Municipal road environment monitoring method and system based on multi-sensor fusion

Abstract

The invention discloses a municipal road environment monitoring method and system based on multi-sensor fusion, and relates to the technical field of sensors. The method comprises the following steps: acquiring municipal road information, generating a municipal road division scheme through a big data analysis technology, acquiring monitoring elements, generating an environment information acquisition sensor deployment plan, and constructing sub-municipal road environment monitoring nodes and a distributed municipal road environment monitoring system, historical environment information data is obtained to construct a municipal road environment analysis model, environment information data is collected, a sub municipal road environment monitoring report is generated through the municipal road environment analysis model, abnormal environment monitoring data is obtained, and sub municipal road abnormal environment monitoring early warning information is generated. And performing classification and fusion according to the sub municipal road environment monitoring reports to generate a municipal road environment monitoring report. According to the invention, the municipal road environment can be monitored through the distributed monitoring system, the environment condition is comprehensively analyzed, the monitoring report is generated, and scientific and reasonable data support is provided for municipal road environment management.

Description

Technical Field

[0001] The present invention relates to the field of sensor technology, and in particular to a municipal road environment monitoring method and system using multi-sensor fusion. Background Art

[0002] Traditional municipal road environmental monitoring typically relies on monitoring points located only at key sections of the road. This approach struggles to provide comprehensive and detailed coverage of the entire city's road environment, leading to numerous potential environmental issues going undetected, significantly impacting the effectiveness of urban environmental management. Furthermore, current sensor deployment is scattered and random, failing to fully consider the actual conditions of municipal roads and the characteristics of environmental monitoring elements. This results in insufficiently representative monitoring data and an inability to accurately reflect the true state of the road environment. Furthermore, data from each monitoring point is often processed independently, lacking effective data fusion and analysis mechanisms. This inability to fully utilize large amounts of raw data leads not only to information redundancy but also to inaccurate analysis results, making it difficult to quickly and effectively support urban management decisions. Furthermore, existing monitoring systems are slow to respond to abnormal environmental data and lack effective early warning mechanisms. Once an abnormal road environment occurs, relevant departments cannot be notified promptly to implement countermeasures, potentially exacerbating environmental issues and negatively impacting public quality of life and the city's sustainable development.

[0003] With the rapid development of cities and the continuous improvement of people's requirements for environmental quality, higher standards have been put forward for the accuracy, real-time and comprehensiveness of municipal road environmental monitoring. A multi-sensor fusion municipal road environmental monitoring method is urgently needed. Summary of the Invention

[0004] The present invention provides a municipal road environment monitoring method based on multi-sensor fusion, comprising:

[0005] Step S1: The monitoring and planning center obtains a municipal road information set through geographic information technology, generates a municipal road division plan based on the municipal road information set through big data analysis technology, and divides the municipal roads into N sub-municipal road environmental monitoring areas;

[0006] Step S2: The monitoring planning center obtains environmental monitoring elements of the sub-municipal road environmental monitoring area according to the municipal road division plan and generates a deployment plan for environmental information collection sensors;

[0007] Step S3: The monitoring planning center constructs a sub-municipal road environment monitoring node using the Internet of Things technology based on the environmental information collection sensor deployment plan, and constructs a distributed municipal road environment monitoring system based on the sub-municipal road environment monitoring node using wireless communication network technology;

[0008] Step S4: The distributed municipal road environment monitoring system obtains historical environmental information data of the sub-municipal road environment monitoring area through the sub-municipal road environment monitoring node, performs data fusion using the municipal road environment sensor information fusion algorithm to generate a municipal road environment fusion data set, and constructs a municipal road environment analysis model;

[0009] Step S5: The distributed municipal road environment monitoring system periodically collects environmental information data of the sub-municipal road environment monitoring area through the sub-municipal road environment monitoring node, generates a sub-municipal road environment monitoring report through the municipal road environment analysis model, obtains abnormal environment monitoring data of the sub-municipal road based on the sub-municipal road environment monitoring report, and generates abnormal environment monitoring warning information of the sub-municipal road;

[0010] Step S6: The general information processing center in the distributed municipal road environment monitoring system obtains the sub-municipal road environment monitoring time according to the sub-municipal road environment monitoring report and classifies and integrates the sub-municipal road environment monitoring report to generate a municipal road environment monitoring report.

[0011] The above-mentioned multi-sensor fusion municipal road environment monitoring method, wherein the monitoring planning center obtains a municipal road information set through geographic information technology, generates a municipal road division scheme based on the municipal road information set through big data analysis technology, and divides the municipal road into N sub-municipal road environment monitoring areas, includes the following sub-steps:

[0012] Step S11: The monitoring and planning center obtains municipal road information through geographic information technology and generates a municipal road information set;

[0013] Step S12: The monitoring and planning center generates a municipal road division plan based on the municipal road information set using big data analysis technology;

[0014] Step S13: The monitoring planning center divides the municipal road into N sub-municipal road environmental monitoring areas according to the municipal road division plan.

[0015] The above-mentioned multi-sensor fusion municipal road environment monitoring method, in which the monitoring planning center obtains the environmental monitoring elements of the sub-municipal road environmental monitoring area according to the municipal road division plan and generates the environmental information collection sensor deployment plan, includes the following sub-steps:

[0016] Step S21: The monitoring planning center obtains environmental monitoring elements of the sub-municipal road environmental monitoring area according to the municipal road division plan;

[0017] Step S22: The monitoring planning center generates an environmental information collection sensor deployment plan based on the environmental monitoring elements of the sub-municipal road environmental monitoring area and the municipal road information set.

[0018] The above-mentioned multi-sensor fusion municipal road environment monitoring method, wherein the monitoring planning center constructs a sub-municipal road environment monitoring node using the Internet of Things technology based on the environmental information collection sensor deployment plan, and constructs a distributed municipal road environment monitoring system based on the sub-municipal road environment monitoring node using wireless communication network technology, includes the following sub-steps:

[0019] Step S31: The monitoring planning center constructs a sub-municipal road environmental monitoring node in the sub-municipal road environmental monitoring area using the Internet of Things technology based on the environmental information collection sensor deployment plan;

[0020] Step S32: The monitoring planning center constructs a distributed municipal road environment monitoring system based on the sub-municipal road environment monitoring nodes through wireless communication network technology.

[0021] The above-mentioned multi-sensor fusion municipal road environment monitoring method, wherein the distributed municipal road environment monitoring system obtains historical environmental information data of the sub-municipal road environment monitoring area through the sub-municipal road environment monitoring node, fuses the data using the municipal road environment sensor information fusion algorithm to generate a municipal road environment fusion data set, and constructs a municipal road environment analysis model, includes the following sub-steps:

[0022] Step S41: The distributed municipal road environment monitoring system obtains historical environmental information data of the sub-municipal road environment monitoring area through the sub-municipal road environment monitoring node to generate a municipal road environment information data set;

[0023] Step S42: The municipal road environment monitoring nodes in the distributed municipal road environment monitoring system perform data fusion based on the municipal road environment information dataset using the municipal road environment sensor information fusion algorithm to generate a municipal road environment fusion dataset.

[0024] Step S43: The distributed municipal road environment monitoring system obtains the municipal road environment monitoring standards through standard database query technology, and constructs a municipal road environment analysis model based on the municipal road environment monitoring standards and the municipal road environment fusion data set.

[0025] The above-mentioned multi-sensor fusion municipal road environment monitoring method, wherein the distributed municipal road environment monitoring system periodically collects environmental information data of the sub-municipal road environment monitoring area through the sub-municipal road environment monitoring node, generates a sub-municipal road environment monitoring report through the municipal road environment analysis model, obtains sub-municipal road abnormal environment monitoring data based on the sub-municipal road environment monitoring report, and generates sub-municipal road abnormal environment monitoring early warning information, includes the following sub-steps:

[0026] Step S51: The distributed municipal road environment monitoring system collects environmental information data of the sub-municipal road environment monitoring area through the sub-municipal road environment monitoring node at regular intervals, analyzes the data through the municipal road environment analysis model, generates a sub-municipal road environment monitoring report, and transmits the report to the general information processing center of the distributed municipal road environment monitoring system;

[0027] Step S52: The sub-municipal road environment monitoring node in the distributed municipal road environment monitoring system obtains the sub-municipal road abnormal environment monitoring data according to the sub-municipal road environment monitoring report, obtains the sub-municipal road environment hazard degree classification through the environmental hazard algorithm, and generates the sub-municipal road abnormal environment monitoring early warning information according to the municipal road environment hazard degree classification.

[0028] The above-mentioned multi-sensor fusion municipal road environment monitoring method, wherein the general information processing center in the distributed municipal road environment monitoring system obtains the sub-municipal road environment monitoring time based on the sub-municipal road environment monitoring report and classifies and fuses the sub-municipal road environment monitoring report to generate the municipal road environment monitoring report, includes the following sub-steps:

[0029] Step S61: The general information processing center in the distributed municipal road environment monitoring system obtains the sub-municipal road environment monitoring time according to the sub-municipal road environment monitoring report;

[0030] Step S62: The general information processing center in the distributed municipal road environment monitoring system sets a time classification standard according to the sub-municipal road environment monitoring time, classifies the sub-municipal road environment monitoring reports according to the time classification standard, and generates a municipal road environment monitoring report classification set;

[0031] Step S63: The general information processing center in the distributed municipal road environment monitoring system integrates the municipal road environment monitoring report classification set to generate a municipal road environment monitoring report.

[0032] The present invention also provides a multi-sensor fusion municipal road environment monitoring system, comprising: a municipal road information collection area division module, which obtains a municipal road information set through geographic information technology, generates a municipal road division scheme based on the municipal road information set through big data analysis technology, and divides the municipal road into N sub-municipal road environment monitoring areas;

[0033] The environmental information collection sensor deployment plan generation module obtains the environmental monitoring elements of the sub-municipal road environmental monitoring area according to the municipal road division plan and generates the environmental information collection sensor deployment plan;

[0034] Distributed municipal road environment monitoring system construction module, based on the environmental information collection sensor deployment plan, builds sub-municipal road environment monitoring nodes through the Internet of Things technology, and builds a distributed municipal road environment monitoring system based on the sub-municipal road environment monitoring nodes through wireless communication network technology;

[0035] The municipal road environment analysis model construction module obtains historical environmental information data of the sub-municipal road environment monitoring area through the sub-municipal road environment monitoring node, fuses the data using the municipal road environment sensor information fusion algorithm to generate a municipal road environment fusion data set and construct a municipal road environment analysis model;

[0036] The sub-municipal road environmental monitoring report and abnormal environmental monitoring early warning information generation module collects environmental information data of the sub-municipal road environmental monitoring area through the sub-municipal road environmental monitoring node at regular intervals, generates a sub-municipal road environmental monitoring report through the municipal road environmental analysis model, obtains abnormal environmental monitoring data of the sub-municipal road based on the sub-municipal road environmental monitoring report, and generates abnormal environmental monitoring early warning information of the sub-municipal road;

[0037] The municipal road environment monitoring report generation module obtains the sub-municipal road environment monitoring time according to the sub-municipal road environment monitoring report and classifies and integrates the sub-municipal road environment monitoring reports to generate a municipal road environment monitoring report.

[0038] In the above-mentioned multi-sensor fusion municipal road environment monitoring system, the municipal road information collection area division module specifically includes:

[0039] The municipal road information acquisition submodule acquires municipal road information through geographic information technology and generates a municipal road information set;

[0040] The municipal road division plan generation submodule generates a municipal road division plan based on the municipal road information set through big data analysis technology;

[0041] The municipal road division submodule divides the municipal roads into N sub-municipal road environmental monitoring areas according to the municipal road division plan.

[0042] In the above-mentioned multi-sensor fusion municipal road environment monitoring system, the environmental information collection sensor deployment plan generation module specifically includes:

[0043] The environmental monitoring element acquisition submodule obtains the environmental monitoring elements of the sub-municipal road environmental monitoring area according to the municipal road division plan;

[0044] The environmental information collection sensor deployment plan generation sub-module generates an environmental information collection sensor deployment plan based on the environmental monitoring elements of the sub-municipal road environmental monitoring area and the municipal road information set.

[0045] In the above-mentioned multi-sensor fusion municipal road environment monitoring system, the distributed municipal road environment monitoring system building module specifically includes:

[0046] The sub-municipal road environment monitoring node construction sub-module builds the sub-municipal road environment monitoring node in the sub-municipal road environment monitoring area through the Internet of Things technology based on the environmental information collection sensor deployment plan;

[0047] The distributed municipal road environment monitoring system constructs a sub-module, and constructs a distributed municipal road environment monitoring system based on the sub-municipal road environment monitoring node through wireless communication network technology.

[0048] In the above-mentioned multi-sensor fusion municipal road environment monitoring system, the municipal road environment analysis model construction module specifically includes:

[0049] The historical environmental information data acquisition submodule obtains the historical environmental information data of the sub-municipal road environmental monitoring area through the sub-municipal road environmental monitoring node and generates a municipal road environmental information dataset;

[0050] The data fusion submodule generates a municipal road environment fusion data set by performing data fusion based on the municipal road environment information data set through the municipal road environment sensor information fusion algorithm;

[0051] The municipal road environment analysis model construction sub-module obtains the municipal road environment monitoring standards through standard database query technology, and constructs the municipal road environment analysis model based on the municipal road environment monitoring standards and the municipal road environment fusion data set.

[0052] In the above-mentioned multi-sensor fusion municipal road environment monitoring system, the sub-municipal road environment monitoring report and abnormal environment monitoring warning information generation module specifically includes:

[0053] The sub-municipal road environmental monitoring report generation sub-module collects environmental information data of the sub-municipal road environmental monitoring area through the sub-municipal road environmental monitoring node at regular intervals, analyzes it through the municipal road environmental analysis model, generates a sub-municipal road environmental monitoring report, and transmits it to the general information processing center in the distributed municipal road environmental monitoring system;

[0054] The sub-module for generating abnormal environmental monitoring and early warning information of sub-municipal roads obtains abnormal environmental monitoring data of sub-municipal roads according to the environmental monitoring report of sub-municipal roads, obtains the environmental hazard degree classification of sub-municipal roads through the environmental hazard algorithm, and generates abnormal environmental monitoring and early warning information of sub-municipal roads according to the environmental hazard degree classification of municipal roads.

[0055] In the above-mentioned multi-sensor fusion municipal road environment monitoring system, the municipal road environment monitoring report generation module specifically includes:

[0056] The sub-municipal road environment monitoring time acquisition sub-module obtains the sub-municipal road environment monitoring time according to the sub-municipal road environment monitoring report;

[0057] The sub-municipal road environment monitoring report classification sub-module sets a time classification standard according to the sub-municipal road environment monitoring time, classifies the sub-municipal road environment monitoring report according to the time classification standard, and generates a municipal road environment monitoring report classification set;

[0058] The municipal road environment monitoring report generation submodule integrates the municipal road environment monitoring report classification set to generate the municipal road environment monitoring report.

[0059] The present invention achieves the following beneficial effects: It scientifically divides municipal road environmental monitoring areas and rationally deploys sensors in each area, building a distributed monitoring system. This distributed monitoring system monitors the municipal road environment in each area in real time, comprehensively analyzes environmental conditions, and generates monitoring reports, providing scientific and rational data support for municipal road environmental management. Furthermore, comprehensive and accurate environmental monitoring can promptly identify and issue early warnings regarding environmental anomalies on municipal roads, enabling municipal road environmental management departments to quickly detect and resolve issues, thereby improving the environmental quality of municipal roads. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments described in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0061] Figure 1 This is a flow chart of a municipal road environment monitoring method using multi-sensor fusion provided in Example 1 of the present application;

[0062] Figure 2 This is a schematic diagram of a multi-sensor fusion municipal road environment monitoring system provided in Example 2 of the present application. DETAILED DESCRIPTION

[0063] The following is a clear and complete description of the technical solutions in the embodiments of the present invention, in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0064] Example 1

[0065] like Figure 1 As shown, the first embodiment of the present application provides a municipal road environment monitoring method using multi-sensor fusion, which includes the following steps:

[0066] Step S1: The monitoring and planning center obtains a municipal road information set through geographic information technology, generates a municipal road division plan based on the municipal road information set through big data analysis technology, and divides the municipal roads into N sub-municipal road environmental monitoring areas;

[0067] Furthermore, the monitoring and planning center obtains a municipal road information set through geographic information technology, generates a municipal road division plan based on the municipal road information set through big data analysis technology, and divides the municipal roads into N sub-municipal road environmental monitoring areas, including the following sub-steps:

[0068] Step S11: The monitoring and planning center obtains municipal road information through geographic information technology and generates a municipal road information set;

[0069] Specifically, geographic information technology includes but is not limited to geographic information systems (GIS), global positioning systems (GPS), and remote sensing (RS) technologies. GIS technology is used to obtain geometric data such as the precise geographic location, length, width, and direction of municipal roads, as well as basic attribute data such as road grade, number of lanes, and pavement material. GPS technology is used to precisely locate road facilities and obtain road facility data. RS technology is used to obtain data on the relationship between municipal roads and the surrounding environment, such as surrounding land use types and building distribution. All of this data is integrated and analyzed to form a detailed and accurate municipal road information set.

[0070] Step S12: The monitoring and planning center generates a municipal road division plan based on the municipal road information set using big data analysis technology;

[0071] Specifically, municipal road division elements are obtained through big data analysis technology based on the municipal road information set. The municipal road division elements include but are not limited to road grade elements, functional attribute elements, geographical location elements, construction time elements, and special area road elements. Among them, road grade elements can divide municipal roads into expressways, main roads, secondary roads, branch roads, etc., functional attribute elements can divide municipal roads into traffic, living, commercial and landscape roads, etc., geographical location elements can divide municipal roads into city centers, suburbs, urban-rural fringe areas, etc., construction time elements can divide municipal roads into new roads, old roads, etc., special area road elements can divide municipal roads into schools, hospitals, industrial parks, etc., according to the municipal road division elements, the municipal road information set is integrated and analyzed to generate municipal road division standards, and according to the municipal road division standards, the municipal roads are planned to generate municipal road division plans.

[0072] Step S13: The monitoring planning center divides the municipal road into N sub-municipal road environmental monitoring areas according to the municipal road division plan;

[0073] Specifically, according to the municipal road environmental planning scheme, the municipal roads are divided into N initial division areas, the division boundary range of each initial division area is determined by GPS technology, and the boundaries of each initial division area are clarified according to the division boundary range of each initial division area and N sub-municipal road environmental monitoring areas are generated.

[0074] Step S2: The monitoring planning center obtains environmental monitoring elements of the sub-municipal road environmental monitoring area according to the municipal road division plan and generates a deployment plan for environmental information collection sensors;

[0075] Furthermore, the monitoring planning center obtains the environmental monitoring elements of the sub-municipal road environmental monitoring area according to the municipal road division plan and generates an environmental information collection sensor deployment plan, which includes the following sub-steps:

[0076] Step S21: The monitoring planning center obtains environmental monitoring elements of the sub-municipal road environmental monitoring area according to the municipal road division plan;

[0077] Specifically, the division characteristics of each sub-municipal road environmental monitoring area are obtained based on the municipal road division plan, and the environmental monitoring elements of each sub-municipal road environmental monitoring area are obtained based on the division characteristics of each sub-municipal road environmental monitoring area. The environmental monitoring elements include but are not limited to meteorological monitoring elements, noise monitoring elements, atmospheric environment monitoring elements, water environment monitoring elements, soil environment monitoring elements, ecological environment monitoring elements, road facility monitoring elements, and waste monitoring elements. For example, if the division characteristics of a sub-municipal road environmental monitoring area include traffic roads with high traffic volume, then its environmental monitoring elements will focus on monitoring automobile exhaust emissions, including the concentrations of pollutants such as carbon monoxide, nitrogen oxides, and particulate matter, as well as traffic noise.

[0078] Step S22: The monitoring planning center generates an environmental information collection sensor deployment plan based on the environmental monitoring elements of the sub-municipal road environmental monitoring area and the municipal road information set;

[0079] Specifically, different categories of municipal road environmental information collection sensors are selected according to environmental monitoring elements to collect various environmental information of municipal roads. According to the municipal road information set and the municipal road environmental information collection sensors, sensor installation locations that can accurately collect environmental data are selected and an environmental information collection sensor deployment plan for the sub-municipal road environmental monitoring area is generated.

[0080] Step S3: The monitoring planning center constructs a sub-municipal road environment monitoring node using the Internet of Things technology based on the environmental information collection sensor deployment plan, and constructs a distributed municipal road environment monitoring system based on the sub-municipal road environment monitoring node using wireless communication network technology;

[0081] Furthermore, the monitoring planning center constructs a sub-municipal road environmental monitoring node through the Internet of Things technology based on the environmental information collection sensor deployment plan, and constructs a distributed municipal road environmental monitoring system based on the sub-municipal road environmental monitoring node through wireless communication network technology, including the following sub-steps:

[0082] Step S31: The monitoring planning center constructs a sub-municipal road environmental monitoring node in the sub-municipal road environmental monitoring area using the Internet of Things technology based on the environmental information collection sensor deployment plan;

[0083] Specifically, according to the environmental information collection sensor deployment plan of the sub-municipal road environmental monitoring area, various municipal road environmental information collection sensors are rationally combined and integrated through the Internet of Things technology, equipped with data collection and processing modules, data analysis modules, communication modules and power supply modules to form a fully functional monitoring node to collect municipal road environmental information in the area in real time.

[0084] Step S32: The monitoring planning center constructs a distributed municipal road environment monitoring system based on the sub-municipal road environment monitoring nodes through wireless communication network technology;

[0085] Specifically, each sub-municipal road environment monitoring node is connected through wireless communication network technology to build a distributed municipal road environment monitoring system. The distributed municipal road environment monitoring system includes but is not limited to a general information processing center and each sub-municipal road environment monitoring node. The general information processing center is used to receive, store and analyze the massive data information sent by each sub-municipal road environment monitoring node.

[0086] Step S4: The distributed municipal road environment monitoring system obtains historical environmental information data of the sub-municipal road environment monitoring area through the sub-municipal road environment monitoring node, performs data fusion using the municipal road environment sensor information fusion algorithm to generate a municipal road environment fusion data set, and constructs a municipal road environment analysis model;

[0087] Furthermore, the distributed municipal road environment monitoring system obtains historical environmental information data of the sub-municipal road environment monitoring area through the sub-municipal road environment monitoring node, fuses the data using the municipal road environment sensor information fusion algorithm to generate a municipal road environment fusion data set, and constructs a municipal road environment analysis model, including the following sub-steps:

[0088] Step S41: The distributed municipal road environment monitoring system obtains historical environmental information data of the sub-municipal road environment monitoring area through the sub-municipal road environment monitoring node to generate a municipal road environment information data set;

[0089] Specifically, historical environmental information data within the sub-municipal road environmental monitoring area is obtained through various municipal road environmental information collection sensors deployed at the sub-municipal road environmental monitoring nodes, the historical environmental information data within the sub-municipal road environmental monitoring area is processed through data preprocessing technology, and the historical environmental information data within the sub-municipal road environmental monitoring area is classified according to the collection time and a sub-municipal road environmental information dataset is generated, and a municipal road environmental information dataset is constructed based on the sub-municipal road environmental information datasets of each sub-municipal road environmental monitoring area.

[0090] Step S42: The municipal road environment monitoring nodes in the distributed municipal road environment monitoring system perform data fusion based on the municipal road environment information dataset using the municipal road environment sensor information fusion algorithm to generate a municipal road environment fusion dataset.

[0091] Specifically, the specific implementation of the municipal road environment sensor information fusion algorithm is as follows:

[0092] According to the municipal road environment information data set, the sub-municipal road environment information data of different collection times is obtained through the municipal road environment sensor information fusion formula Calculate the sub-municipal road environmental information fusion value at each collection time, where HRS is the sub-municipal road environmental information fusion value, n is the number of sub-municipal road environmental monitoring elements, i ranges from [1, n], δ i is the weight coefficient of the ith sub-municipal road environment monitoring factor, im is the number of municipal road environment information collection sensors of the ith sub-municipal road environment monitoring factor, and the value range of ij is [1, im]. ij is the monitoring weight of the jth municipal road environment information collection sensor of the i-th sub-municipal road environment monitoring element, jc ij is the monitoring value of the jth municipal road environment information collection sensor of the i-th sub-municipal road environment monitoring element, ty ij is the standard adjustment coefficient of the jth municipal road environment information collection sensor of the i-th sub-municipal road environment monitoring element, rh i is the monitoring data fusion index of the i-th sub-municipal road environmental monitoring element. The sub-municipal road environmental information fusion value HRS at each collection time is obtained through the municipal road environmental sensor information fusion algorithm and a sub-municipal road environmental fusion dataset is generated. The municipal road environmental fusion dataset is generated based on the sub-municipal road environmental fusion datasets of each sub-municipal road environmental monitoring area.

[0093] Step S43: The distributed municipal road environment monitoring system obtains the municipal road environment monitoring standards through standard database query technology, and constructs a municipal road environment analysis model based on the municipal road environment monitoring standards and the municipal road environment fusion data set;

[0094] Specifically, a municipal road environment monitoring standard threshold set is constructed according to the municipal road environment monitoring standard, and the municipal road environment monitoring discrimination formula is used based on the municipal road environment monitoring standard threshold set and the municipal road environment fusion data set. Calculate the environmental monitoring discrimination value of each sub-municipal road environmental monitoring area and generate the municipal road environmental monitoring discrimination data set, where XLS is the municipal road environmental monitoring discrimination data set, N is the number of sub-municipal road environmental monitoring areas, the value range of x is [1, N], xS is the number of monitoring time periods of the x-th sub-municipal road environmental monitoring area, the value range of xs is [1, xS], xsR is the number of municipal road environmental monitoring standards in the s-th monitoring time period of the x-th sub-municipal road environmental monitoring area, the value range of xsr is [1, xsR], and λ xsr is the weight value of the rth municipal road environment monitoring standard in the sth monitoring period of the xth sub-municipal road environment monitoring area, bz xsris the rth municipal road environment monitoring standard threshold value in the sth monitoring period of the xth sub-municipal road environment monitoring area, lz xsr HRS is the fusion adjustment index of the rth municipal road environmental monitoring standard in the sth monitoring period of the xth sub-municipal road environmental monitoring area. xs is the fusion value of the sub-municipal road environment information in the s-th monitoring period of the x-th sub-municipal road environment monitoring area, k xs is the environmental monitoring fusion error term for the s-th monitoring period of the x-th sub-municipal road environmental monitoring area, pb xs It is the discrimination index of the environmental monitoring data of the sth monitoring period in the xth sub-municipal road environmental monitoring area.

[0095] A municipal road environment analysis model training dataset is constructed based on the municipal road environment monitoring discrimination dataset, the municipal road environment monitoring standard threshold set, the municipal road environment fusion dataset, the municipal road information set and the municipal road environment information dataset. A municipal road environment analysis model is constructed based on the municipal road environment analysis model training dataset using machine learning technology.

[0096] Step S5: The distributed municipal road environment monitoring system periodically collects environmental information data of the sub-municipal road environment monitoring area through the sub-municipal road environment monitoring node, generates a sub-municipal road environment monitoring report through the municipal road environment analysis model, obtains abnormal environment monitoring data of the sub-municipal road based on the sub-municipal road environment monitoring report, and generates abnormal environment monitoring warning information of the sub-municipal road;

[0097] Furthermore, the distributed municipal road environment monitoring system periodically collects environmental information data of the sub-municipal road environment monitoring area through the sub-municipal road environment monitoring node, generates a sub-municipal road environment monitoring report through the municipal road environment analysis model, obtains sub-municipal road abnormal environment monitoring data based on the sub-municipal road environment monitoring report, and generates sub-municipal road abnormal environment monitoring early warning information, including the following sub-steps:

[0098] Step S51: The distributed municipal road environment monitoring system collects environmental information data of the sub-municipal road environment monitoring area through the sub-municipal road environment monitoring node at regular intervals, analyzes the data through the municipal road environment analysis model, generates a sub-municipal road environment monitoring report, and transmits the report to the general information processing center of the distributed municipal road environment monitoring system;

[0099] Specifically, the data collection time of the sub-municipal road environmental monitoring node is set according to the characteristics of the municipal road environmental monitoring elements. The sub-municipal road environmental monitoring node regularly collects environmental information data of the sub-municipal road environmental monitoring area according to the data collection time and transmits the environmental information data of the sub-municipal road environmental monitoring area to the municipal road environmental analysis model for analysis, thereby generating a sub-municipal road environmental monitoring report. The sub-municipal road environmental monitoring report includes but is not limited to the name of the sub-municipal road environmental monitoring area, the date the monitoring report was generated, the monitoring scope and time, the monitoring elements, the monitoring results, and the comprehensive evaluation of the sub-municipal road environment. The sub-municipal road environmental monitoring report is transmitted to the general information processing center of the distributed municipal road environmental monitoring system via network communication technology.

[0100] Step S52: The sub-municipal road environment monitoring node in the distributed municipal road environment monitoring system obtains abnormal environment monitoring data of the sub-municipal road based on the sub-municipal road environment monitoring report, obtains the sub-municipal road environment hazard level classification through the environmental hazard algorithm, and generates abnormal environment monitoring warning information of the sub-municipal road based on the municipal road environment hazard level classification;

[0101] Specifically, according to the sub-municipal road environmental monitoring report, the sub-municipal road abnormal environmental monitoring data is obtained from the sub-municipal road environmental information data set, and the abnormal environmental monitoring data set is constructed according to the sub-municipal road abnormal environmental monitoring data. Get the sub-municipal road environmental hazard level classification, where WCF is the sub-municipal road environmental hazard level classification, dh fj is the degree of harm of the abnormal sub-municipal road environment to the municipal road environment, W is the number of abnormal sub-municipal road environment monitoring data, β w is the hazard weight of the abnormal environmental monitoring factor of the w-th sub-municipal road, yz w is the monitoring data of abnormal environment of the w-th sub-municipal road, e α The hazard index.

[0102] Abnormal environmental monitoring warning information is generated based on the sub-municipal road environmental hazard degree classification WCF and sub-municipal road abnormal environmental monitoring data and pushed to relevant managers through SMS, email, pop-up windows and other warning methods. Relevant managers determine the severity of environmental problems based on the sub-municipal road environmental hazard degree classification WCF and take measures to deal with environmental problems in the sub-municipal road environmental monitoring area.

[0103] Step S6: The general information processing center in the distributed municipal road environment monitoring system obtains the sub-municipal road environment monitoring time according to the sub-municipal road environment monitoring report and classifies and integrates the sub-municipal road environment monitoring reports to generate a municipal road environment monitoring report;

[0104] Furthermore, the general information processing center in the distributed municipal road environment monitoring system obtains the sub-municipal road environment monitoring time according to the sub-municipal road environment monitoring report and classifies and integrates the sub-municipal road environment monitoring report to generate the municipal road environment monitoring report, including the following sub-steps:

[0105] Step S61: The general information processing center in the distributed municipal road environment monitoring system obtains the sub-municipal road environment monitoring time according to the sub-municipal road environment monitoring report;

[0106] Specifically, the time of each sub-municipal road environmental monitoring area is obtained according to the sub-municipal road environmental monitoring report to ensure the consistency of data time.

[0107] Step S62: The general information processing center in the distributed municipal road environment monitoring system sets a time classification standard according to the sub-municipal road environment monitoring time, classifies the sub-municipal road environment monitoring reports according to the time classification standard, and generates a municipal road environment monitoring report classification set;

[0108] Specifically, according to the time classification standard, the sub-municipal road environment monitoring reports of the same monitoring time in each sub-municipal road environment monitoring area are regarded as a category, and a municipal road environment monitoring report classification set is generated based on the sub-municipal road environment monitoring reports of each category.

[0109] Step S63: The general information processing center in the distributed municipal road environment monitoring system integrates the municipal road environment monitoring report classification set to generate a municipal road environment monitoring report;

[0110] Specifically, the municipal road environment monitoring reports are classified and the sub-municipal road environment monitoring reports in each classification are comprehensively analyzed and summarized according to the municipal road environment monitoring elements to generate a municipal road environment monitoring report. Relevant management personnel optimize the municipal road environment based on the municipal road environment monitoring report.

[0111] Example 2

[0112] like Figure 2 As shown, the second embodiment of the present application provides a municipal road environment monitoring system with multi-sensor fusion, including:

[0113] The municipal road information collection area division module 21 obtains a municipal road information set through geographic information technology, generates a municipal road division plan based on the municipal road information set through big data analysis technology, and divides the municipal road into N sub-municipal road environmental monitoring areas;

[0114] Furthermore, the municipal road information collection area division module 21 includes the following submodules:

[0115] The municipal road information acquisition submodule acquires municipal road information through geographic information technology and generates a municipal road information set;

[0116] The municipal road division plan generation submodule generates a municipal road division plan based on the municipal road information set through big data analysis technology;

[0117] The municipal road division submodule divides the municipal road into N sub-municipal road environmental monitoring areas according to the municipal road division plan;

[0118] The environmental information collection sensor deployment plan generation module 22 obtains the environmental monitoring elements of the sub-municipal road environmental monitoring area according to the municipal road division plan and generates an environmental information collection sensor deployment plan;

[0119] Furthermore, the environmental information collection sensor deployment plan generation module 22 includes the following submodules:

[0120] The environmental monitoring element acquisition submodule obtains the environmental monitoring elements of the sub-municipal road environmental monitoring area according to the municipal road division plan;

[0121] The environmental information collection sensor deployment plan generation submodule generates an environmental information collection sensor deployment plan based on the environmental monitoring elements of the sub-municipal road environmental monitoring area and the municipal road information set;

[0122] A distributed municipal road environment monitoring system construction module 23 is configured to construct a sub-municipal road environment monitoring node using the Internet of Things technology based on the environmental information collection sensor deployment plan, and to construct a distributed municipal road environment monitoring system based on the sub-municipal road environment monitoring node using wireless communication network technology;

[0123] Furthermore, the distributed municipal road environment monitoring system construction module 23 includes the following submodules:

[0124] The sub-municipal road environment monitoring node construction sub-module builds the sub-municipal road environment monitoring node in the sub-municipal road environment monitoring area through the Internet of Things technology based on the environmental information collection sensor deployment plan;

[0125] Distributed municipal road environment monitoring system construction submodule, based on the sub-municipal road environment monitoring node through wireless communication network technology to build a distributed municipal road environment monitoring system;

[0126] The municipal road environment analysis model construction module 24 obtains historical environmental information data of the sub-municipal road environment monitoring area through the sub-municipal road environment monitoring node, fuses the data using the municipal road environment sensor information fusion algorithm to generate a municipal road environment fusion data set and constructs a municipal road environment analysis model;

[0127] Furthermore, the municipal road environment analysis model construction module 24 includes the following submodules:

[0128] The historical environmental information data acquisition submodule obtains the historical environmental information data of the sub-municipal road environmental monitoring area through the sub-municipal road environmental monitoring node and generates a municipal road environmental information dataset;

[0129] The data fusion submodule generates a municipal road environment fusion data set by performing data fusion based on the municipal road environment information data set through the municipal road environment sensor information fusion algorithm;

[0130] The municipal road environment analysis model construction submodule obtains municipal road environment monitoring standards through standard database query technology, and constructs a municipal road environment analysis model based on the municipal road environment monitoring standards and the municipal road environment fusion data set;

[0131] The sub-municipal road environmental monitoring report and abnormal environmental monitoring warning information generation module 25 collects environmental information data of the sub-municipal road environmental monitoring area at regular intervals through the sub-municipal road environmental monitoring node, generates a sub-municipal road environmental monitoring report through the municipal road environmental analysis model, obtains abnormal environmental monitoring data of the sub-municipal road based on the sub-municipal road environmental monitoring report, and generates abnormal environmental monitoring warning information of the sub-municipal road;

[0132] Furthermore, the municipal road environment monitoring report and abnormal environment monitoring warning information generation module 25 includes the following submodules:

[0133] The sub-municipal road environmental monitoring report generation sub-module collects environmental information data of the sub-municipal road environmental monitoring area through the sub-municipal road environmental monitoring node at regular intervals, analyzes it through the municipal road environmental analysis model, generates a sub-municipal road environmental monitoring report, and transmits it to the general information processing center in the distributed municipal road environmental monitoring system;

[0134] The sub-module for generating abnormal environmental monitoring and early warning information for sub-municipal roads obtains abnormal environmental monitoring data for sub-municipal roads based on the sub-municipal road environmental monitoring report, obtains the environmental hazard level classification for sub-municipal roads through the environmental hazard algorithm, and generates abnormal environmental monitoring and early warning information for sub-municipal roads based on the environmental hazard level classification for municipal roads;

[0135] The municipal road environment monitoring report generation module 26 obtains the sub-municipal road environment monitoring time according to the sub-municipal road environment monitoring report and classifies and integrates the sub-municipal road environment monitoring reports to generate a municipal road environment monitoring report;

[0136] Furthermore, the municipal road environment monitoring report generation module 26 includes the following submodules:

[0137] The sub-municipal road environment monitoring time acquisition sub-module obtains the sub-municipal road environment monitoring time according to the sub-municipal road environment monitoring report;

[0138] The sub-municipal road environment monitoring report classification sub-module sets a time classification standard according to the sub-municipal road environment monitoring time, classifies the sub-municipal road environment monitoring report according to the time classification standard, and generates a municipal road environment monitoring report classification set;

[0139] The municipal road environment monitoring report generation submodule integrates the municipal road environment monitoring report classification set to generate the municipal road environment monitoring report.

[0140] Corresponding to the above embodiment, an embodiment of the present invention provides a computer storage medium, comprising: at least one memory and at least one processor;

[0141] The memory is used to store one or more program instructions;

[0142] The processor is used to run one or more program instructions to execute a municipal road environment monitoring method based on multi-sensor fusion.

[0143] Corresponding to the above embodiments, an embodiment of the present invention provides a computer-readable storage medium, which contains one or more program instructions, and the one or more program instructions are used by a processor to execute a method for implementing a simulated management port of an industrial control firewall without a hardware management port.

[0144] The embodiments disclosed in the present invention provide a computer-readable storage medium, in which computer program instructions are stored. When the computer program instructions are executed on a computer, the computer executes the above-mentioned method for implementing a simulated management port of an industrial control firewall without a hardware management port.

[0145] In the embodiments of the present invention, the processor may be an integrated circuit chip having signal processing capabilities. The processor may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0146] The methods, steps, and logic diagrams disclosed in the embodiments of the present invention can be implemented or executed. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of the present invention can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules within the decoding processor. The software modules can be located in a storage medium well-established in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. The processor reads the information from the storage medium and, in conjunction with its hardware, completes the steps of the aforementioned methods.

[0147] The storage medium may be a memory and may be, for example, a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memory.

[0148] Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory.

[0149] Volatile memory may be random access memory (RAM), which is used as an external cache memory. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DRRAM).

[0150] The storage media described in the embodiments of the present invention are intended to include, but are not limited to, these and any other suitable types of memory.

[0151] Those skilled in the art will appreciate that in one or more of the above examples, the functions described herein can be implemented using a combination of hardware and software. When software is used, the corresponding functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media includes any medium that facilitates the transmission of computer programs from one place to another. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0152] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made on the basis of the technical solution of the present invention should be included in the scope of protection of the present invention.

Claims

1. A municipal road environment monitoring method based on multi-sensor fusion, characterized in that: include: The monitoring and planning center obtains the municipal road information set through geographic information technology and divides the municipal roads into N sub-municipal road environmental monitoring areas; Obtain environmental monitoring elements in the sub-municipal road environmental monitoring area and generate a deployment plan for environmental information collection sensors; Build sub-municipal road environment monitoring nodes based on the deployment plan, and build a distributed municipal road environment monitoring system based on the sub-municipal road environment monitoring nodes through wireless communication network technology; The distributed municipal road environment monitoring system obtains historical environmental information data of the sub-municipal road environment monitoring area, performs data fusion to generate a municipal road environment fusion data set, and constructs a municipal road environment analysis model; Through the municipal road environment analysis model, abnormal environmental monitoring and early warning information of sub-municipal roads is generated; the abnormal environmental monitoring and early warning information of roads is classified and integrated to generate a municipal road environment monitoring report.

2. The municipal road environment monitoring method using multi-sensor fusion as claimed in claim 1, characterized in that: The monitoring planning center obtains the environmental monitoring elements of the sub-municipal road environmental monitoring area based on the municipal road division plan and generates an environmental information collection sensor deployment plan, which includes the following sub-steps: Step S21: The monitoring planning center obtains environmental monitoring elements of the sub-municipal road environmental monitoring area according to the municipal road division plan; Step S22: The monitoring planning center generates an environmental information collection sensor deployment plan based on the environmental monitoring elements of the sub-municipal road environmental monitoring area and the municipal road information set.

3. The municipal road environment monitoring method based on multi-sensor fusion according to claim 1, characterized in that: The monitoring planning center uses the Internet of Things technology to build sub-municipal road environmental monitoring nodes based on the environmental information collection sensor deployment plan. Based on the sub-municipal road environmental monitoring nodes, a distributed municipal road environmental monitoring system is built using wireless communication network technology, including the following sub-steps: Step S31: The monitoring planning center constructs a sub-municipal road environmental monitoring node in the sub-municipal road environmental monitoring area using the Internet of Things technology based on the environmental information collection sensor deployment plan; Step S32: The monitoring planning center constructs a distributed municipal road environment monitoring system based on the sub-municipal road environment monitoring nodes through wireless communication network technology.

4. The municipal road environment monitoring method using multi-sensor fusion as claimed in claim 1, characterized in that: The distributed municipal road environment monitoring system obtains historical environmental information data of the sub-municipal road environment monitoring area through the sub-municipal road environment monitoring node, fuses the data using the municipal road environment sensor information fusion algorithm to generate a municipal road environment fusion dataset, and constructs a municipal road environment analysis model. The system includes the following sub-steps: Step S41: The distributed municipal road environment monitoring system obtains historical environmental information data of the sub-municipal road environment monitoring area through the sub-municipal road environment monitoring node to generate a municipal road environment information data set; Step S42: The municipal road environment monitoring nodes in the distributed municipal road environment monitoring system perform data fusion based on the municipal road environment information dataset using the municipal road environment sensor information fusion algorithm to generate a municipal road environment fusion dataset. Step S43: The distributed municipal road environment monitoring system obtains the municipal road environment monitoring standards through standard database query technology, and constructs a municipal road environment analysis model based on the municipal road environment monitoring standards and the municipal road environment fusion data set.

5. The municipal road environment monitoring method using multi-sensor fusion as claimed in claim 1, characterized in that: The distributed municipal road environment monitoring system collects environmental information data of the sub-municipal road environment monitoring area through the sub-municipal road environment monitoring node at regular intervals, generates a sub-municipal road environment monitoring report through the municipal road environment analysis model, obtains abnormal environment monitoring data of the sub-municipal road based on the sub-municipal road environment monitoring report, and generates abnormal environment monitoring warning information of the sub-municipal road, including the following sub-steps: Step S51: The distributed municipal road environment monitoring system collects environmental information data of the sub-municipal road environment monitoring area through the sub-municipal road environment monitoring node at regular intervals, analyzes the data through the municipal road environment analysis model, generates a sub-municipal road environment monitoring report, and transmits the report to the general information processing center of the distributed municipal road environment monitoring system; Step S52: The sub-municipal road environment monitoring node in the distributed municipal road environment monitoring system obtains the sub-municipal road abnormal environment monitoring data according to the sub-municipal road environment monitoring report, obtains the sub-municipal road environment hazard degree classification through the environmental hazard algorithm, and generates the sub-municipal road abnormal environment monitoring early warning information according to the municipal road environment hazard degree classification.

6. A multi-sensor fusion municipal road environment monitoring system, characterized in that: include: The municipal road information collection area division module obtains the municipal road information set through geographic information technology, generates a municipal road division plan based on the municipal road information set through big data analysis technology, and divides the municipal road into N sub-municipal road environmental monitoring areas; The environmental information collection sensor deployment plan generation module obtains the environmental monitoring elements of the sub-municipal road environmental monitoring area according to the municipal road division plan and generates the environmental information collection sensor deployment plan; Distributed municipal road environment monitoring system construction module, based on the environmental information collection sensor deployment plan, builds sub-municipal road environment monitoring nodes through the Internet of Things technology, and builds a distributed municipal road environment monitoring system based on the sub-municipal road environment monitoring nodes through wireless communication network technology; The municipal road environment analysis model construction module obtains historical environmental information data of the sub-municipal road environment monitoring area through the sub-municipal road environment monitoring node, fuses the data using the municipal road environment sensor information fusion algorithm to generate a municipal road environment fusion data set and construct a municipal road environment analysis model; The sub-municipal road environmental monitoring report and abnormal environmental monitoring early warning information generation module collects environmental information data of the sub-municipal road environmental monitoring area through the sub-municipal road environmental monitoring node at regular intervals, generates a sub-municipal road environmental monitoring report through the municipal road environmental analysis model, obtains abnormal environmental monitoring data of the sub-municipal road based on the sub-municipal road environmental monitoring report, and generates abnormal environmental monitoring early warning information of the sub-municipal road; The municipal road environment monitoring report generation module obtains the sub-municipal road environment monitoring time according to the sub-municipal road environment monitoring report and classifies and integrates the sub-municipal road environment monitoring reports to generate a municipal road environment monitoring report.

7. The municipal road environment monitoring system with multi-sensor fusion according to claim 6, characterized in that: The environmental information collection sensor deployment plan generation module specifically includes: The environmental monitoring element acquisition submodule obtains the environmental monitoring elements of the sub-municipal road environmental monitoring area according to the municipal road division plan; The environmental information collection sensor deployment plan generation sub-module generates an environmental information collection sensor deployment plan based on the environmental monitoring elements of the sub-municipal road environmental monitoring area and the municipal road information set.

8. The municipal road environment monitoring system with multi-sensor fusion according to claim 6, characterized in that: The building blocks of the distributed municipal road environment monitoring system include: The sub-municipal road environment monitoring node construction sub-module builds the sub-municipal road environment monitoring node in the sub-municipal road environment monitoring area through the Internet of Things technology based on the environmental information collection sensor deployment plan; The distributed municipal road environment monitoring system constructs a sub-module, and constructs a distributed municipal road environment monitoring system based on the sub-municipal road environment monitoring node through wireless communication network technology.

9. The municipal road environment monitoring system with multi-sensor fusion according to claim 6, characterized in that: Municipal road environment analysis model construction module, specifically including: The historical environmental information data acquisition submodule obtains the historical environmental information data of the sub-municipal road environmental monitoring area through the sub-municipal road environmental monitoring node and generates a municipal road environmental information dataset; The data fusion submodule generates a municipal road environment fusion data set by performing data fusion based on the municipal road environment information data set through the municipal road environment sensor information fusion algorithm; The municipal road environment analysis model construction sub-module obtains the municipal road environment monitoring standards through standard database query technology, and constructs the municipal road environment analysis model based on the municipal road environment monitoring standards and the municipal road environment fusion data set.

10. The municipal road environment monitoring system with multi-sensor fusion according to claim 6, characterized in that: The module for generating environmental monitoring reports for municipal roads and abnormal environmental monitoring warning information includes: The sub-municipal road environmental monitoring report generation sub-module collects environmental information data of the sub-municipal road environmental monitoring area through the sub-municipal road environmental monitoring node at regular intervals, analyzes it through the municipal road environmental analysis model, generates a sub-municipal road environmental monitoring report, and transmits it to the general information processing center in the distributed municipal road environmental monitoring system; The sub-module for generating abnormal environmental monitoring and early warning information of sub-municipal roads obtains abnormal environmental monitoring data of sub-municipal roads according to the environmental monitoring report of sub-municipal roads, obtains the environmental hazard degree classification of sub-municipal roads through the environmental hazard algorithm, and generates abnormal environmental monitoring and early warning information of sub-municipal roads according to the environmental hazard degree classification of municipal roads.

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