A firefighting water dispatching method based on intelligent control

Abstract

The present invention relates to the field of intelligent control technology, specifically a fire-fighting water-taking scheduling method based on intelligent control, comprising the following steps: obtaining the pressure status of fire hydrants and water taps, valve opening and closing information and temperature data, evaluating the operating status of the equipment, extracting the pressure distribution and opening and closing sequence, generating a water supply distribution interval, judging the water supply balance and stability, adjusting the valve opening, correcting the control instruction, and outputting a water supply path maintenance status label. In the present invention, by cross-analyzing the pressure, valve opening and closing and ambient temperature of fire hydrants and water taps, eliminating abnormal data interference, enhancing state recognition accuracy, building a unified mapping mechanism in a multi-device environment, clearly expressing the distributed joint control relationship, dynamically screening the water supply priority area, quickly locking the target area, improving the control efficiency, accurately identifying key nodes, refining the control partition, introducing multi-parameter fusion and trend analysis, and improving the joint control response accuracy, control stability and system coordination.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to a fire-fighting water-taking scheduling method based on intelligent control. Background Art

[0002] The field of intelligent control technology involves combining information technology with control technology to achieve automated management and optimized regulation of various systems and equipment through computers, automated equipment, and other means. This field mainly includes smart homes, smart transportation, smart buildings, smart grids, and other aspects, and is widely used in urban infrastructure, industrial production, environmental monitoring and other fields. The core content of intelligent control includes real-time data acquisition, sensor networks, control algorithm design, system coordination and decision optimization, etc., and improves the efficiency, energy saving and safety of the system through intelligent means.

[0003] Among them, the fire-fighting and water-taking scheduling method based on intelligent control refers to a method of linkage control of distributed fire hydrants and water hydrants through intelligent control technology. The method covers the status monitoring and information transmission of multiple fire hydrants and water hydrants based on sensors and network technology, and regulates their switching operations through intelligent algorithms to ensure that fire-fighting and water hydrants can be automatically activated when needed, and can be allocated and scheduled according to specific circumstances. The topic mainly targets the inefficiency problems in the management of traditional fire hydrants and water hydrants, and adopts technical means based on distributed control and intelligent perception to achieve optimization of linkage control through real-time data transmission and status monitoring.

[0004] Existing technologies for equipment status monitoring primarily rely on single-sensor data, which is prone to biased judgments due to local information distortion. The lack of a multi-source data cross-verification mechanism often leads to misjudgment of equipment failures or missed hidden dangers. Water supply routing is often based on preset rules or manual operations, failing to dynamically respond to changes in water pressure distribution and external temperature disturbances. This can easily lead to localized water pressure shortages or water supply redundancy, compromising the efficiency of on-site emergency response. Valve control execution relies on fixed command adjustments, lacking a real-time correction mechanism for discrepancies between the current state and the control command. This results in hysteresis and the risk of offset in the adjustment action, making it difficult to ensure the continuity and accuracy of water supply regulation. Water supply stability assessment relies solely on short-term data snapshots, lacking continuous observation of periodic water flow fluctuations and recovery trends. This makes the control strategy lack long-term adaptability and prone to state drift or path imbalance during high-frequency regulation. Previous operations were mostly point-based control and staged response, with unclear overall linkage logic. This made it difficult to achieve global awareness and dynamic coordinated control of equipment status, resulting in poor operational coordination and energy efficiency, and hindered efficient adaptation to complex water supply demands. Summary of the Invention

[0005] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a fire-fighting water supply scheduling method based on intelligent control.

[0006] In order to achieve the above object, the present invention adopts the following technical solution: a fire-fighting water supply scheduling method based on intelligent control, comprising the following steps:

[0007] S1: Obtain the pressure status, valve opening and closing information, and ambient temperature data of fire hydrants and water taps, cross-validate and logically associate the three types of data, evaluate the equipment operating status, identify the linkage relationship between devices, establish a unified state mapping model, and generate a joint control state matrix;

[0008] S2: Based on the joint control state matrix, extract the water supply pressure distribution, valve opening and closing sequence and temperature change trend, screen the priority areas that meet the water supply demand, and determine the optimal water supply path in combination with the target water supply point to generate the water supply allocation interval;

[0009] S3: Based on the water supply distribution interval, the water supply balance is determined by analyzing the flow rate change trend of the water supply pipeline and combining the valve opening adjustment amount. The water supply stability is evaluated in combination with the external ambient temperature characteristics, and the boundaries of key regulation points are screened to generate water supply control limits.

[0010] S4: calling the water supply control limit, comparing the valve opening instruction with the current valve state, and if there is a deviation, adjusting the valve opening direction and amplitude, and combining the pressure sensor feedback to correct the control instruction to obtain a valve adjustment instruction set.

[0011] As a further solution of the present invention, the joint control state matrix includes equipment operating status, pressure distribution information, valve opening and closing sequence, and temperature change trend; the water supply distribution interval includes priority area, water supply path, valve opening and closing status, and pressure distribution range; the water supply regulation limit includes flow fluctuation threshold, valve opening range, temperature stability tolerance, and adjustment point boundary; the valve adjustment instruction set includes valve opening direction, opening adjustment amplitude, and valve correction instruction.

[0012] As a further solution of the present invention, the steps of obtaining the joint control state matrix are specifically as follows:

[0013] S111: Obtain the pressure status, valve opening and closing information, and ambient temperature data of fire hydrants and water taps, perform data logic verification using time synchronization tags, extract the correlation between pressure changes and valve state switching in each time slice, and perform state normalization processing using the logical relationship between the three types of data to generate a state registration set;

[0014] S112: Based on the matching area between the pressure distribution and the valve opening and closing sequence in the state registration set and in combination with the temperature change component, extract the center offset trajectory of the stable water supply area and the adjacent state switching angle, identify the water supply path, and generate a water supply channel parameter group;

[0015] S113: According to the status information of each water supply path in the water supply channel parameter group, the equipment configuration mapping relationship in the original state is analyzed, the path state is converted to a unified state system, the channel is pressure and temperature checked according to the path continuity and state change, the dynamic water supply section and the feasible state range are integrated, and a joint control state matrix is generated.

[0016] As a further solution of the present invention, the step of obtaining the water supply distribution interval is specifically as follows:

[0017] S211: Based on the joint control state matrix, by calling the pressure sensor, valve state detector and temperature sensor data, extracting the water supply pressure distribution, valve opening and closing sequence and temperature change trend, identifying priority areas and detecting water supply paths affected by insufficient pressure, eliminating path segments that do not meet water supply conditions, and generating priority water supply trajectories;

[0018] S212: calling the priority water supply trajectory, combining the stability detection data of the temperature sensor, identifying the water supply priority section of each trajectory segment, extracting the section information, calculating the water supply optimization value of the section, and screening to obtain the optimal water supply priority section;

[0019] S213: Calling the optimal water supply priority section, combining the target water supply point, calculating the angular deviation between the target water supply direction and the section direction, selecting the optimal path segment according to the deviation, and generating a water supply allocation interval.

[0020] As a further solution of the present invention, the step of obtaining the water supply control limit is specifically as follows:

[0021] S311: Extracting the flow change trend of the water supply pipeline according to the water supply distribution interval, identifying the flow value and time interval between the current frame and the previous frame, analyzing the flow change trend, determining the flow change direction and intensity, and obtaining a flow offset trend value;

[0022] S312: Call the flow deviation trend value, calculate the quantitative value of the water supply path stability by combining the valve opening adjustment amount, the stability index extracted by the temperature feature and the flow boundary distance, and judge the water supply stability based on the comparison result with the flow boundary threshold, screen the adjustment point boundary, and generate the water supply control limit.

[0023] As a further solution of the present invention, the steps of obtaining the valve adjustment instruction set are specifically as follows:

[0024] S411: calling the water supply control limit, extracting the valve opening instruction and the water supply state calculated by the fusion pressure sensor and the valve state detector, performing logical consistency and state difference judgment, and obtaining the water supply control deviation state;

[0025] S412: Based on the water supply control deviation state, combined with the water supply pressure offset detected by the pressure sensor and the valve feedback state, the valve opening amplitude is dynamically adjusted through multi-state data fusion, and the water supply path valve correction instruction is calculated. The correction instruction is fed back to the water supply control, superimposed on the original control quantity, and updated in real time to obtain the valve adjustment instruction set.

[0026] As a further embodiment of the present invention, the method further comprises:

[0027] S5: Based on the valve adjustment instruction set, collect the water supply trajectory output of the continuous cycle and the change of the water flow stability length in the pressure sensor, analyze whether the change trend is stable, determine the water supply stability period after the control is executed, and output the water supply path maintenance status label;

[0028] The water supply path status label includes water supply stability, path status identification, and pressure consistency.

[0029] As a further solution of the present invention, the steps for obtaining the water supply path maintenance status tag are specifically as follows:

[0030] S511: Based on the valve adjustment instruction set, the water supply trajectory output by the pressure unit and the water flow stability area detected by the pressure unit are collected, the water supply lateral offset and the stability length are extracted, the variation amplitude of the stability length within the cycle is analyzed, and a periodic stability amplitude sequence is generated;

[0031] S512: calling the periodic stability amplitude sequence, extracting the stability amplitude difference sequence within consecutive periods, marking the stability trend according to the polarity of the difference change, and judging whether the change converges to a single trend in combination with the water flow stability threshold, thereby obtaining a water flow stability fusion trend value;

[0032] S513: Based on the water flow stability fusion trend value, identify the lateral difference between the pressure sensor state solution and the water supply positioning coordinates within the stable period, and combine the water flow stability area length ratio to determine whether the water supply maintains stable path tracking, and output the water supply path maintenance status label.

[0033] Compared with the prior art, the advantages and positive effects of the present invention are:

[0034] In the present invention, by cross-analyzing the pressure status, valve opening and closing conditions, and ambient temperature of fire hydrants and water taps, abnormal data interference can be effectively eliminated, the accuracy of state identification can be enhanced, and a unified mapping mechanism can be established in an environment with multiple devices, which helps to achieve clear expression of distributed joint control relationships. After the water supply state matrix is extracted, the water supply priority areas are dynamically screened in combination with the pressure distribution characteristics and temperature trend changes. This can quickly lock the target area in complex water supply tasks, shorten the response time, and improve the control efficiency. By linking the water flow trend with the valve opening adjustment to judge the water supply balance, and integrating the impact of ambient temperature on equipment stability, the boundaries of key nodes can be accurately identified, further refining the control partition. During the valve deviation control process, the real-time feedback capability of the operating instructions is improved by comparing and correcting the instructions with the current state, and the accuracy of dynamic adjustment is guaranteed in complex water supply networks. Continuously collecting the water flow stability and pressure change trajectory can periodically evaluate the water supply fluctuation state after the adjustment action, forming a path maintenance state label, so that the control strategy has stronger time consistency and predictive ability. The overall processing logic introduces multi-parameter fusion and trend analysis methods in the links of state assessment, path allocation, dynamic adjustment and stability feedback, which improves the accuracy of joint control response, the stability of control actions and the overall coordination of system operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the main steps of the present invention;

[0036] Figure 2 This is a flow chart for obtaining the joint control state matrix in the present invention;

[0037] Figure 3 A flow chart for obtaining the water supply distribution interval in the present invention;

[0038] Figure 4 A flow chart for obtaining the water supply control limit in the present invention;

[0039] Figure 5 This is a flow chart for obtaining the valve adjustment instruction set in the present invention;

[0040] Figure 6 This is a flow chart for obtaining the water supply path status label in the present invention. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0042] In the description of the present invention, it should be understood that the terms "length," "width," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," "outside," and the like, indicating positions or relationships, are based on the positions or relationships shown in the accompanying drawings and are intended only to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting the present invention. Furthermore, in the description of the present invention, "plurality" means two or more, unless otherwise expressly and specifically defined.

[0043] Example 1: Please refer to Figure 1 The present invention provides a technical solution: a fire-fighting water supply scheduling method based on intelligent control, comprising the following steps:

[0044] S1: Obtain the pressure status, valve opening and closing information, and ambient temperature data of fire hydrants and water taps, cross-validate and logically associate the three types of data, evaluate the equipment operating status, identify the linkage relationship between devices, establish a unified state mapping model, and generate a joint control state matrix;

[0045] S2: Based on the joint control state matrix, the water supply pressure distribution, valve opening and closing sequence, and temperature change trend are extracted to screen the priority areas that meet the water supply demand. The optimal water supply path is determined in combination with the target water supply point to generate the water supply allocation interval.

[0046] S3: Based on the water supply distribution interval, the water supply pipeline flow rate change trend is analyzed, the water supply balance is determined by combining the valve opening adjustment amount, and the water supply stability is evaluated based on the external ambient temperature characteristics. The boundaries of key regulation points are screened and the water supply control limits are generated.

[0047] S4: Call the water supply control limit and compare the valve opening instruction with the current valve state. If there is a deviation, adjust the valve opening direction and amplitude, and combine the pressure sensor feedback to correct the control instruction to obtain the valve adjustment instruction set;

[0048] S5: Based on the valve adjustment instruction set, collect the continuous cycle water supply trajectory output and the change in the water flow stability length in the pressure sensor, analyze whether the change trend is stable, determine the water supply stability cycle after the control is executed, and output the water supply path maintenance status label.

[0049] The joint control status matrix includes the equipment operating status, pressure distribution information, valve opening and closing sequence, and temperature change trend. The water supply distribution interval includes priority areas, water supply paths, valve opening and closing status, and pressure distribution range. The water supply regulation boundaries include flow fluctuation thresholds, valve opening ranges, temperature stability tolerances, and adjustment point boundaries. The valve adjustment instruction set includes valve opening direction, opening adjustment amplitude, and valve correction instructions. The water supply path maintenance status label includes water supply stability, path status identification, and pressure consistency.

[0050] See also Figure 2 , the steps for obtaining the joint control state matrix are as follows:

[0051] S111: Obtain the pressure status, valve opening and closing information, and ambient temperature data of fire hydrants and water taps, perform data logic verification using time synchronization tags, extract the correlation between pressure changes and valve state switching in each time slice, and perform state normalization processing using the logical relationship between the three types of data to generate a state registration set;

[0052] "Each time slice" refers to the state or data set within each small period of time. By collecting and analyzing information such as pressure changes and valve status changes within each time slice, we can better understand the system's performance and state changes at different points in time. This approach enables more precise real-time monitoring and adjustment of equipment and water supply routes.

[0053] Logical verification of the three types of data can be achieved by establishing a time synchronization mechanism, marking data from different sensors with the same timestamp. Based on this, data consistency can be verified using a predefined algorithm. Specifically, a differentiated verification method can be employed, comparing the change trends of different data sources at the same time point to ensure that the time data is consistent with the actual physical changes. This method can effectively eliminate errors caused by time inconsistencies. Data accuracy can be improved through multi-source data fusion algorithms. This algorithm combines data from multiple sensors for multiple verifications, effectively eliminating the influence of interference from a single sensor. Furthermore, external environmental interference (such as temperature changes and humidity) should be corrected through real-time monitoring of environmental data to ensure data accuracy and reliability. The definition of the time slice should be determined based on the system's data acquisition frequency and the rate of change of physical events. For example, if the time scale of pressure changes is long, the time slice can be set to several minutes; if the event changes rapidly, the time slice should be shorter. Proper time slice setting ensures consistency between data acquisition and time synchronization, while avoiding errors caused by excessively long or short time slices. The relationship between valve opening and closing and pressure changes depends not only on time synchronization but also on various factors such as pipeline conditions and flow rate. Therefore, there is a risk of misjudgment based solely on time comparison. To improve the accuracy of judgment, analysis can be combined with pressure change trends. For example, setting a pressure change threshold and combining it with time synchronization information can more accurately determine whether the opening and closing of the valve has actually affected the system pressure.

[0054] First, data acquisition equipment at fire hydrants and water taps must be configured to monitor pressure changes and valve opening and closing status in real time. Pressure data can be acquired using sensors installed on these hydrants and taps. The pressure sensor's range should be set according to the water supply network's pressure range, for example, within the 0-10 MPa range. Valve opening and closing status can be acquired using electric or mechanical valve position sensors, which can be set to 0 (closed) or 1 (open). Ambient temperature data is acquired using a temperature sensor with a range of -10°C to 50°C, which is then transmitted to the monitoring system. Logical checks are performed on the data based on synchronized time stamps to ensure consistency between the time data and actual changes, while mitigating sensor errors and external interference. Based on the collected pressure, valve status, and ambient temperature data, correlations between pressure changes and valve state transitions within each time slice need to be extracted. For example, time series comparison analysis can be used to determine whether a particular valve opening or closing operation directly caused a pressure change. To clarify the correlation between multidimensional data, normalization can be used to convert data from different sources to the same standard or range. For example, pressure data can be normalized to the interval [0, 1]. This process integrates pressure, valve status, and ambient temperature data into a state-registered set, ensuring data compatibility and comparability, thus providing a data foundation for subsequent analysis.

[0055] S112: Based on the matching area between the pressure distribution and the valve opening and closing sequence in the state registration set and combined with the temperature change component, the center offset trajectory of the stable water supply area and the adjacent state switching angles are extracted to identify the water supply path and generate a water supply channel parameter group;

[0056] Stable water supply area center deviation trajectory: This term describes the trajectory of the center of the water supply area over time during the water supply process. In the system, the center point of the water supply area may be offset due to different factors (such as pressure changes, valve operation, etc.). By analyzing the deviation trajectory, it is possible to identify which areas have low or unstable water supply pressure, so as to dynamically adjust the water supply strategy to ensure the effectiveness and stability of water supply.

[0057] Adjacent state switching angle: This concept refers to the angle change caused by switching between adjacent water supply states in the water supply system. During the control and state conversion process of the equipment, the changing direction and switching angle of the water supply path can reveal the adjustment and optimization process of the system. By monitoring the changes in angles, potential water supply path problems can be predicted and identified, which helps to accurately control the water supply system.

[0058] By matching the pressure distribution with the valve opening and closing sequence and analyzing it in conjunction with the temperature variation component, we can extract the center deviation trajectory of the stable water supply area and the adjacent state switching angle. During this process, we first analyze the pressure distribution for each time slice. Pressure data can be collected in real time by a pressure sensor. Assuming the pressure at a certain moment is 6.5 MPa, at this pressure, we can determine whether it is a stable water supply area by analyzing the valve opening and closing state and temperature changes. This requires calculating the correlation with the valve opening and closing sequence. For example, when a valve is opened, the pressure change will cause the water supply path to change. If the pressure center changes significantly after opening the valve, it indicates that the valve opening and closing sequence is related to the pressure change. By analyzing the center deviation trajectory of the stable water supply area, we can further infer the stability and effectiveness of the water supply path within the water supply area. Combined with the analysis of adjacent state switching angles, the stability of each water supply path can be further verified. For example, when the pressure value drops sharply, the combination of temperature changes and valve state switching angles can determine whether the area has entered the edge of the water supply area. The core of the process lies in dynamically tracking the path and determining the changing patterns of various parameters. This allows accurate identification of the water supply path and generation of the corresponding water supply channel parameter set.

[0059] S113: Based on the state information of each water supply path in the water supply channel parameter group, the device configuration mapping relationship in the original state is analyzed, the path state is converted to a unified state system, the channel pressure and temperature are checked based on the path continuity and state changes, the dynamic water supply segment and the feasible state range are integrated, and a joint control state matrix is generated;

[0060] The joint control state matrix is a multidimensional data model used to represent the interrelationships and linkages between multiple devices (such as fire hydrants, water taps, and valves) under different conditions. By constructing this matrix, the system can comprehensively analyze information such as device operating status, pressure distribution, and valve opening and closing sequences. It also optimizes water supply scheduling through a data mapping mechanism. The generation of this matrix forms the foundation for decision-making and regulation within the entire intelligent control system.

[0061] Analyze device configurations and mapping relationships. For example, by analyzing the device configuration in its original state, we can check whether the equipment on a particular water supply path is adapted to the current pressure and temperature conditions. This process requires a unified transformation of the path's state to ensure consistency and coherence of the path data across the entire configuration. This unified state transformation can be handled using a state matrix, standardizing the states of each path and facilitating comparison and evaluation of different states. Furthermore, based on the path's continuity and state changes, each water supply path is subjected to pressure and temperature verification. This verification involves checking whether the pressure and temperature values measured at a given moment are within a defined acceptable range. For example, if the pressure and temperature on a particular water supply path are 6.5 MPa and 25°C, respectively, which are within the defined normal ranges of 6.0-7.0 MPa and 20-30°C, the path is considered compliant. If the pressure or temperature on a particular path exceeds or falls below these ranges, dynamic adjustments are required. By verifying the pressure and temperature of each water supply path, combining state changes and continuity, integrating dynamic water supply segments and feasible state ranges, and finally generating a joint control state matrix, the matrix can fully display the status of each water supply path and provide data support for subsequent scheduling and control.

[0062] See also Figure 3 , the specific steps for obtaining the water supply distribution interval are:

[0063] S211: Based on the joint control state matrix, the data from the pressure sensor, valve state detector, and temperature sensor are called to extract the water supply pressure distribution, valve opening and closing sequence, and temperature change trend. Priority areas are identified and water supply paths affected by insufficient pressure are detected. Path segments that do not meet the water supply conditions are eliminated to generate priority water supply trajectories.

[0064] Data from pressure sensors, valve status detectors, and temperature sensors are used to extract water supply pressure distribution, valve opening and closing sequences, and temperature trends. Pressure sensors collect real-time pressure data from across the network, valve status detectors detect valve opening and closing states, and temperature sensors record ambient temperature fluctuations. Based on this data, the system first analyzes the pressure and temperature data to identify abnormal areas in the pressure distribution, particularly those areas with pressure drops that impact water supply quality and stability. For example, if the pressure in a particular area falls below a set threshold (e.g., below 5 MPa), this indicates water supply constraints and warrants special attention. Further analysis of valve opening and closing sequences can identify valves whose opening or closing directly impacts pressure distribution. For example, if the opening of a valve causes a sharp drop in pressure in the surrounding area, this indicates improper valve opening and closing operations or a fault. Combined with temperature trends, the system can identify water supply routes affected by temperature. If the temperature of certain routes fluctuates significantly (e.g., by exceeding 20°C), the route's stability needs to be investigated, specifically checking valve status and pressure. By integrating the above data, we can identify priority areas that require priority water supply when pressure or temperature changes greatly, detect water supply paths affected by insufficient pressure, and screen path segments according to the set water supply conditions (for example, pressure between 6-10MPa and temperature between 20-30℃). Path segments that do not meet the conditions are eliminated, and finally, priority water supply trajectories are generated based on the data.

[0065] S212: calling the priority water supply trajectory, combining the stability detection data of the temperature sensor, identifying the water supply priority section of each trajectory segment, extracting the section information, calculating the water supply optimization value of the section, and screening to obtain the optimal water supply priority section;

[0066] The data provided by the temperature sensor needs to be analyzed, especially for areas of the water supply path with large temperature fluctuations. This helps identify which path segments experience significant temperature fluctuations. For example, if the temperature fluctuation in a certain path segment exceeds a set threshold (e.g., exceeding ±5°C), this path segment is specifically marked as a priority area for inspection. Based on the temperature fluctuations in the trajectory segment and combined with the pressure data, the water supply optimization value for each segment is calculated. This water supply optimization value can be calculated as follows: Assuming a path segment with a pressure of 6.5 MPa and a temperature of 25°C, and with a normal valve opening and closing sequence, the optimization value for that path can be set to 1. However, if the path segment has large temperature and pressure fluctuations, the optimization value will be lowered, for example, to 0.8. The calculation of the optimization value requires weighted averaging of various data items. The specific weight depends on the impact of each data item on the stability of the water supply system. For example, the weight of pressure data is 0.5, the weight of temperature data is 0.3, and the weight of valve status is 0.2. The water supply optimization value of each trajectory segment can be obtained. According to the optimization value, the water supply priority segment with the highest optimization value is selected. For example, if the optimization value of a certain path segment is 1 and that of another segment is 0.7, the path segment with the optimization value of 1 is selected as the optimal water supply priority segment.

[0067] The optimal water supply value of the section is calculated using the formula: ,

[0068] in, The water supply optimization value of the representative section, Representative trajectory segment The stability test value of Representative trajectory segment Temperature sensor data, Representative trajectory segment The change in water supply, and Both represent the adjustment coefficients of water supply optimization value, is the total number of trajectory segments;

[0069] The optimal water supply value for a segment refers to the areas most in need of water supply priority, selected after a comprehensive analysis of each trajectory segment in the water supply system based on a series of factors (such as temperature, water supply variation, and stability testing). By optimizing the water supply priority segments, resources can be rationally dispatched based on the specific needs and current operating status of each segment, ensuring that water sources are prioritized to meet the needs of areas with higher water supply requirements and greater demand fluctuations, thereby maximizing water supply efficiency and resource utilization.

[0070] definition: Represents a trajectory segment The stability detection value reflects the stability of the temperature sensor during this period of time;

[0071] Acquisition method: Acquisition through stability detection data of temperature sensors. The specific method includes: using temperature sensors to monitor temperature changes in water flow in real time, calculating the standard deviation of temperature signals as a stability indicator;

[0072] Quantitative standard: stability test value The unit is °C, which represents the standard deviation of temperature change;

[0073] Temperature sensor data ( )

[0074] definition: Represents a trajectory segment The temperature sensor data reflects the water temperature during that period;

[0075] Acquisition method: Real-time monitoring of temperature changes in water flow through temperature sensors;

[0076] Quantitative standard: temperature sensor data The unit is ℃, which indicates the water temperature;

[0077] Water supply change ( )

[0078] definition: Represents a trajectory segment The change in water supply reflects the change in water supply during this period;

[0079] Acquisition method: Real-time monitoring of water flow changes through a water flow meter or flow sensor;

[0080] Quantitative standard: Change in water supply The unit is m³ / s, which indicates the change in water flow per unit time;

[0081] Adjustment factor ( and ) settings:

[0082] definition: and They are adjustment coefficients of water supply optimization value, which are used to adjust the weights in the formula;

[0083] Setting basis: Set according to actual conditions and experience to ensure the rationality of the formula;

[0084] Quantitative standard: adjustment coefficient and The unit of is dimensionless and the value range is [0, 1];

[0085] Formula calculation derivation process:

[0086] Taking actual data as an example, assuming there are three trajectory segments, their stability detection values, temperature sensor data, and water supply changes are as follows:

[0087] Track segment 1: ;

[0088] Track segment 2: ;

[0089] Track segment 3: ;

[0090] Adjustment factor: ;

[0091] The calculation process is as follows:

[0092] ;

[0093] The result P represents the optimal water supply value for the segment. This value comprehensively considers the stability of each trajectory segment, temperature sensor data, and water supply changes. After correction by the adjustment coefficient, it ultimately reflects the priority of different trajectory segments in the water supply system. During the water supply system optimization process, P is used to screen the optimal water supply value of the segment, thereby helping the system to perform precise scheduling to ensure water supply efficiency and stability under different environmental conditions. The calculated P value can be used to further optimize the water supply path and resource allocation in subsequent operations, improving the overall operational effect.

[0094] S213: Calling the optimal water supply priority section, combining the target water supply point, calculating the angular deviation between the target water supply direction and the section direction, selecting the optimal path segment based on the deviation, and generating the water supply allocation interval;

[0095] The direction of the target water supply point can be determined using a GPS positioning system. The azimuth of the target point relative to each path in the water supply system is calculated. For example, assuming the target water supply point is located southeast with an azimuth of 135°, the direction of each priority water supply path segment is calculated and compared with the direction of the target water supply point to determine the angular deviation. If the deviation between the direction of a path segment and the target water supply point is small (e.g., less than 15°), the path segment is considered close to the target water supply point. Conversely, if the deviation is large (e.g., greater than 45°), the path segment is considered far from the target water supply point. In this way, the optimal path segment can be selected based on the angular deviation. The path segment with the smallest deviation from the target water supply point is selected to generate the final water supply allocation interval. For example, if the angular deviation of one path segment is 10°, while the angular deviation of another path segment is 30°, the path segment with the 10° deviation is selected as the optimal path segment, and the status information of this path segment is used.

[0096] See also Figure 4, the specific steps for obtaining the water supply control limit are:

[0097] S311: Extracting the flow change trend of the water supply pipeline according to the water supply distribution interval, identifying the flow value and time interval between the current frame and the previous frame, analyzing the flow change trend, determining the flow change direction and intensity, and obtaining the flow offset trend value;

[0098] First, the flow rate trend of the water supply pipeline is extracted. Actual flow information is obtained primarily through data from flow sensors. Based on this information, the flow values and time intervals between the current and previous frames are analyzed. The time difference between the flow data is used to accurately compare the flow data and determine the rate of flow change. For example, if the flow rate in the current frame is 20 m³ / h and the flow rate in the previous frame is 18 m³ / h, with a time interval of 10 minutes, the flow change is 2 m³ / h, and the rate of change per unit time is 0.2 m³ / h. By analyzing the flow rate changes within each frame, the direction and intensity of the flow change can be further determined. For example, if the flow rate increases continuously over a period of time, the direction of the flow change can be determined as "increasing." The intensity of the change is measured by the flow rate change per unit time. If the flow rate change exceeds a certain threshold (e.g., 0.1 m³ / h), the intensity of the flow change is considered strong. Based on this, a flow deviation trend value can be calculated. The flow deviation trend value reflects the trend and intensity of the current flow change, making it easier to determine whether pressure fluctuations or abnormalities are occurring in certain sections of the water supply system.

[0099] S312: The flow deviation trend value is called, and the quantitative stability value of the water supply path is calculated by combining the valve opening adjustment amount, the stability index extracted from the temperature characteristics, and the flow boundary distance. Based on the comparison result with the flow boundary threshold, the water supply stability is judged, the adjustment point boundary is screened, and the water supply control limit is generated;

[0100] The valve opening adjustment is obtained. This can be done through the valve control system, which can determine the current valve opening (e.g., a percentage between 0% and 100%). Based on this adjustment, the flow rate in the water supply path needs to be adjusted. The larger the valve opening, the greater the flow rate. If the flow rate fluctuates significantly, the valve opening needs to be adjusted. Secondly, stability indicators extracted from temperature features also play an important role. These indicators can be used to assess the stability of the water supply path under temperature fluctuations using temperature sensors. For example, large temperature fluctuations indicate increased instability in the water supply path. Temperature fluctuations can be quantified by calculating the temperature change rate (e.g., the number of degrees per minute). If the rate of change exceeds a set value (e.g., more than 1°C per minute), stability is poor. The flow boundary distance refers to the difference between the current flow rate of the path and the set normal flow range, typically measured as flow deviation. If the current flow rate exceeds the upper limit of the normal range (e.g., exceeding 10 L / min), concern is raised about whether the path is in a dangerous state. By combining these factors, a weighted calculation is performed to quantify the stability of the water supply path. Assuming a weight of 0.4 for valve opening adjustment, 0.3 for temperature change stability, and 0.3 for flow deviation, the final stability quantification value is calculated by taking the weighted average of the parameters. This calculated stability quantification value is then compared with the flow boundary threshold to determine whether the current water supply path is stable. If the stability quantification value is lower than the set stability threshold (for example, lower than 0.6), the path is unstable and requires adjustment. This system can identify the water supply paths that require adjustment, generate water supply control boundaries, and optimize the water supply paths based on these boundaries.

[0101] The quantitative value of the water supply path stability is calculated using the formula:

[0102] ;

[0103] in, represents the quantitative value of water supply path stability, Represents the i-th valve opening adjustment amount, represents the distance to the boundary of the i-th flow rate, represents the stability index of the i-th temperature feature extraction, and n represents the number of samples;

[0104] The quantitative value of water supply path stability measures the stability level of the water supply system over a certain period of time by comprehensively considering factors such as valve opening adjustment, temperature fluctuation characteristics, and flow boundary distance. This value reflects whether the water supply system can maintain stable flow and temperature. The closer the value is to 0, the higher the stability and the smaller the fluctuation during operation; the larger the value, the poorer the stability and the greater the fluctuation, which may lead to unstable water supply or additional problems. This quantitative value provides a basis for subsequent water supply stability assessment, regulation node selection, and control boundary generation.

[0105] (i-th valve opening adjustment): monitored in real time by the flow control system, the unit is percentage (%). This parameter is calculated by the difference between the actual opening feedback from the valve drive system and the set opening. If the actual opening is 60% and the set opening is 50%, then , the valve opening adjustment amount will fluctuate between 0% and 100%, based on the data collected by the on-site monitoring equipment;

[0106] (Stability index of the i-th temperature feature extraction): This index comes from the temperature sensor in the water supply path and indicates the stability of temperature fluctuations. The value of this parameter is obtained by calculating the standard deviation of the temperature over a period of time. For example, if the temperature fluctuation range is 24°C to 26°C within a certain period of time, the standard deviation is 0.5°C. ℃. This value fluctuates within the range of 0℃ to 5℃;

[0107] (i-th flow boundary distance): Provided by the flow monitoring system, it represents the difference between the current flow and the set flow boundary, in cubic meters per hour (m³ / h). The flow monitoring system will provide real-time feedback on the current flow value of the water supply system and compare it with the set maximum flow boundary value. For example, if the current flow is 50m³ / h and the flow boundary is 60m³ / h, then m³ / h;

[0108] (Number of samples): indicates the number of times data is collected. If data is collected 5 times, then , this parameter is usually fixed and depends on the frequency of system sampling when performing stability calculations;

[0109] In order to ensure the consistency of the dimensions of each parameter and avoid distortion of the calculation results due to dimensional differences, normalization is required. The purpose of normalization is to convert parameters of different dimensions to the same standard so that they can be effectively combined in the same calculation formula. The following is the normalization method for each parameter:

[0110] (Valve opening adjustment) normalization: It is already in percentage units, so no further normalization is needed, as percentages themselves are dimensionless;

[0111] (Temperature Stability Index) Normalized: Temperature The dimension is Celsius (℃). To unify the dimension, it can be normalized with the normal fluctuation range of the system. For example, if the normal fluctuation range of temperature is 0℃ to 5℃, it can be normalized as follows: ,Thus, the normalized value of the temperature stability index is in the range of [0, 1];

[0112] Normalization (Flow Boundary Distance): The unit of flow boundary distance is cubic meters per hour (m³ / h). To unify the dimensions, the flow rate can be normalized with the set maximum flow boundary (for example, 100 m³ / h): ,In this way, the normalized value of the flow boundary distance will also fall within the range of [0, 1];

[0113] Calculate the numerator: ;

[0114] For 5 times of data, assume that the following data is collected and normalized.

[0115] Table 1: Data normalization results;

[0116] .

[0117] As shown in Table 1, the normalized processing results of each parameter are displayed.

[0118] Calculate each time :

[0119] ;

[0120] ;

[0121] ;

[0122] ;

[0123] ;

[0124] Sum the results: , so the numerator is 10.6;

[0125] Calculate the denominator: ;

[0126] Calculate each time (after normalization):

[0127] ;

[0128] ;

[0129] ;

[0130] ;

[0131] ;

[0132] Sum the results: ;

[0133] Take the square root: , so the denominator is approximately 52.5;

[0134] Calculate the stability quantification value: ;

[0135] The calculated stability quantification value is 0.202, which indicates the degree of stability of the water supply path in the five data collected. The closer the value is to 0, the more stable it is, and the larger the value is, the more unstable it is. This result can be used as a basis for judging water supply stability, screening regulation point boundaries, and generating water supply control limits.

[0136] See also Figure 5 , the specific steps for obtaining the valve adjustment instruction set are:

[0137] S411: Calling the water supply control limit, extracting the valve opening instruction and the water supply status calculated by the fusion pressure sensor and valve status detector, performing logical consistency and status difference judgment, and obtaining the water supply control deviation status;

[0138] First, the valve opening command and the water supply status calculated by the pressure sensor and valve state detector must be extracted for subsequent logical consistency checks and state discrepancy determination. During execution, the valve control opening command is first called. This opening value is typically expressed as a percentage (e.g., between 0% and 100%). Real-time pressure data collected by the pressure sensor is combined with the on / off status obtained by the valve state detector to perform a state assessment. If the command requires a valve opening of 60%, but the valve state detector reports that the valve is actually closed (0% opening), there is a clear state inconsistency. At this point, the logical consistency check requires comparing the expected valve opening with the actual opening to check for compliance with the set rules. If there is a discrepancy between the expected and actual values, such as a valve opening mismatch, the water supply control deviation status must be determined. For example, assuming the expected flow rate is 10L / s, but the actual flow rate is only 8L / s, the deviation reflects the insufficiency of the current water supply status. The source of the deviation can be analyzed, the differences between the control system and the actuator (such as valve opening) can be identified, and the operation can be corrected based on the feedback of the analysis results. Through logical consistency and status difference judgment, data support is provided for adjusting the water supply system.

[0139] S412: Based on the water supply control deviation state, combined with the water supply pressure offset detected by the pressure sensor and the valve feedback state, the valve opening amplitude is dynamically adjusted through multi-state data fusion, and the water supply path valve correction instruction is calculated. This is fed back to the water supply control, superimposed on the original control variable, and updated in real time to obtain the valve adjustment instruction set;

[0140] The actual water supply pressure along the current route is obtained from the pressure sensor. For example, assume the current water supply pressure is 6.5 MPa, while the desired pressure is 7.0 MPa. Based on this deviation, further analysis is needed to determine its relationship with the valve status. If the valve feedback indicates a lower-than-expected valve opening, this indicates that the valve is not fully open, leading to low pressure. Data fusion can dynamically adjust the valve opening range. For example, if the actual valve opening is 40% and the set opening is 60%, the valve opening needs to be increased by 20% to meet the required flow and pressure. By fusing multi-state data, including valve opening, pressure, and water supply route status, the required valve correction command is calculated. For example, if the valve correction command is a 15% increase in opening, the water supply route will be adjusted accordingly. The calculated valve correction command is fed back to the water supply control system and superimposed with the original control variable for real-time updating, forming a valve adjustment command set. The key to this process is ensuring that the correction command is immediately reflected in the water supply system, enabling timely adjustments to the water supply status and optimization of the water supply route. This adjustment ensures smooth water supply operation and meets predetermined performance standards.

[0141] See also Figure 6,The steps for obtaining the water supply path maintenance status label are as follows:

[0142] S511: Based on the valve adjustment instruction set, the water supply trajectory output by the pressure unit and the water flow stability area detected by the pressure unit are collected, the water supply lateral offset and stability length are extracted, the change amplitude of the stability length within the cycle is analyzed, and a periodic stability amplitude sequence is generated;

[0143] The water supply trajectory and water flow stability area are collected from the pressure unit. The water supply trajectory refers to the specific change path of the water flow on the water supply path within a given time, such as the change of flow rate, pressure, etc. over time. The water flow stability area indicates which areas show a stable water flow state during the water supply process. The pressure data of the water supply path is obtained through the pressure sensor. Assuming that the pressure of a certain section of the path changes from 5.0MPa to 5.2MPa within 5 minutes, the lateral offset of the water supply can be calculated based on this change. The lateral offset can be obtained by comparing the pressure values at different locations. For example, the pressure difference measured between two points reflects the spatial variation of the water flow. On this basis, combined with the definition of the stability area, the stability length is further extracted. This length refers to the area in the water supply system where a stable water flow is maintained within a time period. For example, if a path maintains a stable flow of 100 meters over a 5-minute period, then the stability length is 100 meters. By analyzing the magnitude of the change in the stability length within a cycle, we can calculate its periodic stability amplitude sequence. Assuming the stability length is 100 meters, 105 meters, and 110 meters over three cycles, the stability amplitude sequence is 5 meters and 5 meters, representing the magnitude of the change within each cycle. If this magnitude of change is small, the water supply system is relatively stable. By calculating this, we can generate a periodic stability amplitude sequence to track how flow stability changes over time.

[0144] S512: Calling the periodic stability amplitude sequence, extracting the stability amplitude difference sequence within consecutive periods, marking the stability trend according to the polarity of the difference change, and combining it with the water flow stability threshold to determine whether the change converges to a single trend, and obtaining the water flow stability fusion trend value;

[0145] Extract a sequence of stability amplitude differences within consecutive cycles. This difference sequence is calculated by comparing the stability amplitudes between two adjacent cycles. For example, if the stability amplitude in the first cycle is 5 meters and the stability amplitude in the second cycle is 10 meters, the difference is 5 meters. The polarity of this difference is determined, that is, whether the difference is increasing or decreasing to mark the stability trend. A positive stability amplitude difference indicates an improvement in flow stability, while a negative difference indicates a decrease. For example, if the stability amplitude difference is 5 meters, -3 meters, and 2 meters over three consecutive cycles, respectively, it can be determined that the flow stability is fluctuating. Combined with the flow stability threshold, whether the changes are converging to a single trend is determined. The flow stability threshold is a pre-set standard that distinguishes between stable and unstable states. For example, if the stability threshold is set to ±2 meters, if the difference fluctuates within this range, the flow stability is considered to be stable. If it exceeds this range, the flow stability is considered to be no longer maintaining a single trend. For example, if the stability amplitude difference changes by more than ±2 meters, the water flow stability can be marked as unstable, and the water flow stability fusion trend value can be obtained, which reflects whether the water flow remains stable over a certain period of time.

[0146] S513: Based on the water flow stability fusion trend value, identify the lateral difference between the pressure sensor state solution and the water supply positioning coordinates within the stable period, and combine it with the water flow stability region length ratio to determine whether the water supply maintains stable path tracking, and output a water supply path maintenance status label;

[0147] Identify the lateral difference between the pressure sensor state solution and the water supply positioning coordinates during the stable period. This process first acquires pressure data during the stable period from the pressure sensor and combines it with the water supply positioning coordinates to determine the spatial position of the water supply path. For example, if the pressure sensor indicates a stable pressure of 5.5 MPa for a certain path segment, and the water supply positioning coordinates indicate point A on that path, then compare the pressure and position data at other points to calculate the lateral difference in that path. For example, if the pressure at point A is 5.5 MPa and the pressure at point B is 5.3 MPa, the lateral difference is 0.2 MPa. This is then analyzed in conjunction with the length ratio of the water flow stability region. The length ratio reflects the relative stability of the water flow stability region and is calculated by calculating the ratio of the stability region length to the total water supply path. If the stability region length accounts for a high proportion of the total path, the water supply system is relatively stable. If the lateral difference is small and the stability region length ratio is large, the water supply path remains stable. On this basis, by comparing the difference between the pressure sensor data and the water supply positioning coordinates, combined with the water flow stability area length ratio, it is possible to determine whether the water supply maintains stable path tracking. If the stable path tracking is maintained, the water supply path maintenance status label is output, indicating that the current water supply path status is stable and normal water supply regulation can continue to be performed.

[0148] The above are merely preferred embodiments of the present invention and do not limit the present invention in any other form. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall still fall within the scope of protection of the technical solution of the present invention.

Claims

1. A firefighting water supply scheduling method based on intelligent control, characterized in that: The following steps are involved: S1: Obtain the pressure status, valve opening and closing information, and ambient temperature data of fire hydrants and water taps, cross-validate and logically associate the three types of data, evaluate the equipment operating status, identify the linkage relationship between devices, establish a unified state mapping model, and generate a joint control state matrix; The steps for obtaining the joint control state matrix are specifically as follows: S111: Obtain the pressure status, valve opening and closing information, and ambient temperature data of fire hydrants and water taps, perform data logic verification using time synchronization tags, extract the correlation between pressure changes and valve state switching in each time slice, and perform state normalization processing using the logical relationship between the three types of data to generate a state registration set; S112: Based on the matching area between the pressure distribution and the valve opening and closing sequence in the state registration set and in combination with the temperature change component, extract the center offset trajectory of the stable water supply area and the adjacent state switching angle, identify the water supply path, and generate a water supply channel parameter group; S113: Based on the state information of each water supply path in the water supply channel parameter group, the device configuration mapping relationship in the original state is analyzed, the path state is converted to a unified state system, the channel pressure and temperature are checked based on the path continuity and state changes, the dynamic water supply segment and the feasible state range are integrated, and a joint control state matrix is generated; S2: Based on the joint control state matrix, extract the water supply pressure distribution, valve opening and closing sequence and temperature change trend, screen the priority areas that meet the water supply demand, and determine the optimal water supply path in combination with the target water supply point to generate the water supply allocation interval; The steps for obtaining the water supply distribution interval are specifically as follows: S211: Based on the joint control state matrix, by calling the pressure sensor, valve state detector and temperature sensor data, extracting the water supply pressure distribution, valve opening and closing sequence and temperature change trend, identifying priority areas and detecting water supply paths affected by insufficient pressure, eliminating path segments that do not meet water supply conditions, and generating priority water supply trajectories; S212: calling the priority water supply trajectory, combining the stability detection data of the temperature sensor, identifying the water supply priority section of each trajectory segment, extracting the section information, calculating the water supply optimization value of the section, and screening to obtain the optimal water supply priority section; S213: Calling the optimal water supply priority section, combining the target water supply point, calculating the angular deviation between the target water supply direction and the section direction, selecting the optimal path segment based on the deviation, and generating a water supply allocation interval; S3: Based on the water supply distribution interval, the water supply balance is determined by analyzing the flow rate change trend of the water supply pipeline and combining the valve opening adjustment amount. The water supply stability is evaluated in combination with the external ambient temperature characteristics, and the boundaries of key regulation points are screened to generate water supply control limits. The steps for obtaining the water supply control limit are specifically as follows: S311: Extracting the flow change trend of the water supply pipeline according to the water supply distribution interval, identifying the flow value and time interval between the current frame and the previous frame, analyzing the flow change trend, determining the flow change direction and intensity, and obtaining a flow offset trend value; S312: The flow deviation trend value is called, and a quantitative value of water supply path stability is calculated by combining the valve opening adjustment amount, the stability index extracted from the temperature characteristics, and the flow boundary distance. Based on the comparison result with the flow boundary threshold, the water supply stability is judged, the adjustment point boundary is screened, and the water supply control limit is generated; S4: calling the water supply control limit, comparing the valve opening instruction with the current valve state, and if there is a deviation, adjusting the valve opening direction and amplitude, and combining the pressure sensor feedback to correct the control instruction to obtain a valve adjustment instruction set.

2. The firefighting water supply scheduling method based on intelligent control according to claim 1 is characterized in that: The joint control status matrix includes the equipment operating status, pressure distribution information, valve opening and closing sequence, and temperature change trend; the water supply distribution interval includes priority areas, water supply paths, valve opening and closing status, and pressure distribution range; the water supply regulation boundaries include flow fluctuation thresholds, valve opening ranges, temperature stability tolerances, and adjustment point boundaries; the valve adjustment instruction set includes valve opening direction, opening adjustment amplitude, and valve correction instructions.

3. The firefighting water supply scheduling method based on intelligent control according to claim 1 is characterized in that: The steps for obtaining the valve adjustment instruction set are specifically as follows: S411: calling the water supply control limit, extracting the valve opening instruction and the water supply state calculated by the fusion pressure sensor and the valve state detector, performing logical consistency and state difference judgment, and obtaining the water supply control deviation state; S412: Based on the water supply control deviation state, combined with the water supply pressure offset detected by the pressure sensor and the valve feedback state, the valve opening amplitude is dynamically adjusted through multi-state data fusion, and the water supply path valve correction instruction is calculated. The correction instruction is fed back to the water supply control, superimposed on the original control quantity, and updated in real time to obtain the valve adjustment instruction set.

4. The firefighting water supply scheduling method based on intelligent control according to claim 1 is characterized in that: The method also includes: S5: Based on the valve adjustment instruction set, collect the water supply trajectory output of the continuous cycle and the change of the water flow stability length in the pressure sensor, analyze whether the change trend is stable, determine the water supply stability period after the control is executed, and output the water supply path maintenance status label; The water supply path status label includes water supply stability, path status identification, and pressure consistency.

5. The firefighting water supply scheduling method based on intelligent control according to claim 4 is characterized in that: The steps for obtaining the water supply path maintenance status tag are specifically as follows: S511: Based on the valve adjustment instruction set, the water supply trajectory output by the pressure unit and the water flow stability area detected by the pressure unit are collected, the water supply lateral offset and the stability length are extracted, the variation amplitude of the stability length within the cycle is analyzed, and a periodic stability amplitude sequence is generated; S512: calling the periodic stability amplitude sequence, extracting the stability amplitude difference sequence within consecutive periods, marking the stability trend according to the polarity of the difference change, and judging whether the change converges to a single trend in combination with the water flow stability threshold, thereby obtaining a water flow stability fusion trend value; S513: Based on the water flow stability fusion trend value, identify the lateral difference between the pressure sensor state solution and the water supply positioning coordinates within the stable period, and combine the water flow stability area length ratio to determine whether the water supply maintains stable path tracking, and output the water supply path maintenance status label.

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