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CN-122022405-A - Emergency response decision method and system based on air-ground cooperation

CN122022405ACN 122022405 ACN122022405 ACN 122022405ACN-122022405-A

Abstract

The invention discloses an emergency response decision-making method and system based on air-ground cooperation, wherein the method comprises the steps of responding to an emergency alarm, collecting field perception data based on GIS and Internet of things technologies and constructing a dynamic task situation map, obtaining state information of a ground rescue unit and an unmanned aerial vehicle platform, respectively generating candidate task sets of the air-ground both sides, calculating task support degree of the air task on the ground task and task dependence of the ground task on the air task, jointly screening a first target task and a second target task based on the task support degree and the task dependence, planning a first travelling path for the ground rescue unit, planning a second detection path for the unmanned aerial vehicle platform, continuously detecting along the front of the first travelling path, judging whether the first travelling path is safe or not according to the front situation information returned in real time, and re-planning and synchronously updating the second detection path if the first travelling path is not met. The invention realizes the task coupling of space-ground coordination and improves the timeliness and accuracy of emergency response.

Inventors

  • WEI XING
  • Gao Yangxiu

Assignees

  • 武汉铁盾民防工程有限公司

Dates

Publication Date
20260512
Application Date
20260414

Claims (10)

  1. 1. The emergency response decision method based on air-ground cooperation is characterized by comprising the following steps of: s1, based on a geographic information system and the Internet of things technology, responding to an emergency alarm, acquiring field perception data of an incident area, and constructing a dynamic task situation map by combining an incident position; s2, acquiring first state information of at least one ground rescue unit in a response range and second state information of at least one multi-rotor unmanned aerial vehicle platform; s3, respectively generating a first candidate task set aiming at the ground rescue unit and a second candidate task set aiming at the multi-rotor unmanned aerial vehicle platform according to the dynamic task situation map, the first state information and the second state information; S4, calculating the task support degree of each air task in the second candidate task set on each ground task in the first candidate task set, and the task dependency degree of each ground task in the first candidate task set on each air task in the second candidate task set; s5, according to the task support degree and the task dependency degree, a first target task and a second target task with the maximum coupling association degree are jointly screened out from the first candidate task set and the second candidate task set; s6, planning a first advancing path and a first disposal strategy for the ground rescue unit according to the first target task, and planning a second detecting path and a second detecting strategy for the multi-rotor unmanned aerial vehicle platform according to the second target task, wherein the second detecting path is used for enabling the multi-rotor unmanned aerial vehicle platform to continuously detect along the front area of the first advancing path and generating front situation information; and S7, judging whether the first travel path meets the safe passing condition according to the front situation information returned by the multi-rotor unmanned aerial vehicle platform in real time, and if not, re-planning the first travel path and synchronously updating the second detection path.
  2. 2. The emergency response decision-making method based on air-ground cooperation is characterized in that the step S1 is used for constructing a dynamic task situation map and further comprises the steps of merging seismic area building damage evaluation data output by a seismic monitoring system, environment parameters acquired by a ground fixed sensor and crowd-sourced information reported by mobile terminals around an accident area, dynamically marking road network accessibility and building collapse risk areas in a ground passing environment and dynamically marking airspace control areas and airflow disturbance risk areas in an air-ground flying environment.
  3. 3. The emergency response decision-making method based on air-ground cooperation according to claim 1, wherein the first state information obtained in the step S2 further comprises the steps of collecting the current position, the vehicle-mounted fuel margin and the class and the residual quantity of vehicle-mounted rescue materials of the ground rescue unit in real time through a vehicle-mounted Internet of things terminal, obtaining the second state information further comprises the steps of returning the current position, the flying speed, the residual battery capacity and the type and the working mode of a current carrying functional module of the multi-rotor unmanned aerial vehicle platform in real time through an airborne flight control system and a task load system of the multi-rotor unmanned aerial vehicle platform, wherein the type of the functional module is at least one of a visible light imaging module, an infrared thermal imaging module, a gas detection module or an air broadcasting module, generating a first candidate task set and a second candidate task set in the step S3, and further comprising the step of respectively estimating the maximum travelable range of the ground rescue unit and the maximum travelable range of the multi-rotor unmanned aerial vehicle platform as a candidate task set according to the vehicle-mounted fuel margin of the ground rescue unit and the residual battery capacity of the multi-rotor unmanned aerial vehicle platform, and estimating the first candidate task set and the first candidate task set as a candidate continuous result.
  4. 4. The air-ground collaboration-based emergency response decision-making method according to claim 1, wherein the calculating of the task support in the step S4 specifically includes extracting a detection coverage area and a data backhaul bandwidth of an onboard detection module of each air task in the second candidate task set, extracting a spatial range of an expected travel path and a site treatment area of each ground task in the first candidate task set, and generating a quantized value of the task support according to a spatial overlap between the detection coverage area and the expected travel path and a matching degree of the data backhaul bandwidth and a real-time data transmission amount required by the site treatment area.
  5. 5. The emergency response decision-making method based on space-ground cooperation is characterized in that the step S5 of jointly screening out a first target task and a second target task with the largest coupling association degree comprises the steps of constructing a bipartite graph model with the ground rescue unit as a first node and the multi-rotor unmanned aerial vehicle platform as a second node, wherein the first node corresponds to the ground task in the first candidate task set, the second node corresponds to the air task in the second candidate task set, taking the weighted sum of the calculated task support degree and the task dependency degree as a weight value of a connecting edge, and carrying out largest weight matching solving on the bipartite graph model by adopting a Hungary algorithm to determine the optimal combination of the first target task and the second target task.
  6. 6. The emergency response decision-making method based on air-ground coordination according to claim 1 is characterized in that the step S6 of planning a second detection path for the multi-rotor unmanned aerial vehicle platform according to the second target task comprises the steps of determining at least one key node position as an important monitoring waypoint according to the first travel path of the ground rescue unit, and planning a second detection path which can sequentially fly over the important monitoring waypoint and meets the endurance constraint by combining the remaining endurance capacity of the multi-rotor unmanned aerial vehicle platform and the air no-fly zone information in the dynamic task situation map.
  7. 7. The emergency response decision-making method based on air-ground cooperation according to claim 1 is characterized in that the step S7 is used for judging whether the first travel path meets a safe passing condition or not, and comprises the steps of analyzing the front situation information, extracting a newly-increased obstacle position, a secondary disaster spreading trend boundary or a trapped person distribution hot spot area from the front situation information, carrying out space superposition analysis on the extracted information and the first travel path, and judging that the safe passing condition is not met if the newly-increased obstacle position or the secondary disaster spreading trend boundary and the first travel path generate a space intersection or the trapped person distribution hot spot area deviates from the first travel path by more than a preset deviation threshold value.
  8. 8. The emergency response decision-making method based on air-ground cooperation according to claim 1, wherein after the first travel path is re-planned in step S7, further comprising generating a path change instruction according to the re-planned first travel path, sending the path change instruction to the multi-rotor unmanned aerial vehicle platform, and driving the multi-rotor unmanned aerial vehicle platform to adjust the second detection path according to the path change instruction so as to keep continuous detection of a front area of the re-planned first travel path.
  9. 9. The emergency response decision-making method based on air-ground cooperation of claim 1 is characterized in that in the process that the ground rescue unit advances along the first travel path, the method further comprises dynamically adjusting a personnel evacuation guiding range or rescue equipment starting time in the first treatment strategy according to the front situation information returned by the multi-rotor unmanned aerial vehicle platform in real time, the dynamic adjustment specifically comprises triggering adaptive expansion of the boundary of the personnel evacuation guiding range when the front situation information is analyzed that a newly increased personnel accumulation area exists in front of the first travel path, enabling the expanded evacuation guiding range to bring the newly increased personnel accumulation area into the newly increased personnel accumulation area, broadcasting a temporary guiding path to the newly increased personnel accumulation area through an air broadcasting module carried by the multi-rotor unmanned aerial vehicle platform, triggering the front adjustment of the rescue equipment when the front situation information is analyzed that a secondary spreading risk area exists in front of the first travel path, enabling the rescue equipment to the first travel path to the first transmission strategy, and starting the rescue equipment when the first travel path reaches the corresponding to the first travel path, and triggering the dynamic adjustment of the rescue equipment starting time when the first travel path is started, and the rescue equipment is started up as a corresponding dynamic spreading risk adjusting condition, and the first travel path is started up when the first travel path is started.
  10. 10. An emergency response decision-making system based on air-ground cooperation, which is characterized by comprising: The situation construction module is used for responding to emergency alarms based on a geographic information system and the Internet of things technology, acquiring field perception data of an incident area and constructing a dynamic task situation map by combining the incident position; The state acquisition module is used for acquiring first state information of at least one ground rescue unit in a response range and second state information of at least one multi-rotor unmanned aerial vehicle platform; The task generation module is used for respectively generating a first candidate task set aiming at the ground rescue unit and a second candidate task set aiming at the multi-rotor unmanned aerial vehicle platform according to the dynamic task situation map, the first state information and the second state information; The coupling calculation module is used for calculating the task support degree of each air task in the second candidate task set on each ground task in the first candidate task set and the task dependence degree of each ground task in the first candidate task set on each air task in the second candidate task set; The collaborative decision-making module is used for jointly screening a first target task and a second target task with the maximum coupling association degree from the first candidate task set and the second candidate task set according to the task support degree and the task dependency degree; the path planning module is used for planning a first advancing path and a first disposal strategy for the ground rescue unit according to the first target task, and planning a second detecting path and a second detecting strategy for the multi-rotor unmanned aerial vehicle platform according to the second target task, wherein the second detecting path is used for enabling the multi-rotor unmanned aerial vehicle platform to continuously detect along a front area of the first advancing path and generating front situation information; And the dynamic adjustment module is used for judging whether the first travel path meets the safe passing condition according to the front situation information returned by the multi-rotor unmanned aerial vehicle platform in real time, and if not, re-planning the first travel path and synchronously updating the second detection path.

Description

Emergency response decision method and system based on air-ground cooperation Technical Field The application relates to the technical field of emergency response, in particular to an emergency response decision method and system based on air-ground cooperation. Background Currently, many solutions for integrated emergency and exercise based on GIS (geographic information system), GPS (global positioning system) and internet of things technology are developed, and an emergency network integrated platform, a seismic monitoring system and a multi-rotor unmanned aerial vehicle intelligent platform are developed. In practical application, although the above technical means have played important roles in the fields of geographic information monitoring, earthquake early warning, air inspection and the like, when facing complex emergencies, the systems are often in a relatively independent running state, and effective cooperative response resultant force is difficult to form. For example, after an earthquake occurs, the earthquake monitoring system can output damage evaluation data of buildings in an earthquake region, but the data are usually presented in a form of a static report or a background layer and are difficult to timely transmit to a ground rescue unit which is running to the scene, and the multi-rotor unmanned plane platform has flexible aerial patrol capability, but the flight path is often manually controlled by a flight control hand, and after the collected scene video data are transmitted back to a command center, command personnel still need to manually study and judge and then give instructions to the ground rescue team. The serial information circulation link of data acquisition-center research-ground execution has obvious problems of information delay and decision delay when facing to complex scenes of secondary disasters such as earthquakes and the like. The main reason for the problem is that the prior art cannot deeply couple the earthquake monitoring and early warning, the air maneuver inspection and the ground rescue treatment at a task level, and lacks a decision mechanism capable of cooperatively planning the action paths and the task loads of the air and ground parties in real time according to on-site dynamic data. Therefore, a solution for emergency response decision based on air-ground collaboration is needed. Disclosure of Invention The application provides an emergency response decision method and system based on air-ground coordination, which are at least used for solving the problems existing in the prior art. In a first aspect of the embodiment of the present application, an emergency response decision method based on air-ground collaboration is provided, including the following steps: s1, based on a geographic information system and the Internet of things technology, responding to an emergency alarm, acquiring field perception data of an incident area, and constructing a dynamic task situation map by combining an incident position; s2, acquiring first state information of at least one ground rescue unit in a response range and second state information of at least one multi-rotor unmanned aerial vehicle platform; s3, respectively generating a first candidate task set aiming at the ground rescue unit and a second candidate task set aiming at the multi-rotor unmanned aerial vehicle platform according to the dynamic task situation map, the first state information and the second state information; S4, calculating the task support degree of each aerial task in the second candidate task set on each ground task in the first candidate task set, and the task dependency degree of each ground task in the first candidate task set on each aerial task in the second candidate task set; s5, according to the task support degree and the task dependency degree, a first target task and a second target task with the maximum coupling association degree are jointly screened out from the first candidate task set and the second candidate task set; s6, planning a first advancing path and a first disposal strategy for the ground rescue unit according to a first target task, and planning a second detecting path and a second detecting strategy for the multi-rotor unmanned aerial vehicle platform according to a second target task, wherein the second detecting path is used for enabling the multi-rotor unmanned aerial vehicle platform to continuously detect along the front area of the first advancing path and generating front situation information; And S7, judging whether the first travel path meets the safe passing condition according to the front situation information returned by the multi-rotor unmanned aerial vehicle platform in real time, and if not, re-planning the first travel path and synchronously updating the second detection path. In the embodiment of the application, the technical problems of independent operation and information circulation delay of the existing emergency response hollow platform