Fire fighting truck parking management method and system based on emergency management

Abstract

The invention discloses a fire fighting truck parking management method and system based on emergency management, and the method comprises the steps: obtaining the position of a target road needing to be analyzed, analyzing whether a fire fighting truck can pass through the target road, predicting the possibility of blockage, obtaining a most suitable driving route, and setting an emergency parking mechanism. According to the method and the device, the possibility that the fire fighting truck is blocked in the process of entering the target road is predicted, so that the time spent on travel and parking management of rescue actions of the fire fighting truck and urban deployment fire fighting resources at the fire fighting early warning position is greatly shortened, and the fire fighting truck is prevented from being blocked in a limited fire fighting access space. And the fire fighting truck is close to the fire-fighting early warning position as much as possible, so that the rescue speed is reduced due to meeting in the driving process, favorable help is provided for the arrival of subsequent fire-fighting power, and the fire-fighting safety level is improved. The method has the characteristics of high rescue position prediction capability and high fire-fighting early warning deployment degree.

Description

Technical Field

[0001] The present invention relates to the technical field of fire truck rescue parking management, and specifically to a fire truck parking management method and system based on emergency management. Background Art

[0002] With the acceleration of the urbanization process, the number of buildings is increasing continuously, and the importance of fire safety is becoming more and more prominent. As the life passage in case of emergency, the fire passage must be kept unobstructed. However, the situation of the fire passage being occupied occurs from time to time, which not only violates the safety regulations, but may also lead to serious consequences in case of emergency.

[0003] In the prior art, the scheme of using visual analysis technology to detect the occupation of the fire passage significantly improves the efficiency and accuracy of occupation detection through automated and intelligent detection means. However, after the fire truck drives into the fire passage, even if the fire passage is not occupied, it is very easy to encounter oncoming vehicles and cause road congestion during the driving process in the limited space, which affects the rescue time. Especially when a fire breaks out in a community with poor construction, the fire truck cannot reach the fire location in the first time; at the same time, unreasonable parking positions will also affect the subsequent fire rescue of the fire truck, resulting in further blockage of the fire passage. Therefore, it is very necessary to design a fire truck parking management method and system based on emergency management with strong rescue position prediction ability and high fire warning deployment level. Summary of the Invention

[0004] The purpose of the present invention is to provide a fire truck parking management method and system based on emergency management to solve the problems raised in the above background art.

[0005] To solve the above technical problems, the present invention provides the following technical solutions: A fire truck parking management method and system based on emergency management, including:

[0006] Screen the target road positions that need to be analyzed from the road monitoring data, and analyze whether the fire truck can pass through the target road. The target road positions that need to be analyzed are located according to the obstacle parking data of the fire warning positions;

[0007] If it is detected that the fire truck can pass through the target road, based on the road monitoring data corresponding to the target road position, predict the possibility of congestion during the process of the fire truck entering the target road, and obtain the most suitable driving route according to the possibility prediction result and send it to the fire truck;

[0008] During the process of the fire truck driving into the target road according to the driving route, when monitoring the oncoming vehicle position of the fire truck reaching the target road, combine the nearest parking position to the fire warning position obtained, and instruct the fire truck to park;

[0009] After matching the urban fire resources on the emergency management platform according to the described most suitable driving route and the nearest parking position, manage the parking positions of the subsequent arriving fire trucks corresponding to the urban fire resources.

[0010] According to the above technical solution, screening the target road positions that need to be analyzed in the road monitoring data includes:

[0011] Monitor the target road, where the target road includes both sides and the center of the road. Obtain the road plane schematic diagram through the map software, and mark the location of the target road on the road plane schematic diagram based on the road monitoring data.

[0012] Further obtain the road extension position in the direction of the emergency warning position in the road plane schematic diagram for the target road position. Here, the emergency warning position direction is the road direction to reach the emergency warning position in the road plane schematic diagram. When the road extension position is not recognized in the road monitoring data, mark the road extension position as not conforming to the perpendicularity of the current road, and set the limit distance of the road monitoring data to the section distance that conforms to the road perpendicularity, and obtain that the road width of the section distance is K meters.

[0013] According to the above technical solution, analyzing whether a fire truck can pass through the target road includes:

[0014] At every interval of L meters in the target road, sequentially identify the number of obstacles appearing on the road, count the number of marked obstacles as A, and reduce the drivable width of the target road based on the marked obstacles on the target road that conforms to the target road.

[0015] Identify the object characteristics appearing in the target road, including:

[0016] Sequentially monitor the areas at every interval of L meters in the target road to monitor whether the occupied area of the object characteristics exceeds δ% of the area of the area at every interval of L meters. If it exceeds, mark it as an obstacle, otherwise mark it as a non-obstacle, where δ is the proportion value of the minimum obstacle characteristic in the area at every interval of L meters.

[0017] Based on the marked obstacles, retrieve in the database that the additional driving road area required for a fire truck with a width of m meters and a length of n meters to avoid the obstacles is s. The additional driving road area is composed of at least the plane of the target road composed of a width of M meters and a length of N meters. The corresponding area of the additional driving road area does not completely coincide with the corresponding area of the target road area where the fire truck enters at an interval of L meters when there is at least one obstacle in each area of the interval of L meters, where M>m and N>n. Compare the drivable area of the road with the driving road area;

[0018] Obtain the drivable area W of the target road = AMN - x - μ1, where 1≤i≤A, C is the area of the obstacle, C i Are respectively the areas of A obstacles on the target road, x is the overlapping area of the additional driving road area within the area of each interval of L meters, x is related to A. If the drivable area of the road is greater than the driving area, μ1 is the error value of the drivable area of the target road, output an instruction indicating that the fire truck can pass through the target road, otherwise output an instruction indicating that the fire truck cannot pass through the target road.

[0019] According to the above technical solution, if it is detected that the fire truck can pass through the target road, based on the road monitoring data corresponding to the position of the target road, predict the possibility of congestion occurring during the process of the fire truck entering the target road, including:

[0020] Monitor the traffic flow of the target road, including: through the road monitoring data, obtain the number of vehicles Z passing through the target road. Among them, the number of vehicles includes the vehicles passing through the target road from two opposite directions, and the detection accuracy of the vehicle is determined by the size value of the area occupied by the vehicle characteristics in the road monitoring data;

[0021] The possibility of congestion occurring during the process of the fire truck entering the target road Where β is a unit conversion parameter.

[0022] According to the above technical solution, during the process of the fire truck driving into the target road according to the driving route, when monitoring that the fire truck reaches the meeting position of the target road, combine the nearest parking position obtained from the fire warning position, and instruct the fire truck to park, including:

[0023] Based on the traffic flow, obtain the number of vehicles passing through this section within a unit time period, where the set time of the unit time period is at least controlled such that the number of vehicles passing through this section within the unit time period is at least 2 and the driving directions are inconsistent. Based on the road monitoring data, obtain the specific position data of the meeting position of the vehicles passing through this section within the same time period on the target road. Analyze the specific position data of the target road successively on the target road, obtain the distance between the specific position in the direction where the fire truck enters the target road and the position where the fire truck enters the target road, calculate the average value, and locate the drivable position closest to the average value. Successively obtain the average meeting position within the target road, and the position of the average meeting position is different at different times;

[0024] When a fire warning appears, the fire truck enters the parking area of the target road within a preset time where μ2 is the error value of parking the fire truck on the target road. Locate whether the parking position of the fire truck closest to the fire warning position is on the average meeting position. If so, locate it as the final parking position; otherwise, continue to drive. According to the driving route of the fire truck and the final parking position, output a parking instruction.

[0025] According to the above technical solution, after matching the urban fire resources on the emergency management platform according to the most suitable driving route and the nearest parking position, manage the parking positions of the subsequent arriving fire trucks corresponding to the urban fire resources, including:

[0026] Based on the resource scheduling priority list, allocate the available urban fire resources. The available fire resources include fire trucks and emergency personnel. According to the emergency management platform, calculate the distance between the real-time position of the fire resources and the target area, plan the response path and the estimated arrival time, and establish the execution process of the resource dynamic allocation plan, including: based on the resource scheduling priority list, classify all available fire resources and mark the resource status, including the type of fire trucks and the expertise of emergency personnel, calculate the shortest path from the current position of each fire unit to the target area, and establish a resource dynamic allocation plan based on the shortest path;

[0027] Record the dynamic allocation plan of resources in the urban fire management, and update the response status and resource allocation of fire resources in real time to obtain the execution process of the emergency response plan, including: record the current status and specific locations of all fire resources in the fire management equipment in the urban fire management, use real-time data transmission technology to establish an early warning database through the emergency management platform, update the response status and fire resource allocation of fire resources in real time, and automatically update the database and send the latest resource scheduling information to the emergency response team whenever the status of fire resources changes. The emergency response team adjusts the response strategy according to the real-time updated data, uses data analysis tools to predict the fire resource demand and scheduling efficiency, and outputs fire truck parking instructions on the target roads of several rescue paths at the fire warning location.

[0028] According to the above technical solution, the fire truck parking management system based on emergency management includes:

[0029] A positioning module, which is used to screen the target road positions that need to be analyzed in the road monitoring data and analyze whether a fire truck can pass through the target road. The target road positions that need to be analyzed are located according to the obstacle parking data at the fire warning location;

[0030] An analysis module, which is used to predict the possibility of congestion when a fire truck enters the target road based on the road monitoring data corresponding to the target road position if it is detected that the fire truck can pass through the target road, and obtain the most suitable driving route according to the possibility prediction result and send it to the fire truck;

[0031] A parking module, which is used to monitor the fire truck when it arrives at the oncoming position of the target road during the process of the fire truck driving into the target road according to the driving route, and combine the nearest parking position obtained from the fire warning location to instruct the fire truck to park;

[0032] An allocation module, which is used to manage the parking positions of the subsequent arriving fire trucks corresponding to the urban fire resources after matching the urban fire resources on the emergency management platform according to the most suitable driving route and the nearest parking position.

[0033] According to the above technical solution, the positioning module includes:

[0034] Section acquisition module, the section acquisition module is used to monitor the target road, the target road includes both sides and the center of the road, obtain the road plan schematic diagram through the map software, and calibrate the location of the target road in the road plan schematic diagram based on the road monitoring data; further obtain the road extension location in the direction of the emergency warning location in the road plan schematic diagram for the target road location, where the emergency warning location direction is the road direction to reach the emergency warning location in the road plan schematic diagram. When the road extension location is not recognized in the road monitoring data, the road extension location is calibrated as not conforming to the perpendicularity of the current road, and the limit distance of the road monitoring data is set to the section distance conforming to the road perpendicularity, and the road width of the section distance is K meters;

[0035] Section identification module, the section identification module is used to sequentially identify the number of obstacles appearing on the road at every interval of L meters in the target road, count the number of marked obstacles as A, and reduce the drivable width of the target road based on the marked obstacles on the target road that conform to the target road; identify the object characteristics appearing on the target road, including: sequentially monitoring the area at every interval of L meters in the target road to monitor whether the area occupied by the object characteristics exceeds δ% of the area of the area at every interval of L meters. If it exceeds, it is marked as an obstacle, otherwise it is marked as a non-obstacle, where δ is the proportion value of the minimum obstacle characteristics in the area at every interval of L meters; based on the marked obstacles, retrieve in the database the additional driving road area s required for a fire truck with a width of m meters and a length of n meters to avoid the obstacles. The additional driving road area is at least composed of the plane of the target road composed of M meters wide and N meters long. The corresponding area of the additional driving road area and the corresponding area of the target road area where the fire truck drives into at an interval of L meters do not completely coincide when there is at least one obstacle in the area at every interval of L meters, where M>m and N>n, and compare the drivable road area with the driving road area; obtain the drivable road area W of the target road = AMN - x - μ1, where 1≤i≤A, C is the area of the obstacle, C i are the areas of A obstacles on the target road respectively, x is the overlapping area of the additional driving road area in the area at every interval of L meters, x is related to A. If the drivable road area of the road is greater than the driving area, μ1 is the error value of the drivable road area of the target road, and output an instruction indicating that the fire truck can pass through the target road, otherwise output an instruction indicating that the fire truck cannot pass through the target road.

[0036] According to the above technical solution, the analysis module includes:

[0037] A traffic flow monitoring module, which is used to monitor the traffic flow of the target road, including: obtaining the number of vehicles Z passing through the target road through road monitoring data, where the number of vehicles includes the vehicles passing through the target road from two opposite directions, and the detection accuracy of the vehicles is determined by the size value of the area occupied by the vehicle characteristics in the road monitoring data;

[0038] A congestion analysis module, which is used to analyze the possibility of congestion during the process of the fire truck entering the target road where β is a unit conversion parameter.

[0039] According to the above technical solution, the parking module includes:

[0040] A meeting position acquisition module, which is used to obtain the number of vehicles passing through this section within a unit time period based on the traffic flow. The set time of the unit time period is at least controlled so that the number of vehicles passing through this section within the unit time period is at least 2 and the driving directions are inconsistent. Based on the road monitoring data, obtain the specific position data of the meeting position of the vehicles passing through this section within the same time period on the target road. Analyze the specific position data of the target road sequentially on the target road, obtain the distance between the specific position in the direction of the fire truck entering the target road and the position where the fire truck enters the target road, take the average value and locate the drivable position closest to the average value, and sequentially obtain the average meeting position within the target road. The position of the average meeting position is different at different times;

[0041] A parking instruction output module, which is used to make the fire truck enter the parking area of the target road within a preset time after a fire warning appears where μ2 is the error value of parking the fire truck on the target road. Locate whether the parking position closest to the fire warning position of the fire truck is at the average meeting position. If so, locate it as the final parking position, otherwise continue to drive. According to the driving route of the fire truck and the final parking position, output the parking instruction.

[0042] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: In the present invention, by predicting the possibility of congestion during the process of a fire truck entering a target road based on the road monitoring data corresponding to the target road position to be analyzed, and combining the possibility prediction results to obtain the most suitable driving route, the time spent on the journey and parking management of the fire truck and the urban deployment of fire-fighting resources at the fire warning position is greatly reduced. At the same time, during the process of the fire truck driving into the target road according to the driving route, an emergency parking mechanism is set to indicate the fire truck to park. The fire lane occupancy detection algorithm is used to ensure that the target lane is unobstructed when the fire-fighting resources of the fire truck can reach. In the limited fire lane space, while taking into account that the fire truck is as close as possible to the fire warning position and reducing the delay of the rescue speed caused by oncoming vehicles during the driving process, it also provides favorable help for the arrival of subsequent fire-fighting forces, provides a reference for the parking of subsequent fire trucks more quickly, realizes the overall planning of the smooth passage of the fire lane, and improves the fire safety level. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention, and do not constitute a limitation to the present invention. In the accompanying drawings:

[0044] Figure 1 is a flowchart of a fire truck parking management method based on emergency management provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0045] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0046] Please refer to Figure 1 , which is a flowchart of a fire truck parking management method based on emergency management provided by an embodiment of the present invention. As Figure 1 can be seen, the fire truck parking management method based on emergency management includes:

[0047] Step S1: Screen the target road positions to be analyzed in the road monitoring data, and analyze whether a fire truck can pass through the target road. The target road positions to be analyzed are located according to the obstacle parking data at the fire warning position;

[0048] Step S2: If it is detected that the fire truck can pass through the target road, based on the road monitoring data corresponding to the target road position, predict the possibility of congestion during the process of the fire truck entering the target road, and obtain the most suitable driving route according to the result of the possibility prediction and send it to the fire truck;

[0049] Step S3: During the process of the fire truck driving into the target road according to the driving route, when monitoring that the fire truck reaches the meeting position of the target road, combine the nearest parking position obtained from the fire warning position, and instruct the fire truck to park;

[0050] Step S4: According to the most suitable driving route and the nearest parking position, after matching the urban fire resources on the emergency management platform, manage the parking positions of the subsequent arriving fire trucks corresponding to the urban fire resources.

[0051] In the present invention, by predicting the possibility of congestion during the process of the fire truck entering the target road based on the road monitoring data corresponding to the target road position to be analyzed, and obtaining the most suitable driving route according to the result of the possibility prediction, the time spent on the driving distance and parking management of the fire truck and the urban deployment of fire resources during the rescue operation at the fire warning position is greatly reduced; at the same time, during the process of the fire truck driving into the target road according to the driving route, an emergency parking mechanism is set up to instruct the fire truck to park, and a fire lane occupancy detection algorithm is adopted to ensure that the target lane is unobstructed when the fire extinguishing resources of the fire truck can reach. In the limited fire lane space, while taking into account that the fire truck is as close as possible to the fire warning position, reducing the delay of the rescue speed due to meeting vehicles during the driving process, it also provides favorable help for the arrival of subsequent fire forces, provides a reference for the parking of subsequent fire trucks more quickly, realizes the overall planning of the smooth passage of the fire lane, and improves the fire safety level.

[0052] In some preferred embodiments, the screening of the road monitoring data based on the obstacle stop and departure data of the fire warning position to obtain the target road position to be analyzed includes:

[0053] Step S11: Monitor the target road, where the target road includes both sides and the center of the road. Obtain the road plane schematic diagram through a map software, and mark the location of the target road on the road plane schematic diagram based on the road monitoring data;

[0054] Step S12: Further obtain the road extension position of the target road position in the road plane schematic diagram in the direction of the emergency warning position, where the emergency warning position direction is the road direction to reach the emergency warning position in the road plane schematic diagram. When the road extension position is not recognized in the road monitoring data, mark the road extension position as not conforming to the perpendicularity of the current road, and set the limit distance of the road monitoring data to the section distance conforming to the road perpendicularity, and obtain the road width of the section distance as K meters.

[0055] In a preferred embodiment, when the emergency management platform receives a fire warning, collect the position data of the fire warning, where the position data of the fire warning includes the road monitoring data of the fire warning position and the obstacle parking data of the fire warning position. Among them, the fire warning includes all situations where fire problems occur, including problems such as fires and explosions;

[0056] Store historical monitoring data, and through the analysis of the stored historical monitoring data, discover potential safety hazards during the process of the fire truck driving to the target road;

[0057] Based on computer vision and deep learning technologies, through the real-time analysis of the road monitoring data, detect and identify obstacles on the road, and obtain the target road position that needs to be analyzed, including:

[0058] Data collection and preprocessing, including:

[0059] Based on the road monitoring data, mark the target road and all roads reaching the fire warning position of the target road as specific fire channels, locate the cameras installed near the fire channels, and obtain the real-time video stream;

[0060] Preprocess the video data in the real-time video stream, including denoising and frame rate adjustment, to ensure the accuracy and efficiency of obtaining the target road position that needs to be analyzed;

[0061] Feature detection and recognition of obstacles, including:

[0062] In the processed video frames, use a convolutional neural network for obstacle detection. Among them, the object detection models of the convolutional neural network include YOLO and Faser R-CNN, and detect and classify and identify the occupied objects in the fire channel;

[0063] Obstacle analysis and judgment, including: by analyzing the detected obstacles, judge whether they occupy the fire channel;

[0064] Meanwhile, a fire lane occupancy detection algorithm is adopted. By installing cameras in the fire lanes and connecting them to a visual analysis system, the conditions of all fire lanes are monitored in real time. Once it is detected that a fire lane is occupied, the security personnel are immediately notified to handle it. When it is found that the security personnel are unable to clear the obstacles in the fire lane in time, through the parking management method, it is ensured that the fire truck can reach the fire extinguishing resources and the passage is unobstructed, improving the fire safety level and also enhancing the efficiency and standardization of the entire management process.

[0065] In some preferred embodiments, the analysis of whether a fire truck can pass through the target road includes:

[0066] Step S13: At every L meters in the target road, the number of obstacles appearing on the road is sequentially identified, and the number of marked obstacles is counted as A. Based on the marked obstacles, the drivable width of the target road is reduced on the target road where the marked obstacles are located;

[0067] Step S14: Identify the object characteristics appearing in the target road, including:

[0068] Sequentially monitor each area at every L meters in the target road to check whether the occupied area of the object characteristics exceeds δ% of the area of each area at every L meters. If it exceeds, it is marked as an obstacle; otherwise, it is marked as a non-obstacle, where δ is the proportion value of the minimum obstacle characteristic in the area at every L meters;

[0069] Step S15: Based on the marked obstacles, retrieve from the database that the additional driving road area required for a fire truck with a width of m meters and a length of n meters to avoid the obstacles is s. The additional driving road area is at least composed of the plane of the target road with a width of M meters and a length of N meters. The fire truck can complete turning, avoidance and other actions in the additional driving road area. The corresponding area of the additional driving road area does not completely coincide with the corresponding area of the target road area where the fire truck drives into at every L meters when there is at least one obstacle in the area at every L meters, that is, MN≠LD, where M>m and N>n. Compare the drivable area of the road with the driving road area;

[0070] Step S16: Obtain the drivable area W of the target road = AMN - x - μ1, where 1≤i≤A, C is the area of the obstacle, C iThey are respectively the areas of A obstacles on the target road, x is the overlapping area of the additional driving road area within the area of each interval of L meters, x is related to A. If the drivable area of the road is greater than the driving area, μ1 is the error value of the drivable area of the target road, that is, the area value that cannot be counted as drivable due to the visual error of the fire truck driver during driving. Output an instruction indicating that the fire truck can pass through the target road, otherwise output an instruction indicating that the fire truck cannot pass through the target road.

[0071] In some preferred embodiments, if it is detected that the fire truck can pass through the target road, based on the road monitoring data corresponding to the position of the target road to be analyzed, predict the possibility of congestion occurring during the process of the fire truck entering the target road, including:

[0072] Step S21: Monitor the traffic flow of the target road, including: through the road monitoring data, obtain the number of vehicles Z passing through the target road. Among them, the number of vehicles includes the vehicles passing through the target road from two opposite directions, and the detection accuracy of the vehicle is determined by the size value of the area occupied by the vehicle characteristics in the road monitoring data;

[0073] Step S22: The possibility of congestion occurring during the process of the fire truck entering the target road where β is a unit conversion parameter used to convert the obtained unit to a dimensionless unit.

[0074] If the traffic flow on the target road is small, it means that the possibility of encountering vehicles when the fire truck enters the target road is small and the possibility of drivability within the driving road area required for the fire truck to travel is large; conversely, if the traffic flow on the target road is large, it means that the possibility of encountering vehicles when the fire truck enters the target road is large and the possibility of drivability within the driving road area required for the fire truck to travel is small;

[0075] There are certain accidental events. Even if the possibility of congestion occurring during the process of the fire truck entering the target road is obtained to be low, it may still encounter oncoming vehicles.

[0076] Since when the fire truck is driving, if it encounters oncoming vehicles, if there is enough width on both sides of the road for the oncoming vehicle and the fire truck to pass through simultaneously, there will be no congestion situation. If there is not enough width on both sides of the road for the oncoming vehicle and the fire truck to pass through simultaneously, the vehicle on one side needs to retreat to a road position with sufficient width for avoidance, which will result in a waste of critical rescue time. Therefore, on the basis of reducing the low possibility of congestion occurring during the process of the fire truck entering the target road, control the fire truck to minimize the avoidance time when encountering oncoming vehicles in accidental events. When the fire truck enters the congested section;

[0077] In some preferred embodiments, during the process of the fire truck driving into the target road according to the driving route, an emergency parking mechanism is set. When it is monitored that the fire truck reaches the meeting position on the target road, in combination with the nearest parking position obtained from the fire warning position, the fire truck is instructed to park, including:

[0078] Step S31: Based on the traffic flow, obtain the number of vehicles passing through this section within a unit time period, where the set time of the unit time period is at least controlled so that the number of vehicles passing through this section within the unit time period is at least 2 and the driving directions are inconsistent. Based on the road monitoring data, obtain the specific position data of the meeting position of the vehicles passing through this section within the same time period on the target road. Analyze the specific position data of the target road successively on the target road, obtain the distance between the specific position in the driving direction of the fire truck into the target road and the position where the fire truck enters the target road, take the average value and locate the nearest drivable position to the average value, and successively obtain the average meeting position within the target road. The average meeting position is different at different times.

[0079] Step S32: After the fire warning appears, the fire truck enters the parking area of the target road within a preset time where μ2 is the error value of parking the fire truck on the target road, that is, the area value that cannot be counted as drivable due to the visual error of the fire truck driver when parking the fire truck. Locate whether the nearest parking position of the fire truck from the fire warning position is on the average meeting position. If so, it is located as the final parking position, otherwise it continues to drive. According to the driving route of the fire truck and the final parking position, output a parking instruction. Among them, the premise of the final parking position is that the fire truck can directly and effectively rescue the fire warning position when parked at this position.

[0080] In a preferred embodiment, the detector provided on the fire truck continuously obtains the driving position of the current fire truck on the target road, and successively marks the marked obstacles within F meters ahead based on the driving position. Based on the marked obstacles within the previous F meters, where F = G - R, G is the total length of the target road, and R is the distance that the detector on the fire truck continuously obtains when the fire truck enters the target road;

[0081] According to the marked position of the obstacle, obtain whether the oncoming vehicle can enter this position before the fire truck drives to the marked position of the obstacle. When it is monitored that the oncoming vehicle cannot reach the marked position of the obstacle when the fire truck drives, issue a stop instruction to the oncoming direction of the target road.

[0082] In some preferred embodiments, the allocation of urban fire-fighting resources according to the driving route and parking position includes:

[0083] Step S41: Allocate the available fire-fighting resources in the city based on the resource scheduling priority list. The available fire-fighting resources include fire trucks and emergency personnel. Calculate the distance between the real-time position of the fire-fighting resources and the target area according to the emergency management platform, plan the response path and the estimated arrival time, and establish the execution process of the resource dynamic allocation plan, including: Classify and mark the status of all available fire-fighting resources based on the resource scheduling priority list, including the types of fire trucks (such as foam fire trucks, water tank trucks, etc.) and the expertise of emergency personnel (such as medical rescue, fire fighting, etc.). Calculate the shortest path from the current position of each fire unit to the target area, and use GIS technology to ensure the accuracy of path planning. Consider the real-time traffic conditions and road types, and adjust the estimated arrival time to ensure the optimization of the response speed. Combine all the data and establish a resource dynamic allocation plan based on the shortest path;

[0084] Step S42: Record the resource dynamic allocation plan in the urban fire-fighting management, and update the response status and resource allocation of the fire-fighting resources in real time to optimize the utilization of the fire-fighting resources, and obtain the execution process of the emergency response plan, including: In the urban fire-fighting management, it is crucial to maintain and update the resource dynamic allocation plan. Record the current status (such as deployed, on standby, under repair) and specific location of all fire-fighting resources in the fire-fighting management device, and use real-time data transmission technology to ensure the timely update of information. Establish an early warning database through the emergency management platform, and update the response status and fire-fighting resource allocation of the fire-fighting resources in real time. Whenever the status of the fire-fighting resources changes, automatically update the database and send the latest resource scheduling information to the emergency response team. The emergency response team adjusts the response strategy according to the real-time updated data. Use data analysis tools to predict the fire-fighting resource demand and scheduling efficiency, and output the fire truck parking instructions on the target roads of several rescue paths at the fire warning position.

[0085] Based on the same concept as the above embodiments, the embodiments of the present invention also provide a fire truck parking management system based on emergency management, including:

[0086] A positioning module, which is used to screen the target road positions that need to be analyzed in the road monitoring data and analyze whether the fire truck can pass through the target road. The target road positions that need to be analyzed are located according to the obstacle parking data at the fire warning position;

[0087] An analysis module, which is configured to predict the possibility of congestion during the process of a fire truck entering a target road based on the road monitoring data corresponding to the target road position if it is detected that the fire truck can pass through the target road, and obtain the most suitable driving route according to the prediction result of the possibility and send it to the fire truck;

[0088] A parking module, which is configured to monitor the fire truck when it reaches the passing position of the target road during the process of the fire truck driving into the target road according to the driving route, and combine with the nearest parking position obtained from the fire warning position to instruct the fire truck to park;

[0089] An allocation module, which is configured to manage the parking positions of the subsequent arriving fire trucks corresponding to the urban fire resources after matching the urban fire resources on the emergency management platform according to the most suitable driving route and the nearest parking position.

[0090] In this embodiment, the positioning module includes:

[0091] A section acquisition module, which is configured to monitor the target road. The target road includes both sides and the center of the road. Obtain the road plane schematic diagram through a map software, and mark the location of the target road on the road plane schematic diagram based on the road monitoring data; further obtain the road extension position in the direction of the emergency warning position of the target road position on the road plane schematic diagram, where the emergency warning position direction is the road direction to reach the emergency warning position on the road plane schematic diagram. When the road extension position is not recognized in the road monitoring data, mark the road extension position as not conforming to the perpendicularity of the current road, and set the limit distance of the road monitoring data to the section distance conforming to the road perpendicularity, and obtain the road width of the section distance as K meters;

[0092] Section identification module, which is used to identify the number of obstacles appearing on the target road at intervals of L meters in the target road, count the number of marked obstacles as A, and reduce the drivable width of the target road based on the marked obstacles on the target road; identify the object features appearing on the target road, including: monitoring the areas at intervals of L meters in the target road in sequence, to monitor whether the occupied area of the object features exceeds δ% of the area of the area at intervals of L meters. If it exceeds, it is marked as an obstacle, otherwise it is marked as a non-obstacle, where δ is the proportion value of the minimum obstacle feature in the area at intervals of L meters; based on the marked obstacles, retrieve in the database that a fire truck with a width of m meters and a length of n meters requires an additional driving road area of s when avoiding the obstacles. The additional driving road area is at least composed of the plane of the target road composed of M meters wide and N meters long. When there is at least one obstacle in the area at intervals of L meters, the corresponding area of the additional driving road area and the corresponding area of the target road area where the fire truck enters at intervals of L meters do not completely coincide, where M>m and N>n, and compare the drivable area of the road with the driving road area; obtain the drivable area W of the target road = AMN - x - μ1, where 1≤i≤A, C is the area of the obstacle, C i are respectively the areas of A obstacles on the target road, x is the overlapping area of the additional driving road area in the area at intervals of L meters, x is related to A. If the drivable area of the road is greater than the driving area, μ1 is the error value of the drivable area of the target road, output an instruction indicating that the fire truck can pass through the target road, otherwise output an instruction indicating that the fire truck cannot pass through the target road.

[0093] In this embodiment, the analysis module includes:

[0094] Traffic flow monitoring module, which is used to monitor the traffic flow of the target road, including: obtaining the number of vehicles Z passing through the target road through road monitoring data, where the number of vehicles includes the vehicles passing through the target road from two opposite directions, and the detection accuracy of the vehicles is determined according to the size value of the area occupied by the vehicle features in the road monitoring data;

[0095] Congestion analysis module, which is used to analyze the possibility of congestion when the fire truck enters the target road where β is a unit conversion parameter.

[0096] In this embodiment, the parking module includes:

[0097] The oncoming vehicle position acquisition module is used to obtain the number of vehicles passing through this section within a unit time period based on the traffic flow. The set time of the unit time period is at least controlled such that the number of vehicles passing through this section within the unit time period is at least 2 and the driving directions are inconsistent. Based on the road monitoring data, obtain the specific position data of the oncoming vehicle position of the vehicles passing through this section within the same time period at the specific position on the target road. Analyze the specific position data of the target road sequentially on the target road, obtain the distance between the specific position in the direction of the fire truck entering the target road and the position where the fire truck enters the target road, take the average value, and locate the drivable position closest to the average value. Sequentially obtain the average oncoming vehicle position within the target road. The average oncoming vehicle position is different at different times.

[0098] The parking instruction output module is used to, when a fire warning appears, enable the fire truck to enter the parking area of the target road within a preset time. Where μ2 is the error value of parking the fire truck on the target road. Locate whether the parking position closest to the fire warning position of the fire truck is at the average oncoming vehicle position. If so, locate it as the final parking position; otherwise, continue to drive. According to the driving route of the fire truck and the final parking position, output the parking instruction.

[0099] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0100] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A fire truck parking management method based on emergency management, characterized in that: Including: Filter the target road positions that need to be analyzed from the road monitoring data, and analyze whether a fire truck can pass through the target road. The target road positions that need to be analyzed are located based on the obstacle parking data at the fire warning positions; If it is detected that the fire truck can pass through the target road, based on the road monitoring data corresponding to the target road position, predict the possibility of congestion during the process of the fire truck entering the target road, and obtain the most suitable driving route according to the possibility prediction result and send it to the fire truck; During the process of the fire truck driving into the target road according to the driving route, when monitoring that the fire truck reaches the meeting position of the target road, combine the nearest parking position obtained from the fire warning position and instruct the fire truck to park; According to the most suitable driving route and the nearest parking position, after matching the urban fire resources on the emergency management platform, manage the parking positions of the subsequent arriving fire trucks corresponding to the urban fire resources.

2. The fire truck parking management method based on emergency management according to claim 1, wherein: The filtering of the target road positions that need to be analyzed from the road monitoring data includes: Monitor the target road. The target road includes both sides and the center of the road. Obtain the road plane schematic diagram through the map software, and mark the location of the target road on the road plane schematic diagram based on the road monitoring data; Further obtain the road extension position in the direction of the emergency warning position in the road plane schematic diagram for the target road position. The direction of the emergency warning position is the road direction to reach the emergency warning position in the road plane schematic diagram. When the road extension position is not recognized in the road monitoring data, mark the road extension position as not conforming to the perpendicularity of the current road, and set the limit distance of the road monitoring data to the section distance that conforms to the road perpendicularity, and obtain the road width of the section distance as K meters.

3. The fire truck parking management method based on emergency management according to claim 2, wherein: The analysis of whether a fire truck can pass through the target road includes: At every interval of L meters in the target road, sequentially identify the number of obstacles appearing on the road, count the number of marked obstacles as A, and reduce the drivable width of the target road based on the marked obstacles on the target road that conforms to the target road; Identify the object characteristics appearing in the target road, including: Sequentially monitor the areas at every interval of L meters in the target road to monitor whether the occupied area of the object characteristics exceeds δ% of the area of the area at every interval of L meters. If it exceeds, mark it as an obstacle, otherwise mark it as a non-obstacle, where δ is the proportion value of the smallest obstacle characteristic in the area at every interval of L meters. Based on the marked obstacles, retrieve in the database that the additional driving road area required for a fire truck with a width of m meters and a length of n meters to avoid the obstacles is s. The additional driving road area is on a plane of at least the target road composed of M meters wide and N meters long. When there is at least one obstacle in each area at an interval of L meters, the area corresponding to the additional driving road area does not completely coincide with the area corresponding to the target road area where the fire truck drives in at an interval of L meters. Where M>m and N>n, compare the drivable area of the road with the driving road area; Obtain the drivable area \(W = AMN - x-\mu_1\) of the target road, where \(1\leq i\leq A\), \(C\) is the area of the obstacle, and \(C\) i are the areas of \(A\) obstacles on the target road respectively. \(x\) is the overlapping area of the additional driving road area within the area of each interval of \(L\) meters. \(x\) is related to \(A\). If the drivable area of the road is greater than the driving area, \(\mu_1\) is the error value of the drivable area of the target road. Output an instruction indicating that the fire truck can pass through the target road, otherwise output an instruction indicating that the fire truck cannot pass through the target road.

4. The fire truck parking management method based on emergency management according to claim 3, wherein: If it is detected that the fire truck can pass through the target road, based on the road monitoring data corresponding to the position of the target road, predict the possibility of congestion during the process of the fire truck entering the target road, including: Monitor the traffic flow of the target road, including: through the road monitoring data, obtain the number of vehicles Z passing through the target road. Among them, the number of vehicles includes the vehicles passing through the target road from two opposite directions. The detection accuracy of the vehicle is determined by the size value of the area occupied by the vehicle characteristics in the road monitoring data; The possibility of congestion occurring during the process of the fire truck entering the target road where β is a unit conversion parameter.

5. The fire truck parking management method based on emergency management according to claim 3, characterized in that: During the process of the fire truck driving into the target road according to the driving route, when monitoring the meeting position of the fire truck arriving at the target road, combined with the nearest parking position obtained from the fire warning position, instruct the fire truck to park, including: Based on the traffic flow, obtain the number of vehicles passing through this section within a unit time period. The setting time of the unit time period is at least controlled so that the number of vehicles passing through this section within the unit time period is at least 2 and the driving directions are inconsistent. Based on the road monitoring data, obtain the specific position data of the meeting position of the vehicles passing through this section within the same time period on the target road. Analyze the specific position data of the target road sequentially on the target road, obtain the distance between the specific position in the driving direction of the fire truck into the target road and the position where the fire truck drives into the target road, take the average value and locate the drivable position closest to the average value, and sequentially obtain the average meeting position within the target road. The average meeting position is different at different times; After a fire warning appears, the fire truck enters the parking area of the target road within a preset time where μ2 is the error value of the parked fire trucks on the target road. Locate whether the parking position closest to the fire warning position of the fire truck is at the average passing position. If so, it is located as the final parking position; otherwise, it continues to drive. According to the driving route of the fire truck and the final parking position, output a parking instruction.

6. The fire truck parking management method based on emergency management according to claim 1, characterized in that: According to the most suitable driving route and the nearest parking position, after matching the urban fire resources on the emergency management platform, manage the parking positions of the subsequent arriving fire trucks corresponding to the urban fire resources, including: Based on the resource scheduling priority list, allocate the available fire resources in the city. The available fire resources include fire trucks and emergency rescue personnel. According to the emergency management platform, calculate the distance between the real-time position of the fire resources and the target area, plan the response path and the estimated arrival time, and establish the execution process of the resource dynamic allocation plan, including: based on the resource scheduling priority list, classify all available fire resources and mark the resource status, including the type of fire vehicles and the expertise of emergency rescue personnel, calculate the shortest path from the current position of each fire unit to the target area, and establish the resource dynamic allocation plan based on the shortest path; Record the dynamic allocation plan of resources in the urban fire management, update the response status and resource allocation of fire resources in real time, and obtain the execution process of the emergency response plan, including: record the current status and specific locations of all fire resources in the fire management equipment in the urban fire management, use real-time data transmission technology to establish a warning database through the emergency management platform, update the response status of fire resources and the allocation of fire resources in real time. Whenever the status of fire resources changes, automatically update the database and send the latest resource scheduling information to the emergency response team. The emergency response team adjusts the response strategy according to the real-time updated data, uses data analysis tools to predict the demand for fire resources and the scheduling efficiency, and outputs fire truck parking instructions on the target roads of several rescue paths at the fire warning location.

7. The fire truck parking management system based on emergency management is characterized in that: Including: A positioning module, which is used to screen the target road positions that need to be analyzed in the road monitoring data and analyze whether a fire truck can pass through the target road. The target road positions that need to be analyzed are located according to the obstacle parking data at the fire warning location; An analysis module, which is used to predict the possibility of congestion when a fire truck enters the target road based on the road monitoring data corresponding to the target road position if it is detected that the fire truck can pass through the target road, and obtain the most suitable driving route and send it to the fire truck in combination with the possibility prediction result; A parking module, which is used to monitor the fire truck when it reaches the meeting position of the target road during the process of driving into the target road according to the driving route, and combine the nearest parking position obtained from the fire warning location to instruct the fire truck to park; An allocation module, which is used to manage the parking positions of the subsequent arriving fire trucks corresponding to the urban fire resources after matching the urban fire resources on the emergency management platform according to the most suitable driving route and the nearest parking position.

8. The fire truck parking management system based on emergency management according to claim 7, wherein: The positioning module includes: A road section acquisition module, which is used to monitor the target road. The target road includes both sides and the center of the road. Obtain the road plane schematic diagram through map software, and mark the location of the target road on the road plane schematic diagram based on the road monitoring data; further obtain the road extension position in the direction of the emergency warning position of the target road position in the road plane schematic diagram. The direction of the emergency warning position is the road direction to reach the emergency warning position in the road plane schematic diagram. When the road extension position is not recognized in the road monitoring data, mark the road extension position as not conforming to the road perpendicularity, and set the limit distance of the road monitoring data to the road section distance conforming to the road perpendicularity, and obtain the road width of the road section distance as K meters; Section identification module, which is used to sequentially identify the number of obstacles appearing on the target road every L meters, count the number of marked obstacles as A, and reduce the drivable width of the target road based on the marked obstacles on the target road; identify the object features appearing on the target road, including: sequentially monitoring the area every L meters on the target road to monitor whether the occupied area of the object features exceeds δ% of the area of the area every L meters. If it exceeds, it is marked as an obstacle, otherwise it is marked as a non-obstacle, where δ is the proportion value of the minimum obstacle feature in the area every L meters; based on the marked obstacles, retrieve in the database that a fire truck with a width of m meters and a length of n meters requires an additional driving road area of s when avoiding the obstacles. The additional driving road area is at least composed of the plane of the target road composed of M meters wide and N meters long. The area corresponding to the additional driving road area and the area corresponding to the target road area where the fire truck drives into every L meters do not completely coincide when there is at least one obstacle in the area every L meters, where M>m and N>n, and compare the drivable area of the road with the driving road area; obtain the drivable area W of the target road = AMN - x - μ1, where 1 ≤ i ≤ A, C is the area of the obstacle, and C i are respectively the areas of A obstacles on the target road, x is the overlapping area of the additional driving road area in the area every L meters, x is related to A. If the drivable area of the road is greater than the driving area, μ1 is the error value of the drivable area of the target road, output an instruction indicating that the fire truck can pass through the target road, otherwise output an instruction indicating that the fire truck cannot pass through the target road.

9. The fire truck parking management system based on emergency management according to claim 8, characterized in that: The analysis module includes: Traffic flow monitoring module, which is used to monitor the traffic flow of the target road and includes: obtaining the number of vehicles Z passing through the target road through road monitoring data, where the number of vehicles includes the vehicles passing through the target road from two opposite directions, and the detection accuracy of the vehicles is determined by the size value of the area occupied by the vehicle characteristics in the road monitoring data; A clogging analysis module, which is used to analyze the possibility of clogging during the process of the fire truck entering the target road where β is a unit conversion parameter.

10. The fire truck parking management system based on emergency management according to claim 9, characterized in that: The parking module, including: Meeting position acquisition module, which is used to obtain the number of vehicles passing through this section within a unit time period based on the traffic flow. The set time of the unit time period is at least controlled so that the number of vehicles passing through this section within the unit time period is at least 2 and the driving directions are inconsistent. Based on the road monitoring data, obtain the specific position data of the meeting position of the vehicles passing through this section within the same time period on the target road, analyze the specific position data of the target road sequentially on the target road, obtain the distance between the specific position in the direction of the fire truck entering the target road and the position where the fire truck enters the target road, calculate the average value and locate the drivable position closest to the average value, and sequentially obtain the average meeting position within the target road. The position of the average meeting position is different at different times; Parking instruction output module, which is used to make the fire truck enter the parking area of the target road within a preset time after a fire warning appears Where μ2 is the error value of the parked fire truck on the target road. Locate whether the parking position closest to the fire warning position of the fire truck is at the average meeting position. If so, it is located as the final parking position; otherwise, it continues to drive. According to the driving route of the fire truck and the final parking position, the parking instruction is output.

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