Fire alarm hierarchical response dispatching method and system

Abstract

The application discloses a fire alarm hierarchical response dispatching method, which is applied to a cooperative system comprising a fire control system, an automatic driving fire engine and a mobile device. The method comprises the following steps: when receiving an initial fire alarm, the automatic driving fire engine forcibly intercepts and shields instructions from a single source, and waits in place to prevent false alarms; meanwhile, a first level response is triggered, the mobile device drives out from a storage box and goes to an alarm position to perform pre-scouting; the mobile device uses a camera to sense and secondarily verify the authenticity of a fire, and if the fire is confirmed to be a real fire, a communication handshake protocol is established with the fire engine and a dispatching instruction is sent; after receiving the confirmation instruction, the fire engine goes to the scene according to built-in map information to put out the fire. Through the pre-scouting and forced interception mechanism, the application effectively avoids the blind operation of large equipment caused by false fire alarms, and improves the accuracy of system dispatching and rescue efficiency.

Description

Technical Field

[0001] This invention relates to the field of intelligent fire protection and multi-agent collaborative control technology, and in particular to a fire alarm graded response scheduling method and system. Background Technology

[0002] With the development of smart cities and unmanned technologies, autonomous driving fire-fighting equipment and automated control systems have been widely introduced in enclosed spaces such as underground parking garages. However, existing fire-fighting systems are prone to false alarms and rely heavily on inefficient and dangerous on-site manual verification. Directly deploying bulky autonomous fire trucks to respond to unconfirmed false fire alarms would not only lead to frequent and ineffective vehicle deployments and blockages in normal underground parking garage access, but also result in extremely high maintenance costs. For example, after a malfunction, it would be necessary to specially recover waste liquid containing hazardous substances such as hydrogen sulfide, clean pipelines, and replenish the fluid.

[0003] Furthermore, in real-world underground parking garage fires, the dense smoke can severely impair the operation of sensors such as cameras and lidar in autonomous fire trucks. This can cause these heavy vehicles to become "blinded" and unable to reach the fire site when encountering unclear road conditions or obstacles. Additionally, existing patrol robots and fire trucks often lack physical integration and scientific distributed power management. Emergency equipment parked and on standby for extended periods, if left in a fully charged floating-charged state, is highly susceptible to battery explosion and damage, compromising emergency preparedness.

[0004] In summary, the existing unmanned fire dispatch system urgently needs a new technical solution that can automatically distinguish between genuine and false fire alarms, and achieve hierarchical dispatch and collaborative navigation in extreme environments through physical fusion and sensory complementarity of heterogeneous devices. Summary of the Invention

[0005] The purpose of this invention is to provide a fire alarm graded response dispatching method and system, which can enable autonomous fire trucks to forcibly block unconfirmed false alarms from the fire protection system through a forward reconnaissance and interception mechanism, and only dispatch when a real fire alarm dispatching instruction is received, thereby reducing the waste of resources and channel blockage caused by the blind dispatch of heavy equipment.

[0006] To achieve the above objectives, this invention provides a fire alarm graded response dispatch method, applied to a collaborative system including a fire control system, an autonomous fire truck, and mobile devices; wherein, the mobile devices are routinely parked in a dedicated storage box on the autonomous fire truck for charging and rest; the method includes the following steps: Step S1: The collaborative system receives an initial fire alarm from the fire control system; the control logic of the autonomous fire truck is: to block fire alarm commands originating solely from the fire control system, remain in place and wait, and not respond to vehicle dispatch, in order to prevent false alarms; Step S2: Trigger the first-level response. The autonomous fire truck opens the door of the dedicated storage box, and the mobile device drives out of the storage box to the ground and goes to the location corresponding to the initial fire alarm to conduct on-site patrol and detection. Step S3: The mobile device uses its built-in camera to sense the smoke and confirm the authenticity of the fire. If it is confirmed to be a real fire, the mobile device, acting as a virtual firefighter, establishes a communication handshake protocol with the autonomous fire truck and directly sends a fire alarm dispatch command to the autonomous fire truck that confirms the fire is real. Step S4: After receiving the confirmed fire alarm dispatch order, the autonomous fire truck will rush to the scene to carry out firefighting operations based on the underground parking garage map information pre-input into the vehicle system.

[0007] In one embodiment of the present invention, in step S2, the physical release method of the mobile device from the dedicated storage box to the ground includes any one of the following: Method 1: The closed door of the dedicated storage box is laid flat downwards to form a ramp, and the mobile device slides down the ramp to reduce mechanical impact; Method 2: Open the door of the dedicated storage box upwards, and the mobile device extends its two feet to step out directly across the threshold.

[0008] In one embodiment of the present invention, the communication handshake protocol between the mobile device and the autonomous fire truck is established by means of signal handshake through wireless communication technology, wherein the wireless communication technology includes either WiFi or microwave communication.

[0009] In one embodiment of the present invention, the method further includes an active patrol and early warning mechanism that is not limited to fire alarm triggering: The fire control operator can freely set the patrol frequency, and the mobile device will automatically patrol the underground garage without blind spots according to the set frequency; If the mobile device actively detects smoke and confirms a fire during patrol using its camera, it skips steps S1 and S2, establishes the communication handshake protocol, and executes step S4 to guide the fire truck to the scene.

[0010] In one embodiment of the present invention, in step S4, if faced with an extreme environment such as dense smoke, the mobile device executes the following dynamic collaborative guidance strategy: When the autonomous fire truck is traveling and its visibility is obstructed or its sensors are limited due to severe smoke, the mobile device transmits information about the fire scene and road conditions to the autonomous fire truck through a powerful signal transmission device. The mobile device determines whether the dimensions of both sides of the road meet the requirements for normal passage of fire trucks. If passage is not possible, it guides the autonomous fire truck to reverse or detour to find an alternative route to the fire.

[0011] In one embodiment of the present invention, the mobile device has a power replenishment strategy: During patrols or missions, when the battery level of the mobile device falls below a set value, it will autonomously return to the dedicated storage box of the autonomous fire truck for charging, or go to a pre-set independent charging station near the vehicle for automatic charging.

[0012] In one embodiment of the present invention, the autonomous fire truck has a power replenishment strategy: When the autonomous fire truck is parked in the underground garage, it performs a daily battery self-check. When the battery level is lower than the set value, it will proactively send a system notification to the administrator requesting manual charging. The charging logic of the aforementioned autonomous fire truck strictly prohibits it from being in a continuous charging state for extended periods to prevent battery overcharging and explosion damage.

[0013] In one embodiment of the present invention, after the fire extinguishing operation is carried out in step S4, a closed-loop post-disaster maintenance process is also included: A maintenance notification is sent, and the manufacturer coordinates to dispatch a dedicated cleaning vehicle to the location of the autonomous fire truck for cleaning and maintenance. The waste liquid containing hydrogen sulfide recovered from inside the autonomous fire truck is intercepted and transferred to a specialized hazardous waste recycling and treatment station. The autonomous fire truck was replenished with new fire extinguishing fluid, and its pipelines and chassis were cleaned to restore it to normal usability.

[0014] A fire alarm graded response dispatch system, applied to a collaborative system including a fire control system, autonomous fire trucks, and mobile devices, comprising: The mobile device performs fire alarm detection to distinguish between false alarms and genuine fire situations when it receives an initial fire alarm or during routine patrols, and sends a fire alarm dispatch command after confirming that the fire is real. An autonomous fire truck, wherein a dedicated storage box is provided at the lower right or lower left corner of the front of the vehicle, the dedicated storage box being used for daily storage and charging of the mobile device; The onboard computing unit of the autonomous fire truck is equipped with fire alarm interception logic. The fire alarm interception logic is configured to only start the vehicle to extinguish the fire when a real fire alarm dispatch instruction confirmed by the mobile device or the on-site firefighter is received through wireless communication handshake, and refuses to respond to unconfirmed false alarms.

[0015] In one embodiment of the present invention, the collaborative system further includes: A fire control system that collects fire detector signals from the environment and generates an initial fire alarm message which is then sent to the mobile device; When the mobile device detects obstacles or smoke that obstruct the fire truck, it can leave the fire alarm point and head to the location of the fire truck to converge and guide the fire truck to the fire extinguishing point.

[0016] The present invention has the following beneficial effects: This invention first introduces mobile devices as a forward reconnaissance and interception mechanism for virtual firefighters. This enables autonomous fire trucks to forcibly block unconfirmed false alarms from the fire protection system, deploying only when a genuine fire dispatch order is received. This reduces resource waste and road blockage caused by the indiscriminate deployment of heavy equipment. Secondly, at the fire scene after deployment, if smoke obstructs the fire truck's visibility or the original route is blocked, the mobile device can wirelessly communicate with the fire truck to transmit road condition information, such as the passable dimensions ahead, guiding it to reverse or detour to find an alternative route. This achieves heterogeneous collaborative navigation in extreme environments. Regarding hardware integration, this invention features a dedicated storage box on the fire truck for daily storage of mobile devices. During deployment, the door panels are laid flat to form a ramp, allowing the mobile devices to slide down smoothly, effectively reducing mechanical impact when disembarking. Finally, the system is configured with an intelligent and safe distributed energy management strategy. When the power of mobile devices and fire trucks is lower than the set value, they will autonomously return to the cabin for charging or notify a person to manually plug in the gun for charging. Furthermore, fire trucks are strictly prohibited from being fully charged for a long time, which prevents the risk of battery explosion and ensures the long-term safe standby of emergency equipment in the enclosed underground space. Attached Figure Description

[0017] Figure 1 A flowchart of a fire alarm graded response scheduling method according to an embodiment of the present invention is disclosed; Figure 2 The diagram illustrates the architecture of a fire alarm graded response scheduling method according to an embodiment of the present invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the invention.

[0019] This invention provides a fire alarm graded response dispatch method, applied to a collaborative system including a fire control system, an autonomous fire truck, and mobile devices; wherein, the mobile devices are routinely parked in a dedicated storage box on the autonomous fire truck for charging and rest. Preferably, in this embodiment, the mobile device is a legged mobile platform. More preferably, the legged mobile platform includes all legged mobile devices such as bipedal, quadrupedal, and hexapedal. Figure 1 As shown, the method includes the following steps: Step S1: The collaborative system receives the initial fire alarm from the fire control system; the control logic of the autonomous fire truck is: to block fire alarm commands from the fire control system alone, keep in place and wait, and not respond to vehicle dispatch to prevent false alarms. Step S2: Trigger the first level response. The autonomous fire truck opens the door of the dedicated storage box, and the mobile device drives out of the storage box to the ground and proceeds to the location corresponding to the initial fire alarm to conduct on-site patrol and detection. Step S3: The mobile device uses its onboard camera to detect smoke and confirm the authenticity of the fire. If it is confirmed to be a real fire, the mobile device, acting as a virtual firefighter, establishes a communication handshake protocol with the autonomous fire truck and directly sends a confirmed fire alarm dispatch command to the autonomous fire truck. Preferably, in this embodiment, multimodal sensor fusion judgment logic is used in step S3. Furthermore, the mobile device not only uses a visible light camera to identify the image diffusion characteristics of the smoke but also simultaneously uses an infrared thermal imager or temperature sensor; a real fire is determined only when the smoke characteristics are visually detected and the infrared thermal imaging detects that the ambient temperature of the target area exceeds a preset high-temperature threshold, thereby completely blocking false alarms.

[0020] Step S4: After receiving a confirmed fire alarm dispatch order, the autonomous fire truck will rush to the scene to carry out firefighting operations based on the underground parking garage map information pre-entered into the vehicle system.

[0021] In one embodiment of the present invention, in step S2, the physical release method for the mobile device to move from the dedicated storage box to the ground includes any of the following: Method 1: The closed door of the dedicated storage box is laid flat downwards to form a ramp, and the mobile device slides down the ramp to reduce mechanical impact. Method 2: The door of the dedicated storage box is opened upwards, and the mobile device extends its two legs to step directly out with a gait of crossing the threshold. Preferably, in this embodiment, the dedicated storage box needs to be specially designed. Furthermore, a heat-insulating and flame-retardant layer is provided on the inner wall of the dedicated storage box, and an independent small cooling circulation air duct is configured to ensure the safety of the mobile device in the high-temperature environment near a fire. At the same time, an automatic alignment charging contact with a guide groove is preset on the bottom plate of the box. When the mobile device returns to the storage box, the charging circuit can be automatically connected through mechanical limiting, without manual plugging and unplugging.

[0022] In one embodiment of the present invention, the communication handshake protocol between the mobile device and the autonomous fire truck is established by means of signal handshake through wireless communication technology, which includes either WiFi or microwave communication.

[0023] In one embodiment of the invention, the method further includes an active patrol and early warning mechanism that is not limited to fire alarm triggering: Fire controllers can freely set patrol frequencies, and mobile devices automatically patrol the underground parking garage without blind spots according to the set frequencies. If the mobile device actively detects smoke and confirms a fire during the patrol, it skips steps S1 and S2, establishes a communication handshake protocol, and executes step S4 to guide the fire truck to the scene. Preferably, in this embodiment, the mobile device builds or updates a local environmental point cloud map of the underground parking garage in real time during the patrol. After confirming a fire through the aforementioned multimodal perception, it directly sends the latest local map update package containing the fire source location along with the dispatch command to the autonomous fire truck, realizing integrated pre-operation.

[0024] In one embodiment of the present invention, in step S4, if faced with an extreme environment such as dense smoke, the mobile device executes the following dynamic collaborative guidance strategy: When the autonomous fire truck's visibility is obstructed or its sensors are limited due to severe smoke during its journey, the mobile device transmits fire scene and road condition information to the autonomous fire truck via a powerful signal transmitter. Preferably, in this embodiment, when dense smoke or electromagnetic shielding completely disrupts wireless communication, the mobile device illuminates a specific strobe light penetrating a beacon on its rear or back, or projects a high-brightness visual QR code. The autonomous fire truck's control logic then downgrades to a pure visual tracking mode, blindly following the movement trajectory of the perceived light source or marker, ensuring that it can still reach the fire scene or safely evacuate even in extreme situations of communication breakdown.

[0025] The mobile device determines whether the dimensions on both sides of the road meet the requirements for normal passage of fire trucks. If passage is not possible, it guides the autonomous fire truck to reverse or detour to find an alternative route to the fire.

[0026] In one embodiment of the present invention, the mobile device has a power replenishment strategy: During patrols or missions, when the mobile device's battery level falls below a set threshold, it autonomously returns to the dedicated storage compartment of the autonomous fire truck for charging, or automatically recharges at a pre-installed independent charging station near the vehicle. Preferably, this embodiment employs a bidirectional communication system within a fire alarm graded response dispatch system that integrates a battery health management system (BMS): for mobile devices, a battery level below a set threshold triggers autonomous return to the storage compartment or independent charging station for recharging; for the autonomous fire truck, a battery level below a set threshold triggers a manual charging request, and when the BMS detects that the battery level has reached a set safety limit (e.g., 95%), it forcibly disconnects the float charging circuit, physically preventing the risk of battery overcharging, expansion, or explosion caused by prolonged full-charge charging. Further, the set threshold is 40%.

[0027] In one embodiment of the present invention, the self-driving fire truck has a power replenishment strategy: When the autonomous fire truck is parked in an underground parking garage, it performs a daily battery self-check. When the battery level falls below a set value, it proactively sends a system notification to the administrator requesting manual recharging. In this embodiment, the preferred set value is 40%.

[0028] The charging logic of autonomous fire trucks strictly prohibits them from being in a continuous charging state for extended periods to prevent battery overcharging and explosion damage.

[0029] In one embodiment of the present invention, after the fire extinguishing operation is performed in step S4, a closed-loop post-disaster maintenance process is also included: A maintenance notification is sent, and the manufacturer coordinates to dispatch a dedicated cleaning vehicle to the location of the autonomous fire truck for cleaning and maintenance. The waste liquid containing hydrogen sulfide recovered from inside the autonomous fire truck is intercepted and transferred to a specialized hazardous waste recycling and treatment station. The autonomous fire truck was replenished with new fire extinguishing fluid, and its pipelines and chassis were cleaned to restore it to normal usability.

[0030] A fire alarm graded response dispatch system is applied to a collaborative system including a fire control system, autonomous fire trucks, and mobile devices, such as... Figure 2 As shown, it includes: Mobile devices detect fire situations to distinguish between false alarms and genuine fire situations when they receive an initial fire alarm or during routine patrols, and send fire dispatch instructions after confirming that the fire is real. The autonomous fire truck has a dedicated storage box located at the lower right or lower left corner of its front. This storage box is used for daily storage and charging of mobile devices. In this preferred embodiment, the lower right or lower left corner of the autonomous fire truck's front not only has a dedicated storage box with a folding ramp door, but the storage box also integrates a DC step-down charging module and heat dissipation components connected to the fire truck's main battery.

[0031] The onboard computing unit of the autonomous fire truck is equipped with fire alarm interception logic. This logic is configured to only activate the vehicle to extinguish a fire when a genuine fire alarm dispatch command, confirmed by a mobile device or on-site firefighters, is received via wireless communication handshake. It refuses to respond to unconfirmed false alarms. Preferably, in this embodiment, the fire alarm interception logic is embedded within the onboard computing unit of the autonomous fire truck. This logic isolates the trigger signal source of the conventional fire-fighting system, ensuring that the vehicle's power chassis activation permission is uniquely bound to the encrypted handshake protocol established with the mobile device. This completely eliminates the possibility of false fire alarms causing the blind deployment of large equipment at the system architecture level.

[0032] In one embodiment of the present invention, the collaborative system further includes: The fire control system collects signals from fire detectors in the environment and generates an initial fire alarm message, which is then sent to mobile devices.

[0033] When a mobile device detects obstacles or smoke that may be obstructing a fire truck, it can leave the fire alarm point and head to the location of the fire truck to converge and guide the fire truck to the fire extinguishing point.

[0034] The present invention has the following beneficial effects: This invention first introduces mobile devices as a forward reconnaissance and interception mechanism for virtual firefighters. This enables autonomous fire trucks to forcibly block unconfirmed false alarms from the fire protection system, deploying only when a genuine fire dispatch order is received. This reduces resource waste and road blockage caused by the indiscriminate deployment of heavy equipment. Secondly, at the fire scene after deployment, if smoke obstructs the fire truck's visibility or the original route is blocked, the mobile device can wirelessly communicate with the fire truck to transmit road condition information, such as the passable dimensions ahead, guiding it to reverse or detour to find an alternative route. This achieves heterogeneous collaborative navigation in extreme environments. Regarding hardware integration, this invention features a dedicated storage box on the fire truck for daily storage of mobile devices. During deployment, the door panels are laid flat to form a ramp, allowing the mobile devices to slide down smoothly, effectively reducing mechanical impact when disembarking. Finally, the system is configured with an intelligent and safe distributed energy management strategy. When the power of mobile devices and fire trucks is lower than the set value, they will autonomously return to the cabin for charging or notify a person to manually plug in the gun for charging. Furthermore, fire trucks are strictly prohibited from being fully charged for a long time, which prevents the risk of battery explosion and ensures the long-term safe standby of emergency equipment in the enclosed underground space.

[0035] The embodiments described above are merely further illustrations of the present invention and are not intended to limit the present invention in any other way. The present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding modifications and changes based on the present invention, but all such modifications and changes should fall within the protection scope of the present invention.

Claims

1. A fire alarm graded response scheduling method, characterized in that, The method is applied to a collaborative system comprising a fire control system, an autonomous fire truck, and mobile devices; wherein the mobile devices are routinely parked in a dedicated storage box on the autonomous fire truck for charging and rest; the method includes the following steps: Step S1: The collaborative system receives an initial fire alarm from the fire control system; the control logic of the autonomous fire truck is: to block fire alarm commands originating solely from the fire control system, remain in place and wait, and not respond to vehicle dispatch, in order to prevent false alarms; Step S2: Trigger the first-level response. The autonomous fire truck opens the door of the dedicated storage box, and the mobile device drives out of the storage box to the ground and goes to the location corresponding to the initial fire alarm to conduct on-site patrol and detection. Step S3: The mobile device uses its built-in camera to sense the smoke and confirm the authenticity of the fire. If it is confirmed to be a real fire, the mobile device, acting as a virtual firefighter, establishes a communication handshake protocol with the autonomous fire truck and directly sends a fire alarm dispatch command to the autonomous fire truck that confirms the fire is real. Step S4: After receiving the confirmed fire alarm dispatch order, the autonomous fire truck will rush to the scene to carry out firefighting operations based on the underground parking garage map information pre-input into the vehicle system.

2. The fire alarm graded response dispatching method according to claim 1, characterized in that, In step S2, the physical release method of the mobile device from the dedicated storage box to the ground includes any of the following: Method 1: The closed door of the dedicated storage box is laid flat downwards to form a ramp, and the mobile device slides down the ramp to reduce mechanical impact; Method 2: Open the door of the dedicated storage box upwards, and the mobile device extends its two feet to step out directly across the threshold.

3. The fire alarm graded response dispatching method according to claim 1, characterized in that, The communication handshake protocol between the mobile device and the autonomous fire truck is established by means of wireless communication technology, which includes either WiFi or microwave communication.

4. The fire alarm graded response dispatching method according to claim 1, characterized in that, The method also includes an active patrol and early warning mechanism that is not limited to fire alarm triggering: The fire control operator can freely set the patrol frequency, and the mobile device will automatically patrol the underground garage without blind spots according to the set frequency; If the mobile device actively detects smoke and confirms a fire during patrol using its camera, it skips steps S1 and S2, establishes the communication handshake protocol, and executes step S4 to guide the fire truck to the scene.

5. The fire alarm graded response scheduling method according to claim 1, characterized in that, In step S4, if faced with extreme environments such as dense smoke, the mobile device executes the following dynamic collaborative guidance strategy: When the autonomous fire truck is traveling and its visibility is obstructed or its sensors are limited due to severe smoke, the mobile device transmits information about the fire scene and road conditions to the autonomous fire truck through a powerful signal transmission device. The mobile device determines whether the dimensions of both sides of the road meet the requirements for normal passage of fire trucks. If passage is not possible, it guides the autonomous fire truck to reverse or detour to find an alternative route to the fire.

6. The fire alarm graded response dispatching method according to claim 1, characterized in that, The mobile device has a power replenishment strategy: During patrols or missions, when the battery level of the mobile device falls below a set value, it will autonomously return to the dedicated storage box of the autonomous fire truck for charging, or go to a pre-set independent charging station near the vehicle for automatic charging.

7. The fire alarm graded response dispatching method according to claim 1, characterized in that, The autonomous fire truck is equipped with a power replenishment strategy: When the autonomous fire truck is parked in the underground garage, it performs a daily battery self-check. When the battery level is lower than the set value, it will proactively send a system notification to the administrator requesting manual charging. The charging logic of the aforementioned autonomous fire truck strictly prohibits it from being in a continuous charging state for extended periods to prevent battery overcharging and explosion damage.

8. The fire alarm graded response dispatching method according to claim 1, characterized in that, After the firefighting operation is carried out in step S4, a closed-loop post-disaster maintenance process is also included: A maintenance notification is sent, and the manufacturer coordinates to dispatch a dedicated cleaning vehicle to the location of the autonomous fire truck for cleaning and maintenance. The waste liquid containing hydrogen sulfide recovered from inside the autonomous fire truck is intercepted and transferred to a specialized hazardous waste recycling and treatment station. The autonomous fire truck was replenished with new fire extinguishing fluid, and its pipelines and chassis were cleaned to restore it to normal usability.

9. A fire alarm graded response dispatch system, applied to a collaborative system including a fire control system, an autonomous fire truck, and mobile equipment, characterized in that, include: The mobile device performs fire alarm detection to distinguish between false alarms and genuine fire situations when it receives an initial fire alarm or during routine patrols, and sends a fire alarm dispatch command after confirming that the fire is real. An autonomous fire truck, wherein a dedicated storage box is provided at the lower right or lower left corner of the front of the vehicle, the dedicated storage box being used for daily storage and charging of the mobile device; The onboard computing unit of the autonomous fire truck is equipped with fire alarm interception logic. The fire alarm interception logic is configured to only start the vehicle to extinguish the fire when a real fire alarm dispatch instruction confirmed by the mobile device or the on-site firefighter is received through wireless communication handshake, and refuses to respond to unconfirmed false alarms.

10. The fire alarm graded response and dispatch system according to claim 9, characterized in that, The collaborative system also includes: A fire control system that collects fire detector signals from the environment and generates an initial fire alarm message which is then sent to the mobile device; When the mobile device detects obstacles or smoke that obstruct the fire truck, it can leave the fire alarm point and head to the location of the fire truck to converge and guide the fire truck to the fire extinguishing point.

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