CN114582114A - Fire-fighting vehicle priority passing system based on Internet of things, control method, computer-readable storage medium and terminal - Google Patents
Fire-fighting vehicle priority passing system based on Internet of things, control method, computer-readable storage medium and terminal Download PDFInfo
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- CN114582114A CN114582114A CN202210165441.1A CN202210165441A CN114582114A CN 114582114 A CN114582114 A CN 114582114A CN 202210165441 A CN202210165441 A CN 202210165441A CN 114582114 A CN114582114 A CN 114582114A
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- G—PHYSICS
- G08—SIGNALLING
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
- G08G1/205—Indicating the location of the monitored vehicles as destination, e.g. accidents, stolen, rental
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- A—HUMAN NECESSITIES
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- G08G1/095—Traffic lights
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
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- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
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Abstract
The invention relates to the technical field of fire rescue, in particular to a fire-fighting vehicle priority passing system based on the Internet of things, a control method, a computer readable storage medium and a terminal, wherein the system comprises: the system comprises a fire rescue command platform, a fire monitoring management platform, a road information acquisition module, a path driving module, a vehicle-mounted OBU module, a roadside RSU module, a traffic signal control module and a traffic light signal module; this system uses through the cooperation of fire rescue command platform, fire control management platform, road information collection module, route module of traveling, on-vehicle OBU module, roadside RSU module, traffic signal control module and traffic light signal module, and when the fire engine carries out emergency rescue task, roadside RSU module perception on-vehicle OBU module signal, traffic signal control module carries out red light early-break, green light extension, modes such as insertion phase place according to the signal phase place condition and carries out urgent priority. Meanwhile, the vehicle-mounted OBU module can also acquire signal time and conduct vehicle speed guidance on the fire fighting vehicle.
Description
Technical Field
The invention relates to the technical field of fire rescue, in particular to a fire-fighting vehicle priority passing system based on the Internet of things, a control method, a computer readable storage medium and a terminal.
Background
With the depth of the urbanization process, how to early warn and deal with the emergent public events is put in front of government management departments. Emergency management is an important component of national management systems and management capabilities, and plays an important role in preventing, resolving major safety risks and dealing with and disposing various disaster accidents in time. The fire rescue is used as an important force of emergency rescue, and has important significance in rapidly reaching the scene.
Disclosure of Invention
The invention aims to provide a fire-fighting vehicle priority passing system, a control method, a computer readable storage medium and a terminal based on the Internet of things, which avoid the defects in the prior art. Meanwhile, the vehicle-mounted OBU module can also acquire signal time and conduct vehicle speed guidance on the fire fighting vehicle.
The purpose of the invention is realized by the following technical scheme:
a fire-fighting vehicle priority passing system based on the Internet of things comprises: the system comprises a fire rescue command platform, a fire monitoring management platform, a road information acquisition module, a path driving module, a vehicle-mounted OBU module, a roadside RSU module, a traffic signal control module and a traffic light signal module;
the fire fighting rescue command platform is used for receiving alarm information, sending alarm information to the fire fighting monitoring management platform and arranging a fire fighting truck to give an alarm at the first time;
the fire-fighting monitoring management platform is used for receiving the road information of the road information acquisition module and the alarm information of the fire-fighting rescue command platform, storing and analyzing the received road information and alarm information; after receiving the alarm information, performing optimal alarm line planning according to the alarm information and the road information, forming a GIS map, sending the GIS map to a fire-fighting intelligent module of the fire truck, and controlling a running route of the fire truck;
the road information acquisition module is used for acquiring road information and uploading the road information to the fire-fighting monitoring management platform;
the route running module is used for receiving the route planning information of the fire protection monitoring management platform and displaying the route;
the vehicle-mounted OBU module is used for acquiring position information of a fire fighting truck and uploading the position information to the fire rescue command platform;
the road side RSU module is matched with the vehicle-mounted OBU module and used for sensing position information of a fire fighting vehicle at a traffic light intersection and uploading the position information to the traffic signal control module;
the traffic signal control module is used for acquiring signals transmitted by the road side RSU module and uploading the signals to the traffic light signal module;
the traffic light signal module is used for receiving the control signal of the traffic signal control module and controlling the turn-on condition of the traffic light in the corresponding direction, so that the fire fighting truck can quickly pass through the intersection; when the fire fighting truck passes through the traffic light intersection, the roadside RSU module and the vehicle-mounted OBU module generate induction, the position of the fire fighting truck at the traffic light intersection is confirmed, then the traffic signal control module acquires a position signal transmitted by the roadside RSU module, the traffic signal control module controls the traffic light signal module to light a green light in the passing direction corresponding to the fire fighting truck, and the fire fighting truck can rapidly pass through the intersection.
Further, the road information acquisition module comprises a real-time positioning unit and an electronic fence unit;
the electronic fence unit is used for monitoring the relative distance between the optimal alarm plan on the road and the fire fighting truck relative to the accident site;
and the positioning unit is used for acquiring the real-time position of the fire fighting truck on the optimal police-out planning road.
Further, the system also comprises a video detection module, wherein the video detection module is used for recording a real-time video of the fire fighting truck in the operation process and synchronously uploading the video to the fire rescue command platform.
Furthermore, the video detection module comprises a plurality of high definition camera units, and a plurality of high definition camera units are used for recording video in real time to the fire engine in the operation process and uploading to the fire rescue command platform synchronously.
The embodiment also provides a control method of the fire-fighting vehicle priority passing system based on the internet of things, and the method comprises the following steps:
step 1: after the fire rescue command platform receives the alarm distress signal, acquiring the start and end point information and the task information of the fire fighting vehicle according to the provided position information, and sending the corresponding information to the fire fighting monitoring management platform, wherein the fire fighting monitoring management platform stores and analyzes the received road information and arranges the fire fighting vehicle to give an alarm at the first time;
step 2: the road information acquisition module acquires road information and uploads the acquired data to the fire control monitoring management platform, and the fire control monitoring management platform stores and analyzes the received road information;
and step 3: after receiving the alarm information and the road information, the fire protection monitoring management platform extracts destination information, analyzes the destination information by adopting an A-algorithm or a Dilkstra algorithm according to the road information to obtain an optimal alarm route, generates a map and uploads the map to the fire protection rescue command platform;
and 4, step 4: the fire-fighting alarm server transmits the received map to the vehicle-mounted terminal, and the path driving module displays the map and the optimal alarm line plan;
and 5: the fire rescue command platform controls the fire truck to display the map and plan the optimal police-out route according to the route running module, when the fire truck passes through the red street lamp intersection, the roadside RSU module arranged beside the intersection and the vehicle-mounted OBU module on the fire truck generate induction, the position of the fire truck at the traffic light intersection is confirmed, then the traffic signal control module acquires a position signal transmitted by the roadside RSU module, the traffic light signal module is controlled to light a green light in the corresponding passing direction of the fire truck, and the fire truck can rapidly pass through the intersection.
Further, the task information in step 1 includes an alarm destination, specific information of the fire truck, time for the fire truck to reach the destination, and the number of red street lamp intersections between the fire station and the destination.
Further, the function of the algorithm a in step 3 is calculated in a manner of f (n) ═ g (n) + h (n); wherein: f (n) is represented as the initial site nstartFrom station niTo the terminating site nendThe cost of (a); g (n) denotes the start site nstartTo site niA minimum cost of; h (n) represents an intersection niTo the terminating node nendAt a minimum cost
Further, the function calculation method of the a-star algorithm includes the following steps:
(1) changing the node cost of all the determined stations into a negative value;
(2) preprocessing a road information network, such as information of road length, traffic volume and the like; initializing parameters set in the model; creating an OPEN table and a CLOSED table, and setting the CLOSED table empty;
(3) computing n using heuristic functionsstartStoring the F value, the g value and the h value of the point into an OPEN table;
(4) taking out the node which meets the constraint condition and has the minimum heap vertex F value in the OPEN table as a routing node n-k, and storing the node into a CLOSED table;
(5) if node nkIs node nendThen the path search is successful. Get n from the target point back to the starting point in the CLOSED tablestartAnd nendIf node n is the minimum cost path betweenkNot of node nendContinuing to execute the lower operation;
(6) selecting a node meeting constraint conditions in the current node direction, expanding the current node, recalculating the F value, the g value and the h value, comparing the primary values of the OPEN table, and if the newly calculated F value is smaller, setting the node as a node nkAnd updating the front OPEN table;
(7) if the OPEN table is not empty, returning to the step 4;
(8) and finally, generating a single special service line, and screening constraint conditions such as special service path length constraint, special service path intersection quantity constraint and the like added during special service path searching.
Further, the fire rescue command platform, the fire monitoring management platform and the road information acquisition module in the steps 1-5 share the position information of the fire truck in real time.
Further, in the step 5, a specific method for controlling the traffic light signal module is as follows: judging whether a fire truck passes through a road side RSU module arranged beside a road junction and whether the fire truck comprises a vehicle-mounted OBU module or not, if the vehicle-mounted OBU module is sensed, judging that the fire truck needs to pass through the road junction rapidly, transmitting a position signal of the fire truck to a traffic signal control module through the RSU module, and finally controlling a traffic light signal module to light a green light in a passing direction corresponding to the fire truck through the traffic signal control module so that the fire truck passes through the road junction rapidly; if the vehicle-mounted OBU module is not sensed, the fact that the fire fighting truck does not need to rapidly pass through the intersection is judged, and the traffic signal control module controls the traffic light signal module to normally operate.
The embodiment also provides a computer readable storage medium for storing a computer program, and the computer program is used for realizing the method for the prior passage of the fire fighting vehicle based on the internet of things when being executed by a processor.
The embodiment also provides a terminal, which comprises a processor and the computer-readable storage medium, wherein a computer program on the computer-readable storage medium can be executed by the processor.
Compared with the prior art, the invention provides a fire fighting vehicle priority passing system based on the Internet of things, a control method, a computer readable storage medium and a terminal, and has the following beneficial effects:
(1) the system is used by matching the fire rescue command platform, the fire control monitoring management platform, the road information acquisition module, the path driving module, the vehicle-mounted OBU module, the roadside RSU module, the traffic signal control module and the traffic light signal module, so that the efficiency of the fire rescue is improved, the vacancy of linkage emergency rescue of the existing village-residential fire control and special-purpose fire stations (teams or squads) is filled, meanwhile, the link of artificial telephone notification is also reduced, the social fire control emergency linkage efficiency is improved, and the arrival on-site time of the fire rescue is improved by 1-2 minutes.
(2) The system solves the problem that the fire fighting truck cannot quickly pass through the intersection due to the time of lamps such as social vehicles and the like when passing through the intersection and influences the first time on-site rescue by the matched use of a fire fighting rescue command platform, a fire fighting monitoring management platform, a road information acquisition module, a path running module, a vehicle-mounted OBU module, a roadside RSU module, a traffic signal control module and a traffic light signal module, particularly, the information of the fire fighting truck on duty is quickly acquired through the matched analysis of the fire fighting rescue command platform, the fire fighting monitoring management platform and the road information acquisition module, the optimal route on duty is planned, when the fire fighting truck passes through the traffic light intersection, the social vehicles queued at the intersection and the like are quickly emptied by the matched use of the vehicle-mounted OBU module, the roadside RSU module, the traffic signal control module and the traffic light signal module, so that the fire fighting truck can quickly pass through the intersection, so as to be able to arrive at the scene at the first time; the rate of the fire-fighting truck passing through the intersection can be improved by more than 70%.
Drawings
Fig. 1 is a structural diagram of a fire-fighting vehicle priority passing system based on the internet of things.
Fig. 2 is a schematic flow chart of a control method of the fire-fighting vehicle priority traffic system based on the internet of things.
Fig. 3 is a schematic flow chart of the a-algorithm in this embodiment.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Example 1: a fire-fighting vehicle priority passing system based on the Internet of things.
As shown in fig. 1, the present embodiment provides a fire fighting vehicle priority passing system based on the internet of things, and the system includes: the system comprises a fire rescue command platform, a fire monitoring management platform, a road information acquisition module, a path driving module, a vehicle-mounted OBU module, a roadside RSU module, a traffic signal control module and a traffic light signal module;
the fire fighting rescue command platform is used for receiving alarm information, sending alarm information to the fire fighting monitoring management platform and arranging a fire fighting truck to give an alarm at the first time;
the fire-fighting monitoring management platform is used for receiving the road information of the road information acquisition module and the alarm information of the fire-fighting rescue command platform, storing and analyzing the received road information and alarm information; after receiving the alarm information, performing optimal alarm line planning according to the alarm information and the road information, forming a GIS map, sending the GIS map to a fire-fighting intelligent module of the fire truck, and controlling a running route of the fire truck;
the road information acquisition module is used for acquiring road information and uploading the road information to the fire-fighting monitoring management platform;
the route running module is used for receiving the route planning information of the fire protection monitoring management platform and displaying the route;
the vehicle-mounted OBU module is used for acquiring position information of a fire fighting truck and uploading the position information to the fire rescue command platform;
the road side RSU module is matched with the vehicle-mounted OBU module and used for sensing position information of a fire-fighting vehicle at a traffic light intersection and uploading the position information to the traffic signal control module;
the traffic signal control module is used for acquiring signals transmitted by the road side RSU module and uploading the signals to the traffic light signal module;
the traffic light signal module is used for receiving the control signal of the traffic signal control module and controlling the turn-on condition of the traffic light in the corresponding direction, so that the fire fighting truck can quickly pass through the intersection; when the fire fighting truck passes through the traffic light intersection, the roadside RSU module and the vehicle-mounted OBU module generate induction, the position of the fire fighting truck at the traffic light intersection is confirmed, then the traffic signal control module acquires a position signal transmitted by the roadside RSU module, the traffic signal control module controls the traffic light signal module to light a green light in the passing direction corresponding to the fire fighting truck, and the fire fighting truck can rapidly pass through the intersection.
In a preferred embodiment, the road information acquisition module comprises a real-time positioning unit and an electronic fence unit;
the electronic fence unit is used for monitoring the relative distance between the optimal alarm plan on the road and the fire fighting truck relative to the accident site;
and the positioning unit is used for acquiring the real-time position of the fire fighting truck on the optimal police-out planning road.
In a preferred embodiment, the system further comprises a video detection module, wherein the video detection module is used for recording real-time video of the fire fighting truck in the operation process and synchronously uploading the video to the fire rescue command platform.
In a preferred embodiment, the video detection module is composed of a plurality of high-definition camera units, and the high-definition camera units are used for recording real-time video of the fire fighting truck in the operation process and synchronously uploading the video to the fire rescue command platform.
The system is used by matching the fire rescue command platform, the fire control monitoring management platform, the road information acquisition module, the path driving module, the vehicle-mounted OBU module, the roadside RSU module, the traffic signal control module and the traffic light signal module, so that the efficiency of the fire rescue is improved, the vacancy of linkage emergency rescue of the existing village-residential fire control and special-purpose fire stations (teams or squads) is filled, meanwhile, the link of artificial telephone notification is also reduced, the social fire control emergency linkage efficiency is improved, and the arrival on-site time of the fire rescue is improved by 1-2 minutes.
The system solves the problem that the fire fighting truck cannot rapidly pass through the intersection due to the time of the social vehicles and the like when passing through the intersection, and the first time reaches the site rescue by the cooperation of the fire fighting rescue command platform, the fire fighting monitoring management platform, the road information acquisition module, the path driving module, the vehicle-mounted OBU module, the roadside RSU module, the traffic signal control module and the traffic light signal module, and particularly, the information of the fire fighting truck on duty is rapidly acquired through the matching analysis of the fire fighting rescue command platform, the fire fighting monitoring management platform and the road information acquisition module, the optimal route on duty is planned, when the fire fighting truck passes through a traffic light intersection, the social vehicles queued at the intersection and having lights such as a queue can be quickly emptied by matching the use of the vehicle-mounted OBU module, the roadside RSU module, the traffic signal control module and the traffic light signal module, so that the fire fighting truck can quickly pass through the intersection, and can arrive at the site at the first time; the rate of the fire-fighting truck passing through the intersection can be improved by more than 70%.
Example 2: a control method of a fire-fighting vehicle priority passing system based on the Internet of things is provided.
As shown in fig. 2, the present embodiment provides a control method for a fire fighting vehicle priority passing system based on the internet of things, where the method includes the following steps:
step 1: after the fire rescue command platform receives the alarm distress signal, acquiring the start and end point information and the task information of the fire fighting vehicle according to the provided position information, and sending the corresponding information to the fire fighting monitoring management platform, wherein the fire fighting monitoring management platform stores and analyzes the received road information and arranges the fire fighting vehicle to give an alarm at the first time;
step 2: the road information acquisition module acquires road information and uploads the acquired data to the fire control monitoring management platform, and the fire control monitoring management platform stores and analyzes the received road information;
and step 3: after receiving the alarm information and the road information, the fire protection monitoring management platform extracts destination information, analyzes the destination information by adopting an A-algorithm or a Dilkstra algorithm according to the road information to obtain an optimal alarm route, generates a map and uploads the map to the fire protection rescue command platform;
and 4, step 4: the fire-fighting alarm server transmits the received map to the vehicle-mounted terminal, and the path driving module displays the map and the optimal alarm line plan;
and 5: the fire rescue command platform controls the fire truck to display the map and plan the optimal police-out route according to the route running module, when the fire truck passes through the red street lamp intersection, the roadside RSU module arranged beside the intersection and the vehicle-mounted OBU module on the fire truck generate induction, the position of the fire truck at the traffic light intersection is confirmed, then the traffic signal control module acquires a position signal transmitted by the roadside RSU module, the traffic light signal module is controlled to light a green light in the corresponding passing direction of the fire truck, and the fire truck can rapidly pass through the intersection.
In a preferred embodiment, the task information in step 1 includes an alarm destination, specific information of the fire truck, time of arrival of the fire truck at the destination, and the number of red light intersections between the fire station and the destination.
In a preferred embodiment, the function of the a-algorithm in step 3 is calculated in the manner f (n) ═ g (n) + h (n); wherein: f (n) is represented as the initial site nstartFrom station niTo the terminating site nendThe cost of (2); g (n) denotes the start site nstartTo site niA minimum cost of; h (n) represents an intersection niTo the terminating node nendAt a minimum cost
In a preferred embodiment, the function calculation manner of the a-algorithm includes the following steps:
(1) changing the node cost of all the determined stations into a negative value;
(2) preprocessing a road information network, such as information of road length, traffic volume and the like; initializing parameters set in the model; creating an OPEN table and a CLOSED table, and setting the CLOSED table empty;
(3) computing n using heuristic functionsstartStoring the F value, the g value and the h value of the point into an OPEN table;
(4) taking out the node which meets the constraint condition and has the minimum heap vertex F value in the OPEN table as a routing node n-k, and storing the node into a CLOSED table;
(5) if node nkIs node nendThe path search is indicated to be successful. Get n from the target point back to the starting point in the CLOSED tablestartAnd nendIf node n is the minimum cost path betweenkNot of node nendContinuing to execute the lower operation;
(6) selecting a node meeting constraint conditions in the current node direction, expanding the current node, recalculating the F value, the g value and the h value, comparing the primary values of the OPEN table, and if the newly calculated F value is smaller, setting the node as a node nkAnd updating the front OPEN table;
(7) if the OPEN table is not empty, returning to the step 4;
(8) and finally, generating a single special service line, and screening constraint conditions such as special service path length constraint, special service path intersection quantity constraint and the like added during special service path searching.
If the search is close to the target point rather than a certain determined node, a heuristic function h '(x) should be created, where h' (x) is the minimum of h1(x), h2(x), h3(x) … hn (x), where h (x), h2(x), h3(x) … hn (x) are heuristic functions of neighboring nodes. Or the algorithm a may stop searching and establish a path if any node adjacent to the central target of the search target region can be obtained from the OPEN set during searching.
In a preferred embodiment, the fire rescue command platform, the fire monitoring management platform and the road information acquisition module in the steps 1 to 5 share the position information of the fire truck in real time.
In a preferred embodiment, in the step 5, a specific method for controlling the traffic light signal module is as follows: judging whether a fire truck passes through a road side RSU module arranged beside a road junction and whether the fire truck comprises a vehicle-mounted OBU module or not, if the vehicle-mounted OBU module is sensed, judging that the fire truck needs to pass through the road junction rapidly, transmitting a position signal of the fire truck to a traffic signal control module through the RSU module, and finally controlling a traffic light signal module to light a green light in a passing direction corresponding to the fire truck through the traffic signal control module so that the fire truck passes through the road junction rapidly; if the vehicle-mounted OBU module is not sensed, the fact that the fire fighting truck does not need to rapidly pass through the intersection is judged, and the traffic signal control module controls the traffic light signal module to normally operate.
Example 3: a computer readable storage medium.
The embodiment provides a computer-readable storage medium for storing a computer program, and the computer program is used for realizing the fire fighting vehicle priority passing method based on the internet of things when being executed by a processor.
Example 4: a terminal is provided.
The present embodiment provides a terminal including a processor and further including the above-mentioned computer-readable storage medium, where a computer program on the computer-readable storage medium is executable by the processor.
Compared with the prior art, the invention provides a fire-fighting vehicle priority passing system based on the Internet of things, a control method, a computer readable storage medium and a terminal, and has the following beneficial effects:
(1) the system is used by matching the fire rescue command platform, the fire control monitoring management platform, the road information acquisition module, the path driving module, the vehicle-mounted OBU module, the roadside RSU module, the traffic signal control module and the traffic light signal module, so that the efficiency of the fire rescue is improved, the vacancy of linkage emergency rescue of the existing village-residential fire control and special-purpose fire stations (teams or squads) is filled, meanwhile, the link of artificial telephone notification is also reduced, the social fire control emergency linkage efficiency is improved, and the arrival on-site time of the fire rescue is improved by 1-2 minutes.
(2) The system solves the problem that the fire fighting truck cannot quickly pass through the intersection due to the time of lamps such as social vehicles and the like when passing through the intersection and influences the first time on-site rescue by the matched use of a fire fighting rescue command platform, a fire fighting monitoring management platform, a road information acquisition module, a path running module, a vehicle-mounted OBU module, a roadside RSU module, a traffic signal control module and a traffic light signal module, particularly, the information of the fire fighting truck on duty is quickly acquired through the matched analysis of the fire fighting rescue command platform, the fire fighting monitoring management platform and the road information acquisition module, the optimal route on duty is planned, when the fire fighting truck passes through the traffic light intersection, the social vehicles queued at the intersection and the like are quickly emptied by the matched use of the vehicle-mounted OBU module, the roadside RSU module, the traffic signal control module and the traffic light signal module, so that the fire fighting truck can quickly pass through the intersection, so as to be able to arrive at the scene at the first time; the crossing passing rate of the fire truck can be improved by more than 70%.
The embodiments described above are merely exemplary embodiments of the present application, which are not intended to limit the present application in any way, and it will be understood by those skilled in the art that various changes and modifications can be made without departing from the spirit and scope of the present application.
Claims (10)
1. A fire-fighting vehicle priority passing system based on the Internet of things is characterized by comprising: the system comprises a fire rescue command platform, a fire monitoring management platform, a road information acquisition module, a path driving module, a vehicle-mounted OBU module, a roadside RSU module, a traffic signal control module and a traffic light signal module;
the fire fighting rescue command platform is used for receiving alarm information, sending alarm information to the fire fighting monitoring management platform and arranging a fire fighting truck to give an alarm at the first time;
the fire-fighting monitoring management platform is used for receiving the road information of the road information acquisition module and the alarm information of the fire-fighting rescue command platform, storing and analyzing the received road information and alarm information; after receiving the alarm information, performing optimal alarm line planning according to the alarm information and the road information, forming a GIS map, sending the GIS map to a fire-fighting intelligent module of the fire truck, and controlling a running route of the fire truck;
the road information acquisition module is used for acquiring road information and uploading the road information to the fire-fighting monitoring management platform;
the route running module is used for receiving the route planning information of the fire protection monitoring management platform and displaying the route;
the vehicle-mounted OBU module is used for acquiring position information of a fire fighting truck and uploading the position information to the fire rescue command platform;
the road side RSU module is matched with the vehicle-mounted OBU module and used for sensing position information of a fire-fighting vehicle at a traffic light intersection and uploading the position information to the traffic signal control module;
the traffic signal control module is used for acquiring signals transmitted by the road side RSU module and uploading the signals to the traffic light signal module;
the traffic light signal module is used for receiving the control signal of the traffic signal control module and controlling the turn-on condition of the traffic light in the corresponding direction, so that the fire fighting truck can quickly pass through the intersection; when the fire fighting truck passes through the traffic light intersection, the roadside RSU module and the vehicle-mounted OBU module generate induction, the position of the fire fighting truck at the traffic light intersection is confirmed, then the traffic signal control module acquires a position signal transmitted by the roadside RSU module, the traffic signal control module controls the traffic light signal module to light a green light in the passing direction corresponding to the fire fighting truck, and the fire fighting truck can rapidly pass through the intersection.
2. The Internet of things-based fire-fighting vehicle priority passing system according to claim 1, wherein the road information acquisition module comprises a real-time positioning unit and an electronic fence unit;
the electronic fence unit is used for monitoring the relative distance between the optimal alarm plan on the road and the fire fighting truck relative to the accident site;
and the positioning unit is used for acquiring the real-time position of the fire fighting truck on the optimal police-out planning road.
3. The Internet of things-based fire fighting vehicle priority passing system according to claim 1, further comprising a video detection module, wherein the video detection module is used for recording real-time video of the fire fighting vehicle in the operation process and synchronously uploading the video to a fire rescue command platform; the video detection module is composed of a plurality of high-definition camera units, and the high-definition camera units are used for recording video of the fire fighting truck in real time in the operation process and uploading the video to the fire rescue command platform synchronously.
4. A control method of a fire-fighting vehicle priority passing system based on the internet of things according to any one of claims 1 to 3, characterized by comprising the following steps:
step 1: after the fire rescue command platform receives the alarm distress signal, acquiring the start and end point information and the task information of the fire fighting vehicle according to the provided position information, and sending the corresponding information to the fire fighting monitoring management platform, wherein the fire fighting monitoring management platform stores and analyzes the received road information and arranges the fire fighting vehicle to give an alarm at the first time;
step 2: the road information acquisition module acquires road information and uploads the acquired data to the fire control monitoring management platform, and the fire control monitoring management platform stores and analyzes the received road information;
and step 3: the fire-fighting monitoring management platform extracts destination information after receiving the alarm information and the road information, analyzes the destination information by adopting an A-star algorithm or a Dilkstra algorithm according to the road information to obtain an optimal alarm route, generates a map and uploads the map to the fire-fighting rescue command platform;
and 4, step 4: the fire-fighting alarm server transmits the received map to the vehicle-mounted terminal, and the path driving module displays the map and the optimal alarm-out route plan;
and 5: the fire rescue command platform controls the fire truck to display the map and plan the optimal police line according to the path driving module, when the fire truck passes through a red street lamp intersection, a road side RSU module arranged beside the intersection and a vehicle-mounted OBU module on the fire truck generate induction, the position of the fire truck at the traffic light intersection is confirmed, then a position signal transmitted by the road side RSU module is acquired through the traffic signal control module, the traffic light signal module is controlled to light a green light in the corresponding passing direction of the fire truck, and the fire truck can rapidly pass through the intersection.
5. The Internet of things-based fire fighting vehicle priority passing method according to claim 4, wherein the task information in the step 1 comprises an alarm destination, fire fighting vehicle specific information, time of arrival of the fire fighting vehicle at the destination, and the number of red light road intersections between the fire fighting station and the destination.
6. The Internet of things-based fire-fighting vehicle priority passage method according to claim 4, wherein the function of the A-algorithm in the step 3 is calculated in a manner of F (n) ═ g (n) + h (n); wherein: f (n) is represented as the initial site nstartFrom station niTo the terminating site nendThe cost of (2); g (n) denotes the start site nstartTo site niA minimum cost of; h (n) represents an intersection niTo the terminating node nendAt a minimum cost.
7. The Internet of things-based fire fighting vehicle priority passage method according to claim 6, wherein the function calculation manner of the A-x algorithm comprises the following steps:
(1) changing the node cost of all the determined stations into a negative value;
(2) preprocessing a road information network, such as information of road length, traffic volume and the like; initializing parameters set in the model; creating an OPEN table and a CLOSED table, and setting the CLOSED table empty;
(3) computing n using heuristic functionsstartStoring the F value, the g value and the h value of the point into an OPEN table;
(4) taking out the node which meets the constraint condition and has the minimum heap vertex F value in the OPEN table as a routing node n-k, and storing the node into a CLOSED table;
(5) if node nkIs node nendThen the path search is successful. Get n from the target point back to the starting point in the CLOSED tablestartAnd nendIf node n is the minimum cost path betweenkNot of node nendContinuing to execute the lower operation;
(6) selecting a node meeting constraint conditions in the current node direction, expanding the current node, recalculating the F value, the g value and the h value, comparing the primary values of the OPEN table, and if the newly calculated F value is smaller, setting the node as a node nkAnd updating the front OPEN table;
(7) if the OPEN table is not empty, returning to the step 4;
(8) and finally, generating a single special service line, and screening constraint conditions such as special service path length constraint, special service path intersection quantity constraint and the like added during special service path searching.
8. The Internet of things-based fire-fighting vehicle priority passing method according to claim 4, wherein in the step 5, a specific method for controlling the traffic light signal module is as follows: judging whether a fire truck passes through a road side RSU module arranged beside a road junction and whether the fire truck comprises a vehicle-mounted OBU module or not, if the vehicle-mounted OBU module is sensed, judging that the fire truck needs to pass through the road junction rapidly, transmitting a position signal of the fire truck to a traffic signal control module through the RSU module, and finally controlling a traffic light signal module to light a green light in a passing direction corresponding to the fire truck through the traffic signal control module so that the fire truck passes through the road junction rapidly; if the vehicle-mounted OBU module is not sensed, the fact that the fire fighting truck does not need to rapidly pass through the intersection is judged, and the traffic signal control module controls the traffic light signal module to normally operate.
9. A computer-readable storage medium for storing a computer program, characterized in that: the computer program is used for realizing the method for the prior passage of the fire fighting vehicle based on the Internet of things as claimed in any one of claims 1 to 8 when being executed by a processor.
10. A terminal comprising a processor characterized in that: also included is the computer-readable storage medium of claim 9, on which a computer program is executable by a processor.
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