An automated control method and system for emergency vehicles

Abstract

The present invention discloses an automated control method and system for emergency vehicles. The present invention relates to the technical field of emergency vehicles. Based on the moving path, multiple fire parts in the emergency area, and the rescue tools equipped on the emergency vehicle, multiple rescue nodes in the moving path are determined; according to the multiple rescue nodes, the multiple fire parts in the emergency area, and the rescue range of the emergency vehicle, the rescue mode of the emergency vehicle at each rescue node is determined, so as to trigger the automated control of the emergency vehicle for the emergency area. Therefore, based on the current rescue mode of the emergency vehicle, the current attitude of the emergency vehicle, and the state of the corresponding fire part, the rescue means of the emergency vehicle are optimized, 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, according to the disaster situation change event of the fire part, the cooperative rescue of the surrounding vehicles and the emergency vehicle is triggered, realizing the cooperative rescue of the surrounding vehicles and the emergency vehicle for each fire part.

Description

Technical Field

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

[0002] With the development of technology, emergency vehicles are applied in people's lives and provide corresponding rescue for places on fire. Emergency vehicles are equipped with mobile wheels and multiple rescue tools and provide corresponding rescue for the fire part. In the prior art, emergency vehicles carry out rescue for a single fire part and cannot control multiple fire parts in the emergency area, which affects the automated control of emergency vehicles in the emergency area. Summary of the Invention

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

[0004] An embodiment of the present invention provides an automated control method for an emergency vehicle. The emergency vehicle is equipped with mobile wheels and multiple rescue tools. The automated control method for the emergency vehicle includes:

[0005] Determining multiple fire parts in the emergency area based on the detection of the location of the emergency area;

[0006] Determining the movement path of the emergency vehicle relative to the emergency area according to 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;

[0007] Determining multiple rescue nodes in the movement path based on the movement path, multiple fire parts in the emergency area, and the rescue tools equipped on the emergency vehicle;

[0008] Determining the rescue mode of the emergency vehicle at each rescue node according to multiple rescue nodes, multiple fire parts in the emergency area, and the rescue range of the emergency vehicle;

[0009] Optimizing the rescue means of the emergency vehicle based on the current rescue mode of the emergency vehicle, the current attitude of the emergency vehicle, and the state of the corresponding fire part;

[0010] Triggering the collaborative rescue of surrounding vehicles and the emergency vehicle according to the disaster situation change event of the fire part.

[0011] An embodiment of the present invention provides an automated control system for an emergency vehicle. The automated control system for the emergency vehicle is applied to the above-mentioned automated control method for the emergency vehicle. The automated control system for the emergency vehicle includes:

[0012] A detection module, configured to determine multiple fire parts in the emergency area based on the detection of the location of the emergency area;

[0013] A moving path module, configured to determine a moving path of an emergency vehicle relative to an emergency area according to multiple fire parts of the emergency area, the relative distance between the emergency vehicle and the emergency area, and the load status of the emergency vehicle;

[0014] An ambulance node module, configured to determine multiple ambulance nodes in the moving path based on the moving path, multiple fire parts of the emergency area, and the ambulance tools configured on the emergency vehicle;

[0015] An ambulance mode module, configured to determine the ambulance mode of the emergency vehicle at each ambulance node according to the multiple ambulance nodes, multiple fire parts of the emergency area, and the ambulance range of the emergency vehicle;

[0016] An ambulance means module, configured to optimize the ambulance means of the emergency vehicle based on the current ambulance mode of the emergency vehicle, the current attitude of the emergency vehicle, and the status of the corresponding fire part;

[0017] A collaborative ambulance module, configured to trigger the collaborative ambulance of surrounding vehicles and the emergency vehicle according to the disaster situation change event of the fire part.

[0018] 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 ambulance nodes in the moving path are determined based on the moving path, the multiple fire parts of the emergency area, and the ambulance tools configured on the emergency vehicle; the ambulance mode of the emergency vehicle at each ambulance node is determined according to the multiple ambulance nodes, the multiple fire parts of the emergency area, and the ambulance range of the emergency vehicle, ensuring the accuracy of the ambulance mode of the emergency vehicle at each ambulance node, so as to trigger the automatic control of the emergency vehicle for the emergency area.

[0019] Therefore, the ambulance means of the emergency vehicle is optimized based on the current ambulance mode of the emergency vehicle, the current attitude of the emergency vehicle, and the status of the corresponding fire part, ensuring the optimization of the ambulance means of the emergency vehicle and dynamically adapting to the dynamic changes of the fire part. At the same time, the collaborative ambulance of surrounding vehicles and the emergency vehicle is triggered according to the disaster situation change event of the fire part, realizing the collaborative ambulance of surrounding vehicles and the emergency vehicle for each fire part. Description of the Drawings

[0020] Figure 1 is a schematic flowchart of the automatic control method of the emergency vehicle in the embodiment of the present invention;

[0021] Figure 2It is a schematic flowchart of step S11 of the automatic control method for emergency vehicles in an embodiment of the present invention;

[0022] Figure 3 It is a schematic flowchart of step S12 of the automatic control method for emergency vehicles in an embodiment of the present invention;

[0023] Figure 4 It is a schematic flowchart of step S13 of the automatic control method for emergency vehicles in an embodiment of the present invention;

[0024] Figure 5 It is a schematic flowchart of step S14 of the automatic control method for emergency vehicles in an embodiment of the present invention;

[0025] Figure 6 It is a schematic flowchart of step S15 of the automatic control method for emergency vehicles in an embodiment of the present invention;

[0026] Figure 7 It is a schematic flowchart of step S16 of the automatic control method for emergency vehicles in an embodiment of the present invention;

[0027] Figure 8 It is a schematic diagram of the structural composition of the automatic control system for emergency vehicles in an embodiment of the present invention. Detailed implementation manners

[0028] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention.

[0029] Please refer to Figures 1 to 8 , an automatic control method for emergency vehicles, which is applied to the automatic control scenario of emergency vehicles; the automatic control method for emergency vehicles includes:

[0030] Step S11: Determine multiple fire parts of the emergency area based on the detection of the location of the emergency area;

[0031] Step S12: Determine the movement path of the emergency vehicle relative to the emergency area according to multiple fire parts of the emergency area, the relative distance between the emergency vehicle and the emergency area, and the load state of the emergency vehicle;

[0032] Step S13: Determine multiple rescue nodes in the movement path based on the movement path, multiple fire parts of the emergency area, and the rescue tools equipped on the emergency vehicle;

[0033] Step S14: 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;

[0034] Step S15: Optimize the rescue means of the emergency vehicle based on the current rescue mode of the emergency vehicle, the current attitude of the emergency vehicle, and the status of the corresponding fire section;

[0035] Step S16: Trigger the collaborative rescue of the surrounding vehicles and the emergency vehicle according to the disaster situation change event of the fire section.

[0036] Reference Figure 2 , in step S11, determine multiple fire sections of the emergency area based on the detection of the location of the emergency area;

[0037] In the specific implementation process of the present invention, the specific steps are as follows:

[0038] S111: Determine the emergency area based on the urban database, the emergency signal, and multiple images captured by the drone, and mark the location of the emergency area;

[0039] S112: Determine the type of emergency in 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;

[0040] S113: If the type of emergency in the emergency area is a fire type, then determine multiple fire sections of the emergency area based on the detection of the location of the emergency area.

[0041] In the embodiment of the present application, determining the emergency area based on the urban database, the emergency signal, and multiple images captured by the drone, and marking the location of the emergency area, takes into account the overall consideration of the urban database, the emergency signal, and multiple images captured by the drone, ensuring the accuracy of the emergency area.

[0042] At this time, the urban database contains key data such as the geographical information, building layout, road network, and location of fire-fighting facilities of the city; the emergency signal comes from fire alarms, smoke detectors, manual alarm buttons, etc.; after receiving these signals, the system will immediately analyze them and extract key information such as the specific location and type of the emergency event.

[0043] At the same time, the drone is quickly dispatched to the airspace over the suspected emergency area; the drone is equipped with a high-definition camera and a thermal imager to capture on-site images; using image recognition technology and thermal imaging analysis, identify fire features such as flames and smoke, as well as auxiliary information such as crowd gathering and traffic conditions; comprehensively compare and analyze the urban database information, the emergency signal, and the analysis results of the drone images; determine the specific location and scope of the emergency area, which is a closed space including the fire scene and its surrounding affected areas; mark the location of the emergency area, including key coordinates such as the boundary and the center point.

[0044] Furthermore, the emergency type of the emergency area is determined based on the location of the emergency area, the shape of the emergency area, and the real-time image of the emergency area, taking into account the location, shape, and real-time image of the emergency area as a whole, ensuring the accuracy of the emergency type of the emergency area.

[0045] At this time, analyze the location of the emergency area, considering the geographical location of the emergency area, the surrounding environment (such as building type, population density, traffic conditions, etc.), and historical disaster records; through drone photography or on-site monitoring videos, observe the shape, size, and dynamic changes of the emergency area (such as the trend of fire spread, the direction of smoke diffusion, etc.). The morphological information provides intuitive features of the emergency event, helping to further narrow down the scope of the emergency type.

[0046] Use image recognition technology (such as deep learning methods) to analyze the real-time image; identify key features in the image, such as flame color, smoke type, human behavior, etc.; the real-time image analysis provides detailed information about the emergency event and is the key basis for determining the emergency type; furthermore, comprehensively compare and analyze the location of the emergency area, the shape of the emergency area, and the image analysis results, based on the preset emergency type recognition rules and databases, as well as expert experience and historical cases; determine the emergency type of the emergency area, such as fire, earthquake, flood, chemical leak, explosion, etc.

[0047] Specifically, assume that in an industrial park in a certain city, around 3 pm, a suspected chemical leak 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 is mainly composed of chemical enterprises and there have been multiple chemical leak incidents in history; therefore, it was initially judged that this emergency event was related to a chemical leak; subsequently, drones were dispatched to the scene for investigation; through the video taken by the drones, it was observed that a pipeline of a chemical facility in the park was broken and a large amount of white smoke was spraying out from the break and spreading rapidly around, and these morphological features were consistent with a chemical leak.

[0048] At the same time, the emergency management center also received the real-time image taken by the surveillance cameras in the park; through image recognition technology, the chemical component features in the white smoke were identified, further confirming that this was a chemical leak incident; based on the comprehensive analysis of the location, shape, and image results, the emergency management center finally determined that the type of this emergency event was a chemical leak; subsequently, the corresponding emergency plan was immediately activated, professional rescue teams were organized for disposal, and surrounding enterprises and residents were notified to take protective measures.

[0049] Therefore, if the emergency type in 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, realizing the detection of the location of the emergency area and ensuring the accuracy of multiple fire parts of the emergency area.

[0050] At this time, in step S112, the emergency type has been determined to be a fire through the comprehensive analysis of the emergency area; on-site inspections are carried out using equipment such as drones, cameras on fire trucks, and thermal imagers; the specific location, boundaries, and the trend of fire spread at the fire scene are accurately recorded. At the same time, key features such as the color, brightness, and shape of the flames, as well as the concentration and diffusion direction of the smoke, are identified. Combining the on-site inspection and image analysis results, the fire scene is divided into multiple fire parts; the division of the fire parts is based on factors such as the concentrated area of the flames, the boundary of the fire spread, and the building structure; each fire part represents a relatively independent area of the fire situation and requires separate rescue strategies and resource allocations.

[0051] In an 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 parts; the fire part matching table is shown in Table 1:

[0052] Table 1 Fire Part Matching Table

[0053]

[0054] Assume that the location of the emergency area is Area A and the emergency type is a fire type. Then, according to the fire part matching table, the multiple fire parts of Area A are determined to be the warehouse, the power distribution room, and the office.

[0055] Reference Figure 3 , in step S12, the movement path of the emergency vehicle relative to the emergency area is determined based on the multiple fire parts of the emergency area, the relative distance between the emergency vehicle and the emergency area, and the load status of the emergency vehicle;

[0056] In the specific implementation process of the present invention, the specific steps are as follows:

[0057] S121: Collect multiple fire parts of the emergency area and determine the spatial positions of the multiple fire parts;

[0058] S122: Determine the relative distance between the emergency vehicle and the emergency area based on the comparison between the location of the emergency vehicle and the location of the emergency area;

[0059] S123: Collect multiple load characteristics based on the load detection of the emergency vehicle, and determine the load status of the emergency vehicle according to the multiple load characteristics, the moving speed of the emergency vehicle, and the model of the emergency vehicle;

[0060] S124: Interact the spatial locations of multiple fire sections, the relative distances between emergency vehicles and emergency areas, and the load status of emergency vehicles. Determine the movement path of an emergency vehicle relative to the emergency area 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 movement path and provides dynamic rescue for multiple fire sections.

[0061] In an embodiment of the present application, multiple fire sections in the emergency area are collected, the spatial locations of the multiple fire sections are determined, and the spatial locations of the multiple fire sections are introduced.

[0062] At this time, multiple fire sections in the emergency area are collected to further control the multiple fire sections. At the same time, using GIS (Geographic Information System) technology, precise coordinates of the fire site and its surrounding key points are obtained through GPS (Global Positioning System) devices; drones or ground robots are used for on-site investigation, and the spatial location information of the fire sections is transmitted back in real time.

[0063] Furthermore, the relative distance between the emergency vehicle and the emergency area is determined based on the comparison of the location of the emergency vehicle and the location of the emergency area, ensuring the accuracy of the relative distance between the emergency vehicle and the emergency area.

[0064] At this time, the emergency vehicle should be equipped with a GPS positioning system to transmit the current location information of the vehicle in real time; the emergency command center receives and displays the real-time locations of all emergency vehicles through the monitoring platform; the location of the emergency area is marked and stored through a Geographic Information System (GIS); in case of emergencies such as fires, the location of the emergency area is reported by on-site personnel or determined through a sensor network.

[0065] Use GIS software to compare the location of the emergency vehicle with the location of the emergency area; calculate the straight-line distance or the shortest path distance between the two in a geospatial manner; when considering factors such as road conditions and traffic congestion, a more complex path planning method needs to be used to calculate the actual driving distance; the locations of the emergency vehicle and the emergency area 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 also change due to fire spread or other factors and need to be updated in a timely manner.

[0066] 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 according to the multiple load characteristics, the moving speed of the emergency vehicle, and the model of the emergency vehicle, taking into account the overall consideration of the multiple load characteristics, the moving speed of the emergency vehicle, and the model of the emergency vehicle, ensuring the accuracy of the load status of the emergency vehicle.

[0067] At this time, load detection is performed on the emergency vehicle, and multiple load characteristics are introduced to evaluate the quantity and types of rescue materials carried on the emergency vehicle, such as fire hoses, fire extinguishing agents, rescue tools, etc.; the structural integrity of the vehicle is inspected, including the carriage, frame, suspension system, etc., to ensure that they can withstand the loads during emergency operations.

[0068] The load capacity of the vehicle is affected by its current moving speed; for example, when driving at high speed, the stability and maneuverability of the vehicle decrease, thus affecting its load capacity; when planning an emergency response, the maximum safe speed of the vehicle and the appropriate speed under a specific load need to be considered; different types of emergency vehicles have different load capacities and characteristics; for example, heavy fire trucks can carry more water and equipment, but are restricted in driving on narrow roads; based on the vehicle model and the technical specifications provided by the manufacturer, its load status can be evaluated more accurately; integrating the above information, the load status of the emergency vehicle is classified, such as fully loaded, partially loaded, empty, etc., which helps the emergency command center make more informed decisions when dispatching vehicles to ensure that the dispatched vehicles can meet the on-site requirements.

[0069] Therefore, by interacting 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, 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 dynamically rescues multiple fire parts, 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.

[0070] At this time, information such as 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 is integrated. These information come from different data sources, such as GIS systems, GPS positioning systems, vehicle monitoring systems, etc., and need to be unified in format and unit for comprehensive analysis.

[0071] Calculate the optimal moving path of the emergency vehicle based on the integrated information; the considerations include the urgency of the fire parts, the load status of the emergency vehicle, road conditions, traffic congestion, etc.; during the movement of the emergency vehicle, adjust and optimize the path dynamically according to the actual situation; for example, if the fire situation in a certain fire part suddenly intensifies, the path needs to be re-planned to give priority to dealing with this part; or, if the load status of a certain emergency vehicle changes (such as a large amount of fire extinguishing agent is consumed), tasks need to be re-allocated or other vehicles need to be dispatched for support.

[0072] Emergency vehicles move along the pre-planned routes and conduct dynamic rescue according to the actual situation at the fire scene, which includes using fire-fighting equipment to extinguish fires, evacuating trapped people, rescuing property, etc.; communication should be maintained among emergency vehicles to share information and coordinate actions in a timely manner.

[0073] Specifically, assume that 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 intensity, and urgency of each part have been determined through the GIS system and on-site investigation; the current positions of Vehicle A and Vehicle B, their relative distances from the fire scene, and their respective load statuses have been obtained through the GPS positioning system and vehicle monitoring system.

[0074] Using the A* method, considering the urgency of the fire parts, the load statuses of Vehicle A and Vehicle B, and the road conditions, two optimal moving routes are calculated; the path planning results show that Vehicle A should give priority to rescuing the part with the largest fire, while Vehicle B is responsible for dealing with other smaller fire parts; on the way for Vehicle A to the part with the largest fire, the command center receives a report that the fire in this part has suddenly intensified and more fire extinguishing agents are needed; the command center immediately adjusts the plan, decides to dispatch Vehicle B to carry additional fire extinguishing agents to support Vehicle A, and re-plans the path of Vehicle B; at the same time, the command center also dispatches other resources, such as fire helicopters and water rescue teams, to deal with the emerging emergency situations.

[0075] Vehicle A and Vehicle B move along the pre-planned routes and quickly carry out rescue operations after arriving at the fire scene; Vehicle A uses a high-pressure water gun and foam fire extinguishing agent to extinguish the part with the largest fire and successfully evacuates the trapped people; while supporting Vehicle A, Vehicle B also deals with other smaller fire parts and ensures the safety of the surrounding areas.

[0076] Reference Figure 4 , in step S13, based on the moving path, multiple fire parts in the emergency area, and the rescue tools configured on the emergency vehicles, multiple rescue nodes in the moving path are determined;

[0077] In the specific implementation process of the present invention, the specific steps are as follows:

[0078] S131: Collect the corresponding rescue signals based on the traversal of the emergency vehicle, and determine the rescue tools configured on the emergency vehicle according to the traceability of the rescue signals;

[0079] S132: Collect multiple fire parts in the emergency area, and determine the corresponding fire extinguishing positions according to the detection of multiple fire parts in the emergency area;

[0080] S133: Interact the movement path, each fire extinguishing position, and the rescue tools equipped on the emergency vehicle. Determine the first node parameters based on the movement path and each fire extinguishing position, determine the second node parameters based on the movement path and the rescue tools equipped on the emergency vehicle, and determine multiple rescue nodes in the movement path based on the first node parameters, the second node parameters, and the movement path.

[0081] In the embodiments of the present application, the corresponding rescue signals are collected based on the traversal of the emergency vehicle, and the rescue tools equipped on the emergency vehicle are determined according to the traceability of the rescue signals, ensuring the accuracy of the rescue tools equipped on the emergency vehicle.

[0082] At this time, when the emergency vehicle enters the emergency response area, the sensors and devices on the vehicle start to work, and conduct traversal monitoring of the surrounding environment. These sensors include temperature sensors, smoke detectors, infrared cameras, voice recognition systems, etc., for capturing various rescue signals; the rescue signals come from detectors at the fire scene, alarm systems, voices of people calling for help, video monitoring systems, etc.

[0083] 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 ranking, etc., to determine which signals are emergency signals that need to be immediately responded to; according to 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 fire extinguishing agents, cutting tools, rescue stretchers, breathing apparatuses, etc., specifically depending on factors such as the type of fire, the injury situation of personnel, and the on-site environment.

[0084] Furthermore, multiple fire parts in the emergency area are collected, and the corresponding fire extinguishing positions are determined according to the detection of the multiple fire parts in the emergency area, ensuring the accuracy of the fire extinguishing positions.

[0085] At this time, in the emergency response stage, it is first necessary to conduct a comprehensive and rapid scan and monitoring of the entire emergency area to identify all fire parts. This involves using 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.

[0086] The collected data will be further analyzed and processed to identify specific parts of the fire, including the location, size, and spread trend of the fire. Through these analyses, the actual situation at the fire scene can be understood more accurately, providing key information for determining the fire extinguishing positions subsequently; after understanding multiple parts of the fire at the fire scene, it is necessary to determine the optimal fire extinguishing positions based on factors such as the severity of the fire, the spread trend, the surrounding environment, and the personnel distribution; the selection of the fire extinguishing positions needs to consider multiple factors, such as the accessibility of the fire water source, the effective coverage range of the fire extinguishing agent, and the safe evacuation routes for personnel; once the fire extinguishing positions are determined, corresponding fire extinguishing strategies and action plans will be formulated, including dispatching emergency vehicles, allocating fire extinguishing resources, and organizing personnel evacuation.

[0087] Therefore, the mobile path, each fire extinguishing position, and the rescue tools equipped on the emergency vehicle are interacted. The first node parameters are determined based on the mobile path and each fire extinguishing position, and the second node parameters are determined based on the mobile path and the rescue tools equipped on the emergency vehicle. Based on the first node parameters, the second node parameters, and the mobile path, multiple rescue nodes in the mobile path are determined, taking into account the overall consideration of the first node parameters, the second node parameters, and the mobile path, ensuring the accuracy of the multiple rescue nodes in the mobile path.

[0088] At this time, the previously determined mobile path (obtained in step S124), each fire extinguishing position (determined in step S132), and the rescue tools equipped on the emergency vehicle (determined in step S131) are interacted and integrated; based on the mobile path and each fire extinguishing position, 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 extinguishing positions, and the emergency vehicle stops at these positions so that firefighters can quickly approach the fire scene to extinguish the fire; the first node parameters include the position of the node, parking requirements, safety conditions, etc.

[0089] Based on the mobile path and the rescue tools equipped on the emergency vehicle, the nodes (i.e., the second nodes) where the emergency vehicle needs to replenish supplies, replace tools, or conduct personnel rotation are determined. These nodes are preset supply stations, tool replacement points, or personnel rest areas; the second node parameters include the position of the node, the types and quantities of the required supplies and tools, and the requirements for personnel rotation, etc.

[0090] Based on the first node parameters, the second node parameters, and the actual situation of the mobile path (such as road conditions, traffic congestion, weather conditions, etc.), multiple rescue nodes of the emergency vehicle in the entire mobile path are determined. These rescue nodes are key positions where the emergency vehicle needs to stop during the execution of tasks. They support the smooth progress of the emergency response and ensure the safety and efficiency of firefighters and emergency personnel.

[0091] Specifically, assume that a large - scale fire has occurred in an industrial park. The emergency command center has determined the movement paths of emergency vehicles, various fire - fighting positions, and the equipped rescue tools; 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 positions, the emergency command center determines two first nodes: one is a safe area near the north of the fire scene, and the other is another safe area near the south of the fire scene. These two nodes are the positions where emergency vehicles stop so that firefighters can quickly approach the fire scene for fire - fighting.

[0092] Considering that emergency vehicles need to replenish fire extinguishing agents and replace tools, the emergency command center determines 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 ability of emergency vehicles.

[0093] Integrating the parameters of the first nodes, the parameters of the second node, and the actual situation of the movement paths (such as road conditions and traffic congestion in the industrial park), the emergency command center determines the following rescue nodes:

[0094] The first rescue node: After the emergency vehicle departs from the starting point, it first stops at the safe area in the north (the first node), and firefighters get off to conduct preliminary fire - fighting; 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 departs again and stops at the safe area in the south (another first node), and firefighters get off to conduct further fire - fighting and rescue work; as needed, the emergency command center also determines other rescue nodes to support the continuous progress of the emergency response.

[0095] Reference Figure 5 In step S14, according to multiple rescue nodes, multiple fire parts in the emergency area, and the rescue scope of the emergency vehicle, determine the rescue mode of the emergency vehicle at each rescue node;

[0096] In the specific implementation process of the present invention, the specific steps are as follows:

[0097] S141: Collect multiple rescue nodes and match corresponding rescue tasks based on the multiple rescue nodes;

[0098] S142: In each rescue node, determine the rescue scope of the emergency vehicle based on the corresponding fire part and the matching of the rescue tools equipped on the emergency vehicle;

[0099] S143: Based on multiple rescue nodes, multiple fire parts in the emergency area, and the rescue scope of the emergency vehicle, determine multiple rescue combinations, and determine the rescue mode of the emergency vehicle at each rescue node according to the identification of the multiple rescue combinations.

[0100] 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 section and the rescue tools configured on the emergency vehicle, ensuring the accuracy of the rescue scope of the emergency vehicle.

[0101] At this time, from the multiple rescue node information obtained in the previous steps (such as S133), detailed collection and collation are carried out. These rescue nodes include preset emergency parking points, supply stations, personnel evacuation gathering 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.

[0102] According to the characteristics and capabilities of each rescue node, as well as the overall requirements of the emergency response, specific rescue tasks are assigned to each node. These tasks include but are not limited to: fire extinguishing, rescue (searching for and rescuing trapped personnel, transferring the wounded), material resupply (providing water, food, fuel, medical supplies, etc.), personnel evacuation, temporary shelter, information transmission, etc.; the matching process needs to comprehensively consider various factors such as the severity of the fire, the spread trend, the population density of the affected area, weather conditions, traffic conditions, etc.

[0103] Specifically, assume that a fire breaks out in a large industrial park. The emergency command center has determined multiple rescue nodes and needs to match specific rescue tasks for these nodes.

[0104] Rescue Node 1: Located in an open area near the fire scene, away from flammable and explosive items, and close to the main road, it is easy to reach quickly; this node is assigned as a fire extinguishing node, and the emergency vehicle will stop here and use tools such as water guns and foam agents for fire extinguishing operations.

[0105] Rescue Node 2: Located in a safe area at the edge of the industrial park, 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 gathering point, responsible for receiving the people evacuated from the fire scene and providing temporary shelter and preliminary medical assistance.

[0106] Rescue Node 3: Located near the material warehouse in the industrial park, with convenient transportation and sufficient storage space; this node is assigned as a material supply station, responsible for storing and distributing emergency supplies such as food, water, medical supplies, fire extinguishing agents, etc., to support the needs of other rescue nodes.

[0107] Rescue Node 4: Located near the main entrance and exit of the industrial park, facilitating coordination with external rescue forces and material exchange; this node is assigned as an information transmission center, responsible for collecting, collating, and analyzing information from each rescue node, reporting to the emergency command center in a timely manner, and adjusting the rescue strategy according to the instructions.

[0108] Furthermore, it is necessary to understand in detail the specific situation of the fire part corresponding to each rescue node, including the fire type (such as solid material fire, liquid fire, gas fire, etc.), the size of the fire, the spreading trend, and whether dangerous chemicals are involved. This information is crucial for determining the rescue scope of emergency vehicles and selecting appropriate rescue tools.

[0109] Next, it is necessary to evaluate the type, quantity, performance, and applicable scope of the rescue tools equipped on the emergency vehicle. 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 fire extinguishing ability, rescue efficiency, ease of operation, and safety of the tools.

[0110] Based on the analysis of the fire part and the rescue tools, match the two to determine which tools are applicable to which fire parts. This step needs to consider the matching degree 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, according to the matching results of the fire part and the rescue tools, combined with the mobility and accessibility of the emergency vehicle, determine the rescue scope of the emergency vehicle at each rescue node; The rescue scope includes specific fire extinguishing areas, rescue paths, material supply areas, etc.; The rescue scope includes specific fire extinguishing areas, rescue paths, material supply areas, etc.

[0111] Specifically, assume that a fire breaks out in a large warehouse. The emergency command center has determined multiple rescue nodes and needs to determine the rescue scope of the emergency vehicle for each node.

[0112] Rescue Node A: Located in the north of the warehouse, the fire type is solid material fire, the fire is relatively large but the spreading speed is slow; The emergency vehicle is equipped with a water gun and a foam fire extinguisher; According to the fire type and the tool capabilities, determine the rescue scope of the emergency vehicle at Rescue Node A as a specific area in the north of the warehouse. Use the water gun to extinguish the fire, and the foam fire extinguisher is used to extinguish small fires spreading to flammable items.

[0113] Rescue Node B: Located in the middle of the warehouse, the fire type is liquid fire, the fire is fierce and spreading rapidly; The emergency vehicle is equipped with a dry powder fire extinguisher and a cutting tool; Considering the characteristics of liquid fire and the applicable scope of dry powder fire extinguishers, determine the rescue scope of the emergency vehicle at Rescue Node B as a specific area in the middle of the warehouse. Use the dry powder fire extinguisher to extinguish the fire, and the cutting tool is used to break through obstacles so that rescue personnel can approach the fire source for fire extinguishing and rescue.

[0114] Ambulance Node C: Located in the south of the warehouse, far from the fire source, but there are many trapped people in need of rescue; the emergency vehicle is equipped with rescue stretchers and medical equipment; according to the rescue needs, it is determined that the rescue scope of the emergency vehicle at Ambulance Node C is the safe area in the south of the warehouse, which is used to receive and transfer trapped people and provide preliminary medical assistance.

[0115] Furthermore, based on multiple ambulance nodes, multiple fire parts in the emergency area, and the rescue scope of the emergency vehicle, multiple rescue combinations are determined, and according to the identification of multiple rescue combinations, the rescue mode of the emergency vehicle at each ambulance node is determined, which takes into account the overall consideration of multiple ambulance nodes, multiple fire parts in the emergency area, and the rescue scope of the emergency vehicle, ensuring the accuracy of multiple rescue combinations.

[0116] At this time, carefully analyze the geographical location relationship, fire spread trend, and potential risk factors between each ambulance node and multiple fire parts in the emergency area; determine which ambulance nodes are closest to the fire parts and which nodes serve as support points or material supply stations; based on the rescue scope of the emergency vehicle and the characteristics of the fire parts (such as fire type, fire size, whether dangerous chemicals are involved, etc.), determine which vehicles are suitable for operating in which fire parts; consider the mobility, accessibility, and tool configuration of the vehicles to ensure that the vehicles can effectively respond to the fire within their rescue scope.

[0117] According to the corresponding relationship between the ambulance nodes and the fire parts and the rescue scope of the emergency vehicle, combine multiple ambulance nodes and emergency vehicles to form multiple rescue combinations; each rescue combination should include emergency vehicles, support vehicles, material supply points, and personnel evacuation gathering points responsible for specific fire parts, etc.; assign a unique identifier to each rescue combination for easy tracking and management during the emergency response process; according to the characteristics and needs of the rescue combination, determine the rescue mode of the emergency vehicle at each ambulance node, which includes various modes such as centralized fire extinguishing, zoned rescue, cyclic resupply, and personnel evacuation; the rescue mode should take into account the dynamic changes at the fire scene to ensure the flexibility and adaptability of the emergency response.

[0118] Specifically, assume that a fire breaks out in a large industrial park. The emergency command center has determined multiple ambulance nodes and the rescue scope of the emergency vehicle, and needs to form multiple rescue combinations to determine the rescue mode.

[0119] Analysis of the corresponding relationship between ambulance nodes and fire parts:

[0120] Ambulance Node 1: Located in the north of the industrial park, close to Fire Part A (solid material fire, relatively large fire); Ambulance Node 2: Located in the middle of the industrial park, close to Fire Part B (liquid fire, fierce fire); Ambulance Node 3: Located in the south of the industrial park, far from the fire source, which can be used as a personnel evacuation gathering point and a material supply station.

[0121] The rescue scope of the emergency vehicle matches the fire part:

[0122] Emergency vehicle 1: Equipped with a water gun and a foam fire extinguisher, suitable for fire extinguishing operations in Fire Area A; Emergency vehicle 2: Equipped with a dry powder fire extinguisher and cutting tools, suitable for fire extinguishing and rescue operations in Fire Area B; Emergency vehicle 3: As a support vehicle, carrying additional supplies and equipment, and can support other vehicles when needed.

[0123] Form rescue combinations:

[0124] Rescue combination 1: Consisting of Emergency vehicle 1 and Rescue node 1, responsible for fire extinguishing operations in Fire Area A; Rescue combination 2: Consisting of Emergency vehicle 2, Rescue node 2 and Support vehicle 3 (when needed), responsible for fire extinguishing and rescue operations in Fire Area B; Rescue combination 3: Consisting of Rescue node 3 and a standby emergency vehicle (not directly involved in fire extinguishing but ready to support at any time), responsible for personnel evacuation and material supply.

[0125] Determine the rescue mode:

[0126] Rescue combination 1 adopts a centralized fire extinguishing mode to fully extinguish the fire in Fire Area A; Rescue combination 2 adopts a zonal rescue mode, giving priority to rescuing the trapped personnel in Fire Area B and using a dry powder fire extinguisher to control the fire; after the fire is under control, it can be switched to a centralized fire extinguishing mode; Rescue combination 3 adopts a cyclic supply and personnel evacuation mode to ensure that Rescue node 3 always has sufficient supplies and equipment for other combinations to use, and orderly evacuate the personnel in the industrial park.

[0127] In an embodiment of the present application, the rescue scopes of the rescue nodes, fire parts and emergency vehicles are matched to determine the rescue combinations; the rescue mode matching table is shown in Table 2:

[0128] Table 2 Rescue mode matching table

[0129]

[0130] In this rescue mode matching table, according to the positions of the rescue nodes, the distribution of the fire parts and the rescue scopes of the emergency vehicles, multiple nodes, fire parts and vehicles are combined to form four rescue combinations; each combination clearly defines the fire part it is responsible for, the emergency vehicle and its rescue scope.

[0131] Reference Figure 6 , in step S15, optimize the rescue means of the emergency vehicle based on the current rescue mode of the emergency vehicle, the current attitude of the emergency vehicle and the state of the corresponding fire part;

[0132] In the specific implementation process of the present invention, the specific steps are:

[0133] S151: In each rescue node, the emergency vehicle conducts targeted rescue on the fire area along the corresponding rescue mode;

[0134] S152: Collect multiple attitude parameters of the emergency vehicle during the rescue process in real time, and determine the current attitude of the emergency vehicle based on the multiple attitude parameters, the rescue direction of the rescue tool, and the moving direction of the emergency vehicle;

[0135] S153: Determine the state of the fire area based on the detection of the fire area;

[0136] S154: Interact the current rescue mode of the emergency vehicle, the current attitude of the emergency vehicle, and the state of the corresponding fire area, determine an optimization event based on the interaction of the current rescue mode of the emergency vehicle, the current attitude of the emergency vehicle, and the state of the corresponding fire area, and optimize the rescue means of the emergency vehicle according to this optimization event to ensure the automatic control of the emergency vehicle for the dynamically changing fire area.

[0137] In the embodiment of the present application, in each rescue node, the emergency vehicle conducts targeted rescue on the fire area along the corresponding rescue mode; collect multiple attitude parameters of the emergency vehicle during the rescue process in real time, and determine the current attitude of the emergency vehicle based on the multiple attitude parameters, the rescue direction of the rescue tool, and the moving direction of the emergency vehicle, which incorporates the overall consideration of multiple attitude parameters, the rescue direction of the rescue tool, and the moving direction of the emergency vehicle, and ensures the accuracy of the current attitude of the emergency vehicle.

[0138] At this time, the emergency response team has determined multiple rescue nodes according to the actual situation of the fire scene and assigned corresponding rescue modes to each node. These rescue modes include centralized fire extinguishing, zoned rescue, material supply, personnel evacuation, etc.; the emergency vehicle quickly arrives at the designated rescue node according to the dispatching instruction; during the arrival process, the vehicle should keep the communication unblocked so as to receive new instructions or information at any time.

[0139] After arriving at the ambulance node, the driver and operator of the emergency vehicle need to quickly identify the specific location of the fire area, the size of the fire, the spread trend, and the ambulance targets (such as trapped people, important equipment, etc.); according to the previously determined ambulance mode, the operator of the emergency vehicle activates the corresponding ambulance procedures; for example, if the ambulance mode is centralized fire extinguishing, then the operator will activate equipment such as water guns or foam fire extinguishers to directly extinguish the fire in the fire area; if the ambulance mode is zoned rescue, then the operator will organize a rescue team to enter the fire scene to search for trapped people; during the ambulance process, the operator of the emergency vehicle needs to closely monitor the changes in the fire scene, and flexibly adjust the ambulance 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 ambulance task.

[0140] Furthermore, various sensors such as gyroscopes, accelerometers, and angle sensors are installed on the emergency vehicle to collect the attitude parameters of the vehicle in real time. These parameters include the tilt angle, pitch angle, yaw angle, acceleration, etc. of the vehicle; the collected raw data needs to be preprocessed, 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 by wireless or wired means.

[0141] According to the usage situation of the ambulance tools (such as water guns, ladders, demolition tools, etc.) on the emergency vehicle, determine their directions relative to the vehicle body. This requires a comprehensive judgment by combining the vehicle attitude parameters and the operation instructions of the ambulance tools; through means such as GPS positioning and inertial navigation systems, obtain the moving direction and speed of the emergency vehicle in real time. These information helps to judge whether the vehicle is driving along the predetermined route and whether it is necessary to adjust the driving direction to better adapt to the ambulance task; by combining multiple attitude parameters, the ambulance direction of the ambulance tools, and the moving direction of the emergency vehicle, analyze to determine the current attitude of the emergency vehicle, which includes the overall tilt situation of the vehicle, the pointing of the ambulance tools, and the relative position relationship between the vehicle and the fire scene, etc.

[0142] According to the determined current attitude, if it is found that the vehicle attitude does not meet the requirements of the ambulance task (such as excessive tilt, deviation in direction, etc.), the central control system will issue an adjustment instruction to guide the driver or operator to adjust the vehicle attitude to ensure the smooth progress of the ambulance task; at the same time, the system will also feedback the adjustment result to the driver or operator so as to understand the change situation of the vehicle attitude;

[0143] Furthermore, determining the state of the fire area based on the detection of the fire area ensures the accuracy of the state of the fire area.

[0144] At this time, fire detection devices such as infrared thermal imagers, smoke detectors, and flame detectors are deployed at the fire scene or areas with potential fire risks. These devices can monitor key indicators such as the temperature, smoke concentration, and presence or absence of flames at the fire scene in real time. The fire detection devices transmit the real-time collected data to the central control system or data analysis platform. The system preprocesses the received data, such as filtering, denoising, and calibration, to improve the accuracy and reliability of the data.

[0145] From the analyzed and 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, spread trend, and impact range of the fire. Combining the extracted fire characteristics with the preset fire status judgment criteria, the system judges the status of the fire part. The status includes incipient fire, mid-stage fire, intense combustion, fire under control, and fire extinguished, etc. According to the changes at 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 timely understand the latest situation at the fire scene so as to make correct decisions and actions.

[0146] Therefore, the current rescue mode of the emergency vehicle, the current posture of the emergency vehicle, and the status of the corresponding fire part are interacted, and an 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 status of the corresponding fire part. And the rescue means of the emergency vehicle is optimized according to this optimization event to ensure that the emergency vehicle conducts automatic control on the fire part in dynamic change, realizing the automatic control of the emergency vehicle.

[0147] At this time, the control system on the emergency vehicle integrates information from multiple sources, including the current rescue mode (such as centralized fire extinguishing, zoned rescue, etc.), the current posture parameters of the vehicle (such as tilt angle, acceleration, etc.), and the status of the fire part (such as flame size, spread trend, etc.). This information is interacted in real time through the vehicle internal network or wireless communication. The control system analyzes and evaluates the integrated information to identify the mismatch or potential risks between the current state of the vehicle and the requirements of the fire scene, which involves predicting the stability of the vehicle posture, rescue efficiency, and fire development trend. Based on the results of data analysis, the control system determines the key events that need to be optimized. These events include adjusting the rescue mode to more effectively respond to the fire, adjusting the vehicle posture to improve stability or fire extinguishing efficiency, or reallocating rescue resources to deal with new fire hotspots.

[0148] For the identified optimization events, the control system formulates specific optimization strategies, which involve adjusting the speed, direction, or attitude of the vehicle, switching or combining the use of different rescue tools, or adjusting the task allocation of the rescue team; the control system automatically executes the optimization strategies to adjust 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 strategies 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, and 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 effect of the optimization strategies.

[0149] In an embodiment of the present application, the current rescue mode of the emergency vehicle, the current attitude of the emergency vehicle, and the state of the corresponding part of the fire are interacted, and optimization events are determined based on this information, and then the rescue means of the emergency vehicle are optimized to achieve automatic control of the dynamically changing part of the fire; the optimization event matching table is shown in Table 3:

[0150] Table 3 Optimization Event Matching Table

[0151]

[0152] Explanation: Optimization event: The optimization goal determined according to the current situation, such as increasing the fire extinguishing force, stabilizing the vehicle attitude, etc.; Current rescue mode: The type of rescue task currently executed by the emergency vehicle, such as centralized fire extinguishing, zoned rescue, etc.; Current attitude condition: The current attitude stability of the emergency vehicle, such as attitude stable, attitude imbalance, attitude tilt, etc.; Fire part state: The specific situation at the fire scene, such as rapid fire spread, high smoke concentration, fire under control, new hot spots emerging, etc.; Optimization means: The optimization measures taken according to the optimization event and the current conditions, such as increasing the number of water guns, stabilizing the vehicle attitude, accelerating the material supply speed, etc.

[0153] Suppose the emergency vehicle is performing a zoned rescue task, and at this time, the fire is spreading rapidly in an area of the fire scene and the vehicle attitude is stable; according to the optimization event matching table, the optimization event is A (increasing the fire extinguishing force), and the optimization means are increasing the number of water guns and adjusting the spraying angle; the emergency vehicle control system will automatically adjust the rescue mode, increase the number of water guns, and adjust the spraying angle to more effectively extinguish the rapidly spreading fire.

[0154] Reference Figure 7 , in step S16, the collaborative rescue of the surrounding vehicles and the emergency vehicle is triggered according to the disaster situation change event of the fire part;

[0155] In the specific implementation process of the present invention, the specific steps are as follows:

[0156] S161: Monitor the fire area in real time and determine the change events of the fire area based on the fire images in different periods in the fire area;

[0157] S162: Determine the disaster situation change events of the fire area based on the change events of the fire area and the inventory of internal combustion aids in the fire area;

[0158] S163: Determine the degree of change of the fire area based on the disaster situation change events of the fire area;

[0159] S164: If the degree of change of the fire area gradually becomes serious, traverse the vehicles based on the location of the emergency vehicles, locate the surrounding vehicles, determine the collaborative rescue relationship according to the surrounding vehicles and the emergency vehicles, and implement the collaborative rescue between the surrounding vehicles and the emergency vehicles.

[0160] In the embodiment of the present application, the fire area is monitored in real time, and the change events of the fire area are determined based on the fire images in different periods in the fire area.

[0161] At this time, advanced monitoring devices, such as high-definition cameras, infrared thermal imagers, etc., are deployed at the fire scene or potential fire risk areas. These devices can capture the images and videos of the fire scene in real time; the monitoring system is connected to the central control room or the emergency response center to ensure that the real-time monitoring data can be quickly transmitted to the analysts or the automatic analysis system.

[0162] The monitoring device collects the 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 the image quality and analysis accuracy; extract the fire characteristics from the real-time images, such as the color, shape, texture of the flame, and the concentration, diffusion speed of the smoke, etc.; through pattern recognition technology, identify the flame and smoke areas in the image to provide a basis for the determination of subsequent change events.

[0163] Compare the fire images at different time points, analyze the change trends of the flame and smoke, such as the spreading speed of the flame, the diffusion range of the smoke, etc.; according to the preset definition of fire change events (such as flame spread, fire intensification, smoke diffusion, etc.), combined with the analysis results of the real-time images, determine the change events of the fire area; once it is determined that there are significant changes in the fire area, such as the flame spreading to a new area or the fire intensifying significantly, the system should immediately trigger an alarm and notify the emergency response team; the emergency response team takes corresponding countermeasures according to the type and severity of the change events, such as increasing the fire extinguishing force, adjusting the rescue strategy, etc.

[0164] Specifically, assume a fire breaks out in a warehouse. The emergency response team quickly arrives at the scene and activates 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 devices collect image data of the fire scene in real time, including the raging flames and the spreading smoke. In the data preprocessing stage, the images are enhanced and denoised to improve the analysis accuracy. 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 images are successfully identified. By comparing the fire images at different time points, it is found that the flames spread rapidly from a corner of the warehouse to the entire warehouse, and the diffusion range of the smoke is also constantly expanding. According to the predefined fire change event definition, it is determined that significant changes have occurred in the fire area, namely flame spread and smoke diffusion. The system immediately triggers an alarm to notify the emergency response team. The team quickly increases the fire extinguishing force, adjusts the rescue strategy, and strengthens the on-site safety protection measures according to the type and severity of the change event.

[0165] Furthermore, the disaster situation change event of the fire area is determined based on the change event of the fire area and the inventory of the internal combustibles in the fire area, which incorporates the overall consideration of the change event of the fire area and the inventory of the internal combustibles in the fire area, ensuring the accuracy of the disaster situation change event of the fire area.

[0166] At this time, obtain the change event information of the fire scene from S161 or other monitoring systems, such as the flame spread speed, smoke diffusion situation, fire intensification or weakening, etc. At the same time, understand the types, quantities, and distribution locations of the combustibles existing inside the fire scene. Analyze the impact of these combustibles on the development of the fire according to their types and properties, such as accelerating the fire spread, increasing the explosion risk, generating toxic smoke, etc. Consider the inventory quantity and distribution location of the combustibles to evaluate their impact on the fire diffusion speed and range.

[0167] Combining the fire change event information and the combustible evaluation results, determine the disaster situation change event of the fire area. The disaster situation change events include a sharp increase in the fire intensity, an increase in the explosion risk, the spread of toxic smoke, etc. These events are crucial for formulating the emergency response strategy as they directly affect the safety of rescue personnel, the choice of fire extinguishing strategy, and the formulation of the evacuation plan. Update the emergency response plan in a timely manner according to the determined disaster situation change event to ensure the effectiveness and safety of the rescue operation, which involves measures such as adjusting the fire extinguishing strategy, increasing the rescue force, and changing the evacuation route.

[0168] Specifically, assume that a chemical plant catches fire and the emergency response team is on-site for rescue; through image analysis of the monitoring system, it is found that the fire is rapidly spreading to a storage area of the chemical plant; meanwhile, sensor data shows that the temperature in this area is rising sharply and the smoke concentration is also increasing continuously;

[0169] The emergency response team learns that there are a large number of flammable chemicals stored in this storage area, including methanol, acetone, etc. The inventory of these chemicals is large and they are densely distributed, which increases the spread speed of the fire and the explosion risk; considering the flammability and explosiveness of methanol and acetone, the team assesses that these chemicals will accelerate the spread of the fire and trigger an explosion; at the same time, the smoke generated by the combustion of these chemicals contains toxic components, posing a threat to rescue workers and the surrounding environment; combining the fire change event information and the assessment results of the combustibles, the team determines that the disaster situation change event is the rapid intensification of the fire and the increase in the explosion risk.

[0170] According to the determined disaster situation change event, the team immediately updates the emergency response plan, increases the fire extinguishing force, and mobilizes more fire trucks and firefighters to the scene; at the same time, changes the evacuation route to ensure that rescue workers and the surrounding residents can evacuate the fire area quickly and safely;

[0171] Furthermore, based on the disaster situation change event of the fire part, the change degree of the fire part is determined, and the change degree of the fire part is introduced.

[0172] At this time, a detailed analysis is carried out on the disaster situation change event determined in step S162, including the spread speed of the fire, the intensity of the flame, the concentration and spread range of the smoke, whether there is an explosion risk, the release of toxic gases, etc. These events provide direct information on the dynamic changes at the fire scene and are the basis for evaluating the change degree of the fire part.

[0173] According to the professional knowledge and experience of fire emergency response, a series of criteria for evaluating the change degree of the fire part are set. These criteria include the speed range of flame spread, the threshold of smoke concentration, the classification of explosion risk levels, etc.; the setting of the criteria should consider the impact of factors such as fire type, building structure, types and quantities of combustibles on the development of the fire.

[0174] Compare the disaster situation change event with the set evaluation criteria, and determine the change degree of the fire part according to the degree of compliance; the change degree is divided into several levels such as slight, medium, severe, and extremely severe; each level corresponds to different emergency response strategies and measures.

[0175] When determining the degree of change in the fire area, it is also necessary to consider potential risks and consequences, such as the impact of the fire on surrounding buildings and people, environmental pollution, etc. These factors affect the formulation and adjustment of emergency response strategies; record the determined degree of change in the fire area and report it to the emergency response team and relevant departments, which helps team members understand the latest situation at the fire scene and make correct decisions and actions.

[0176] Specifically, assume that a residential building is on fire and the emergency response team is on the scene for rescue; through the monitoring system and on-site observation, the team finds that the flames quickly spread from the first floor to the second floor, the smoke concentration is increasing continuously, and there are also explosion sounds; at the same time, some residents report that there are elderly people and children trapped in the building.

[0177] Based on the professional knowledge and experience of fire emergency response, the team sets the following evaluation criteria: a flame spread speed exceeding 5 meters per minute is considered severe, a smoke concentration reaching a certain level resulting in a visibility lower than 10 meters is considered medium, and the presence of explosion sounds is considered extremely severe; comparing the disaster situation change event with the evaluation criteria, the team determines that the degree of change in the fire area is extremely severe; the fast flame spread speed, high smoke concentration, and the presence of explosion sounds all meet the extremely severe evaluation criteria.

[0178] The team also takes into account the impact of the fire on surrounding residential buildings and the safety risks of the trapped elderly and children. These factors prompt the team to take more rapid and effective emergency response measures; the team records the determined degree of change in the fire area and reports it to the emergency response center and relevant departments; the report content includes the latest situation at the fire scene, the evaluation result of the degree of change, and the emergency response measures.

[0179] Therefore, if the degree of change in the fire area gradually becomes severe, vehicle traversal is performed based on the location of the emergency vehicles, and the surrounding vehicles are located. The cooperative rescue relationship is determined based on the surrounding vehicles and the emergency vehicles, and the cooperative rescue between the surrounding vehicles and the emergency vehicles is realized.

[0180] At this time, in step S163, the degree of change in the fire area has been determined; this step first checks whether the degree of change is gradually severe and reaches or exceeds the preset severe threshold; if the degree of fire change is indeed severe, the cooperative rescue procedure needs to be started.

[0181] Use GPS or other positioning technologies to determine the precise locations of on-site emergency vehicles (such as fire trucks, ambulances, etc.). The location information of these vehicles is crucial for subsequent vehicle traversal and cooperative rescue; through the traffic management system or the emergency response network, query and locate the available vehicles around the fire scene, including other fire trucks, ambulances, police cars, and civilian volunteer vehicles. The locations, types, equipment, and personnel situations of these vehicles will be recorded for subsequent task allocation.

[0182] According to the actual situation at the fire scene, such as the size of the fire, the location of trapped people, potential dangerous 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 vehicles, which includes designating certain vehicles to be responsible for fire extinguishing, some for evacuating people, some for medical rescue, etc.; through wireless communication or other communication means, send clear instructions and task assignments to all vehicles participating in the collaborative rescue; ensure that each vehicle understands its tasks, action routes, the collaborative methods with other vehicles, and the response measures in case of emergencies; during the execution of tasks, maintain continuous communication to adjust strategies or provide additional support according to the actual situation.

[0183] Specifically, assume that a fire breaks out in a commercial area, the fire spreads rapidly, and there are a large number of people trapped; the emergency response team determines through the monitoring system and on-site observation that the degree of change in the fire area has become extremely serious, and the collaborative rescue procedure needs to be initiated immediately; using GPS positioning technology, confirm the positions of two fire trucks and an ambulance already at the scene; one fire truck is located on the north side of the fire scene, the other is on the east side, and the ambulance is on the west entrance; through the emergency response network, it is found that there is also a spare fire truck, two ambulances, and a police car available nearby, and these vehicles 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 respectively.

[0184] Based on the actual situation at the fire scene, the team decides that the fire truck on the north side is responsible for the main fire extinguishing task, the fire truck on the east side is responsible for evacuating the trapped people, the ambulance on the west side is responsible for on-site first aid, and the spare fire truck is on standby as a reinforcement force; at the same time, the police car from the police station on the east side is responsible for blocking the surrounding roads to ensure the smoothness of the rescue passage; in addition, the second ambulance transferred from the hospital serves as a backup medical force and is ready to receive the transferred wounded at any time; the team sends clear instructions and task assignments to all vehicles participating in the collaborative rescue through wireless communication; each vehicle acts quickly and launches the rescue according to the predetermined plan; the fire truck on the north side uses high-pressure water guns to suppress the fire, and the fire truck on the east side uses ladders and stretchers to evacuate the trapped people; the ambulance on the west side sets up a first aid station at the scene to conduct preliminary treatment on the wounded; the spare fire truck and the police car serve as reinforcement and road-blocking forces respectively to ensure the efficiency and safety of the rescue operation; during the rescue process, the team maintains continuous communication and adjusts strategies according to the actual situation, such as increasing the fire extinguishing force, adjusting the evacuation route, etc.; finally, with the joint efforts of all parties, the fire is effectively controlled, all the trapped people are safely evacuated, and the wounded are also treated in a timely manner.

[0185] Please refer to Figure 8 , Figure 8 which is a schematic diagram of the structural composition of the automatic control system of the emergency vehicle in the embodiment of the present invention;

[0186] As shown Figure 8 in the figure, an automated control system for an emergency vehicle, the automated control system for the emergency vehicle includes:

[0187] A detection module 21, configured to determine multiple fire parts of the emergency area based on the detection of the location of the emergency area;

[0188] A movement path module 22, configured to determine the movement path of the emergency vehicle relative to the emergency area according to multiple fire parts of the emergency area, the relative distance between the emergency vehicle and the emergency area, and the load state of the emergency vehicle;

[0189] An ambulance node module 23, configured to determine multiple ambulance nodes in the movement path based on the movement path, multiple fire parts of the emergency area, and the ambulance tools configured on the emergency vehicle;

[0190] An ambulance mode module 24, configured to determine the ambulance mode of the emergency vehicle at each ambulance node according to multiple ambulance nodes, multiple fire parts of the emergency area, and the ambulance range of the emergency vehicle;

[0191] An ambulance means module 25, configured to optimize the ambulance means of the emergency vehicle based on the current ambulance mode of the emergency vehicle, the current attitude of the emergency vehicle, and the state of the corresponding fire part;

[0192] A collaborative ambulance module 26, configured to trigger the collaborative ambulance of surrounding vehicles and the emergency vehicle according to the disaster situation change event of the fire part.

[0193] For any combination of the technical features of the above embodiments, for the sake of brevity of description, 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, it should be considered as the scope described in 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; Determining the rescue mode of the emergency vehicle at each rescue node according to multiple rescue nodes, multiple fire parts in the emergency area, and the rescue range of the emergency vehicle, including: collecting multiple rescue nodes, and matching corresponding rescue tasks based on the multiple rescue nodes; determining the rescue range of the emergency vehicle in each rescue node based on the matching of the corresponding fire part and the rescue tools equipped by the emergency vehicle; determining multiple rescue combinations based on the multiple rescue nodes, multiple fire parts in the emergency area, and the rescue range of the emergency vehicle, and determining the rescue mode of the emergency vehicle at each rescue node according to the identification of the multiple rescue combinations; 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, including: in each rescue node, the emergency vehicle performs targeted rescue on the fire part along the corresponding rescue mode; 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; 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 an 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 of 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 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.

6. 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.

7. The automatic control method of an emergency vehicle according to claim 6, 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.

8. 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 7, 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 in the emergency area, and the rescue range of the emergency vehicle, including: collecting multiple rescue nodes, and matching corresponding rescue tasks based on the multiple rescue nodes; in each rescue node, determining the rescue range of the emergency vehicle based on the matching of the corresponding fire part and the rescue tools equipped by the emergency vehicle; determining multiple rescue combinations based on multiple rescue nodes, multiple fire parts in the emergency area, and the rescue range of the emergency vehicle, and determining the rescue mode of the emergency vehicle at each rescue node according to the identification of the multiple rescue combinations; The rescue means module is used to optimize 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, including: in each rescue node, the emergency vehicle performs targeted rescue on the fire part along the corresponding rescue mode; real-time collection of multiple posture parameters of the emergency vehicle during the rescue process, and determination of the current posture of the emergency vehicle based on multiple posture parameters, the rescue direction of the rescue tool and the moving direction of the emergency vehicle; The collaborative rescue module is used to trigger the collaborative rescue of surrounding vehicles and emergency vehicles according to the disaster change events of the fire part.

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