Under the rapid development of urbanization, fire service becomes one of the biggest contributive factors to personal health and property safety. A reasonable plan of fire services should first address the issue of service area delimitation for fire emergency facilities. Specifically, there are two key factors for fire services including rescue efficiency and load balancing, which are usually handled by the space partitioning methods (e.g., Voronoi diagram). The traditional methods tend to model the space in a homogeneous plane with Euclidean distance, while in reality, the movement of rescuing is constrained by the street network. In addition, the built environment is complex by its variation of fire risk across places. Therefore, we propose a novel constrained Voronoi diagram for fire service area delimitation by adding the datasets of street network and historical fire incidents. Considering the prior knowledge that a fire engine is expected to reach the location of incident within five minutes, which is also called Golden 5 min, we propose a network partitioning algorithm which is able to increase the five-minute coverage of fire stations. Through a case study in Nanjing, China, we demonstrate the practicability of the proposed method in delimitating service areas of fire stations across time.the unbalanced built environment leads to the spatial heterogeneity of service demand. At the same time, the intricate roads have greatly affected the ability of urban services. Therefore, the traditional Voronoi diagram that models the urban space as a homogeneous environment is no longer suitable for delimiting the service areas of current urban facilities.In the literature, many extensions of the Voronoi diagram have been developed to adapt to the complexity of real-world geographic scenes. For example, Okabe et al. [18] formulate six Voronoi diagrams defined on the network, termed generalized network Voronoi diagrams, to precisely represent service areas in urban areas. The extension of the Voronoi diagram to a network space is more in line with the real characteristics of a street network service transmission and more suitable for urban activities, e.g., retail services. With considering the geographic distribution of demands and the socioeconomic context, Wang et al. [19] apply the hexagon-based adaptive crystal growth Voronoi diagrams to delimit middle school service areas. The results indicate that, compared with the raster-based method, the hexagon grid method is more accurate in measuring continuous weighted planes. Furthermore, the weighted Voronoi diagram allows for a more detailed modeling of services by introducing the varied capabilities of a facility. It is widely used in urban planning applications including trade zone design [20], transportation and logistics problems [21-23], political districting [24], substation planning [25,26], and school districting [19,27].However, there are few studies on the service division applied to urban emergency facilities, especially fire stations. As a critical emergenc...