A method and system for modeling emergency rescue three-dimensional scenes

Abstract

The present invention discloses a method and system for modeling a three-dimensional scene for emergency rescue. The method comprises: performing three-dimensional modeling on a fire scene, generating an initial three-dimensional scene, and acquiring fire scene information in real time, wherein the initial three-dimensional scene comprises the geometric space and object distribution of the fire scene; setting a scene state description model in the three-dimensional scene, and calculating the scene state value of each position in the fire scene in real time according to the fire scene information; acquiring personnel movement information in the fire scene, and setting a personnel movement state model, and calculating the movement state of personnel at each position in the fire scene in real time according to the personnel movement information, wherein the personnel movement information comprises: the movement speed of personnel, the average speed of personnel and the acceleration of personnel; and updating the initial three-dimensional scene according to the scene state value and the movement state of the personnel to complete the final three-dimensional scene modeling.

Description

Technical Field

[0001] The present invention belongs to the technical field of fire scene simulation, and more specifically, relates to a three-dimensional emergency rescue scene modeling method and system. Background Art

[0002] In the 3D modeling of fire scenes, it is usually necessary to comprehensively consider multi-dimensional factors such as building structure, fire spread path, smoke diffusion, fire extinguishing equipment and personnel evacuation routes. In order to achieve 3D modeling and simulation of such scenes, the following aspects are key:

[0003] 3D modeling of basic building structures:

[0004] Building structure data: Create the three-dimensional structure of the building in the scene, including walls, doors, windows, stairs, passages, etc., through the building's two-dimensional drawings, BIM (Building Information Modeling) or laser scanning data.

[0005] Material properties: Different materials (such as wood, concrete, steel structures, etc.) react differently to fire, such as burning speed, fire resistance, etc. These properties need to be incorporated into the model.

[0006] However, there is no technical solution in the prior art that can obtain the fire situation in the fire scene in real time and the movement status of personnel at the same time to update the three-dimensional modeling. Summary of the invention

[0007] In order to solve the above technical problems, the present invention proposes a three-dimensional scene modeling method for emergency rescue, which is used for three-dimensional modeling of the fire scene during emergency rescue, comprising:

[0008] Perform three-dimensional modeling of the fire scene, generate an initial three-dimensional scene, and obtain fire scene information in real time, wherein the initial three-dimensional scene includes the geometric space and object distribution of the fire scene, and the fire scene information includes: temperature, smoke density, flame propagation speed, synthetic aperture radar echo intensity, and laser radar point cloud reflection intensity;

[0009] Setting a scene state description model in the three-dimensional scene, and calculating the scene state value of each position in the fire scene in real time according to the fire scene information;

[0010] Obtaining personnel movement information in the fire scene, and setting a personnel movement state model, and calculating the movement state of personnel at each position in the fire scene in real time according to the personnel movement information, wherein the personnel movement information includes: the movement speed of the personnel, the average speed of the personnel, and the acceleration of the personnel;

[0011] The initial three-dimensional scene is updated according to the scene state value and the motion state of the person to complete the final three-dimensional scene modeling.

[0012] Furthermore, the scene state description model in the three-dimensional scene includes:

[0013] ,

[0014] in, For time Time at location The scene state value at is used to describe the change of the scene state in the three-dimensional scene over time. For time Time at location The multi-dimensional spatiotemporal gradient value at is used to capture the temperature, smoke density, and flame propagation speed in the three-dimensional scene. For time Time at location The global response value at is used to describe the spatial scene information of the three-dimensional scene reflected in the synthetic aperture radar and lidar data. For time A spatial domain in a three-dimensional scene.

[0015] Further, time Time at location The multidimensional space-time gradient value at include:

[0016] ,

[0017] in, is the temperature adjustment factor, For time Time at location The temperature at is the adjustment factor for smoke density, For time Time at location The smoke density at is the first adjustment factor for flame propagation speed, For time Time at location The flame propagation speed at It is the second adjustment factor of flame propagation speed.

[0018] Further, time Time at location The global response value at include:

[0019] ,

[0020] in, is the weight of synthetic aperture radar, For time Time at location The echo intensity of synthetic aperture radar at is the weight of the laser radar, For time Time at location The point cloud reflection intensity of the laser radar at is a power constant, reflecting the nonlinear relationship between strong reflection and weak reflection.

[0021] Furthermore, the personnel motion state model includes:

[0022] ,

[0023] in, For time Time at location The movement state of people is used to describe the movement and reaction behavior of the crowd. is the number of personnel, For time Time The weight of an individual, For time Time The trajectory function of a person, For time Time at location Place The speed of movement of a person.

[0024] Furthermore, the time Time Trajectory function of a person include:

[0025] ,

[0026] in, is the first adjustment factor of the trajectory function, For the Personnel at time The instantaneous speed at is the second adjustment factor of the trajectory function, is the adjustment factor for the average speed, For the Personnel at time The average speed within is the third adjustment factor of the trajectory function, is the acceleration adjustment factor, For the Personnel at time The acceleration at .

[0027] The present invention also provides an emergency rescue three-dimensional scene modeling system, which is used for three-dimensional modeling of a fire scene during emergency rescue, and includes:

[0028] An information acquisition module is used to perform three-dimensional modeling of the fire scene, generate an initial three-dimensional scene, and acquire fire scene information in real time, wherein the initial three-dimensional scene includes the geometric space and object distribution of the fire scene, and the fire scene information includes: temperature, smoke density, flame propagation speed, synthetic aperture radar echo intensity, and laser radar point cloud reflection intensity;

[0029] A scene state value calculation module is used to set a scene state description model in a three-dimensional scene and calculate the scene state value of each position in the fire scene in real time according to the fire scene information;

[0030] The motion state calculation module is used to obtain the motion information of personnel in the fire scene, and set the motion state model of personnel, and calculate the motion state of personnel at each position in the fire scene in real time according to the motion information of personnel, wherein the motion information of personnel includes: the motion speed of personnel, the average speed of personnel and the acceleration of personnel;

[0031] The updating module is used to update the initial three-dimensional scene according to the scene state value and the motion state of the personnel to complete the final three-dimensional scene modeling.

[0032] Furthermore, the scene state description model in the three-dimensional scene includes:

[0033] ,

[0034] in, For time Time at location The scene state value at is used to describe the change of the scene state in the three-dimensional scene over time. For time Time at location The multi-dimensional spatiotemporal gradient value at is used to capture the temperature, smoke density, and flame propagation speed in the three-dimensional scene. For time Time at location The global response value at is used to describe the spatial scene information of the three-dimensional scene reflected in the synthetic aperture radar and lidar data. For time A spatial domain in a three-dimensional scene.

[0035] Further, time Time at location The multidimensional space-time gradient value at include:

[0036] ,

[0037] in, is the temperature adjustment factor, For time Time at location The temperature at is the adjustment factor for smoke density, For time Time at location The smoke density at is the first adjustment factor for flame propagation speed, For time Time at location The flame propagation speed at It is the second adjustment factor of flame propagation speed.

[0038] Further, time Time at location The global response value at include:

[0039] ,

[0040] in, is the weight of synthetic aperture radar, For time Time at location The echo intensity of synthetic aperture radar at is the weight of the laser radar, For time Time at location The point cloud reflection intensity of the laser radar at is a power constant, reflecting the nonlinear relationship between strong reflection and weak reflection.

[0041] In general, the above technical solution conceived by the present invention has the following beneficial effects compared with the prior art:

[0042] Through the above technical scheme, the present invention can perform three-dimensional scene modeling of the fire scene, and can also update the three-dimensional scene modeling in real time according to the fire situation and personnel dynamics, effectively reducing safety losses and ensuring personnel safety to the greatest extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 is a flow chart of the method of embodiment 1 of the present invention;

[0044] Figure 2 It is a structural diagram of the system of embodiment 2 of the present invention. DETAILED DESCRIPTION

[0045] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0046] The method provided by the present invention can be implemented in the following terminal environment, and the terminal may include one or more of the following components: a processor, a storage medium, and a display screen. The storage medium stores at least one instruction, and the instruction is loaded and executed by the processor to implement the method described in the following embodiment.

[0047] The processor may include one or more processing cores. The processor uses various interfaces and lines to connect various parts in the entire terminal, and executes various functions of the terminal and processes data by running or executing instructions, programs, code sets or instruction sets stored in the storage medium, and calling data stored in the storage medium.

[0048] The storage medium may include a random access memory (RAM) or a read-only memory (ROM). The storage medium may be used to store instructions, programs, codes, code sets or instructions.

[0049] The display screen is used to display the user interface of each application.

[0050] In addition, those skilled in the art can understand that the structure of the above terminal does not constitute a limitation on the terminal, and the terminal may include more or fewer components, or combine certain components, or arrange the components differently. For example, the terminal also includes components such as a radio frequency circuit, an input unit, a sensor, an audio circuit, and a power supply, which will not be described in detail here.

[0051] Example 1

[0052] like Figure 1 As shown, an embodiment of the present invention provides a method for modeling a three-dimensional scene of emergency rescue, which is used to perform three-dimensional modeling of a fire scene during emergency rescue, including:

[0053] Step 101, three-dimensional modeling of the fire scene is performed to generate an initial three-dimensional scene, and fire scene information is acquired in real time, wherein the initial three-dimensional scene includes the geometric space and object distribution of the fire scene, and the fire scene information includes: temperature, smoke density, flame propagation speed, synthetic aperture radar echo intensity, and laser radar point cloud reflection intensity;

[0054] For example, the geometric space of the fire scene can be the size of the room, the width of the road, the location of the door, etc.

[0055] Step 102, setting a scene state description model in the three-dimensional scene, and calculating the scene state value of each position in the fire scene in real time according to the fire scene information;

[0056] Specifically, the scene state description model in the three-dimensional scene includes:

[0057] ,

[0058] in, For time Time at location The scene state value at is used to describe the change of the scene state in the three-dimensional scene over time. For time Time at location The multi-dimensional spatiotemporal gradient value at is used to capture the temperature, smoke density, and flame propagation speed in the three-dimensional scene. For time Time at location The global response value at is used to describe the spatial scene information of the three-dimensional scene reflected in the synthetic aperture radar and lidar data. For time A spatial domain in a three-dimensional scene.

[0059] Specifically, time Time at location The multidimensional space-time gradient value at include:

[0060] ,

[0061] in, is the temperature adjustment factor, For time Time at location The temperature at is the adjustment factor for smoke density, For time Time at location The smoke density at is the first adjustment factor for flame propagation speed, For time Time at location The flame propagation speed at It is the second adjustment factor of flame propagation speed.

[0062] Specifically, time Time at location The global response value at include:

[0063] ,

[0064] in, is the weight of synthetic aperture radar, For time Time at location The echo intensity of synthetic aperture radar at is the weight of the laser radar, For time Time at location The point cloud reflection intensity of the laser radar at is a power constant, reflecting the nonlinear relationship between strong reflection and weak reflection.

[0065] Step 103, obtaining the movement information of personnel in the fire scene, and setting a personnel movement state model, and calculating the movement state of personnel at each position in the fire scene in real time according to the personnel movement information, wherein the personnel movement information includes: the movement speed of personnel, the average speed of personnel and the acceleration of personnel;

[0066] Specifically, the personnel motion state model includes:

[0067] ,

[0068] in, For time Time at location The movement state of people is used to describe the movement and reaction behavior of the crowd. is the number of personnel, For time Time The weight of an individual, For time Time The trajectory function of a person, For time Time at location Place The speed of movement of a person.

[0069] Specifically, the time Time Trajectory function of a person include:

[0070] ,

[0071] in, is the first adjustment factor of the trajectory function, For the Personnel at time The instantaneous speed at is the second adjustment factor of the trajectory function, is the adjustment factor for the average speed, For the Personnel at time The average speed within is the third adjustment factor of the trajectory function, is the acceleration adjustment factor, For the Personnel at time The acceleration at .

[0072] Step 104: updating the initial three-dimensional scene according to the scene state value and the motion state of the person to complete the final three-dimensional scene modeling.

[0073] Example 2

[0074] like Figure 2 As shown, an embodiment of the present invention further provides an emergency rescue three-dimensional scene modeling system, which is used to perform three-dimensional modeling of a fire scene during emergency rescue, including:

[0075] An information acquisition module is used to perform three-dimensional modeling of the fire scene, generate an initial three-dimensional scene, and acquire fire scene information in real time, wherein the initial three-dimensional scene includes the geometric space and object distribution of the fire scene, and the fire scene information includes: temperature, smoke density, flame propagation speed, synthetic aperture radar echo intensity, and laser radar point cloud reflection intensity;

[0076] A scene state value calculation module is used to set a scene state description model in a three-dimensional scene and calculate the scene state value of each position in the fire scene in real time according to the fire scene information;

[0077] Specifically, the scene state description model in the three-dimensional scene includes:

[0078] ,

[0079] in, For time Time at location The scene state value at is used to describe the change of the scene state in the three-dimensional scene over time. For time Time at location The multi-dimensional spatiotemporal gradient value at is used to capture the temperature, smoke density, and flame propagation speed in the three-dimensional scene. For time Time at location The global response value at is used to describe the spatial scene information of the three-dimensional scene reflected in the synthetic aperture radar and lidar data. For time A spatial domain in a three-dimensional scene.

[0080] Specifically, time Time at location The multidimensional space-time gradient value at include:

[0081] ,

[0082] in, is the temperature adjustment factor, For time Time at location The temperature at is the adjustment factor for smoke density, For time Time at location The smoke density at is the first adjustment factor for flame propagation speed, For time Time at location The flame propagation speed at It is the second adjustment factor of flame propagation speed.

[0083] Specifically, time Time at location The global response value at include:

[0084] ,

[0085] in, is the weight of synthetic aperture radar, For time Time at location The echo intensity of synthetic aperture radar at is the weight of the laser radar, For time Time at location The point cloud reflection intensity of the laser radar at is a power constant, reflecting the nonlinear relationship between strong reflection and weak reflection.

[0086] The motion state calculation module is used to obtain the motion information of personnel in the fire scene, and set the motion state model of personnel, and calculate the motion state of personnel at each position in the fire scene in real time according to the motion information of personnel, wherein the motion information of personnel includes: the motion speed of personnel, the average speed of personnel and the acceleration of personnel;

[0087] Specifically, the personnel motion state model includes:

[0088] ,

[0089] in, For time Time at location The movement state of people is used to describe the movement and reaction behavior of the crowd. is the number of personnel, For time Time The weight of an individual, For time Time The trajectory function of a person, For time Time at location Place The speed of movement of a person.

[0090] Specifically, the time Time Trajectory function of a person include:

[0091] ,

[0092] in, is the first adjustment factor of the trajectory function, For the Personnel at time The instantaneous speed at is the second adjustment factor of the trajectory function, is the adjustment factor for the average speed, For the Personnel at time The average speed within is the third adjustment factor of the trajectory function, is the acceleration adjustment factor, For the Personnel at time The acceleration at .

[0093] The updating module is used to update the initial three-dimensional scene according to the scene state value and the motion state of the personnel to complete the final three-dimensional scene modeling.

[0094] Example 3

[0095] The embodiment of the present invention further provides a storage medium storing a plurality of instructions, wherein the instructions are used to implement the emergency rescue three-dimensional scene modeling method.

[0096] Optionally, in this embodiment, the above storage medium may be located in any computer terminal in a computer terminal group in a computer network, or in any mobile terminal in a mobile terminal group.

[0097] Optionally, in this embodiment, the storage medium is configured to store program codes for executing the following steps: Step 101, three-dimensional modeling of the fire scene is performed to generate an initial three-dimensional scene, and fire scene information is acquired in real time, wherein the initial three-dimensional scene includes a geometric space and object distribution of the fire scene, and the fire scene information includes: temperature, smoke density, flame propagation speed, echo intensity of synthetic aperture radar, and point cloud reflection intensity of laser radar;

[0098] Step 102, setting a scene state description model in the three-dimensional scene, and calculating the scene state value of each position in the fire scene in real time according to the fire scene information;

[0099] Specifically, the scene state description model in the three-dimensional scene includes:

[0100] ,

[0101] in, For time Time at location The scene state value at is used to describe the change of the scene state in the three-dimensional scene over time. For time Time at location The multi-dimensional spatiotemporal gradient value at is used to capture the temperature, smoke density, and flame propagation speed in the three-dimensional scene. For time Time at location The global response value at is used to describe the spatial scene information of the three-dimensional scene reflected in the synthetic aperture radar and lidar data. For time A spatial domain in a three-dimensional scene.

[0102] Specifically, time Time at location The multidimensional space-time gradient value at include:

[0103] ,

[0104] in, is the temperature adjustment factor, For time Time at location The temperature at is the adjustment factor for smoke density, For time Time at location The smoke density at is the first adjustment factor for flame propagation speed, For time Time at location The flame propagation speed at It is the second adjustment factor of flame propagation speed.

[0105] Specifically, time Time at location The global response value at include:

[0106] ,

[0107] in, is the weight of synthetic aperture radar, For time Time at location The echo intensity of synthetic aperture radar at is the weight of the laser radar, For time Time at location The point cloud reflection intensity of the laser radar at is a power constant, reflecting the nonlinear relationship between strong reflection and weak reflection.

[0108] Step 103, obtaining the movement information of personnel in the fire scene, and setting a personnel movement state model, and calculating the movement state of personnel at each position in the fire scene in real time according to the personnel movement information, wherein the personnel movement information includes: the movement speed of personnel, the average speed of personnel and the acceleration of personnel;

[0109] Specifically, the personnel motion state model includes:

[0110] ,

[0111] in, For time Time at location The movement state of people is used to describe the movement and reaction behavior of the crowd. is the number of personnel, For time Time The weight of an individual, For time Time The trajectory function of a person, For time Time at location Place The speed of movement of a person.

[0112] Specifically, the time Time Trajectory function of a person include:

[0113] ,

[0114] in, is the first adjustment factor of the trajectory function, For the Personnel at time The instantaneous speed at is the second adjustment factor of the trajectory function, is the adjustment factor for the average speed, For the Personnel at time The average speed within is the third adjustment factor of the trajectory function, is the acceleration adjustment factor, For the Personnel at time The acceleration at .

[0115] Step 104: updating the initial three-dimensional scene according to the scene state value and the motion state of the person to complete the final three-dimensional scene modeling.

[0116] Example 4

[0117] An embodiment of the present invention also proposes an electronic device, including a processor and a storage medium connected to the processor, wherein the storage medium stores multiple instructions, and the instructions can be loaded and executed by the processor so that the processor can execute the emergency rescue three-dimensional scene modeling method.

[0118] Specifically, the electronic device of this embodiment may be a computer terminal, and the computer terminal may include: one or more processors, and a storage medium.

[0119] Among them, the storage medium can be used to store software programs and modules, such as a three-dimensional scene modeling method for emergency rescue in an embodiment of the present invention, and the corresponding program instructions / modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the storage medium, that is, realizing the above-mentioned three-dimensional scene modeling method for emergency rescue. The storage medium may include a high-speed random storage medium, and may also include a non-volatile storage medium, such as one or more magnetic storage systems, flash memory, or other non-volatile solid-state storage media. In some instances, the storage medium may further include a storage medium remotely arranged relative to the processor, and these remote storage media may be connected to the terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0120] The processor can call the information and application program stored in the storage medium through the transmission system to execute the following steps: Step 101, perform three-dimensional modeling of the fire scene, generate an initial three-dimensional scene, and obtain fire scene information in real time, wherein the initial three-dimensional scene includes the geometric space and object distribution of the fire scene, and the fire scene information includes: temperature, smoke density, flame propagation speed, echo intensity of synthetic aperture radar and point cloud reflection intensity of laser radar;

[0121] Step 102, setting a scene state description model in the three-dimensional scene, and calculating the scene state value of each position in the fire scene in real time according to the fire scene information;

[0122] Specifically, the scene state description model in the three-dimensional scene includes:

[0123] ,

[0124] in, For time Time at location The scene state value at is used to describe the change of the scene state in the three-dimensional scene over time. For time Time at location The multi-dimensional spatiotemporal gradient value at is used to capture the temperature, smoke density, and flame propagation speed in the three-dimensional scene. For time Time at location The global response value at is used to describe the spatial scene information of the three-dimensional scene reflected in the synthetic aperture radar and lidar data. For time A spatial domain in a three-dimensional scene.

[0125] Specifically, time Time at location The multidimensional space-time gradient value at include:

[0126] ,

[0127] in, is the temperature adjustment factor, For time Time at location The temperature at is the adjustment factor for smoke density, For time Time at location The smoke density at is the first adjustment factor for flame propagation speed, For time Time at location The flame propagation speed at It is the second adjustment factor of flame propagation speed.

[0128] Specifically, time Time at location The global response value at include:

[0129] ,

[0130] in, is the weight of synthetic aperture radar, For time Time at location The echo intensity of synthetic aperture radar at is the weight of the laser radar, For time Time at location The point cloud reflection intensity of the laser radar at is a power constant, reflecting the nonlinear relationship between strong reflection and weak reflection.

[0131] Step 103, obtaining the movement information of personnel in the fire scene, and setting a personnel movement state model, and calculating the movement state of personnel at each position in the fire scene in real time according to the personnel movement information, wherein the personnel movement information includes: the movement speed of personnel, the average speed of personnel and the acceleration of personnel;

[0132] Specifically, the personnel motion state model includes:

[0133] ,

[0134] in, For time Time at location The movement state of people is used to describe the movement and reaction behavior of the crowd. is the number of personnel, For time Time The weight of an individual, For time Time The trajectory function of a person, For time Time at location Place The speed of movement of a person.

[0135] Specifically, the time Time Trajectory function of a person include:

[0136] ,

[0137] in, is the first adjustment factor of the trajectory function, For the Personnel at time The instantaneous speed at is the second adjustment factor of the trajectory function, is the adjustment factor for the average speed, For the Personnel at time The average speed within is the third adjustment factor of the trajectory function, is the acceleration adjustment factor, For the Personnel at time The acceleration at .

[0138] Step 104: updating the initial three-dimensional scene according to the scene state value and the motion state of the person to complete the final three-dimensional scene modeling.

[0139] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0140] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0141] In the several embodiments provided by the present invention, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the system embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0142] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0143] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0144] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only storage medium (ROM, Read-Only Memory), random access storage medium (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0145] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A three-dimensional scene modeling method for emergency rescue, used for three-dimensional modeling of fire scene during emergency rescue, characterized in that: include: Perform three-dimensional modeling of the fire scene, generate an initial three-dimensional scene, and obtain fire scene information in real time, wherein the initial three-dimensional scene includes the geometric space and object distribution of the fire scene, and the fire scene information includes: temperature, smoke density, flame propagation speed, synthetic aperture radar echo intensity, and laser radar point cloud reflection intensity; Setting a scene state description model in the three-dimensional scene, and calculating the scene state value of each position in the fire scene in real time according to the fire scene information; The scene state description model in the three-dimensional scene includes: ， in, For time Time at location The scene state value at is used to describe the change of the scene state in the 3D scene over time. For time Time at location The multi-dimensional spatiotemporal gradient value at is used to capture the temperature, smoke density, and flame propagation speed in the three-dimensional scene. For time Time at location The global response value at is used to describe the spatial scene information of the three-dimensional scene reflected in the synthetic aperture radar and lidar data. For time A spatial domain in a three-dimensional scene; time Time at location The multidimensional space-time gradient value at include: ， in, is the temperature adjustment factor, For time Time at location The temperature at is the adjustment factor for smoke density, For time Time at location The smoke density at is the first adjustment factor for flame propagation speed, For time Time at location The flame propagation speed at is the second adjustment factor for flame propagation speed; time Time at location The global response value at include: ， in, is the weight of synthetic aperture radar, For time Time at location The echo intensity of synthetic aperture radar at is the weight of the laser radar, For time Time at location The point cloud reflection intensity of the laser radar at is a power constant, reflecting the nonlinear relationship between strong and weak reflections; Obtaining personnel movement information in the fire scene, and setting a personnel movement state model, and calculating the movement state of personnel at each position in the fire scene in real time according to the personnel movement information, wherein the personnel movement information includes: the movement speed of the personnel, the average speed of the personnel, and the acceleration of the personnel; According to the scene state value and the motion state of the person, the initial three-dimensional scene is updated to complete the final three-dimensional scene modeling; The personnel motion state model includes: ， in, For time Time at location The movement state of people is used to describe the movement and reaction behavior of the crowd. is the number of personnel, For time Time The weight of an individual, For time Time The trajectory function of a person, For time Time at location Place The speed of movement of individuals; The time Time Trajectory function of a person include: ， in, is the first adjustment factor of the trajectory function, For the Personnel at time The instantaneous speed at is the second adjustment factor of the trajectory function, is the adjustment factor for the average speed, For the Personnel at time The average speed within is the third adjustment factor of the trajectory function, is the acceleration adjustment factor, For the Personnel at time The acceleration at .

2. An emergency rescue three-dimensional scene modeling system, used for three-dimensional modeling of fire scenes during emergency rescue, characterized in that: include: An information acquisition module is used to perform three-dimensional modeling of the fire scene, generate an initial three-dimensional scene, and acquire fire scene information in real time, wherein the initial three-dimensional scene includes the geometric space and object distribution of the fire scene, and the fire scene information includes: temperature, smoke density, flame propagation speed, synthetic aperture radar echo intensity, and laser radar point cloud reflection intensity; A scene state value calculation module is used to set a scene state description model in a three-dimensional scene and calculate the scene state value of each position in the fire scene in real time according to the fire scene information; The motion state calculation module is used to obtain the motion information of personnel in the fire scene, and set the motion state model of personnel, and calculate the motion state of personnel at each position in the fire scene in real time according to the motion information of personnel, wherein the motion information of personnel includes: the motion speed of personnel, the average speed of personnel and the acceleration of personnel; The scene state description model in the three-dimensional scene includes: ， in, For time Time at location The scene state value at is used to describe the change of the scene state in the 3D scene over time. For time Time at location The multi-dimensional spatiotemporal gradient value at is used to capture the temperature, smoke density, and flame propagation speed in the three-dimensional scene. For time Time at location The global response value at is used to describe the spatial scene information of the three-dimensional scene reflected in the synthetic aperture radar and lidar data. For time A spatial domain in a three-dimensional scene; time Time at location The multidimensional space-time gradient value at include: ， in, is the temperature adjustment factor, For time Time at location The temperature at is the adjustment factor for smoke density, For time Time at location The smoke density at is the first adjustment factor for flame propagation speed, For time Time at location The flame propagation speed at is the second adjustment factor for flame propagation speed; time Time at location The global response value at include: ， in, is the weight of synthetic aperture radar, For time Time at location The echo intensity of synthetic aperture radar at is the weight of the laser radar, For time Time at location The point cloud reflection intensity of the laser radar at is a power constant, reflecting the nonlinear relationship between strong and weak reflections; An updating module, used for updating the initial three-dimensional scene according to the scene state value and the motion state of the person, so as to complete the final three-dimensional scene modeling; According to the scene state value and the motion state of the person, the initial three-dimensional scene is updated to complete the final three-dimensional scene modeling; The personnel motion state model includes: ， in, For time Time at location The movement state of people is used to describe the movement and reaction behavior of the crowd. is the number of personnel, For time Time The weight of an individual, For time Time The trajectory function of a person, For time Time at location Place The speed of movement of individuals; The time Time Trajectory function of a person include: ， in, is the first adjustment factor of the trajectory function, For the Personnel at time The instantaneous speed at is the second adjustment factor of the trajectory function, is the adjustment factor for the average speed, For the Personnel at time The average speed within is the third adjustment factor of the trajectory function, is the acceleration adjustment factor, For the Personnel at time The acceleration at .

3. A storage medium storing a plurality of instructions, wherein the instructions are used to implement a three-dimensional emergency rescue scene modeling method as described in claim 1.

4. An electronic device, comprising a processor and a storage medium connected to the processor, the storage medium storing a plurality of instructions, the instructions being loaded and executed by the processor so that the processor can execute an emergency rescue three-dimensional scene modeling method as described in claim 1.

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