Vehicle fire treatment method, device, equipment, storage medium and product
By acquiring multimodal environmental data to identify the burning vehicle and using transfer equipment to transport it to the fire-fighting room, the problem of vehicle fires in dense environments causing chain disasters is solved, and rapid response and efficient fire extinguishing are achieved.
Patent Information
- Application Number
- CN202510770529.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-10
- Publication Date
- 2025-09-19
AI Technical Summary
In densely populated environments, vehicle fires can easily trigger chain disasters. Existing fire-fighting methods have delayed responses, inaccurate positioning, and low fire-fighting efficiency, leading to significant losses.
By acquiring multimodal environmental data, identifying the burning vehicle and determining its location, the vehicle is transferred to the fire extinguishing room using transfer equipment to perform fire extinguishing operations, and multi-source path planning and mosaic technology are used to ensure safe and efficient transfer.
It enables rapid identification and isolation of vehicles on fire, prevents the spread of fire, improves response speed and fire-fighting efficiency, and reduces losses.
Smart Images
Figure CN120672543A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of fire location technology, and in particular to a vehicle fire handling method, device, equipment, storage medium and product. Background Art
[0002] With the popularization of electric vehicles, spontaneous combustion and explosion accidents caused by thermal runaway of lithium batteries occur frequently. Traditional fire-fighting methods rely on manual inspections or single sensor alarms, and have problems such as response delays, inaccurate positioning, and low fire-fighting efficiency. Especially in crowded scenes such as parking lots, faulty vehicles are difficult to isolate in time, which can easily trigger chain disasters and cause large losses.
[0003] The above content is only used to assist in understanding the technical solution of the present invention and does not constitute an admission that the above content is prior art. Summary of the Invention
[0004] The main purpose of the present invention is to provide a vehicle fire handling method, device, equipment, storage medium and product, aiming to solve the technical problem in the prior art that vehicle fires in dense environments are prone to cause chain disasters and large losses.
[0005] To achieve the above object, the present invention provides a vehicle fire handling method, the method comprising the following steps:
[0006] Obtain multimodal environmental data of the parking lot;
[0007] determining whether there is a vehicle on fire in the parking lot based on the multimodal environmental data;
[0008] If there is a vehicle on fire, determining the target location of the vehicle on fire;
[0009] The transporting device is driven to transport the vehicle on fire from the target location to a fire extinguishing room to perform a fire extinguishing operation.
[0010] Optionally, the driving and transporting equipment transports the burning vehicle from the target location to a fire extinguishing room, comprising:
[0011] Get the current location of the transfer equipment;
[0012] Performing path planning based on the target location and the current location using a shortest path planning model to obtain a first path;
[0013] driving the transfer device to the target location via the first path;
[0014] After the transfer device reaches the target position, controlling the transfer device to engage with the fire vehicle;
[0015] Performing path planning based on the target location and the end location of the fire extinguishing room using a multi-source path planning model to obtain a second path;
[0016] The transfer equipment engaged with the vehicle on fire is driven to transfer the vehicle to the fire extinguishing room through the second path.
[0017] Optionally, performing path planning according to the target position and the end position of the fire extinguishing room through a multi-source path planning model to obtain a second path includes:
[0018] Constructing a distance matrix based on the target position and the end position;
[0019] traversing turning points and subpaths between the target position and the end position;
[0020] Obtaining the subpath length of each subpath and the number of parked vehicles on both sides, and generating a subpath weight coefficient according to the number of parked vehicles;
[0021] Update the distance matrix according to the subpath weight coefficient and subpath length of each subpath to obtain a target distance matrix;
[0022] Path planning is performed according to the target distance matrix to obtain a second path.
[0023] Optionally, controlling the transfer device to engage with the fire vehicle includes:
[0024] receiving the image and pressure data of the burning vehicle fed back by the transfer equipment;
[0025] Performing a positioning operation based on the image of the burning vehicle, and adjusting the current posture of the transfer device according to the positioning result until the longitudinal vector of the transfer device is parallel to the longitudinal vector of the burning vehicle;
[0026] The transfer device is controlled to move parallel to the axial vector of the vehicle on fire until the pressure data sensed by force meets a preset pressure condition, and it is determined that the transfer device is engaged with the vehicle on fire.
[0027] Optionally, before controlling the transfer device to move in parallel based on the axial vector of the vehicle on fire, the method further includes:
[0028] receiving radar point cloud data fed back by the transfer equipment;
[0029] Secondary positioning is performed based on the radar point cloud data, and the current position of the transfer equipment is adjusted based on the secondary positioning result until the axial edge of the transfer equipment coincides with at least one side axial edge of the burning vehicle.
[0030] Optionally, the multimodal environmental data includes at least: infrared image data, smoke sensor data, and temperature sensor data;
[0031] The determining whether there is a vehicle on fire in the parking lot according to the multimodal environmental data includes:
[0032] determining an abnormal area based on the smoke sensing data;
[0033] Adjusting the orientation of the infrared image acquisition device of the abnormal area in the parking lot to acquire target infrared image data of the abnormal area;
[0034] Determine whether there is a vehicle on fire in the parking lot based on the infrared image data and the temperature sensing data.
[0035] In addition, to achieve the above-mentioned purpose, the present invention further provides a vehicle fire handling device, the vehicle fire handling device comprising:
[0036] An acquisition module is used to obtain multimodal environmental data of the parking lot;
[0037] a determination module, configured to determine whether there is a vehicle on fire in the parking lot based on the multimodal environmental data;
[0038] A positioning module, configured to determine a target location of a vehicle on fire if there is one;
[0039] The driving module is used to drive the transfer equipment to transfer the burning vehicle from the target location to the fire extinguishing room to perform the fire extinguishing operation.
[0040] In addition, to achieve the above-mentioned purpose, the present invention also proposes a vehicle fire handling device, which includes: a memory, a processor, and a vehicle fire handling program stored on the memory and executable on the processor, wherein the vehicle fire handling program is configured to implement the steps of the vehicle fire handling method described above.
[0041] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which a vehicle fire handling program is stored. When the vehicle fire handling program is executed by a processor, the steps of the vehicle fire handling method described above are implemented.
[0042] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the steps of the vehicle fire handling method as described above.
[0043] The present invention discloses a vehicle fire handling method, which includes: obtaining multimodal environmental data of a parking lot; determining whether there is a vehicle on fire in the parking lot based on the multimodal environmental data; if there is a vehicle on fire, determining a target position of the vehicle on fire; driving a transfer device to transfer the vehicle on fire from the target position to a fire extinguishing room to perform a fire extinguishing operation, identifying whether there is a vehicle on fire in the parking lot through the multimodal environmental data, and transferring the vehicle on fire through the transfer device to achieve isolation from other vehicles in the parking lot, thereby avoiding further expansion of fire damage, and having faster reaction speed and higher efficiency, thereby avoiding the technical problem in the prior art that vehicle fires in dense environments easily cause chain disasters and large losses. BRIEF DESCRIPTION OF THE DRAWINGS
[0044] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.
[0045] In order to more clearly illustrate the embodiments of the present application 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, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.
[0046] Figure 1 This is a flow chart of a first embodiment of a vehicle fire handling method according to the present invention;
[0047] Figure 2 This is a flow chart of a second embodiment of a vehicle fire handling method according to the present invention;
[0048] Figure 3 This is a schematic diagram of the device posture after the transfer device is positioned once according to an embodiment of the vehicle fire handling method of the present invention;
[0049] Figure 4 This is a schematic diagram of the device posture after secondary positioning of the transfer device according to an embodiment of the vehicle fire handling method of the present invention;
[0050] Figure 5 This is a structural block diagram of a first embodiment of a vehicle fire handling device according to the present invention;
[0051] Figure 6 It is a structural diagram of a vehicle fire handling device in a hardware operating environment involved in an embodiment of the present invention.
[0052] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION
[0053] It should be understood that the specific embodiments described herein are merely used to explain the technical solutions of the present application and are not intended to limit the present application.
[0054] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.
[0055] Based on this, the embodiment of the present invention provides a vehicle fire handling method, referring to Figure 1 , Figure 1 This is a flow chart of a first embodiment of a vehicle fire handling method according to the present invention.
[0056] In this embodiment, the vehicle fire handling method includes:
[0057] Step S10: Acquire multimodal environmental data of the parking lot.
[0058] Step S20: Determine whether there is a vehicle on fire in the parking lot based on the multimodal environmental data.
[0059] Step S30: If there is a vehicle on fire, determine the target position of the vehicle on fire.
[0060] Step S40: driving the transfer equipment to transfer the burning vehicle from the target location to the fire extinguishing room to perform fire extinguishing operations.
[0061] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, mobile phone, etc., or an electronic device capable of implementing the above functions, a cloud server, etc. The following uses a cloud server as an example to illustrate this embodiment and the following embodiments.
[0062] Multimodal environmental data includes infrared image data, smoke sensor data, and temperature sensor data. At least infrared image acquisition equipment, smoke alarms, and temperature sensors are installed in the parking lot. Since the parking lot not only parks new energy vehicles, but also fuel vehicles, two-wheeled vehicles, and the combustion status of vehicles also includes fire, smoke, abnormal temperature rise, etc., in order to more accurately identify whether there is a safety hazard of vehicle fire in the parking lot, in this embodiment, infrared image data, smoke sensor data, and temperature sensor data can be combined for comprehensive judgment to improve recognition efficiency.
[0063] Furthermore, determining whether there is a vehicle on fire in the parking lot based on the multimodal environmental data includes:
[0064] determining an abnormal area based on the smoke sensing data;
[0065] Adjusting the orientation of the infrared image acquisition device of the abnormal area in the parking lot to acquire target infrared image data of the abnormal area;
[0066] Determine whether there is a vehicle on fire in the parking lot based on the infrared image data and the temperature sensing data.
[0067] Since parking lots are generally underground environments, multiple densely packed smoke alarms are installed to improve safety and prevent fires. Therefore, in this embodiment, smoke sensor data can be collected by simply monitoring the alarm status of the smoke alarms without any additional cost. In general, vehicles of any energy type will emit smoke before a fire occurs. Therefore, smoke sensor data can be used to determine which areas in the parking lot contain a large amount of smoke, thereby identifying abnormal areas.
[0068] The abnormal area refers to the area where there is a vehicle on fire. It can be used to subsequently adjust the direction of the infrared image acquisition equipment in the parking lot and collect infrared image data of the area to facilitate subsequent comprehensive judgment on whether there is an actual fire.
[0069] The target position of the vehicle on fire may be determined based on the number of a smoke alarm, image data collected by an infrared image acquisition device, or a parking space number, and the specific position of the vehicle on fire is not specifically limited in this embodiment.
[0070] In addition, parking spaces can be monitored in real time through AI cameras, and flames and smoke can be identified through the YOLO algorithm; temperature sensors detect the temperature rise rate around the vehicle, and if it exceeds 2°C / second, it is considered abnormal to identify abnormal areas, and the faulty parking space number can be transmitted to the cloud server via LoRa / WiFi.
[0071] In the specific implementation, in order to prevent the spread of fire, a fire extinguishing room is added in the parking lot in this embodiment. The fire extinguishing room is equipped with automatic fence lifting and lowering and fire extinguishing agent injection devices, and uses lithium battery-specific fire extinguishing agent for immersion extinguishing. It supports independent fire extinguishing rooms or modified parking spaces. The burning vehicle is transferred to the fire extinguishing room through transfer equipment, thereby avoiding affecting other vehicles in the parking lot and reducing fire losses.
[0072] The transfer equipment may be a mobile transfer platform or a transfer robot with carrying functions, and this embodiment does not impose any specific restrictions on the specific shape and structure.
[0073] This embodiment obtains multimodal environmental data of a parking lot; determines whether there is a vehicle on fire in the parking lot based on the multimodal environmental data; if there is a vehicle on fire, determines the target location of the vehicle on fire; drives the transfer equipment to transfer the vehicle on fire from the target location to the fire extinguishing room to perform the fire extinguishing operation. By identifying whether there is a vehicle on fire in the parking lot through the multimodal environmental data and transferring the vehicle on fire through the transfer equipment, the vehicle on fire is isolated from other vehicles in the parking lot to avoid further expansion of the fire damage, and the reaction speed is faster and more efficient, avoiding the technical problem in the prior art that vehicle fires in dense environments easily cause chain disasters and large losses.
[0074] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above embodiment 1 can be referred to the above introduction and will not be described in detail later. Figure 2 Step S40 includes:
[0075] Step S401: Acquire the current location of the transfer equipment.
[0076] Step S402: performing path planning based on the target location and the current location using a shortest path planning model to obtain a first path.
[0077] Step S403: driving the transfer device to the target location through the first path.
[0078] Step S404: After the transfer device reaches the target position, control the transfer device to engage with the vehicle on fire.
[0079] Step S405: performing path planning based on the target position and the end position of the fire extinguishing room using a multi-source path planning model to obtain a second path.
[0080] Step S406: driving the transfer equipment engaged with the burning vehicle to transfer the vehicle to the fire extinguishing room via the second path.
[0081] It should be noted that, considering the different risks of the transfer equipment under normal circumstances and when carrying a burning vehicle, when the transfer vehicle is heading to the target location of the burning vehicle, it only needs to ensure the shortest path and the shortest time. However, when the transfer equipment carries the burning vehicle, considering the safety of the parked vehicles on the path between the location of the burning vehicle and the fire extinguishing room, the purpose of path planning is not just time and path distance.
[0082] Specifically, the shortest path planning model can be a Dijkstra algorithm for path planning, and a laser radar is used to perform obstacle avoidance and path replanning in the process of the transfer equipment heading to the target location. That is, the constraints of the first path are the shortest time and the shortest distance.
[0083] Furthermore, performing path planning based on the target position and the end position of the fire extinguishing room through a multi-source path planning model to obtain a second path includes:
[0084] Constructing a distance matrix based on the target position and the end position;
[0085] traversing turning points and subpaths between the target position and the end position;
[0086] Obtaining the subpath length of each subpath and the number of parked vehicles on both sides, and generating a subpath weight coefficient according to the number of parked vehicles;
[0087] Update the distance matrix according to the subpath weight coefficient and subpath length of each subpath to obtain a target distance matrix;
[0088] Path planning is performed according to the target distance matrix to obtain a second path.
[0089] It should be noted that when the transfer equipment carries the burning vehicle, considering the safety of the parked vehicles on the path between the location of the burning vehicle and the fire extinguishing room, this embodiment divides the path between the target location and the end location of the fire extinguishing room into multiple turning points to traverse various path planning possibilities, and calculates the number of parked vehicles on both sides of each path, and generates a sub-path weight coefficient based on the number of parked vehicles, thereby optimizing the path planning and reducing the possibility of the burning vehicle affecting other parked vehicles during the transfer process.
[0090] In the specific implementation, the distance matrix is D, i is the target position of the burning vehicle, j is the end position of the fire extinguishing room, and D(i, j) is the shortest distance between the target position and the end position. Specifically:
[0091] D(i,j)=min{D(i,j),[N1*D(i,k1),N2*D(k1,j)],...,[N n-1 D(i, k1)...N n D(k n ,j)]}
[0092] Wherein, kn is the number of the turning point, and Nn is the weight coefficient of the parked vehicles corresponding to each sub-path. In this embodiment, N is at least 1, and the more parked vehicles there are, the larger N is. When there are no parked vehicles along the way, N is 1.
[0093] In this way, the impact of the burning vehicle on other normally parked vehicles during the transfer process is weakened, the transfer process will not be prolonged, and the transfer distance will be reduced as much as possible.
[0094] Furthermore, controlling the transfer equipment to engage with the fire vehicle includes:
[0095] receiving the image and pressure data of the burning vehicle fed back by the transfer equipment;
[0096] Performing a positioning operation based on the image of the burning vehicle, and adjusting the current posture of the transfer device according to the positioning result until the longitudinal vector of the transfer device is parallel to the longitudinal vector of the burning vehicle;
[0097] The transfer device is controlled to move parallel to the axial vector of the vehicle on fire until the pressure data sensed by force meets a preset pressure condition, and it is determined that the transfer device is engaged with the vehicle on fire.
[0098] It is understandable that due to personal parking habits, not every car is parked in a standard parking space. The vehicle may be crooked or even parked out of the parking space, which affects the transfer of the transfer equipment. Therefore, in this embodiment, when the transfer equipment is in the area where the burning vehicle is located, the path can be fine-tuned through the binocular camera and pressure sensor and other equipment on the transfer equipment to move the transfer equipment under the chassis of the burning vehicle and engage with the burning vehicle to fix the burning vehicle to the transfer equipment, thereby realizing the transfer of the burning vehicle.
[0099] In the specific implementation, the primary positioning is mainly for the existence of parallel movable space for the transfer equipment and the vehicle on fire. For standard parked vehicles, due to the standardization of parking space planning, the transfer equipment and the vehicle can be aligned after one positioning. However, for vehicles parked crookedly or beyond the parking space, a secondary positioning is required to correct the posture of the transfer equipment and improve the transfer efficiency.
[0100] Furthermore, before controlling the transfer device to move in parallel based on the axial vector of the vehicle on fire, the method further includes:
[0101] receiving radar point cloud data fed back by the transfer equipment;
[0102] Secondary positioning is performed based on the radar point cloud data, and the current position of the transfer equipment is adjusted based on the secondary positioning result until the axial edge of the transfer equipment coincides with at least one side axial edge of the burning vehicle.
[0103] In the specific implementation, refer to Figure 3 and Figure 4 , Figure 3 The equipment posture after the transfer equipment is positioned once. Figure 4 This is the equipment position after secondary positioning. The secondary positioning is mainly to ensure that the transfer equipment can be smoothly moved to the bottom of the burning vehicle to avoid the transfer vehicle being unable to fit into the burning vehicle, resulting in transfer failure.
[0104] This embodiment obtains the current position of the transfer equipment; performs path planning based on the target position and the current position using the shortest path planning model to obtain a first path; drives the transfer equipment to the target position via the first path; after the transfer equipment reaches the target position, controls the transfer equipment to be engaged with the vehicle on fire; performs path planning based on the target position and the end position of the fire extinguishing room using the multi-source path planning model to obtain a second path; drives the transfer equipment engaged with the vehicle on fire to be transferred to the fire extinguishing room via the second path, and adopts different transfer algorithms at different transfer stages to improve transfer efficiency and response speed while reducing additional risks caused by the transfer of the vehicle on fire.
[0105] This application also provides a vehicle fire handling device, please refer to Figure 5 , the vehicle fire handling device comprises:
[0106] The acquisition module 10 is used to acquire multimodal environmental data of the parking lot.
[0107] The determination module 20 is configured to determine whether there is a vehicle on fire in the parking lot based on the multimodal environmental data.
[0108] The positioning module 30 is configured to determine the target position of the vehicle on fire if there is one.
[0109] The driving module 40 is used to drive the transfer equipment to transfer the burning vehicle from the target location to the fire extinguishing room to perform the fire extinguishing operation.
[0110] This embodiment obtains multimodal environmental data of a parking lot; determines whether there is a vehicle on fire in the parking lot based on the multimodal environmental data; if there is a vehicle on fire, determines the target location of the vehicle on fire; drives the transfer equipment to transfer the vehicle on fire from the target location to the fire extinguishing room to perform the fire extinguishing operation. By identifying whether there is a vehicle on fire in the parking lot through the multimodal environmental data and transferring the vehicle on fire through the transfer equipment, the vehicle on fire is isolated from other vehicles in the parking lot, thereby avoiding further expansion of fire damage and achieving faster response and higher efficiency.
[0111] In one embodiment, the driving module 40 is also used to obtain the current position of the transfer equipment; perform path planning through the shortest path planning model according to the target position and the current position to obtain a first path; drive the transfer equipment to the target position through the first path; after the transfer equipment reaches the target position, control the transfer equipment to be engaged with the fire vehicle; perform path planning through the multi-source path planning model according to the target position and the end position of the fire extinguishing room to obtain a second path; drive the transfer equipment engaged with the fire vehicle to be transferred to the fire extinguishing room through the second path.
[0112] In one embodiment, the driving module 40 is further used to construct a distance matrix based on the target position and the end position; traverse the turning points and sub-paths between the target position and the end position; obtain the sub-path length of each sub-path and the number of parked vehicles on both sides, and generate a sub-path weight coefficient based on the number of parked vehicles; update the distance matrix based on the sub-path weight coefficient and sub-path length of each sub-path to obtain a target distance matrix; perform path planning based on the target distance matrix to obtain a second path.
[0113] In one embodiment, the driving module 40 is further used to receive the image of the burning vehicle and pressure data fed back by the transfer device; perform a positioning according to the image of the burning vehicle, and adjust the current posture of the transfer device according to the positioning result until the longitudinal vector of the transfer device is parallel to the longitudinal vector of the burning vehicle; control the transfer device to move parallel to the axial vector of the burning vehicle until the pressure data is sensed to meet the preset pressure condition, and determine that the transfer device is engaged with the burning vehicle.
[0114] In one embodiment, the driving module 40 is also used to receive radar point cloud data fed back by the transfer equipment; perform secondary positioning based on the radar point cloud data, and adjust the current position of the transfer equipment based on the secondary positioning result until the axial edge of the transfer equipment coincides with at least one side axial edge of the vehicle on fire.
[0115] In one embodiment, the determination module 20 is further used to determine the abnormal area based on the smoke sensor data; adjust the orientation of the infrared image acquisition device of the abnormal area in the parking lot to collect target infrared image data of the abnormal area; and determine whether there is a vehicle on fire in the parking lot based on the infrared image data and the temperature sensor data.
[0116] The present application provides a vehicle fire handling device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the vehicle fire handling method in the above-mentioned embodiment one.
[0117] Reference below Figure 6 , which shows a schematic structural diagram of a vehicle fire handling device suitable for implementing an embodiment of the present application. The vehicle fire handling device in the embodiment of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 6 The vehicle fire handling device shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.
[0118] like Figure 6As shown, the vehicle fire handling device may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes based on programs stored in a read-only memory (ROM) 1002 or programs loaded from a storage device 1003 into a random access memory (RAM) 1004. RAM 1004 also stores various programs and data required for the operation of the vehicle fire handling device. Processing device 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to I / O interface 1006: input devices 1007 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage device 1003 including, for example, a magnetic tape, hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the vehicle fire handling device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a vehicle fire handling device with various systems, it should be understood that it is not required to implement or have all of the systems shown. More or fewer systems may be implemented or provided instead.
[0119] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.
[0120] The vehicle fire handling device provided in this application utilizes the vehicle fire handling method described in the aforementioned embodiment to address the technical issues surrounding vehicle fire handling. Compared to the prior art, the vehicle fire handling device provided in this application offers the same beneficial effects as the vehicle fire handling method described in the aforementioned embodiment. Other technical features of the vehicle fire handling device are the same as those disclosed in the aforementioned embodiment and are not further elaborated upon here.
[0121] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any one or more embodiments or examples in a suitable manner.
[0122] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.
[0123] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, a computer program) stored thereon, wherein the computer-readable program instructions are used to execute the vehicle fire handling method in the above-mentioned embodiment.
[0124] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.
[0125] The computer-readable storage medium may be included in the vehicle fire handling device; or may exist independently without being assembled into the vehicle fire handling device.
[0126] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the vehicle fire processing device, the vehicle fire processing device is enabled to perform vehicle fire processing.
[0127] Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and conventional procedural programming languages such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).
[0128] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.
[0129] The modules described in the embodiments of the present application may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.
[0130] The computer-readable storage medium provided in this application stores computer-readable program instructions (i.e., a computer program) for executing the vehicle fire handling method described above, thereby resolving the technical issues surrounding vehicle fire handling. Compared to the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the vehicle fire handling method provided in the aforementioned embodiment, and are not further elaborated here.
[0131] The present application also provides a computer program product, comprising a computer program, which implements the steps of the vehicle fire handling method as described above when executed by a processor.
[0132] The computer program product provided in this application can solve the technical problem of vehicle fire handling. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as the beneficial effects of the vehicle fire handling method provided in the above embodiment, and will not be repeated here.
[0133] The above description is only part of the embodiments of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made by using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.
Claims
1. A vehicle fire handling method, characterized in that: The vehicle fire handling method comprises: Obtain multimodal environmental data of the parking lot; determining whether there is a vehicle on fire in the parking lot based on the multimodal environmental data; If there is a vehicle on fire, determining the target location of the vehicle on fire; The transporting device is driven to transport the vehicle on fire from the target location to a fire extinguishing room to perform a fire extinguishing operation.
2. The vehicle fire handling method according to claim 1, wherein: The driving and transporting equipment transports the burning vehicle from the target location to the fire extinguishing room, including: Get the current location of the transfer equipment; Performing path planning based on the target location and the current location using a shortest path planning model to obtain a first path; driving the transfer device to the target location via the first path; After the transfer device reaches the target position, controlling the transfer device to engage with the fire vehicle; Performing path planning based on the target location and the end location of the fire extinguishing room using a multi-source path planning model to obtain a second path; The transfer equipment engaged with the vehicle on fire is driven to transfer the vehicle to the fire extinguishing room through the second path.
3. The vehicle fire handling method according to claim 2, wherein: The performing path planning according to the target position and the end position of the fire extinguishing room by using a multi-source path planning model to obtain a second path includes: Constructing a distance matrix based on the target position and the end position; traversing turning points and subpaths between the target position and the end position; Obtaining the subpath length of each subpath and the number of parked vehicles on both sides, and generating a subpath weight coefficient according to the number of parked vehicles; Update the distance matrix according to the subpath weight coefficient and subpath length of each subpath to obtain a target distance matrix; Path planning is performed according to the target distance matrix to obtain a second path.
4. The vehicle fire handling method according to claim 2, wherein: The controlling the transfer equipment to engage with the fire vehicle includes: receiving the image and pressure data of the burning vehicle fed back by the transfer equipment; Performing a positioning operation based on the image of the burning vehicle, and adjusting the current posture of the transfer device according to the positioning result until the longitudinal vector of the transfer device is parallel to the longitudinal vector of the burning vehicle; The transfer device is controlled to move parallel to the axial vector of the vehicle on fire until the pressure data sensed by force meets a preset pressure condition, and it is determined that the transfer device is engaged with the vehicle on fire.
5. The vehicle fire handling method according to claim 4, wherein: Before controlling the transfer device to move parallel to the axial vector of the vehicle on fire, the method further includes: receiving radar point cloud data fed back by the transfer equipment; Secondary positioning is performed based on the radar point cloud data, and the current position of the transfer equipment is adjusted based on the secondary positioning result until the axial edge of the transfer equipment coincides with at least one side axial edge of the burning vehicle.
6. The vehicle fire handling method according to claim 1, wherein: The multimodal environmental data includes at least: infrared image data, smoke sensor data and temperature sensor data; The determining whether there is a vehicle on fire in the parking lot according to the multimodal environmental data includes: determining an abnormal area based on the smoke sensing data; Adjusting the orientation of the infrared image acquisition device of the abnormal area in the parking lot to acquire target infrared image data of the abnormal area; Determine whether there is a vehicle on fire in the parking lot based on the infrared image data and the temperature sensing data.
7. A vehicle fire handling device, characterized in that: The vehicle fire handling device comprises: An acquisition module is used to obtain multimodal environmental data of the parking lot; a determination module, configured to determine whether there is a vehicle on fire in the parking lot based on the multimodal environmental data; A positioning module, configured to determine a target location of a vehicle on fire if there is one; The driving module is used to drive the transfer equipment to transfer the burning vehicle from the target location to the fire extinguishing room to perform the fire extinguishing operation.
8. A vehicle fire handling device, characterized in that: The vehicle fire handling device includes: a memory, a processor, and a vehicle fire handling program stored in the memory and executable on the processor, wherein the vehicle fire handling program is configured to implement the vehicle fire handling method according to any one of claims 1 to 6.
9. A storage medium, characterized in that: The storage medium stores a vehicle fire handling program, which, when executed by a processor, implements the vehicle fire handling method according to any one of claims 1 to 6.
10. A computer program product, characterized in that The computer program product includes a computer program, and when the computer program is executed by a processor, the steps of the vehicle fire handling method according to any one of claims 1 to 6 are implemented.