CN-121971828-A - Perception information sharing and collaborative decision-making system for special vehicle cluster

CN121971828ACN 121971828 ACN121971828 ACN 121971828ACN-121971828-A

Abstract

The invention relates to the technical field of intelligent fire control and cooperative control of special vehicles, and discloses a perception information sharing and cooperative decision-making system for a special vehicle cluster, which comprises an acquisition module, a control module and a control module, wherein the acquisition module is arranged on each fire control vehicle of the vehicle cluster; the fire control system comprises an image processing module for acquiring the fire area of a fire image through image identification, a state judging module for acquiring a fire hazard index according to the fire area and the ambient wind speed, correcting the fire hazard index according to the ambient temperature change information within a preset time period, an information sharing module for displaying the vehicle information and the hazard index final value of each vehicle on a map, and a central control module for judging whether other fire control vehicles in a vehicle cluster are required to support according to the hazard index final value and the water tank liquid level, generating a support instruction and sending the support instruction to the corresponding fire control vehicles. The invention realizes the real-time collaborative sensing and intelligent linkage of fire conditions and self states of the fire-fighting vehicle clusters.

Inventors

BAI RIJIAN
NI JIANZHONG
Zhou Yaocai
HOU YUHANG

Assignees

广州唯邦特种车辆有限公司

Dates

Publication Date: 20260505
Application Date: 20260302

Claims (10)

1.A sensory information sharing and collaborative decision-making system for a cluster of specialty vehicles, comprising: The system comprises a vehicle cluster, an acquisition module, a control module and a control module, wherein the acquisition module is arranged on each fire-fighting vehicle of the vehicle cluster and is used for acquiring vehicle information and environment information, wherein the vehicle information comprises a vehicle number, a vehicle position and a water tank liquid level; the image processing module is used for preprocessing the fire point images and acquiring the firing area of the fire point images through image recognition; The state judging module is used for obtaining a fire point risk index according to the fire area and the ambient wind speed, judging whether to correct the fire point risk index according to the current ambient temperature, and if so, correcting the fire point risk index according to the ambient temperature change information in the preset duration to obtain a final value of the risk index; The information sharing module is used for displaying the vehicle information and the final risk index value of each vehicle on a map according to each vehicle position in the vehicle cluster; The central control module is used for judging whether other fire-fighting vehicles in the vehicle cluster are needed to support according to the final risk index value and the water tank liquid level, and if so, the central control module performs priority ranking according to the final risk index value and the vehicle position of the other fire-fighting vehicles in the vehicle cluster to generate a support instruction and sends the support instruction to the corresponding fire-fighting vehicles.
2. The system for sensing information sharing and collaborative decision-making for a cluster of specialty vehicles according to claim 1, wherein the image processing module is configured to pre-process the fire point image and obtain a firing area of the fire point image by image recognition, comprising: Denoising the fire point image, and removing random noise in the image by adopting a Gaussian filtering algorithm; Image enhancement is carried out, and the distinguishing degree of the fire point and the background is improved by adjusting the contrast and the brightness; And extracting the outline of the fire point area by using an edge detection algorithm, clustering pixels in the outline by using an area growth method, thereby determining the specific range of the fire point, calculating the number of pixels in the specific range, and obtaining the actual burning area by combining the resolution ratio conversion of the image.
3. The system for sensing information sharing and collaborative decision-making for a cluster of special vehicles according to claim 1, wherein the status determination module is configured to, when obtaining a fire hazard index according to a fire area and an ambient wind speed, include: establishing a mapping relation between the fire area and the basic dangerous value, and corresponding the fire areas in different ranges to a basic dangerous value interval, wherein the fire area is in direct proportion to the basic dangerous value; And compensating the basic dangerous value according to the ambient wind speed to obtain a fire hazard index.
4. The system for sensing information sharing and collaborative decision-making for a cluster of special vehicles according to claim 3, wherein when compensating the base risk value according to ambient wind speed to obtain a fire risk index, comprising: Setting a wind speed range, and if the ambient wind speed is zero, not compensating the basic dangerous value; If the ambient wind speed is greater than zero and smaller than the lower limit value of the wind speed range, the basic dangerous value is compensated through a first adjusting coefficient, and if the ambient wind speed is within the wind speed range, the basic dangerous value is compensated through a second adjusting coefficient; the value range of the adjusting coefficient is 1< first adjusting coefficient < second adjusting coefficient < third adjusting coefficient, and the fire hazard index is the product value of the basic hazard value and the adjusting coefficient.
5. The system for sensing information sharing and collaborative decision-making for a cluster of special vehicles according to claim 1, wherein the status determination module is configured to determine whether to correct the fire risk index based on a current ambient temperature, comprising: If the ambient temperature is greater than a preset temperature threshold, judging that the fire hazard index needs to be corrected, otherwise, judging that the fire hazard index is not corrected.
6. The system for sensing information sharing and collaborative decision-making for a cluster of special vehicles according to claim 1, wherein the state determination module is configured to correct the fire risk index according to environmental temperature change information within a preset duration, and when obtaining a final value of the risk index, the system comprises: Acquiring the environmental temperature in a preset time period before the current time, calculating the difference between the initial environmental temperature and the final environmental temperature in the preset time period, and recording the difference as a temperature difference; If the temperature difference is greater than or equal to the preset difference, the fire hazard index is not corrected; if the temperature difference is smaller than the preset difference and the temperature difference is larger than zero, the fire hazard index is corrected through a first correction coefficient, and if the temperature difference is smaller than the preset difference and the temperature difference is equal to zero, the fire hazard index is corrected through a second correction coefficient; The value range of the correction coefficient is 1< first correction coefficient < second correction coefficient < third correction coefficient <2 >, and the final value of the risk index is the product value of the fire risk index and the correction coefficient.
7. The system for sensing information sharing and collaborative decision-making for a cluster of specialty vehicles according to claim 1, wherein the information sharing module is configured to display vehicle information and a final risk index for each vehicle on a map based on each vehicle location in the cluster of vehicles, comprising: marking real-time position coordinates of each fire-fighting vehicle on a map, and distinguishing vehicle numbers by using different colors or icons; Displaying real-time data of the water tank liquid level on the corresponding vehicle position, and displaying the real-time data in the form of percentage or specific numerical value; and for the final value of the risk index, superposing the final value of the risk index on the periphery of the fire point in a thermodynamic diagram or numerical label mode, wherein the final value of the risk index is in direct proportion to the color of the thermodynamic diagram or the size of the numerical label.
8. The system for sensing information sharing and collaborative decision-making for a cluster of special vehicles according to claim 1, wherein the central control module is configured to determine whether other fire-fighting vehicles in the cluster of vehicles are needed for assistance based on the final value of the risk index and the water tank level, comprising: If the final value of the risk index is larger than the threshold value of the risk index and the liquid level of the water tank is lower than the minimum value of the liquid level, judging that the support of other fire-fighting vehicles in the vehicle cluster is needed; Otherwise, judging that the support of other fire-fighting vehicles in the vehicle cluster is not needed.
9. The system for sensing information sharing and collaborative decision-making for a cluster of special vehicles according to claim 8, wherein the central control module is configured to prioritize the final risk index values and the vehicle locations of other fire-fighting vehicles in the cluster of vehicles, generate a support command, and send the support command to a corresponding fire-fighting vehicle, and comprises: arranging the final values of the risk indexes in a descending order; Calculating the vehicle distances between other fire-fighting vehicles in the vehicle cluster and the fire-fighting vehicle to be supported, and arranging the vehicle distances in a descending order, wherein the vehicle distances are the whole-course length of a running path planned by a navigation system; Screening fire-fighting vehicles with the vehicle distance smaller than a preset distance threshold value, and marking the fire-fighting vehicles as vehicles to be selected; and screening fire-fighting vehicles with the final risk index value smaller than the risk index threshold value in the candidate vehicles, marking the fire-fighting vehicles as preferred vehicles, and sending support instructions to the preferred vehicles.
10. The sensory information sharing and collaborative decision-making system for a cluster of specialty vehicles according to claim 9, wherein after sending the support instructions to the preferred vehicle, comprising: When the final risk index value of the preferred vehicle is zero, the preferred vehicle is supported in the forward direction, and the vehicle supported in the forward direction in the preferred vehicle is marked as a support vehicle; acquiring the water tank liquid level of the support vehicle, calculating the sum value of the water tank liquid level of the support vehicle and the water tank liquid level of the fire-fighting vehicle to be supported, and recording the sum value as the liquid level sum value; if the sum is smaller than the liquid level threshold, continuing to send a support instruction until the sum is larger than or equal to the liquid level threshold, wherein the liquid level threshold is larger than the liquid level minimum; In the supporting process, the position information of the supporting vehicle and the water tank liquid level are updated in real time, and the updated information is synchronized to the map display of the information sharing module.

Description

Perception information sharing and collaborative decision-making system for special vehicle cluster Technical Field The invention relates to the technical field of intelligent fire control and cooperative control of special vehicles, in particular to a perception information sharing and cooperative decision-making system for a special vehicle cluster. Background With the acceleration of the urban process and the wide distribution of scenes such as industrial factories, forest areas, high-rise buildings and the like, the occurrence frequency and the complexity of fire events are gradually increased, the fire spreading speed is high, the fire distribution is wide, the environmental conditions are complex, and higher requirements are put forward on the quick response and scientific scheduling of the fire prevention force. The traditional fire-fighting operation mode mainly depends on independent operation or manual scheduling of a single vehicle, and the limitation of the traditional fire-fighting operation mode is mainly reflected in the aspects of lag and incomplete information acquisition, decision-dependent experience, slow response speed, low resource utilization efficiency, difficulty in quantification of fire risks and the like. The independent operation of a bicycle is difficult to master the overall fire situation in real time, fire fighters are difficult to accurately acquire the scale, the spreading speed and the surrounding environment condition of each fire point on site, information blind areas are easy to appear, manual scheduling is mainly judged by experience of site commanders, resource allocation is difficult to be optimized in time when the condition of multiple fire points or sudden fire changes are faced, support vehicles are easy to be insufficient or repeated and augmented, in the traditional operation, the liquid level, the position and the task load of a water tank of the bicycle are not dynamically comprehensively considered, so that part of the vehicles idle or support is not timely, meanwhile, the operation risk is possibly increased due to unreasonable scheduling, in addition, the key factors such as the fire ignition area, the environment temperature and the wind speed are lack of unified quantization standards, the commander is difficult to carry out scientific assessment on the fire hazard degree, and the risk underestimation or overestimation is easy to appear. Therefore, it is necessary to provide a system for sensing information sharing and collaborative decision-making for special vehicle clusters to solve the problems of delayed information acquisition, difficult quantification of fire risk, unreasonable resource allocation and untimely support response of fire-fighting vehicles in complex fire scene in the prior art Disclosure of Invention In view of the above, the invention provides a perception information sharing and collaborative decision-making system for a special vehicle cluster, which aims to solve the problems of delay information acquisition, difficult quantification of fire risks, unreasonable resource allocation and untimely support response of fire vehicles in complex fire scenes in the prior art. The invention provides a perception information sharing and collaborative decision-making system for a special vehicle cluster, which comprises the following components: The system comprises a vehicle cluster, an acquisition module, a control module and a control module, wherein the acquisition module is arranged on each fire-fighting vehicle of the vehicle cluster and is used for acquiring vehicle information and environment information, wherein the vehicle information comprises a vehicle number, a vehicle position and a water tank liquid level; the image processing module is used for preprocessing the fire point images and acquiring the firing area of the fire point images through image recognition; The state judging module is used for obtaining a fire point risk index according to the fire area and the ambient wind speed, judging whether to correct the fire point risk index according to the current ambient temperature, and if so, correcting the fire point risk index according to the ambient temperature change information in the preset duration to obtain a final value of the risk index; The information sharing module is used for displaying the vehicle information and the final risk index value of each vehicle on a map according to each vehicle position in the vehicle cluster; The central control module is used for judging whether other fire-fighting vehicles in the vehicle cluster are needed to support according to the final risk index value and the water tank liquid level, and if so, the central control module performs priority ranking according to the final risk index value and the vehicle position of the other fire-fighting vehicles in the vehicle cluster to generate a support instruction and sends the support instruction to the corresponding fire-fighting vehi