Emergency video data processing method and system

Abstract

The invention provides an emergency video data processing method and system, and the method comprises the steps: obtaining alarm time sequence information corresponding to detection equipment, determining an emergency monitoring region according to the alarm time sequence information, determining internal navigation data and external navigation data based on the layout information of the emergency monitoring region, and carrying out the processing of the internal navigation data and the external navigation data. Determining an internal shooting node according to the internal navigation data, receiving internal video data collected by an internal investigation device based on the internal shooting node, determining an external shooting node based on the external navigation data, receiving external video data collected by an external investigation device based on the external shooting node, and constructing a real-time display template corresponding to the internal shooting node and the external shooting node, and summarizing and processing the internal video data and the external video data based on the real-time display template to obtain emergency monitoring data, so that accurate and comprehensive fire scene data can be obtained.

Description

Technical Field

[0001] The present invention relates to data processing technologies, and in particular, to an emergency video data processing method and system. Background Art

[0002] In the event of a fire, a prompt and accurate emergency response is crucial for reducing casualties and property losses. However, the fire scene is often accompanied by thick smoke, high temperature, and chaotic situations, which pose great challenges to rescue workers.

[0003] In the prior art, the monitoring of the fire scene mainly relies on the manual observation of firefighters and simple sensor devices. Rescue workers will enter the fire scene to observe the spread of flames, smoke, and fire intensity with the naked eye, and at the same time use handheld thermometers, smoke detectors, and other devices to evaluate the fire intensity at the scene. However, the fire scene is complex, and in the case of fierce fire and thick smoke, it is often difficult for firefighters to conduct a comprehensive and detailed investigation and evaluation of the fire scene, which may lead to difficulty in accurately obtaining all key information, thus possibly affecting the formulation of fire extinguishing strategies.

[0004] Therefore, how to obtain accurate and comprehensive fire scene data has become an urgent problem to be solved. Summary of the Invention

[0005] The present invention provides an emergency video data processing method and system, which can obtain accurate and comprehensive fire scene data.

[0006] In a first aspect of the present invention, there is provided an emergency video data processing method, including: Obtaining alarm timing information corresponding to a detection device, determining an emergency monitoring area according to the alarm timing information, and determining internal navigation data and external navigation data based on the layout information of the emergency monitoring area; Determining internal shooting nodes according to the internal navigation data, and receiving internal video data collected by an internal reconnaissance device based on the internal shooting nodes; Determining external shooting nodes based on the external navigation data, and receiving external video data collected by an external reconnaissance device based on the external shooting nodes; Constructing a real-time display template corresponding to the internal shooting nodes and the external shooting nodes, and performing summary processing on the internal video data and the external video data based on the real-time display template to obtain emergency monitoring data.

[0007] Optionally, in a possible implementation manner of the first aspect, obtaining alarm timing information corresponding to a detection device, determining an emergency monitoring area according to the alarm timing information, and determining internal navigation data and external navigation data based on the layout information of the emergency monitoring area includes: Arrange the detection devices in chronological order according to the alarm times corresponding to the alarm information of each detection device to obtain an alarm time sequence, and determine that the configuration areas corresponding to the detection devices are emergency monitoring areas; Obtain the arrangement serial numbers of the detection devices in the alarm time sequence, and obtain the total warning coefficients corresponding to the emergency monitoring areas according to the warning coefficients corresponding to the arrangement serial numbers, where the arrangement serial numbers and the warning coefficients are in an inverse relationship; Obtain the sub-layout map of the emergency monitoring area and the layout map of the target building according to the layout information, obtain the monitoring points configured for each emergency monitoring area by the management end based on the total warning coefficient and the sub-layout map, and obtain the internal navigation data according to the monitoring points; Generate a detection circular route corresponding to the target building based on the total warning coefficient and the layout map, and obtain the external navigation data according to the detection circular route.

[0008] Optionally, in a possible implementation manner of the first aspect, obtaining the monitoring points configured for each emergency monitoring area by the management end based on the total warning coefficient and the sub-layout map, and obtaining the internal navigation data according to the monitoring points includes: Determine the emergency monitoring areas with the total warning coefficient greater than or equal to the safety coefficient threshold as dangerous areas, and determine the emergency monitoring areas with the total warning coefficient less than the safety coefficient threshold as spreading areas; Obtain the monitoring points configured for the dangerous areas by the management end based on the sub-layout map; Determine the detection sub-areas corresponding to the detection devices in the spreading areas, obtain the regional center points corresponding to the detection sub-areas, and connect the regional center points in sequence according to the alarm time sequence to obtain a monitoring route; Obtain the shooting distance of the internal detection device, determine a plurality of monitoring points at intervals of the shooting distance on the monitoring route, and obtain the internal navigation data according to the monitoring points.

[0009] Optionally, in a possible implementation manner of the first aspect, generating a detection circular route corresponding to the target building based on the total warning coefficient and the layout map, and obtaining the external navigation data according to the detection circular route includes: Count the comprehensive warning coefficients corresponding to the total warning coefficients, obtain an adjustment coefficient according to the ratio of the comprehensive warning coefficient to the reference warning coefficient, and obtain an adjusted safety distance according to the product of the adjustment coefficient and the reference safety distance; Obtain the building top-down outline corresponding to the target building in the layout map, determine the center point of the building top-down outline as the positioning point, and obtain the point-to-point distances between the contour points in the building top-down outline and the positioning point; Sum the maximum point - to - point distance and the adjusted safety distance to obtain the flight radius. Taking the positioning point as the center, generate a detection circular route based on the flight radius, and obtain the external navigation data according to the detection circular route.

[0010] Optionally, in a possible implementation manner of the first aspect, determine internal shooting nodes according to the internal navigation data, and receive internal video data collected by the internal reconnaissance device based on the internal shooting nodes, including: Obtain the current position point of the internal reconnaissance device, and generate an initial path corresponding to the internal reconnaissance device with the current position point as the starting point and the monitoring points corresponding to the internal navigation data as the ending points; Receive real - time infrared images collected by the internal reconnaissance device based on the initial path, and update the initial path according to the real - time infrared images to obtain a real - time indication path; Obtain the real - time distance between the internal reconnaissance device and the monitoring points. When the real - time distance is less than or equal to the safety detection distance, determine the current position point of the internal reconnaissance device as the internal shooting node; Determine the abnormal area in the real - time infrared image, control the center point of the shooting interface of the internal reconnaissance device to align with the center point of the abnormal area, and control the internal reconnaissance device to perform video acquisition based on the internal shooting node to obtain internal video data.

[0011] Optionally, in a possible implementation manner of the first aspect, receive real - time infrared images collected by the internal reconnaissance device based on the initial path, and update the initial path according to the real - time infrared images to obtain a real - time indication path, including: Obtain the pixel points with pixel values in the abnormal pixel interval in the real - time infrared image as abnormal pixel points, and generate an abnormal area according to adjacent abnormal pixel points; Control the center point of the shooting interface of the internal reconnaissance device to align with the center point of the abnormal area, and obtain the horizontal rotation angle when the internal reconnaissance device is aligned; Determine the real - time position point of the internal reconnaissance device in the sub - layout diagram, and obtain the initial shooting direction corresponding to the real - time position point based on the preset shooting parameters of the internal reconnaissance device; Adjust the initial shooting direction according to the horizontal rotation angle to obtain an adjusted shooting direction, and obtain the obstacle measurement distance of the ranging module of the internal reconnaissance device in the adjusted shooting direction; Determine an obstacle point at a distance of the obstacle measurement distance from the real - time position point in the adjusted shooting direction. When the obstacle point is on the initial path, generate a real - time indication path with the real - time position point of the internal reconnaissance device as the starting point and the monitoring points as the ending points.

[0012] Optionally, in a possible implementation of the first aspect, an external shooting node is determined based on the external navigation data, and external video data collected by an external reconnaissance device based on the external shooting node is received, including: Obtain comprehensive video data collected by the external reconnaissance device based on the detection circumferential route corresponding to the external navigation data; Extract the building outlines in each video frame of the comprehensive video data, determine the pixel points whose pixel values in the building outline are not within the building pixel interval as target pixel points, and obtain a target area according to adjacent target pixel points; Determine the target area with the number of pixel points greater than the pixel number threshold as the monitorable area, and determine the video frame with the monitorable area as the target frame; Obtain the position point when the external reconnaissance device shoots the target frame as the external shooting node, and control the external reconnaissance device to perform video acquisition based on the external shooting node to obtain external video data.

[0013] Optionally, in a possible implementation of the first aspect, a real-time display template corresponding to the internal shooting node and the external shooting node is constructed, and the internal video data and the external video data are summarized and processed based on the real-time display template to obtain emergency monitoring data, including: Count the first quantity of the internal shooting nodes and the second quantity of the external shooting nodes, and obtain a division ratio according to the ratio of the first quantity to the second quantity; Retrieve the initial display template, and divide the initial display template according to the first division direction and the division ratio to obtain an internal display area corresponding to the internal shooting node and an external display area corresponding to the external shooting node; Obtain the risk coefficients of each internal shooting node and external shooting node, and perform secondary division on the internal display area and the external display area according to the risk coefficients to obtain sub-display areas corresponding to the internal shooting nodes and the external shooting nodes; Based on the sub-display areas, display the internal video data corresponding to the corresponding internal shooting nodes, or display the external video data corresponding to the corresponding external shooting nodes based on the sub-display areas to obtain the emergency monitoring data.

[0014] Optionally, in a possible implementation of the first aspect, obtain the risk coefficients of each internal shooting node and external shooting node, and perform secondary division on the internal display area and the external display area according to the risk coefficients to obtain sub-display areas corresponding to each internal shooting node and external shooting node, including: Determine the first abnormal area of the abnormal area in each of the internal video data, count the first area mean value of each of the first abnormal areas, and obtain the risk coefficient of each of the internal shooting nodes according to the ratio of the first abnormal area to the first area mean value; Obtain the second abnormal area of the monitorable area in each of the external video data, count the second area mean value of each of the second abnormal areas, and obtain the risk coefficient of each of the external shooting nodes according to the ratio of the second abnormal area to the second area mean value; When there is no risk coefficient greater than or equal to the risk threshold, evenly divide the internal display area based on the first quantity, and evenly divide the external display area based on the second quantity to obtain a plurality of sub-display areas; When there is a risk coefficient greater than or equal to the risk threshold, determine the corresponding internal shooting node as the first risk node, and determine the corresponding external shooting node as the second risk node; Evenly divide the internal display area according to the first node quantity corresponding to the first risk node, and evenly divide the external display area according to the second node quantity of the second risk node to obtain a plurality of sub-displays.

[0015] In a second aspect of the present invention, there is provided an emergency video data processing system, including: An acquisition module, configured to acquire the alarm timing information corresponding to the detection device, determine the emergency monitoring area according to the alarm timing information, and determine the internal navigation data and the external navigation data based on the layout information of the emergency monitoring area; A determination module, configured to determine the internal shooting nodes according to the internal navigation data, and receive the internal video data collected by the internal reconnaissance device based on the internal shooting nodes; A receiving module, configured to determine the external shooting nodes based on the external navigation data, and receive the external video data collected by the external reconnaissance device based on the external shooting nodes; A construction module, configured to construct a real-time display template corresponding to the internal shooting nodes and the external shooting nodes, and perform summary processing on the internal video data and the external video data based on the real-time display template to obtain emergency monitoring data.

[0016] The beneficial effects of the present invention are as follows: 1. The present invention can simultaneously dispatch drones and high-temperature resistant detection robots to cooperate inside and outside a burning building. The drones are responsible for high-altitude monitoring outside the building to obtain external video data of the fire scene, while the high-temperature resistant detection robots enter the building interior for detailed fire situation investigation and video collection to obtain internal video data. By aggregating the external and internal video data, it is possible to monitor the fire scene comprehensively and from multiple angles, and the video data can be displayed through a real-time display template, thereby enabling real-time display of the fire scene situation, facilitating emergency firefighters to understand the changes in the fire situation in real time and make more accurate judgments and decisions.

[0017] 2. When obtaining internal and external video data, the present invention can combine the layout information of the building to provide precise navigation data for the video collection devices of the internal and external reconnaissance devices. Specifically, the internal reconnaissance device can be guided by internal navigation data to penetrate deep into the fire scene for detailed fire situation investigation to obtain relatively comprehensive internal video data, and the external reconnaissance device can be guided by external navigation data to conduct high-altitude monitoring outside the building to obtain external video data, providing comprehensive fire situation information for the fire extinguishing and rescue operations of emergency firefighters.

[0018] 3. The present invention can synchronously display internal and external video data by constructing a real-time display template, providing a relatively comprehensive view of the fire scene for emergency firefighters, enabling them to intuitively and real-time understand the situation of the fire scene, and improving the accuracy and timeliness of decision-making. The present invention can dynamically divide the real-time display template based on the number of internal and external shooting nodes to obtain an internal display area and an external display area, and can further divide the internal and external display areas in combination with the risk coefficients corresponding to each shooting node to ensure that the most urgent video data can be displayed first. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic flowchart of an emergency video data processing method provided by an embodiment of the present invention; Figure 2 is a schematic diagram of a detection circumferential route provided by an embodiment of the present invention; Figure 3 is a schematic diagram of a horizontal rotation angle provided by an embodiment of the present invention; Figure 4 is a schematic structural diagram of an emergency video data processing system provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are only a part rather than all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0021] The technical solutions of the present invention will be described in detail below with specific embodiments. These specific embodiments may be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0022] See Figure 1 , which is a schematic diagram of an emergency video data processing method provided by an embodiment of the present invention. Figure 1 The execution subject of the method shown may be a software and / or hardware device. The execution subject of the present application may include, but is not limited to, at least one of the following: user equipment, network equipment, etc. Among them, the user equipment may include, but is not limited to, a computer, a smart phone, a personal digital assistant (Personal Digital Assistant, abbreviated as: PDA), and the electronic devices mentioned above. The network equipment may include, but is not limited to, a single network server, a server group composed of multiple network servers, or a cloud composed of a large number of computers or network servers based on cloud computing. Among them, cloud computing is a type of distributed computing, which is composed of a group of loosely coupled computers to form a super virtual computer. This embodiment does not make any restrictions. It includes steps S1 to S4, specifically as follows: S1, obtain the alarm time series information corresponding to the detection device, determine the emergency monitoring area according to the alarm time series information, and determine the internal navigation data and the external navigation data based on the layout information of the emergency monitoring area.

[0023] Among them, the detection device refers to a device that can monitor various data at the fire scene in real time. For example, it can be a smoke alarm. The alarm time series information refers to the moment information when the detection device issues an alarm. The emergency monitoring area refers to the area where a fire may occur. The layout information refers to the layout map of the building where the fire occurs, including the layout maps of various facilities inside the building and the layout map outside the building. The internal navigation data refers to the data for navigating the video acquisition device entering the building interior. For example, it can be the data for navigating a high-temperature resistant detection robot. The external navigation data refers to the data for navigating the video acquisition device for collecting video data outside the building. For example, it can be the data for navigating a drone.

[0024] It is understandable that the real-time monitoring data of the fire scene can provide accurate fire information for firefighters. When a fire occurs, in order to quickly obtain the real-time monitoring data of the fire scene, this solution can simultaneously dispatch drones and high-temperature-resistant detection robots to cooperate inside and outside the building where the fire occurs. The drone is responsible for high-altitude monitoring outside the building to obtain a global view of the fire scene, while the high-temperature-resistant detection robot enters the building to conduct detailed fire investigation and video collection. By summarizing and analyzing these video data, information such as the accurate location of the fire source and the trend of flame spread can be provided for firefighters, providing more accurate reference data for firefighters, and thus guiding subsequent fire extinguishing and rescue operations.

[0025] In practical applications, detection devices such as smoke alarms are generally configured at key positions in buildings, such as in areas like power distribution rooms, corridors, and stairwells. The detection devices can continuously monitor the surrounding environment. Once flames or abnormal high temperatures are detected, an alarm will be immediately triggered. Therefore, the time when each detection device issues an alarm, that is, the alarm timing information, can be obtained. And when the smoke alarm issues an alarm, the area where a fire may occur can be determined, and the corresponding area can be designated as the emergency monitoring area. The layout information of the building can be obtained, including the internal layout information of the building and the external layout information of the building. Combining the internal layout information, that is, the layout information corresponding to the emergency monitoring area, a path for the high-temperature-resistant detection robot to conduct internal video monitoring can be planned to generate internal navigation data. Combining the layout information of the external structure of the building, a flight route for the drone to conduct external video monitoring can be planned to generate external navigation data. Subsequently, the drone or the detection robot can be controlled to collect videos of the building where the fire occurs according to the corresponding navigation data.

[0026] In some embodiments, the specific implementation manner of step S1 can be: S11. Arrange each of the detection devices in chronological order according to the alarm time corresponding to the alarm information of each detection device to obtain an alarm timing sequence, and determine the configuration area corresponding to each detection device as the emergency monitoring area.

[0027] Specifically, when each detection device detects fire characteristics such as smoke and high temperature, it can emit an alarm signal and record the time when each detection device emits the alarm signal, that is, the alarm time. Since the occurrence and spread of a fire is a dynamic process, the fire starts from the initial point and gradually spreads outwards. Therefore, the alarm times of each detection device may be different. Arranging the detection devices that emit alarms in chronological order can obtain an alarm time sequence. The alarm time sequence can clearly reflect the entire process of the fire from its inception to its spread. And the detection device that emits the earliest alarm is usually located in the initial area where the fire occurs, such as the area where a power strip with multiple high-power electrical appliances is connected at the same time. As the fire spreads, subsequent detection devices will emit alarms in turn. The locations of these devices can reflect the spread path of the fire. The configured areas of the detection devices that emit alarms can be analyzed. These areas are the areas where the fire occurs and may spread. The configured areas of the detection devices that emit alarms can be determined as the emergency monitoring areas.

[0028] Among them, the alarm information refers to the alarm signal emitted by the detection device after detecting fire characteristics. The alarm time refers to the specific time point when the detection device emits the alarm signal. The alarm time sequence refers to the sequence of arranging each detection device in the order of the time when the alarm signal is emitted. The configured area refers to the range area where the detection device can detect fire characteristics.

[0029] S12. Obtain the arrangement serial numbers of the detection devices in the alarm time sequence, and obtain the total warning coefficient corresponding to each emergency monitoring area according to the warning coefficients corresponding to the arrangement serial numbers. The arrangement serial number and the warning coefficient are in an inverse relationship.

[0030] When arranging the detection devices that emit alarms, each detection device has a corresponding arrangement serial number. The earlier the alarm time of the detection device, the smaller the corresponding arrangement serial number, indicating that the fire occurred earlier in the area where it is located, and the fire situation in the corresponding emergency monitoring area may be more serious. In order to distinguish the severity of the fire situation in each emergency monitoring area, the warning coefficient corresponding to each detection device can be determined in combination with the arrangement serial number of the detection device, and the total warning coefficient corresponding to the emergency monitoring area can be determined according to the detection devices in the emergency monitoring area.

[0031] Specifically, multiple arrangement serial numbers can be divided into multiple intervals, and a corresponding warning coefficient is pre-configured for each interval. Since the fire in the area corresponding to the detection device with a smaller arrangement serial number may be more serious, the arrangement serial number can be inversely proportional to the warning coefficient. The smaller the arrangement serial number, the larger the corresponding warning coefficient. Therefore, the smaller the interval, the larger the corresponding warning coefficient. Traverse each interval according to the arrangement serial number of the detection device, and determine that the warning coefficient corresponding to the interval where the arrangement serial number is located is the warning coefficient of the corresponding detection device. Since there may be multiple detection devices configured in the emergency monitoring area, adding the warning coefficients of the multiple detection devices in the emergency monitoring area can obtain the total warning coefficient corresponding to the emergency monitoring area.

[0032] Among them, the arrangement serial number can reflect the order of the detection devices sending out alarm signals, the warning coefficient is a coefficient that can be used to represent the severity of the fire in the area where the detection device is located, and the total warning coefficient is the sum of the warning coefficients corresponding to all detection devices in the emergency monitoring area.

[0033] S13. Obtain the sub-layout map of the emergency monitoring area and the layout map of the target building according to the layout information, obtain the monitoring points configured by the management end for each emergency monitoring area based on the total warning coefficient and the sub-layout map, and obtain the internal navigation data according to the monitoring points.

[0034] Specifically, by parsing the obtained layout information, the sub-layout map corresponding to the emergency monitoring area located inside the building and the layout map corresponding to the outside of the building where the fire occurs can be obtained. The management personnel of the management end can combine the total warning coefficient corresponding to each emergency monitoring area and the sub-layout map to configure multiple monitoring points for each emergency monitoring area. The monitoring points can be the position points that may be the fire source in the emergency monitoring area. For example, it can be the position point where the distribution box is located. The corresponding internal navigation data can be obtained according to the configured multiple monitoring points.

[0035] Among them, the sub-layout map is a detailed layout map of the emergency monitoring area inside the target building. Through the sub-layout map, the specific location, size and the layout of smoke alarms in the area of the emergency monitoring area can be shown in detail. The target building is the building where the fire occurs. The layout map is the overall layout map corresponding to the target building. Through the layout map, the overall structure of the building and the location distribution of each room can be shown. The monitoring points are set at the specific position points where the fire may occur, and the monitoring points can be used to monitor the occurrence and spread of the fire in real time.

[0036] In some embodiments, "obtain the monitoring points configured by the management end for each emergency monitoring area based on the total warning coefficient and the sub-layout map, and obtain the internal navigation data according to the monitoring points" in step S13 includes the following steps: S131. Determine the emergency monitoring areas where the total warning coefficient is greater than or equal to the safety coefficient threshold as dangerous areas, and determine the emergency monitoring areas where the total warning coefficient is less than the safety coefficient threshold as spreading areas.

[0037] After obtaining the total warning coefficient corresponding to each emergency monitoring area, the fire severity of the emergency monitoring area can be judged according to the total warning coefficient. Specifically, in order to judge the severity of the emergency monitoring area, a safety coefficient threshold can be pre-configured. If the total warning coefficient of the emergency monitoring area is greater than or equal to the safety coefficient threshold, it can be considered that the fire situation in this emergency monitoring area may be difficult to control and is relatively serious, and this emergency monitoring area can be determined as a dangerous area. If the total warning coefficient of the emergency monitoring area is less than the safety coefficient threshold, it can be considered that the fire situation in the corresponding emergency monitoring area may be better controlled, but the fire in this area may still spread further. Therefore, this emergency monitoring area can be determined as a spreading area.

[0038] Among them, the safety coefficient threshold refers to a threshold set in advance that can be used to judge the severity of the fire situation in the emergency monitoring area. If the total warning coefficient is greater than or equal to the safety coefficient threshold, it can be considered that the fire situation in the corresponding emergency monitoring area is relatively serious. If the total warning coefficient is less than the safety coefficient threshold, it can be considered that the fire situation in the corresponding emergency monitoring area is relatively light. The dangerous area refers to the emergency monitoring area with a relatively serious fire situation, and the spreading area refers to the emergency monitoring area with a relatively light fire situation but with a risk of fire spreading.

[0039] S132. Obtain the monitoring points configured for the dangerous area by the management terminal based on the sub-layout diagram.

[0040] Specifically, for the dangerous area, the management personnel of the management terminal can combine the sub-layout diagram corresponding to the dangerous area to focus on monitoring the areas with higher fire risks and potential hazard points, such as distribution boxes, power strips, flammable material storage areas, etc. Therefore, in order to monitor the fire situation in the dangerous area more comprehensively, the management personnel can configure multiple monitoring points for the dangerous area according to the actual situation. For example, it can be the position points corresponding to the distribution boxes that may cause fires, etc. The multiple monitoring points configured by the management personnel can ensure that all key areas and potential fire hazard points in the dangerous area are covered as comprehensively as possible.

[0041] S133. Determine the detection sub-areas corresponding to each detection device in the spreading area, obtain the central points of each detection sub-area, and connect the central points of each area in sequence according to the alarm time sequence to obtain a monitoring route.

[0042] Among them, the detection sub-area refers to the sub-area corresponding to the detection device in the spreading area, the central point of the area refers to the center point of the detection sub-area, and the monitoring route refers to the route obtained by connecting the central points of each area in sequence according to the alarm time sequence.

[0043] For the spreading area, since the fire in the spreading area may spread further, when monitoring the fire situation in the spreading area, a path can be generated first, and multiple monitoring points can be determined on the corresponding path, so as to monitor the spread of the fire in the spreading area. Specifically, the area where the detection devices in each spreading area are located, that is, the detection sub-area, can be determined from the sub-layout diagram corresponding to the spreading area, and the center point corresponding to each detection sub-area, that is, the area center point, can be obtained. Since the alarm times of the detectors in different spreading areas may be different, the corresponding area center points can be connected by a path according to the arrangement order of the detection devices in the alarm time sequence to obtain the corresponding monitoring route. The spread of the fire inside the target building can be detected through the monitoring route.

[0044] S134. Obtain the shooting distance of the internal detection device, determine multiple of the monitoring points at intervals of the shooting distance on the monitoring route, and obtain internal navigation data according to the monitoring points.

[0045] Among them, the internal detection device refers to a device that can collect video data on the fire situation inside the target building. For example, it can be a heat-resistant detection robot. Each monitoring point is equipped with a corresponding internal detection device. The shooting distance refers to the distance corresponding to the internal detection device and can be used to determine the monitoring points on the monitoring route.

[0046] After obtaining the monitoring route that can detect the fire situation in multiple spreading areas, in order to obtain more comprehensive fire spread data, multiple monitoring points can be determined on the monitoring route. Specifically, the shooting distance at which the internal detection device can clearly take videos of the fire situation inside the target building can be obtained. On the monitoring route, starting from the center point of the detection sub-area corresponding to the first detection device in the alarm time sequence, a monitoring point can be determined at every interval of the shooting distance, and multiple monitoring points can be determined. The internal detection device corresponding to each monitoring point can obtain effective fire information at the corresponding position. Internal navigation data corresponding to the internal detection device can be obtained according to the multiple monitoring points.

[0047] Through the above implementation method, the initial occurrence area and the spread path of the fire can be quickly determined, which helps the emergency firefighters quickly locate the fire source, so that effective fire extinguishing measures can be taken in time.

[0048] S14. Generate a detection circumferential route corresponding to the target building based on the total warning coefficient and the layout diagram, and obtain the external navigation data according to the detection circumferential route.

[0049] In practical applications, when using a drone to collect video of the external situation of a target building on fire, since not every position outside the target building can capture the fire situation of the target building, in order to determine the position points that can capture the fire situation of the target building, the drone can be controlled to fly in a circular path around the target building, so as to collect more comprehensive data around the target building. And the flight route of the drone can be planned according to the severity of the fire and the layout diagram of the target building from a top-down perspective. Specifically, taking the target building as the center, combining the total warning coefficient and the layout corresponding to the target building, a detection circular route corresponding to the target building can be generated, and the drone can be controlled to fly according to the detection circular route to obtain more comprehensive external data of the target building, and the corresponding external navigation data can be obtained according to the obtained detection circular route.

[0050] Among them, the detection circular route refers to the collection route when collecting video of the external data of the target building.

[0051] Based on the above embodiments, the specific implementation manner of step S14 can be: S141, count the comprehensive warning coefficients corresponding to each of the total warning coefficients, obtain an adjustment coefficient according to the ratio of the comprehensive warning coefficient to the reference warning coefficient, and obtain an adjusted safety distance according to the product of the adjustment coefficient and the reference safety distance.

[0052] In practical applications, at the fire scene, factors such as fire, smoke, and high temperature may pose threats to the flight safety of the drone. And if the drone is too close to the fire source or smoke area, its camera may be blocked by smoke or affected by high temperature, resulting in the inability to clearly reflect the situation at the fire scene. In order to ensure that the drone does not get too close to dangerous areas when collecting data, a safety distance can be determined in combination with the severity of the overall fire in the target building. The more severe the fire in the target building, the larger the corresponding safety distance may be. Combining the safety distance to determine the radius when the drone flies in a circle, and then the corresponding detection circular route can be determined.

[0053] Specifically, the total warning coefficients of each emergency monitoring area can be counted to obtain a comprehensive warning coefficient that can reflect the severity of the overall fire in the target building. Calculate the ratio of the comprehensive warning coefficient to the pre-configured reference warning coefficient to obtain an adjustment coefficient. The adjustment coefficient can be used to adjust the safe flight distance of the drone according to the severity of the fire. Multiply the adjustment coefficient by the pre-configured reference safety distance to obtain the adjusted safety distance, that is, the adjusted safety distance.

[0054] Among them, the comprehensive warning coefficient refers to the sum of multiple total warning coefficients; the benchmark warning coefficient refers to the pre-set standard warning coefficient; the adjustment coefficient refers to the coefficient that can adjust the safe flight distance of the UAV; the benchmark safety distance refers to the pre-set standard safety distance when the UAV flies at the fire scene; the adjusted safety distance refers to the safety distance obtained by adjusting the benchmark safety distance in combination with the severity of the fire in the target building.

[0055] S142. Obtain the top-down building outline corresponding to the target building in the layout diagram, determine the center point of the top-down building outline as the positioning point, and obtain the point-to-point distances between each contour point in the top-down building outline and the positioning point.

[0056] In practical applications, the planning of the detection circular route needs to ensure that the UAV can collect more comprehensive external data of the target building, so as to determine the best position point for monitoring the fire situation. At the same time, it is also necessary to ensure the safety of the UAV during flight. The flight route can be planned according to the overall structure of the target building, so as to ensure the comprehensiveness of the detection circular route and the safety of the UAV during flight.

[0057] Specifically, the layout diagram corresponding to the target building can be a layout diagram from a top-down perspective. By extracting the outline of the target building in the layout diagram, the top-down building outline, that is, the building top-down outline, can be obtained. Since the center point of the building top-down outline can best represent the position of the target building, it can be selected as the positioning point. After determining the positioning point, the distances between each contour point in the building top-down outline and the positioning point can be calculated, that is, the point-to-point distances. The point-to-point distances can provide data references for determining the flight radius.

[0058] Among them, the building top-down outline refers to the outline corresponding to the target building in the layout diagram from a top-down perspective; the positioning point refers to the center point of the building top-down outline. The detection circular route generated with the positioning point as the center can ensure that the UAV fully covers the outside of the target building during flight, so as to collect comprehensive data. The point-to-point distance refers to the distance between each contour point on the building top-down outline and the positioning point.

[0059] S143. Sum the maximum point-to-point distance and the adjusted safety distance to obtain the flight radius. With the positioning point as the center, generate a detection circular route based on the flight radius, and obtain the external navigation data according to the detection circular route.

[0060] Among them, the flight radius refers to the radius when the UAV makes a circular flight around the target building with the positioning point as the center.

[0061] After obtaining the point spacings, in order to ensure that the drone can achieve a comprehensive coverage of the external environment of the target building, the maximum point spacing can be selected from multiple point spacings. The maximum point spacing can represent the farthest distance between the contour points and the center point on the top-down view contour of the building. In order to increase the flight safety of the drone on the basis of comprehensively covering the target building, the maximum point spacing and the adjusted safety distance can be summed to determine the radius of the detection circular route, that is, the flight radius of the drone. This flight radius can ensure that the drone maintains a certain safety distance from the target building during flight. Taking the positioning point as the center, a corresponding detection circular route can be generated according to the flight radius. The generated detection circular route can ensure that the drone can cover every corner of the target building, thereby achieving a comprehensive monitoring of the external environment of the target building.

[0062] When generating the detection circular route with the positioning point as the center and in combination with the flight radius, the longitude and latitude coordinates corresponding to the center can be obtained through the geographic coordinate system. The longitude and latitude of each point can be calculated by evenly distributing points on the circumference. Specifically, a geographic information system software can be used for calculation. By setting a corresponding angle interval, for example, it can be every 1°, input the longitude and latitude coordinates corresponding to the center and the flight radius into the geographic information system software, and the longitude and latitude coordinates corresponding to each point on the circumference can be output according to the set angle interval. Connect the longitude and latitude coordinates of each point on the calculated circumference into a closed circular path, and the flight height of the drone can be determined in combination with the height corresponding to the floor where the target building catches fire, so as to obtain the detection circular route when the drone flies around the target building.

[0063] See Figure 2 , which is a schematic diagram of a detection circular route provided by an embodiment of the present invention. As Figure 2 shown in, the external detection device can take the center point of the top-down view contour of the building as the center, in combination with the corresponding flight height, and fly around the target building along the detection circular route for one week to obtain more comprehensive external data.

[0064] Through the above implementation manner, the safe flight distance of the drone can be dynamically adjusted according to the severity of the fire, ensuring that the drone can not only comprehensively cover the external environment of the target building when collecting data, but also maintain a sufficient safety distance.

[0065] S2. Determine internal shooting nodes according to the internal navigation data, and receive internal video data collected by the internal detection device based on the internal shooting nodes.

[0066] In practical applications, based on each monitoring point summarized from the internal navigation data, the specific location of the possible ignition point inside the building can be determined. Since the fire scene is often accompanied by dangerous factors such as high temperature and possibly collapsing buildings, if the internal reconnaissance equipment directly goes to the fire location point for shooting, it may be damaged due to high temperature or blocked by the collapsed building and unable to obtain clear video data. Therefore, when the internal reconnaissance equipment collects video data on the fire situation inside the target building, the internal reconnaissance equipment does not directly collect video at the monitoring point, because the monitoring point may be the location point corresponding to the fire source. When collecting video, it can be shot at a corresponding safe distance from the monitoring point, and the position point during shooting can be determined by combining the monitoring points in the internal navigation data, that is, the internal shooting node. Control the internal reconnaissance equipment to go to the internal shooting node for real-time video collection, so that real-time video data at the internal shooting node can be received, that is, the internal video data.

[0067] Among them, the internal shooting node refers to the position point when collecting video on the fire situation, and the internal video data refers to the video data collected by the internal reconnaissance equipment at the internal shooting node.

[0068] In some embodiments, step S2 includes S21 to S24, specifically as follows: S21, obtain the current position point of the internal reconnaissance equipment, and generate the initial path corresponding to the internal reconnaissance equipment with the current position point as the starting point and the monitoring point corresponding to the internal navigation data as the end point.

[0069] In practical applications, the internal reconnaissance equipment can be equipped with a positioning device. For example, it can be equipped with a GPS receiver to be able to obtain the position information of the internal reconnaissance equipment in real time. Each monitoring point is equipped with a corresponding internal reconnaissance equipment. Therefore, the current position point corresponding to each internal reconnaissance equipment can be obtained according to the positioning device. With the current position point corresponding to the internal reconnaissance equipment as the starting point and the monitoring point corresponding to the internal reconnaissance equipment as the end point, combined with the path optimization algorithm, the initial path corresponding to the internal reconnaissance equipment can be generated.

[0070] Among them, the current position point refers to the position point of the internal reconnaissance equipment at the current moment, and the initial path refers to the path for the internal reconnaissance equipment to go from the current position point to the corresponding monitoring point.

[0071] S22, receive the real-time infrared image collected by the internal reconnaissance equipment based on the initial path, and update the initial path according to the real-time infrared image to obtain the real-time indication path.

[0072] In practical applications, as the fire spreads, there may be obstacles such as collapsed walls, beams, etc. on the initial path, resulting in the path being impassable. At this time, it may be necessary to make corresponding adjustments to the initial path.

[0073] Specifically, a highly sensitive infrared sensor is equipped on the internal detection device. When the internal detection device moves along the initial path, it can collect the corresponding infrared image in front of the corresponding position in real time through the configured infrared sensor. The obstacle in front of the corresponding position can be identified through the real-time infrared image. If an obstacle is found in the infrared image and the obstacle is on the initial path, the initial path can be dynamically adjusted in real time according to the position information of the obstacle in the infrared image to obtain a real-time indication path, so as to ensure that the internal detection device can avoid obstacles and reach the corresponding position to take pictures in a safer and more efficient manner.

[0074] Among them, the real-time infrared image refers to the image captured and generated in real time by the infrared sensor during the movement of the internal detection device along the initial path. The real-time indication path refers to the path obtained by dynamically adjusting the initial path in combination with the infrared image.

[0075] In some embodiments, the specific implementation manner of step S22 may be: S221, obtain the pixel points whose pixel values in the real-time infrared image are located in the abnormal pixel interval as abnormal pixel points, and generate an abnormal area according to the adjacent abnormal pixel points.

[0076] Specifically, the pixel value in the infrared image can usually reflect the thermal radiation intensity of the object. The pixel values of the pixel points in the area where the obstacle is located will be significantly different from those in other areas. An abnormal pixel interval can be pre-configured. For example, it can be the pixel value interval corresponding to the red pixel value. By traversing each pixel point of the infrared image, it is judged whether the pixel value of the pixel point is located in the set abnormal pixel interval. If it is located in the abnormal pixel interval, the pixel point can be marked as an abnormal pixel point. According to multiple adjacent abnormal pixel points, an abnormal area can be formed, and the abnormal area can represent the area with an obstacle.

[0077] Among them, the abnormal pixel interval refers to the interval corresponding to the pre-configured abnormal pixel value. The abnormal pixel point refers to the pixel point whose pixel value is located in the abnormal pixel interval. The abnormal area refers to the area formed by multiple adjacent abnormal pixel points, which can be the area with an obstacle.

[0078] S222, control the center point of the shooting interface of the internal detection device to align with the center point of the abnormal area, and obtain the horizontal rotation angle when the internal detection device is aligned.

[0079] Specifically, when the internal detection device performs real-time video acquisition on the initial path, if an abnormal area is determined from the infrared image, the center point of the shooting interface of the internal detection device can be controlled to correspond to the center point of the abnormal area, and then the horizontal rotation angle when the internal detection device is aligned can be obtained. Subsequently, the specific position of the abnormal area can be determined according to the horizontal rotation angle, so that it can be judged whether the abnormal area is located on the initial path according to the specific position of the abnormal area. If the abnormal area is located on the initial path, it may be necessary to re-plan the path.

[0080] See Figure 3 , which is a schematic diagram of a horizontal rotation angle provided by an embodiment of the present invention. As Figure 3 shown in, from a top-down perspective, the shooting interface of the internal detection device generally faces directly forward, and the abnormal area where the obstacle is located is on the side of the internal detection device. In order to determine the specific position where the obstacle is located, the center point of the shooting interface of the internal detection device can be aligned with the center point of the abnormal area, and an angle can be obtained, and this angle can be determined as the horizontal rotation angle. According to the horizontal rotation angle, the direction where the obstacle area is located can be determined, and then the specific position corresponding to the obstacle can be determined.

[0081] Among them, the horizontal rotation angle refers to the rotation angle of the direction of the internal detection device during shooting in the horizontal direction.

[0082] S223. Determine the real-time position point of the internal detection device in the sub-layout diagram, and obtain the initial shooting direction corresponding to the real-time position point based on the preset shooting parameters of the internal detection device.

[0083] Specifically, the position points of each internal detection device can be displayed in the sub-layout diagram. Therefore, the real-time position point corresponding to the internal detection device can be obtained in the sub-layout diagram. After obtaining the real-time position point, according to the preset shooting parameters when the internal detection device shoots, the initial shooting direction corresponding to the internal detection device at the real-time position point can be obtained. For example, it can be the direction directly in front of the internal detection device.

[0084] Among them, the real-time position point refers to the position point where the internal detection device is currently located in the sub-layout diagram, the preset shooting parameters refer to the parameters preset in advance when the internal detection device is configured, and the initial shooting direction can be the shooting direction directly in front of the internal detection device at the real-time position point.

[0085] S224. Adjust the initial shooting direction according to the horizontal rotation angle to obtain an adjusted shooting direction, and obtain the obstacle measurement distance of the ranging module of the internal detection device in the adjusted shooting direction.

[0086] Specifically, after obtaining the horizontal rotation angle and the initial shooting direction, the initial shooting direction can be rotated around the internal detection device according to the horizontal rotation angle. For example, if the horizontal rotation angle is the rotation angle in the top-down view and the rotation direction is counterclockwise, the initial shooting direction can be rotated by the horizontal rotation angle in the counterclockwise direction to obtain the corresponding adjusted shooting direction. Since the abnormal area is located in the adjusted shooting direction, on the adjusted shooting direction, the distance measuring module of the internal detection device, such as a laser rangefinder, can be used to measure the distance between the internal detection device and the obstacle corresponding to the abnormal area in front, that is, the obstacle distance.

[0087] Among them, the adjusted shooting direction refers to the shooting direction obtained by rotating the initial shooting direction in combination with the horizontal rotation angle, and the distance measuring module refers to the device on the internal detection device used to measure the distance to the obstacle in front.

[0088] S225. Determine an obstacle point at a distance of the obstacle measurement distance from the real-time position point in the adjusted shooting direction. When the obstacle point is located on the initial path, generate a real-time indication path with the real-time position point of the internal detection device as the starting point and the monitoring point as the ending point.

[0089] In the adjusted shooting direction, according to the obstacle distance and the real-time position point of the internal detection device, the obstacle point corresponding to the actual obstacle can be determined. Specifically, the position point at a distance of the obstacle distance from the real-time position point can be determined as the obstacle point. If the obstacle point is located on the initial path, it can be considered that there may be an obstacle on the initial path. In order to guide the internal detection device to safely bypass the obstacle, a real-time indication path avoiding the obstacle can be regenerated with the real-time position point of the internal detection device as the starting point and the corresponding monitoring point as the ending point.

[0090] S23. Obtain the real-time distance between the internal detection device and the monitoring point. When the real-time distance is less than or equal to the safe detection distance, determine the current position point of the internal detection device as the internal shooting node.

[0091] Specifically, when the internal detection device is moving along the corresponding path to the monitoring point, the real-time position point of the internal detection device can be obtained. According to the distance between the real-time position point and the monitoring point, the real-time distance between the internal detection device and the corresponding monitoring point can be obtained. When the real-time distance is less than or equal to the safe detection distance, it can be considered that the internal detection device has reached the vicinity of the monitoring point at this time, and safe and clear video acquisition operations can be performed. At this time, the internal detection device will stop moving and determine the current position point as the internal shooting node. At the internal shooting node, the internal detection device can perform shooting operations, so as to obtain the fire scene data near the monitoring point.

[0092] Among them, the real-time distance refers to the distance between the current location of the internal detection device and the monitoring point, and the safety detection distance refers to a pre-configured distance value, which can be used to determine whether the internal detection device is within the safe range. When the real-time distance is less than or equal to the safety detection distance, it can be considered that the internal detection device has reached a shooting position where it can clearly capture the fire situation at the monitoring point and is relatively safe.

[0093] S24, determine the abnormal area in the real-time infrared image, control the center point of the shooting interface of the internal detection device to align with the center point of the abnormal area, and control the internal detection device to collect internal video data based on the internal shooting node.

[0094] Specifically, the infrared image obtained by the infrared sensor can show the different temperature distribution situations in the environment. When there is an area where the temperature is significantly higher than the surrounding environment, the corresponding area can be determined as the abnormal area. The abnormal area with too high temperature may be the area where the fire source is located. In order to obtain the best monitoring perspective, the center point of the shooting interface of the internal detection device can be controlled to align with the center point of the abnormal area, and real-time video collection of the fire source situation can be carried out, and the internal video data corresponding to each internal shooting node can be obtained.

[0095] Through the above implementation manners, it is possible to ensure the safety of the internal reconnaissance device while clearly observing the fire situation, and more accurate fire scene data can be obtained.

[0096] S3, determine the external shooting node based on the external navigation data, and receive the external video data collected by the external detection device based on the external shooting node.

[0097] Among them, the external detection device refers to a device that can collect video of the periphery of the target building, such as a drone, and the external video data refers to the data collected by video recording of the periphery of the target building.

[0098] In practical applications, a fire may occur in a certain area of the target building. When collecting video, in order to be able to collect video data for the area where the fire actually occurs, the shooting position point corresponding to the specific fire area, that is, the external shooting node, can be determined according to the external navigation data. For example, it may be the position point corresponding to the window where smoke is emitted. Control the external detection device to go to the external shooting node for video collection to obtain the corresponding external video data.

[0099] Based on the above embodiments, the specific implementation manner of step S3 can be: S31, obtain the comprehensive video data collected by the external detection device based on the detection circumferential route corresponding to the external navigation data.

[0100] Specifically, by controlling the external detection device to perform video acquisition on the periphery of the target building according to the detection circular route, comprehensive video data of the periphery of the target building can be obtained. The comprehensive video data contains the real-time situation of the building periphery and can provide a basis for determining the external shooting nodes in the follow-up.

[0101] Among them, the comprehensive video data refers to the data obtained by the external detection device performing video acquisition on the periphery of the target building according to the detection circular route.

[0102] S32, extract the building outlines in each video frame of the comprehensive video data, determine the pixel points whose pixel values in the building outline are not within the building pixel interval as target pixel points, and obtain a target area according to adjacent target pixel points.

[0103] Among them, the building outline refers to the outline of the target building, the building pixel interval refers to the pixel value interval corresponding to the pixel points in the pre-configured outer wall area of the target building, and the target area refers to the other areas in the building outline except the outer wall of the target building. For example, it can be the area where the window is located.

[0104] Specifically, through image processing techniques such as edge detection techniques, the outline corresponding to the target building in each frame of video in the comprehensive video data can be extracted, that is, the building outline. The pixel values of the pixel points in different areas in the building outline may be different. For example, the pixel values of the pixel points in the building outer wall area and the pixel values of the pixel points in the area where the window is located are different. The pixel value interval corresponding to the pixel points in the building outer wall area can be pre-configured, that is, the building pixel interval. For example, it can be the pixel value interval corresponding to white.

[0105] Since the pixel values of the pixel points corresponding to the area where a fire occurs and the building outer wall area may be different, in order to enable the external detection device to reach the corresponding fire area for shooting, the target area can be determined according to the pixel points. Specifically, by comparing the pixel values of all the pixel points in the building outline with the building pixel interval, if the pixel value of a pixel point is within the building pixel interval, it can be considered that the pixel point is the pixel point corresponding to the building outer wall area. If the pixel value of a pixel point is not within the building pixel interval, it can be considered that the pixel point is not the pixel point corresponding to the building outer wall area, and the pixel point can be determined as a target pixel point. The target pixel points may represent the pixel points corresponding to areas such as windows and balconies. According to multiple adjacent target pixel points, the target area of the non-building outer wall can be determined. The target area may include the opening parts of the building, such as windows and balconies. Through the target area, the internal fire situation of the target building may be observed.

[0106] S33. Determine that a target area with the number of pixel points greater than the pixel number threshold is a monitorable area, and determine that a video frame with the monitorable area is a target frame.

[0107] In practical applications, in a video frame, the area where a fire occurs usually has a relatively large area. In order to screen out the area where a fire occurs from multiple target areas, after obtaining the target areas, a pixel number threshold can be set. For each target area, count the number of pixel points it contains. If the number of pixel points in the target area is greater than the set pixel number threshold, it can be considered that the area of the target area is relatively large and is more suitable for an external reconnaissance device to photograph the fire situation of the target building. It can be regarded as a monitorable area. After determining the monitorable area, all video frames can be traversed. If a monitorable area exists in a video frame, the video frame can be marked as a target frame. These target frames contain all the areas suitable for monitoring.

[0108] Among them, the pixel number threshold refers to the threshold that can be used to judge the area size of the target area. If the number of pixel points in the target area is greater than the pixel number threshold, it can be considered that the corresponding target area has a relatively large area. If the number of pixel points in the target area is less than the pixel number threshold, it can be considered that the corresponding target area has a relatively small area. The monitorable area refers to a target area with a large enough area and suitable for an external reconnaissance device to monitor the internal situation of the target building. The target frame refers to a video frame containing a monitorable area.

[0109] S34. Obtain the position point when the external reconnaissance device photographs the target frame as an external photographing node, and control the external reconnaissance device to perform video acquisition based on the external photographing node to obtain external video data.

[0110] Specifically, since each video frame has a corresponding photographing position point, the position point when the external reconnaissance device photographs the target frame can be obtained as an external photographing node, and the external reconnaissance device can be controlled to go to the external photographing node for video acquisition to obtain external video data.

[0111] Through the above implementation methods, the monitoring range of the external reconnaissance device can be further reduced, enabling the external reconnaissance device to more accurately locate the areas where potential fire hazards may exist and improving the video acquisition efficiency.

[0112] S4. Construct a real-time display template corresponding to the internal photographing node and the external photographing node, and perform summary processing on the internal video data and the external video data based on the real-time display template to obtain emergency monitoring data.

[0113] After obtaining the internal video data and the external video data, in order to visually and real-time display the video data collected by the internal and external shooting nodes, and facilitate the emergency firefighters to quickly understand the situation of the fire scene, the internal video data and the external video data can be synchronously displayed. Therefore, a real-time display template capable of synchronously displaying the internal video data and the external video data can be constructed, and the constructed real-time display template can be a multi-screen layout. After summarizing the internal video data and the external video data, through the multiple screens of the real-time display template for synchronous display, emergency monitoring data can be obtained, and through the emergency monitoring data, a relatively comprehensive view of the fire scene can be provided for the emergency firefighters.

[0114] Among them, the real-time display template refers to a template that can synchronously display the internal video data and the external video data, and the emergency monitoring data refers to the data displayed through the real-time display template after summarizing and processing the internal video data and the external video data.

[0115] Through the above implementation methods, it is possible to monitor the fire scene in all directions and from multiple angles, ensure the comprehensiveness and accuracy of the data, and be able to display the situation of the fire scene in real time, facilitating the emergency firefighters to understand the fire situation changes in real time and make more accurate judgments and decisions.

[0116] Based on the above embodiments, the specific implementation method of step S4 can be: S41, count the first quantity of the internal shooting nodes and the second quantity of the external shooting nodes, and obtain the division ratio according to the ratio of the first quantity and the second quantity.

[0117] When synchronously displaying the internal video data and the external video data through the real-time display template, in order to visually distinguish the internal video data and the external video data, the number of internal shooting nodes can be counted to obtain the first quantity, and the number of external shooting nodes can be counted to obtain the second quantity. By calculating the ratio of the first quantity and the second quantity, the division ratio corresponding to the internal video data and the external video data can be obtained, so as to determine the display ratio of the internal and external video data in the real-time display template.

[0118] Among them, the first quantity refers to the number of internal shooting nodes, the second quantity refers to the number of external shooting nodes, and the division ratio refers to the display ratio of the internal video data and the external video data in the display template.

[0119] S42, retrieve the initial display template, and divide the initial display template according to the first division direction and the division ratio to obtain an internal display area corresponding to the internal shooting nodes and an external display area corresponding to the external shooting nodes.

[0120] Specifically, after obtaining the division ratio, the initial display template can be retrieved and divided according to the pre-configured division direction. For example, the division direction can be from top to bottom. Combining the division ratio, the initial display template can be divided to obtain the internal display area corresponding to the internal shooting nodes and the external display area corresponding to the external shooting nodes.

[0121] For example, when the division ratio is 2:1 and the first division direction is from top to bottom, the initial display template can be divided into two upper and lower parts according to the first division direction. And 2 / 3 of the initial display template can be divided into the internal display area, and 1 / 3 of the initial display template can be divided into the external display area.

[0122] Among them, the first division direction refers to the direction for dividing the initial display template. The internal display area refers to the area in the initial display template for displaying internal video data. The external display area refers to the area in the initial display template for displaying external video data.

[0123] S43. Obtain the risk coefficients of each of the internal shooting nodes and the external shooting nodes, and perform a secondary division on the internal display area and the external display area according to the risk coefficients to obtain the sub-display areas corresponding to the internal shooting nodes and the external shooting nodes.

[0124] In practical applications, the fire situations corresponding to different shooting nodes may have different degrees of urgency. After obtaining the internal display area and the external display area, the risk coefficients of each of the internal shooting nodes and the external shooting nodes can be obtained, and the internal display area and the external display area are secondarily divided in combination with the risk coefficients. Through the secondary division, the internal display area and the external display area can be further subdivided according to the risk coefficients to obtain the corresponding sub-display areas, so that the internal video data and the external video data can be collaboratively displayed.

[0125] Among them, the risk coefficient is a coefficient that can reflect the severity of the fire. The larger the risk coefficient, the more serious the fire situation may be. The sub-display area refers to the area for displaying the video data corresponding to the shooting node.

[0126] In some embodiments, the specific implementation manner of step S43 may be: S431. Determine the first abnormal area of the abnormal area in each of the internal video data, count the first area mean of each of the first abnormal areas, and obtain the risk coefficient of each of the internal shooting nodes according to the ratio of the first abnormal area to the first area mean.

[0127] Specifically, the area corresponding to each abnormal area in the internal video data, that is, the first abnormal area, can be obtained. By calculating the average value of multiple first abnormal areas, the corresponding first area average value can be obtained. By calculating the ratio of the first abnormal area corresponding to each abnormal area to the first area average value respectively, the risk coefficient corresponding to each internal shooting node can be obtained. The larger the first abnormal area, the more serious the fire situation corresponding to the internal shooting node can be considered, and the higher the corresponding risk coefficient.

[0128] Among them, the first abnormal area refers to the area of the abnormal area in the internal video data, and the first area average value refers to the average value of multiple first abnormal areas.

[0129] S432. Obtain the second abnormal area of the monitorable area in each of the external video data, count the second area average value of each of the second abnormal areas, and obtain the risk coefficient of each of the external shooting nodes according to the ratio of the second abnormal area to the second area average value.

[0130] Specifically, the area corresponding to each monitorable area in the external video data, that is, the second abnormal area, can be obtained. By calculating the average value of multiple second abnormal areas, the corresponding second area average value can be obtained. By calculating the ratio of the second abnormal area corresponding to each monitorable area to the second area average value respectively, the risk coefficient corresponding to each external shooting node can be obtained.

[0131] Among them, the second abnormal area refers to the area of the monitorable area in the external video data, and the first area average value refers to the average value of multiple second abnormal areas.

[0132] S433. When there is no risk coefficient greater than or equal to the risk threshold, the internal display area is evenly divided based on the first quantity, and the external display area is evenly divided based on the second quantity to obtain multiple sub-display areas.

[0133] Among them, the risk threshold refers to a preset threshold that can be used to determine the size of the risk coefficient corresponding to each shooting node. If the risk coefficient is greater than or equal to the risk threshold, it can be considered that the fire situation at the corresponding shooting node may be relatively large and can be preferentially controlled. If the risk coefficient is less than the risk threshold, it can be considered that the fire situation at the corresponding shooting node is in a controllable situation and the corresponding risk is within the controllable range.

[0134] If there are no internal or external shooting nodes with a risk coefficient greater than or equal to the risk threshold, it can be considered that the fire situation at each current shooting node is in a relatively stable state. In this case, when displaying the internal video data and the external video data, the internal display area can be evenly divided into corresponding sub-display areas according to the first quantity corresponding to the internal shooting nodes, and each sub-display area is used to display the video data of one internal shooting node. Similarly, according to the second quantity corresponding to the external shooting nodes, the external display area can be evenly divided into corresponding sub-display areas, and each sub-display area is used to display the video data of one external shooting node.

[0135] S434. When there is a risk coefficient greater than or equal to the risk threshold, determine the corresponding internal shooting node as the first risk node and the corresponding external shooting node as the second risk node.

[0136] If there are internal or external shooting nodes with a risk coefficient greater than or equal to the risk threshold, it can be considered that the fire situation at the corresponding shooting node may be relatively large and is relatively dangerous. In order to enable the fire emergency personnel to give priority to seeing the video data at the relatively dangerous shooting nodes, so that the fire situation in the corresponding area can be controlled in a timely manner, the corresponding internal shooting node can be determined as the first risk node, and the corresponding external shooting node can be determined as the second risk node, and the display area is divided according to the first risk node and the second risk node. Among them, the first risk node refers to the internal shooting node with a risk coefficient greater than the risk threshold, and the second risk node refers to the external shooting node with a risk coefficient greater than the risk threshold.

[0137] S435. Evenly divide the internal display area according to the first node quantity corresponding to the first risk node, and evenly divide the external display area according to the second node quantity of the second risk node to obtain multiple sub-display areas.

[0138] Specifically, the internal display area can be re-divided according to the quantity of the first risk nodes, that is, the first node quantity, and the internal display area is re-divided into multiple sub-display areas. At this time, each sub-display area can be used to display the video data corresponding to one internal shooting node with a higher risk. According to the quantity of the second risk nodes, that is, the second node quantity, the external display area is re-divided, and the external display area is re-divided into multiple sub-display areas. At this time, each sub-display area can be used to display the video data corresponding to one external shooting node with a higher risk. Through the above division method, the video data corresponding to the shooting nodes with a higher risk can be preferentially displayed, enabling the fire emergency personnel to intuitively see which areas have a higher fire risk, so that corresponding countermeasures can be taken more timely. Among them, the first node quantity refers to the quantity of the first risk nodes, and the second node quantity refers to the quantity of the second risk nodes.

[0139] In some embodiments, when it is necessary to preferentially display the video data corresponding to the high-risk shooting nodes and the emergency firefighters may need to view the video data corresponding to all shooting nodes, a switching button can be set on the real-time display template. By clicking the switching button, the video data can be switched and displayed according to the needs of the emergency firefighters.

[0140] Through the above implementation method, it is ensured that the video data with higher risks can be preferentially displayed, enabling the emergency firefighters to quickly identify the areas with the highest risks at the fire scene, and thus taking corresponding emergency measures preferentially.

[0141] S44, displaying the internal video data corresponding to the corresponding internal shooting nodes based on the sub-display area, or displaying the external video data corresponding to the corresponding external shooting nodes based on the sub-display area to obtain the emergency monitoring data.

[0142] Specifically, by displaying the internal video data corresponding to the corresponding internal shooting nodes according to each sub-display area and displaying the external video data corresponding to the corresponding external shooting nodes, the corresponding emergency video data can be obtained.

[0143] Through the above implementation method, the internal video data and the external video data can be synchronously displayed, enabling the emergency firefighters to intuitively and real-time understand the situation at the fire scene.

[0144] See Figure 4 , which is a schematic structural diagram of an emergency video data processing system provided by an embodiment of the present invention. The emergency video-based data processing system includes: An acquisition module, configured to acquire the alarm timing information corresponding to the detection device, determine the emergency monitoring area according to the alarm timing information, and determine the internal navigation data and the external navigation data based on the layout information of the emergency monitoring area; A determination module, configured to determine the internal shooting nodes according to the internal navigation data, and receive the internal video data collected by the internal reconnaissance device based on the internal shooting nodes; A receiving module, configured to determine the external shooting nodes based on the external navigation data, and receive the external video data collected by the external reconnaissance device based on the external shooting nodes; A construction module, configured to construct a real-time display template corresponding to the internal shooting nodes and the external shooting nodes, and perform summary processing on the internal video data and the external video data based on the real-time display template to obtain the emergency monitoring data.

[0145] Figure 4 The device in the illustrated embodiment can correspondingly be used to execute Figure 1The steps in the method embodiments shown have similar implementation principles and technical effects, which will not be elaborated here.

[0146] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An emergency video data processing method, characterized in that, Including: Obtain the alarm timing information corresponding to the detection device, determine the emergency monitoring area according to the alarm timing information, and determine the internal navigation data and external navigation data based on the layout information of the emergency monitoring area; Determine the internal shooting nodes according to the internal navigation data, and receive the internal video data collected by the internal reconnaissance device based on the internal shooting nodes; Determine the external shooting nodes based on the external navigation data, and receive the external video data collected by the external reconnaissance device based on the external shooting nodes; Construct a real-time display template corresponding to the internal shooting nodes and external shooting nodes, and perform summary processing on the internal video data and external video data based on the real-time display template to obtain emergency monitoring data.

2. The method according to claim 1, wherein: Obtain the alarm timing information corresponding to the detection device, determine the emergency monitoring area according to the alarm timing information, and determine the internal navigation data and external navigation data based on the layout information of the emergency monitoring area, including: Arrange each detection device in chronological order according to the alarm time corresponding to the alarm information of each detection device to obtain an alarm timing sequence, and determine the configuration area corresponding to each detection device as the emergency monitoring area; Obtain the arrangement serial numbers of each detection device in the alarm timing sequence, and obtain the total warning coefficient corresponding to each emergency monitoring area according to the warning coefficients corresponding to each arrangement serial number, and the arrangement serial number and the warning coefficient are in an inverse relationship; Obtain the sub-layout diagram of the emergency monitoring area and the layout diagram of the target building according to the layout information, obtain the monitoring points configured for each emergency monitoring area by the management end based on the total warning coefficient and the sub-layout diagram, and obtain the internal navigation data according to the monitoring points; Generate a detection circumferential route corresponding to the target building based on the total warning coefficient and the layout diagram, and obtain the external navigation data according to the detection circumferential route.

3. The method according to claim 2, wherein: Obtain the monitoring points configured for each emergency monitoring area by the management end based on the total warning coefficient and the sub-layout diagram, and obtain the internal navigation data according to the monitoring points, including: Determine the emergency monitoring areas with the total warning coefficient greater than or equal to the safety coefficient threshold as dangerous areas, and determine the emergency monitoring areas with the total warning coefficient less than the safety coefficient threshold as spreading areas; Obtain the monitoring points configured for the dangerous areas by the management end based on the sub-layout diagram; Determine the detection sub-areas corresponding to each detection device in the spreading area, obtain the regional center points corresponding to each detection sub-area, and sequentially connect the regional center points according to the alarm timing sequence to obtain a monitoring route; Obtain the shooting distance of the internal reconnaissance device, determine a plurality of monitoring points at intervals of the shooting distance on the monitoring route, and obtain the internal navigation data according to the monitoring points.

4. The method according to claim 2, wherein: Generate a detection circumferential route corresponding to the target building based on the total warning coefficient and the layout diagram, and obtain the external navigation data according to the detection circumferential route, including: Statistically calculate the comprehensive warning coefficient corresponding to each of the total warning coefficients, obtain an adjustment coefficient based on the ratio of the comprehensive warning coefficient to the reference warning coefficient, and obtain an adjusted safety distance based on the product of the adjustment coefficient and the reference safety distance; Obtain the building top-down outline corresponding to the target building in the layout diagram, determine the center point of the building top-down outline as the positioning point, and obtain the point-to-point distances between each contour point in the building top-down outline and the positioning point; Sum the maximum point-to-point distance and the adjusted safety distance to obtain a flight radius, generate a detection circular route with the positioning point as the center and based on the flight radius, and obtain the external navigation data according to the detection circular route.

5. The method according to claim 2, wherein Determine internal shooting nodes according to the internal navigation data, and receive internal video data collected by an internal detection device based on the internal shooting nodes, including: Obtain the current position point of the internal detection device, and generate an initial path corresponding to the internal detection device with the current position point as the starting point and the monitoring point corresponding to the internal navigation data as the ending point; Receive a real-time infrared image collected by the internal detection device based on the initial path, and update the initial path according to the real-time infrared image to obtain a real-time indication path; Obtain the real-time distance between the internal detection device and the monitoring point, and when the real-time distance is less than or equal to the safety detection distance, determine the current position point of the internal detection device as the internal shooting node; Determine an abnormal area in the real-time infrared image, control the center point of the shooting interface of the internal detection device to align with the center point of the abnormal area, and control the internal detection device to collect video based on the internal shooting node to obtain internal video data.

6. The method according to claim 5, wherein Receiving a real-time infrared image collected by the internal detection device based on the initial path, and updating the initial path according to the real-time infrared image to obtain a real-time indication path, includes: Obtain the pixel points with pixel values in the abnormal pixel interval in the real-time infrared image as abnormal pixel points, and generate an abnormal area according to adjacent abnormal pixel points; Control the center point of the shooting interface of the internal detection device to align with the center point of the abnormal area, and obtain the horizontal rotation angle of the internal detection device when it is aligned; Determine the real-time position point of the internal detection device in the sub-layout diagram, and obtain the initial shooting direction corresponding to the real-time position point based on the preset shooting parameters of the internal detection device; Adjust the initial shooting direction according to the horizontal rotation angle to obtain an adjusted shooting direction, and obtain the obstacle measurement distance of the ranging module of the internal detection device in the adjusted shooting direction; Determine an obstacle point at a distance of the obstacle measurement distance from the real-time position point in the adjusted shooting direction, and when the obstacle point is on the initial path, generate a real-time indication path with the real-time position point of the internal detection device as the starting point and the monitoring point as the ending point.

7. The method according to claim 2, wherein Determine an external shooting node based on the external navigation data, and receive external video data collected by an external reconnaissance device based on the external shooting node, including: Obtain comprehensive video data collected by the external reconnaissance device based on the detection circumferential route corresponding to the external navigation data; Extract the building outlines in each video frame of the comprehensive video data, determine the pixel points whose pixel values in the building outline are not within the building pixel interval as target pixel points, and obtain a target area according to adjacent target pixel points; Determine the target area with the number of pixel points greater than the pixel number threshold as the monitorable area, and determine the video frames where the monitorable area exists as target frames; Obtain the position point when the external reconnaissance device shoots the target frame as the external shooting node, and control the external reconnaissance device to perform video acquisition based on the external shooting node to obtain external video data.

8. The method according to claim 1, wherein: Construct a real-time display template corresponding to the internal shooting node and the external shooting node, and perform summary processing on the internal video data and the external video data based on the real-time display template to obtain emergency monitoring data, including: Count the first quantity of the internal shooting nodes and the second quantity of the external shooting nodes, and obtain a division ratio according to the ratio of the first quantity and the second quantity; Retrieve the initial display template, and divide the initial display template according to the first division direction and the division ratio to obtain an internal display area corresponding to the internal shooting node and an external display area corresponding to the external shooting node; Obtain the risk coefficients of each internal shooting node and external shooting node, and perform secondary division on the internal display area and the external display area according to the risk coefficients to obtain sub-display areas corresponding to the internal shooting nodes and the external shooting nodes; Based on the sub-display areas, display the internal video data corresponding to the corresponding internal shooting nodes, or display the external video data corresponding to the corresponding external shooting nodes based on the sub-display areas to obtain the emergency monitoring data.

9. The method according to claim 8, wherein: Obtain the risk coefficients of each internal shooting node and external shooting node, and perform secondary division on the internal display area and the external display area according to the risk coefficients to obtain sub-display areas corresponding to each internal shooting node and external shooting node, including: Determine the first abnormal area of the abnormal area in each internal video data, count the first area mean of each first abnormal area, and obtain the risk coefficient of each internal shooting node according to the ratio of the first abnormal area and the first area mean; Obtain the second abnormal area of the monitorable area in each external video data, count the second area mean of each second abnormal area, and obtain the risk coefficient of each external shooting node according to the ratio of the second abnormal area and the second area mean; When there is no risk coefficient greater than or equal to the risk threshold, then evenly divide the internal display area based on the first quantity, and evenly divide the external display area based on the second quantity to obtain a plurality of sub-display areas; When there is a risk coefficient greater than or equal to the risk threshold, determine the corresponding internal shooting node as the first risk node and the corresponding external shooting node as the second risk node; Divide the internal display area equally according to the number of the first nodes corresponding to the first risk node, and divide the external display area equally according to the number of the second nodes of the second risk node to obtain a plurality of sub-displays.

10. An emergency video data processing system, characterized in that, Including: An acquisition module, configured to acquire the alarm time series information corresponding to the detection device, determine the emergency monitoring area according to the alarm time series information, and determine the internal navigation data and the external navigation data based on the layout information of the emergency monitoring area; A determination module, configured to determine the internal shooting node according to the internal navigation data, and receive the internal video data collected by the internal reconnaissance device based on the internal shooting node; A receiving module, configured to determine the external shooting node based on the external navigation data, and receive the external video data collected by the external reconnaissance device based on the external shooting node; A construction module, configured to construct a real-time display template corresponding to the internal shooting node and the external shooting node, and perform summary processing on the internal video data and the external video data based on the real-time display template to obtain emergency monitoring data.

Images