detail, including the speed of fire spread, flame intensity, smoke concentration and diffusion range, whether there is an explosion risk, release of toxic gases, etc. These events provide direct information on the dynamic changes of the fire scene and are the basis for evaluating the degree of change of the fire part.

[0107] Based on the professional knowledge and experience of fire emergency response, a series of standards for evaluating the degree of change of fire components are set. These standards include the speed range of flame spread, the threshold of smoke concentration, the classification of explosion risk, etc. The setting of standards should take into account the impact of factors such as fire type, building structure, type and quantity of combustible materials on the development of fire.

[0108] Compare the disaster change events with the set assessment standards, and determine the degree of change in the fire part based on the degree of compliance; the degree of change is divided into several levels such as minor, moderate, severe and extremely severe; each level corresponds to different emergency response strategies and measures.

[0109] When determining the degree of change of the fire part, it is also necessary to consider potential risks and consequences, such as the impact of the fire on surrounding buildings and personnel, environmental pollution, etc. These factors affect the formulation and adjustment of emergency response strategies; the determined degree of change of the fire part should be recorded and reported to the emergency response team and relevant departments, which will help team members understand the latest situation at the fire scene and make correct decisions and actions.

[0110] Specifically, suppose a fire breaks out in a residential building and the emergency response team is conducting rescue operations on site. Through the monitoring system and on-site observations, the team finds that the flames quickly spread from the first floor to the second floor, the smoke concentration continues to increase, and there are explosions. At the same time, some residents report that elderly people and children are trapped in the building.

[0111] Based on the professional knowledge and experience of fire emergency response, the team set the following assessment criteria: flame spread speed exceeding 5 meters / minute is severe, smoke concentration reaches a certain level causing visibility to be less than 10 meters is moderate, and accompanied by explosions is extremely severe; comparing the disaster change events with the assessment criteria, the team determined that the degree of change in the fire part is extremely severe; the flame spread speed is fast, the smoke concentration is high, and there are explosions, all of which meet the extremely severe assessment criteria.

[0112] The team also considered the impact of the fire on surrounding residential buildings and the safety risks of trapped elderly people and children. These factors prompted the team to take more rapid and effective emergency response measures. The team recorded the extent of changes in the fire parts and reported to the emergency response center and relevant departments. The report included the latest situation at the fire scene, the assessment results of the extent of changes, and the emergency response measures. Therefore, if the degree of change in the fire part gradually becomes serious, vehicle traversal is performed based on the location of the emergency vehicle, and surrounding vehicles are located. The collaborative rescue relationship is determined based on the surrounding vehicles and the emergency vehicles, and collaborative rescue between the surrounding vehicles and the emergency vehicles is achieved.

[0113] At this point, in step S163, the degree of change of the fire part has been determined; this step first checks whether the degree of change is gradually becoming more serious, reaching or exceeding the preset severity threshold; if the degree of change of the fire is indeed serious, the collaborative rescue procedure needs to be initiated.

[0114] Use GPS or other positioning technologies to determine the precise location of on-site emergency vehicles (such as fire trucks, ambulances, etc.). The location information of these vehicles is crucial for subsequent vehicle traversal and coordinated rescue. Through the traffic management system or emergency response network, query and locate available vehicles around the fire scene, including other fire trucks, ambulances, police cars, and civilian volunteer vehicles. The location, type, equipment, and personnel of these vehicles will be recorded for subsequent task assignment.

[0115] Based on the actual situation at the fire scene, such as the size of the fire, the location of trapped people, potential danger areas, etc., as well as the resources of emergency vehicles and surrounding vehicles (such as the number of water guns, rescue equipment, medical personnel, etc.), determine the collaborative rescue relationship between the vehicles, which includes designating certain vehicles to be responsible for firefighting, some for evacuating people, and some for medical rescue, etc.; issue clear instructions and task assignments to all vehicles participating in the collaborative rescue through wireless communications or other communication means; ensure that each vehicle understands its mission, route of action, coordination with other vehicles, and response measures in emergency situations; maintain continuous communication during the execution of the mission in order to adjust strategies or provide additional support according to actual conditions.

[0116] Specifically, suppose a fire breaks out in a commercial area, the fire spreads rapidly, and a large number of people are trapped; the emergency response team determines through the monitoring system and on-site observation that the degree of change in the fire part has become extremely serious and that a coordinated rescue procedure needs to be initiated immediately; using GPS positioning technology, it is confirmed that there are two fire trucks and an ambulance on the scene; one of the fire trucks is located on the north side of the fire scene, the other is located on the east side, and the ambulance is located at the west entrance; through the emergency response network, it is found that there is a spare fire truck, two ambulances and a police car available nearby, which are located at the fire station on the north side of the commercial area, the hospital on the west side, and the police station on the east side.

[0117] According to the actual situation at the fire scene, the team decided: the fire truck on the north side was responsible for the main fire-fighting task, the fire truck on the east side was responsible for evacuating the trapped people, the ambulance on the west side was responsible for on-site first aid, and the spare fire truck was on standby at any time as a reinforcement force; at the same time, the police car of the police station on the east side was responsible for blocking the surrounding roads to ensure the smooth flow of rescue channels; in addition, the second ambulance transferred from the hospital was used as a backup medical force, ready to receive the transferred wounded at any time; the team issued clear instructions and task allocations to all vehicles participating in the coordinated rescue through wireless communication; each vehicle acted quickly and deployed according to the predetermined plan. Rescue; the fire truck on the north side used a high-pressure water gun to suppress the fire, while the fire truck on the east side used a ladder and a stretcher to evacuate the trapped people; the ambulance on the west side set up a first-aid station on the scene to provide initial treatment to the wounded; the spare fire truck and police car served as reinforcement and road blocking forces respectively to ensure the efficiency and safety of the rescue operation; during the rescue process, the team maintained continuous communication and adjusted strategies according to actual conditions, such as increasing fire-fighting forces and adjusting evacuation routes; finally, with the concerted efforts of all parties, the fire was effectively controlled, all trapped people were safely evacuated, and the wounded were treated in time.

[0118] See also Figure 8 , Figure 8 Schematic diagram of the structure of the automatic control system of the emergency vehicle in the embodiment of the present invention; like Figure 8 As shown, an automatic control system of an emergency vehicle, the automatic control system of the emergency vehicle comprises: A detection module 21, for determining a plurality of fire parts of the emergency area based on the detection of the location of the emergency area; a moving path module 22 for determining a moving path of the emergency vehicle relative to the emergency area based on a plurality of fire sections in the emergency area, a relative distance between the emergency vehicle and the emergency area, and a load status of the emergency vehicle; A rescue node module 23, for determining a plurality of rescue nodes in the moving path based on the moving path, a plurality of fire parts in the emergency area, and rescue tools configured by the emergency vehicle; A rescue mode module 24, for determining a rescue mode of the emergency vehicle at each rescue node according to multiple rescue nodes, multiple fire parts of the emergency area, and the rescue range of the emergency vehicle; A rescue means module 25, for optimizing the rescue means of the emergency vehicle based on the current rescue mode of the emergency vehicle, the current posture of the emergency vehicle and the state of the corresponding fire part; The collaborative rescue module 26 is used to trigger the collaborative rescue of surrounding vehicles and emergency vehicles according to the disaster change event of the fire part.

[0119] The technical features of the above embodiments are arbitrarily combined. In order to make the description concise, not all combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. An automatic control method for an emergency vehicle, characterized in that: The emergency vehicle is equipped with moving wheels and multiple rescue tools. The automatic control method of the emergency vehicle includes: Determining a plurality of fire portions of the emergency area based on detecting the location of the emergency area; determining a movement path of the emergency vehicle relative to the emergency area based on a plurality of fire sections in the emergency area, a relative distance between the emergency vehicle and the emergency area, and a load of the emergency vehicle; Determine a plurality of rescue nodes in the moving path based on the moving path, a plurality of fire sections in the emergency area, and rescue tools configured by the emergency vehicle; Determine the rescue mode of the emergency vehicle at each rescue node according to multiple rescue nodes, multiple fire parts of the emergency area, and the rescue range of the emergency vehicle; Optimizing the rescue means of the emergency vehicle based on the current rescue mode of the emergency vehicle, the current posture of the emergency vehicle, and the state of the corresponding fire part; The disaster situation change event of the fire part triggers the coordinated rescue of surrounding vehicles and emergency vehicles.

2. The automatic control method of an emergency vehicle according to claim 1, characterized in that: The method of determining a plurality of fire parts of the emergency area based on the detection of the location of the emergency area comprises: Determine the emergency area based on the town database, emergency signals, and multiple images taken by drones, and mark the location of the emergency area; Determine the emergency type of the emergency area based on the location of the emergency area, the shape of the emergency area and the real-time image of the emergency area; If the emergency type of the emergency area is a fire type, a plurality of fire parts of the emergency area are determined according to the detection of the location of the emergency area.

3. The automatic control method of emergency vehicle according to claim 1, characterized in that: The step of determining a moving path of the emergency vehicle relative to the emergency area according to the multiple fire parts in the emergency area, the relative distance between the emergency vehicle and the emergency area, and the load state of the emergency vehicle comprises: Collect multiple fire parts in the emergency area and determine the spatial locations of the multiple fire parts; Determining the relative distance between the emergency vehicle and the emergency area based on a comparison between the location of the emergency vehicle and the location of the emergency area; Collecting a plurality of load characteristics according to load detection of the emergency vehicle, and determining the load state of the emergency vehicle according to the plurality of load characteristics, the moving speed of the emergency vehicle and the model of the emergency vehicle; The spatial positions of multiple fire parts, the relative distance between the emergency vehicle and the emergency area, and the load status of the emergency vehicle are interacted, and the moving path of the emergency vehicle relative to the emergency area is determined based on the interaction of the relative distance between the emergency vehicle and the emergency area and the load status of the emergency vehicle. The emergency vehicle moves along the moving path and performs dynamic rescue on multiple fire parts.

4. The automatic control method of an emergency vehicle according to claim 1, characterized in that: The method of determining a plurality of rescue nodes in the moving path based on the moving path, a plurality of fire parts in the emergency area, and rescue tools configured by the emergency vehicle comprises: Collect corresponding rescue signals based on the traversal of emergency vehicles, and determine the rescue tools equipped by the emergency vehicles according to the tracing of the rescue signals; Collect multiple fire parts in the emergency area, and determine corresponding fire extinguishing positions according to the detection of multiple fire parts in the emergency area; The moving path, each fire-fighting position and the rescue tools equipped with the emergency vehicle are interacted, the first node parameters are determined according to the moving path and the each fire-fighting position, the second node parameters are determined according to the moving path and the rescue tools equipped with the emergency vehicle, and multiple rescue nodes in the moving path are determined based on the first node parameters, the second node parameters and the moving path.

5. The automatic control method for emergency vehicles according to any one of claims 1 to 4, characterized in that: The method of determining the rescue mode of the emergency vehicle at each rescue node according to the multiple rescue nodes, the multiple fire parts of the emergency area and the rescue range of the emergency vehicle includes: Collect multiple rescue nodes and match corresponding rescue tasks based on the multiple rescue nodes; In each rescue node, the rescue scope of the emergency vehicle is determined based on the matching of the corresponding fire part and the rescue tools equipped by the emergency vehicle; A plurality of rescue combinations are determined based on a plurality of rescue nodes, a plurality of fire parts in an emergency area, and a rescue range of an emergency vehicle, and a rescue mode of the emergency vehicle at each rescue node is determined according to the identification of the plurality of rescue combinations.

6. The automatic control method of an emergency vehicle according to claim 1, characterized in that: The method of optimizing the rescue means of the emergency vehicle based on the current rescue mode of the emergency vehicle, the current posture of the emergency vehicle and the state of the corresponding fire part includes: At each rescue node, the emergency vehicle provides targeted rescue to the fire part along the corresponding rescue mode; The multiple posture parameters of the emergency vehicle during the rescue process are collected in real time, and the current posture of the emergency vehicle is determined based on the multiple posture parameters, the rescue direction of the rescue tool and the moving direction of the emergency vehicle.

7. The automatic control method of an emergency vehicle according to claim 6, characterized in that: The method of optimizing the rescue means of the emergency vehicle based on the current rescue mode of the emergency vehicle, the current posture of the emergency vehicle and the state of the corresponding fire part also includes: determining a status of the fire portion based on the detection of the fire portion; The current rescue mode of the emergency vehicle, the current posture of the emergency vehicle and the state of the corresponding fire part are interacted, and the optimization event is determined based on the interaction of the current rescue mode of the emergency vehicle, the current posture of the emergency vehicle and the state of the corresponding fire part, and the rescue means of the emergency vehicle are optimized according to the optimization event to ensure that the emergency vehicle automatically controls the dynamically changing fire part.

8. The automatic control method of an emergency vehicle according to claim 1, characterized in that: The triggering of the coordinated rescue of surrounding vehicles and emergency vehicles according to the disaster change event of the fire part includes: Monitor the fire part in real time and determine the change events of the fire part according to the fire images at different periods in the fire part; The disaster change events of the fire section are determined based on the change events of the fire section and the inventory of internal combustion supporting materials in the fire section.

9. The automatic control method of an emergency vehicle according to claim 8, characterized in that: The triggering of the coordinated rescue of surrounding vehicles and emergency vehicles according to the disaster change event of the fire part also includes: Determine the degree of change of the fire part based on the disaster change event of the fire part; If the degree of change in the fire part gradually becomes serious, vehicle traversal is performed based on the location of the emergency vehicle, and surrounding vehicles are located. The collaborative rescue relationship is determined based on the surrounding vehicles and the emergency vehicles, and collaborative rescue between the surrounding vehicles and the emergency vehicles is achieved.

10. An automatic control system for an emergency vehicle, characterized in that: The automatic control system of the emergency vehicle is applied to the automatic control method of the emergency vehicle as claimed in any one of claims 1 to 9, and the automatic control system of the emergency vehicle includes: A detection module, for determining a plurality of fire portions of the emergency area based on detection of the location of the emergency area; a moving path module for determining a moving path of the emergency vehicle relative to the emergency area based on a plurality of fire sections in the emergency area, a relative distance between the emergency vehicle and the emergency area, and a load status of the emergency vehicle; A rescue node module, for determining a plurality of rescue nodes in the moving path based on the moving path, a plurality of fire sections in the emergency area, and rescue tools configured by the emergency vehicle; A rescue mode module is used to determine the rescue mode of the emergency vehicle at each rescue node according to multiple rescue nodes, multiple fire parts of the emergency area, and the rescue range of the emergency vehicle; A rescue means module, for optimizing the rescue means of the emergency vehicle based on the current rescue mode of the emergency vehicle, the current posture of the emergency vehicle and the state of the corresponding fire part; The collaborative rescue module is used to trigger collaborative rescue of surrounding vehicles and emergency vehicles according to changes in the disaster situation of the fire part.

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