A method and system for establishing tunnel emergency rescue communication by combining air, space and land

Abstract

The present invention relates to the field of rescue communication technology, specifically to a method and system for building tunnel emergency rescue communication in an air-ground joint manner, including: performing a high-altitude range scan of the tunnel rescue area to obtain a preliminary rescue point location set, performing air wireless communication establishment based on the preliminary rescue point location set to obtain an air wireless transmission channel, performing precise scanning of the tunnel rescue area based on the air wireless transmission channel to obtain multiple precise rescue point locations, using an aggregation gateway to calculate a target rescue point location set, collecting tunnel damage data based on the target rescue point location set, identifying a closed rescue area set and an extreme rescue area set based on the tunnel damage data, performing a communication architecture for the closed rescue area set and the extreme rescue area set, and obtaining a ground wireless transmission channel set and a ground wired transmission channel set. The present invention can improve the accuracy and efficiency of signal transmission in emergency rescue communications.

Description

Technical Field

[0001] The present invention relates to the technical field of rescue communication, and in particular to a method and system for establishing tunnel emergency rescue communication combining air, ground and space. Background Art

[0002] When a serious disaster occurs in a tunnel, power outages, short circuits and network disconnections may occur, resulting in the rescue site being unable to communicate with the outside world in a timely manner, and the back-end command center being unable to understand the disaster situation. Therefore, in order to enable timely communication between the rescue site and the back-end command center, it is particularly important to build tunnel emergency rescue communications between the rescue site and the back-end command center through satellites, drones and ground optical fibers.

[0003] The current method of building tunnel emergency rescue communications is mainly through radio communications and satellite phones. Although this method can realize mutual communication between the rescue site and the back-end command center, radio communications are easily affected by environmental interference and cannot pass through obstacles well, resulting in weak emergency rescue communication signals and low signal transmission accuracy. At the same time, only using satellite phones for communication will produce large delays, and when the satellite communication system signal is poor, the signal transmission efficiency of emergency rescue communications will be low. Summary of the invention

[0004] The present invention provides an air-ground-space combined tunnel emergency rescue communication construction method and system, the main purpose of which is to improve the accuracy and efficiency of signal transmission in emergency rescue communication.

[0005] To achieve the above-mentioned purpose, the present invention provides a method for establishing tunnel emergency rescue communication by combining air, space and land, comprising:

[0006] Acquire a tunnel rescue area, perform a high-altitude range scan on the tunnel rescue area to obtain a disaster tunnel scan map, perform an image comparison operation on the disaster tunnel scan map, and obtain a preliminary rescue point location set;

[0007] According to the preliminary rescue point location set, a pre-built drone cluster is used to establish aerial wireless communication in the tunnel rescue area to obtain an aerial wireless transmission channel, wherein the drone cluster is equipped with a signal repeater;

[0008] According to the preliminary rescue point location set and the drone cluster, the tunnel rescue area is accurately scanned to obtain multiple accurate rescue point locations;

[0009] Using the aerial wireless transmission channel, the multiple precise rescue point locations are sequentially transmitted to a preset aggregation gateway to obtain a target rescue point location set;

[0010] Identify the target rescue area set corresponding to the target rescue point location set, perform rescue path planning according to the target rescue area set to obtain a rescue path set, and dispatch a pre-built back-end rescue unit to the target rescue area set based on the rescue path set to obtain a front-end rescue unit;

[0011] The front-end rescue unit is used to collect damage information of the target rescue area set to obtain tunnel damage data, wherein the tunnel damage data includes: manually taken photos, manually taken videos and manually described texts;

[0012] According to the aerial wireless transmission channel and tunnel destruction data, the target rescue area set is divided into rescue environment to obtain a closed rescue area set and an extreme rescue area set;

[0013] A ground wireless communication framework is constructed for the enclosed rescue area set to obtain a ground wireless transmission channel set; ground wired communication is laid for the extreme rescue area set to obtain a ground wired transmission channel set, thereby completing the construction of air-ground-space combined tunnel emergency rescue communication.

[0014] Optionally, performing an image comparison operation on the scanned image of the disaster tunnel to obtain a preliminary rescue point location set includes:

[0015] Obtain a normal tunnel scan image of the tunnel rescue area during a non-disaster period, wherein the normal tunnel scan image is the last scan image during the non-disaster period;

[0016] According to a preset standard definition and a standard image size, the normal tunnel scan image and the disaster tunnel scan image are calibrated to obtain a calibrated normal image and a calibrated disaster image, wherein the calibrated normal image and the calibrated disaster image have the same definition and image size;

[0017] Constructing the calibrated normal map and the calibrated disaster map in the same coordinate system to obtain a normal coordinate map and a disaster coordinate map, and performing pixel value analysis on the normal coordinate map to obtain a normal pixel value set;

[0018] Extract normal pixel values ​​in the normal pixel value set in sequence, obtain pixel coordinates corresponding to the normal pixel values, identify pixel values ​​of coordinate points in a disaster coordinate map based on the pixel coordinates, obtain disaster pixel values, and calculate pixel differences between the normal pixel values ​​and the disaster pixel values;

[0019] Determine whether the pixel difference is greater than a preset standard deviation:

[0020] If the pixel difference is greater than the standard deviation, the pixel coordinates are marked as the initial rescue point position;

[0021] The preliminary rescue point positions are summarized to obtain a preliminary rescue point position set.

[0022] Optionally, the method of using a pre-built drone cluster to establish aerial wireless communication in the tunnel rescue area according to the preliminary rescue point location set to obtain an aerial wireless transmission channel includes:

[0023] Perform obstacle identification on the scanned image of the disaster tunnel to obtain an obstacle position set;

[0024] Extracting preliminary rescue point positions in sequence from the preliminary rescue point position set, calculating the dispatch distance between the preliminary rescue point position and the preset drone dispatch position, and obtaining a dispatch distance set;

[0025] According to the dispatch distance set, a flight path set of the drone cluster is set, wherein the flight path set is a set of straight-line paths between the drone dispatch location and the initial rescue point location;

[0026] Extract flight paths in sequence from the flight path set, and extract obstacle positions in sequence from the obstacle position set;

[0027] Determine whether the flight path contains an obstacle position:

[0028] If the flight path contains an obstacle position, perform an obstacle circumvention operation on the flight path to obtain a mission flight path;

[0029] If the flight path does not contain an obstacle position, the flight path is recorded as a mission flight path;

[0030] Summarizing the mission flight paths to obtain a mission flight path set, and performing a sorting operation on the mission flight path set to obtain a sequential flight path set, wherein the sorting operation is to arrange the mission flight paths in the mission flight path set from far to near;

[0031] The parameters of the drone cluster are adjusted to obtain a task drone cluster, and based on the sequential flight path set, the task drone cluster is dispatched to obtain an aerial wireless transmission channel.

[0032] Optionally, the step of performing parameter control on the drone cluster to obtain the task drone cluster includes:

[0033] The initial rescue point position in the initial rescue point position set is used as the signal transmission starting point to obtain a signal transmission starting point set, the maximum dispatch distance in the dispatch distance set is identified, and the number of signal relay points is calculated based on the maximum dispatch distance and a preset reference relay distance, wherein the number of signal relay points is expressed as:

[0034] ;

[0035] in, Indicates the number of signal relay points. Indicates the maximum dispatch distance, Indicates the reference relay distance, Indicates the rounding symbol;

[0036] Identify the location of the initial rescue point corresponding to the maximum dispatch distance, record the location of the initial rescue point corresponding to the maximum dispatch distance as the relay starting point, record the drone dispatch position as the relay end point, and record the straight line between the relay starting point and the relay end point as the relay path;

[0037] According to the number of signal relay points, the signal relay points are determined on the relay path to obtain a signal relay point set, wherein the signal relay points are evenly distributed on the relay path;

[0038] Extracting signal transmission starting points in sequence from the signal transmission starting point set, based on the signal transmission starting points, identifying the closest distance in the signal relay point set to obtain neighbor relay points, and pairing the neighbor relay points with the signal transmission starting points to obtain a neighbor relay point group;

[0039] Obtaining the neighbor relay distance of the neighbor relay point group, and setting the signal gain of the neighbor relay point based on the neighbor relay distance and the preset initial signal strength to obtain the relay signal gain;

[0040] Summarize and reduce the relay signal gain and neighbor relay point group to obtain the target neighbor point group set;

[0041] Using the neighbor relay point group set, non-neighbor relay points are identified in the signal relay point set to obtain a non-neighbor relay point set, the number of non-neighbors of the non-neighbor relay points in the non-neighbor relay point set is obtained, f drones are extracted from the drone cluster based on the number of non-neighbors, and signal gains are set for the f drones in turn according to a preset initial signal gain to obtain a relay drone cluster, where f represents the number of non-neighbors;

[0042] The number of starting points of the signal transmission starting points in the signal transmission starting point set is obtained, q drones are extracted from the drone cluster, and signal gains of the q drones are set in sequence according to initial signal gains to obtain a starting point drone cluster;

[0043] Extracting n drones from the drone cluster, setting relay gains for the n drones according to the neighbor relay point group set, and obtaining a neighbor drone cluster, wherein n represents the number of target neighbor point groups in the target neighbor point group set;

[0044] The relay drone cluster, the starting point drone cluster and the neighboring drone cluster are aggregated in sequence to obtain a task drone cluster.

[0045] Optionally, the setting of signal gain for the neighboring relay point based on the neighboring relay distance and the preset initial signal strength to obtain the relay signal gain includes:

[0046] Based on the reference relay distance, setting a reference relay loss;

[0047] According to the neighbor relay distance, the reference relay distance and the reference relay loss, the initial relay loss is calculated using the following formula:

[0048] ;

[0049] in, represents the initial relay loss, represents the reference relay loss, represents the logarithmic function, Indicates the neighbor relay distance.

[0050] According to the initial signal strength and initial relay loss, the relay signal gain is calculated using the following formula:

[0051] ;

[0052] in, Represents the relay signal gain, Indicates the initial signal strength.

[0053] Optionally, the step of aggregating and reducing the relay signal gain and the neighbor relay point group to obtain a target neighbor point group set includes:

[0054] Summarize the relay signal gain and the neighbor relay point group by key-value pairs to obtain an original neighbor point group set;

[0055] Sequentially extracting neighbor relay point groups from the original neighbor point group set, recording the neighbor relay point group as a central relay point group, and identifying multiple repeated relay point groups in the original neighbor point group set based on the central relay point group;

[0056] Obtain multiple repeated signal gains of the multiple repeated relay point groups, obtain the central signal gain of the central relay point group, identify the maximum signal gain among the multiple repeated signal gains and the central signal gain, determine the maximum relay point group corresponding to the maximum signal gain, and use the maximum relay point group and the maximum signal gain as the target neighbor point group and the target signal gain, respectively;

[0057] The target neighbor point group and the target signal gain are summarized by key-value pairs to obtain a target neighbor point group set, wherein the target neighbor point group set is expressed as:

[0058] ;

[0059] in, represents the target neighbor point set, represents the first target neighbor point group, Indicates the starting point of the first signal transmission. Indicates the first nearest neighbor relay point, Indicates the first target signal gain, represents the nth target neighbor point group, Indicates the starting point of the nth signal transmission, represents the nth nearest neighbor relay point, represents the nth target signal gain, and n represents the number of target neighbor point groups in the target neighbor point group set.

[0060] Optionally, the using of the aerial wireless transmission channel to sequentially transmit the multiple precise rescue point locations to a preset aggregation gateway to obtain a target rescue point location set includes:

[0061] Counting the location appearance frequency of each precise rescue point location among the multiple precise rescue point locations to obtain a location appearance frequency set;

[0062] Extracting position occurrence frequencies from the position occurrence frequency set in sequence;

[0063] Determine whether the location occurrence frequency is greater than a preset occurrence frequency threshold:

[0064] If the occurrence frequency of the location is greater than the occurrence frequency threshold, then obtaining the target rescue point location corresponding to the occurrence frequency of the location;

[0065] If the occurrence frequency of the location is not greater than the occurrence frequency threshold, the location of the low-frequency rescue point corresponding to the occurrence frequency of the location is obtained, and a drone-photographed picture of the low-frequency rescue point location is retrieved;

[0066] Manually identify the pictures taken by the drone to obtain manual identification results, and record the low-frequency rescue point positions that are manually identified as rescue points as target rescue point positions, wherein the manual identification results include: rescue points and non-rescue points;

[0067] The target rescue point positions are aggregated to obtain a target rescue point position set.

[0068] Optionally, performing ground wireless communication on the enclosed rescue area set to obtain a ground wireless transmission channel set includes:

[0069] Selecting enclosed rescue areas in sequence from the enclosed rescue areas, dispatching the pre-acquired portable communication vehicle to the enclosed rescue area, wherein the portable communication vehicle is equipped with a signal repeater and stops at the entrance of the enclosed rescue area;

[0070] Identify the vehicle-mounted neighboring drone that is closest to the portable communication vehicle-mounted device, and use the vehicle-mounted neighboring drone to perform a signal access operation between the portable communication vehicle-mounted device and the air wireless transmission channel to obtain a ground external transmission channel;

[0071] The pre-acquired self-organizing network single soldier is carried to the front-end rescue unit to obtain a closed rescue unit, the closed rescue unit is connected to the ground external transmission channel for signal access to obtain a ground wireless transmission channel, and the ground wireless transmission channels are aggregated to obtain a ground wireless transmission channel set.

[0072] Optionally, laying ground wired communications for the extreme rescue area set to obtain a ground wired transmission channel set includes:

[0073] Selecting extreme rescue areas in the extreme rescue area set in turn, and obtaining the optical fiber laying distance between the extreme rescue area and a preset rear command center;

[0074] Acquire the laid optical fiber according to the optical fiber laying distance, and carry the laid optical fiber to a preset mobile vehicle to obtain a ground wired laying vehicle, wherein the mobile vehicle carries a data transmission device;

[0075] The ground wired laying vehicle is used to lay optical fiber in an extreme rescue area to obtain a ground wired transmission channel, and the ground wired transmission channels are aggregated to obtain a ground wired transmission channel set.

[0076] To achieve the above objectives, the present invention also provides an air-ground combined tunnel emergency rescue communication construction system, comprising:

[0077] An aerial channel building module is used to obtain a tunnel rescue area, perform a high-altitude range scan on the tunnel rescue area, obtain a disaster tunnel scan map, perform an image comparison operation on the disaster tunnel scan map, obtain a preliminary rescue point location set, and use a pre-built drone cluster to perform aerial wireless communication on the tunnel rescue area according to the preliminary rescue point location set to obtain an aerial wireless transmission channel, wherein the drone cluster is equipped with a signal repeater;

[0078] A rescue location acquisition module, used to accurately scan the tunnel rescue area according to the preliminary rescue point location set and the drone cluster to obtain multiple accurate rescue point locations, and use the aerial wireless transmission channel to sequentially transmit the multiple accurate rescue point locations to a preset aggregation gateway to obtain a target rescue point location set;

[0079] A tunnel data collection module is used to identify the target rescue area set corresponding to the target rescue point location set, perform rescue path planning according to the target rescue area set to obtain a rescue path set, dispatch a pre-built back-end rescue unit to the target rescue area set based on the rescue path set to obtain a front-end rescue unit, and use the front-end rescue unit to collect damage conditions on the target rescue area set to obtain tunnel damage data, wherein the tunnel damage data includes: manually taken photos, manually taken videos and manually described texts;

[0080] The emergency communication construction module is used to divide the rescue environment of the target rescue area set according to the aerial wireless transmission channel and the tunnel damage data, obtain a closed rescue area set and an extreme rescue area set, construct a ground wireless communication framework for the closed rescue area set to obtain a ground wireless transmission channel set, and lay ground wired communications for the extreme rescue area set to obtain a ground wired transmission channel set, thereby completing the construction of air-ground-ground combined tunnel emergency rescue communications.

[0081] In order to solve the above problem, the present invention further provides an electronic device, the electronic device comprising:

[0082] a memory storing at least one instruction; and

[0083] The processor executes the instructions stored in the memory to implement the above-mentioned air-ground combined tunnel emergency rescue communication construction method.

[0084] In order to solve the above problems, the present invention also provides a computer-readable storage medium, in which at least one instruction is stored. The at least one instruction is executed by a processor in an electronic device to implement the above-mentioned air-ground combined tunnel emergency rescue communication construction method.

[0085] The present invention is to solve the problems described in the background technology. The present invention first performs a high-altitude range scan on the tunnel rescue area to obtain a disaster tunnel scan map, and performs an image comparison operation on the disaster tunnel scan map, thereby realizing the acquisition of a preliminary rescue point location set, providing a basis for the subsequent construction of an aerial wireless transmission channel, and then, according to the preliminary rescue point location set, a drone cluster is used to perform aerial wireless communication on the tunnel rescue area to obtain an aerial wireless transmission channel, which provides a way to subsequently transmit detailed information on the tunnel rescue area, and also provides security and information support for dispatching back-end rescue units. At the same time, the aerial wireless transmission channel avoids the position of obstacles on the basis of ensuring a short transmission path, thereby improving the signal transmission efficiency of the entire emergency rescue communication. The preliminary rescue point location set and the drone cluster are used to accurately scan the tunnel rescue area to obtain multiple accurate rescue point locations. This step accurately identifies the rescue points in the tunnel rescue area, provides accurate targets for subsequent rescue work, avoids a large amount of invalid rescue information transmission, and improves the accuracy of signal transmission in emergency rescue communications. Through the aerial wireless transmission channel, multiple accurate rescue point locations are sequentially transmitted to the aggregation gateway to obtain a target rescue point location set, which optimizes the accurate rescue point location set, making the rescue points more accurate, and further improving the signal transmission accuracy of the emergency rescue communication. The first step improves the accuracy of signal transmission in emergency rescue communications. Next, the target rescue area set corresponding to the target rescue point location set is identified, and the rescue path is planned according to the target rescue area set to obtain the rescue path set. The rescue path planning is realized, so that the rescue forces in the rear can reach the rescue site safely and quickly. Based on the rescue path set, the rear rescue unit is dispatched to the target rescue area set to obtain the front rescue unit. This step successfully dispatches the rescue force to the rescue site, which provides a prerequisite for subsequent understanding of the specific situation of the target rescue area. The front rescue unit is used to collect the damage situation of the target rescue area set to obtain the tunnel damage situation. Data is collected to realize the collection of specific conditions of the target rescue area. Then, the rescue environment of the target rescue area set is divided according to the tunnel damage data to obtain a closed rescue area set and an extreme rescue area set. This divides the target rescue area in more detail and provides conditions for the targeted architecture of the subsequent transmission channel. Finally, a ground wireless communication framework is constructed for the closed rescue area set to obtain a ground wireless transmission channel set, and a ground wired communication is laid for the extreme rescue area set to obtain a ground wired transmission channel set, so that different types of rescue areas can have corresponding transmission channels, which improves the accuracy of signal transmission in the entire emergency rescue communication. Therefore, the present invention can improve the accuracy and efficiency of signal transmission in emergency rescue communication. BRIEF DESCRIPTION OF THE DRAWINGS

[0086] Figure 1 A schematic diagram of a flow chart of a method for establishing an air-ground-integrated tunnel emergency rescue communication system according to an embodiment of the present invention;

[0087] Figure 2 A functional module diagram of a tunnel emergency rescue communication system for combining air, space and land provided in one embodiment of the present invention;

[0088] Figure 3 A schematic diagram of the structure of an electronic device for implementing the air-ground-integrated tunnel emergency rescue communication construction method provided by an embodiment of the present invention.

[0089] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0090] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0091] The embodiment of the present application provides a method for establishing tunnel emergency rescue communications that is combined with air, land and ground. The execution subject of the method for establishing tunnel emergency rescue communications that is combined with air, land and ground includes but is not limited to at least one of the electronic devices such as a server, a terminal, etc. that can be configured to execute the method provided by the embodiment of the present application. In other words, the method for establishing tunnel emergency rescue communications that is combined with air, land and ground can be executed by software or hardware installed on a terminal device or a server device, and the software can be a blockchain platform. The server includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, etc.

[0092] Reference Figure 1 FIG. 1 is a flow chart of a method for establishing a tunnel emergency rescue communication system by combining air, ground and space according to an embodiment of the present invention. In this embodiment, the method for establishing a tunnel emergency rescue communication system by combining air, ground and space includes:

[0093] S1. Acquire a tunnel rescue area, perform a high-altitude range scan on the tunnel rescue area to obtain a disaster tunnel scan map, perform an image comparison operation on the disaster tunnel scan map, and obtain a preliminary rescue point location set.

[0094] It is clear that the tunnel rescue area refers to the tunnel area where a major disaster has occurred and requires large-scale rescue. When a disaster occurs, relevant departments monitor the preliminary data of the disaster, such as the scope of the disaster, the severity of the disaster, etc. The tunnel rescue area can be obtained through the preliminary data. The disaster tunnel scanning map refers to the satellite scanning map of the tunnel rescue area after the disaster occurs. After the tunnel rescue area is clarified, it is necessary to conduct a high-altitude scanning of the tunnel rescue area in a timely manner through a high-altitude remote sensing satellite to obtain a disaster tunnel scanning map. The disaster tunnel scanning map is a two-dimensional topographic map. By comparing the disaster tunnel scanning map with the normal tunnel scanning map of the tunnel rescue area during the non-disaster period, the disaster-affected areas of the tunnel rescue area can be preliminarily determined, and the specific locations of these disaster-affected areas can be obtained to obtain a preliminary rescue point location set.

[0095] It should be explained that the preliminary rescue point location set refers to the specific location set of the area affected by the disaster in the tunnel rescue area. The preliminary rescue point location set is obtained based on the satellite scan at the beginning of the disaster. Therefore, the preliminary rescue location point cannot fully reflect the specific disaster situation in the tunnel rescue area. It is necessary to combine drones and manual close-range exploration to obtain the specific disaster location. The preliminary rescue point location set obtained here provides a basis for the subsequent determination of the specific disaster location, and also provides safety guidance for the drone cluster to quickly enter the tunnel rescue area.

[0096] In detail, performing an image comparison operation on the scanned image of the disaster tunnel to obtain a preliminary rescue point location set includes:

[0097] Obtain a normal tunnel scan image of the tunnel rescue area during a non-disaster period, wherein the normal tunnel scan image is the last scan image during the non-disaster period;

[0098] According to a preset standard definition and a standard image size, the normal tunnel scan image and the disaster tunnel scan image are calibrated to obtain a calibrated normal image and a calibrated disaster image, wherein the calibrated normal image and the calibrated disaster image have the same definition and image size;

[0099] Constructing the calibrated normal map and the calibrated disaster map in the same coordinate system to obtain a normal coordinate map and a disaster coordinate map, and performing pixel value analysis on the normal coordinate map to obtain a normal pixel value set;

[0100] Extract normal pixel values ​​in the normal pixel value set in sequence, obtain pixel coordinates corresponding to the normal pixel values, identify pixel values ​​of coordinate points in a disaster coordinate map based on the pixel coordinates, obtain disaster pixel values, and calculate pixel differences between the normal pixel values ​​and the disaster pixel values;

[0101] Determine whether the pixel difference is greater than a preset standard deviation:

[0102] If the pixel difference is greater than the standard deviation, the pixel coordinates are marked as the initial rescue point position;

[0103] The preliminary rescue point positions are summarized to obtain a preliminary rescue point position set.

[0104] It can be understood that the calibrated normal image refers to a normal tunnel scanning image with standard image clarity and image size, the calibrated disaster image refers to a disaster tunnel scanning image with standard image clarity and image size, the normal coordinate map refers to the calibrated normal image after adding a coordinate system, the disaster coordinate map refers to the calibrated disaster map after adding a coordinate system, the normal pixel value set refers to the set of pixel values ​​of each coordinate point in the normal coordinate map, the pixel coordinates refer to the coordinates corresponding to the normal pixel values ​​on the normal coordinate map, the disaster pixel value refers to the pixel value corresponding to the pixel coordinates in the disaster coordinate map, the pixel difference refers to the difference between the normal pixel value and the disaster pixel value, and the standard difference refers to the pixel difference set artificially.

[0105] S2. According to the preliminary rescue point location set, use the pre-built drone cluster to establish aerial wireless communication for the tunnel rescue area to obtain an aerial wireless transmission channel, wherein the drone cluster is equipped with a signal repeater.

[0106] It is understandable that the drone cluster refers to a group of drones that can communicate collaboratively, and the drones in the drone cluster are connected through a wireless network so that signals can be transmitted between them. The aerial wireless transmission channel refers to a signal transmission channel that can transmit the collected rescue signals from the rescue site to the rescue back end, where the rescue front end refers to the relevant equipment and personnel for rescue work or information collection work, such as: wireless communication devices, and the rescue back end refers to a command center far away from the tunnel rescue area, where the command center can coordinate the allocation and dispatch of resources, such as: allocation of rescue materials, personnel and equipment. In an emergency, the satellite command vehicle is used as a mobile command center, which can quickly receive information from the rescue front end and respond to commands to improve the response speed and efficiency of emergency rescue.

[0107] Furthermore, since the command center at the back end of the rescue needs to receive disaster tunnel scans, and disaster tunnel scans need to rely on satellite photography, and information needs to be transmitted to the command center via satellite communication at the beginning of the construction of drone relay communication, when tunnel disasters occur in relatively remote areas, in order to ensure the stability of satellite information, it is necessary to use a satellite command vehicle as a command center and dispatch it to the surrounding areas of the tunnel disaster. Among them, the satellite command vehicle is a mobile satellite communication center, which can provide a stable satellite communication link to ensure effective communication in the absence of ground and air communication infrastructure. Using the satellite command vehicle as a command center, in an emergency, resources can be allocated and dispatched in a timely manner, such as rescue supplies, personnel and equipment, to improve the response speed and efficiency of rescue operations.

[0108] It can be understood that the signal repeater refers to a device that can amplify the received rescue signal and transmit the amplified rescue signal. The main function of the signal repeater is to amplify the received rescue signal, wherein the rescue signal can be a signal that transmits relevant information such as a preliminary rescue point location set, so as to transmit these rescue signals to a farther place, or overcome obstacles for signal transmission.

[0109] It should be explained that in addition to the signal repeater, each drone in the drone cluster can also be equipped with other different equipment, such as optical sensors, cameras, etc., so that the tunnel rescue area can be detected while transmitting rescue signals.

[0110] In detail, according to the preliminary rescue point location set, the pre-built drone cluster is used to establish aerial wireless communication in the tunnel rescue area to obtain an aerial wireless transmission channel, including:

[0111] Perform obstacle identification on the scanned image of the disaster tunnel to obtain an obstacle position set;

[0112] Extracting preliminary rescue point positions in sequence from the preliminary rescue point position set, calculating the dispatch distance between the preliminary rescue point position and the preset drone dispatch position, and obtaining a dispatch distance set;

[0113] According to the dispatch distance set, a flight path set of the drone cluster is set, wherein the flight path set is a set of straight-line paths between the drone dispatch location and the initial rescue point location;

[0114] Extract flight paths in sequence from the flight path set, and extract obstacle positions in sequence from the obstacle position set;

[0115] Determine whether the flight path contains an obstacle position:

[0116] If the flight path contains an obstacle position, perform an obstacle circumvention operation on the flight path to obtain a mission flight path;

[0117] If the flight path does not contain an obstacle position, the flight path is recorded as a mission flight path;

[0118] Summarizing the mission flight paths to obtain a mission flight path set, and performing a sorting operation on the mission flight path set to obtain a sequential flight path set, wherein the sorting operation is to arrange the mission flight paths in the mission flight path set from far to near;

[0119] The parameters of the drone cluster are adjusted to obtain a task drone cluster, and based on the sequential flight path set, the task drone cluster is dispatched to obtain an aerial wireless transmission channel.

[0120] It is understandable that the obstacle position set refers to a set of positions in the tunnel rescue area that have an obstructive effect on drone flight and radio signal transmission, wherein the obstacle positions include both positions that drones cannot physically cross, such as mountains whose height exceeds the maximum flight height of drones, and positions that drones are prohibited from crossing, such as no-fly zones. The drone dispatch position refers to the location where the drone is released. The drone dispatch position is usually far away from the tunnel rescue area, such as the command center in the rear. Therefore, when dispatching the drone, it is necessary to plan the flight path of the drone so that the drone can reach the designated location faster. At the same time, planning the flight path of the drone can also avoid drone failures due to external forces during flight. The dispatch distance refers to the distance between the initial rescue point location and the drone dispatch location.

[0121] It should be explained that the flight path set is a set of paths for the drone to reach the initial rescue point, but the flight path only follows the principle of the shortest flight distance and does not bypass the obstacle position, so the flight path cannot be used as the final path for dispatching the drone. The mission flight path refers to the flight path after bypassing the obstacle position. Since the mission flight path not only quickly reaches the initial rescue point, but also avoids the obstacle position on the flight path, the mission flight path can be used as a dispatch condition for the drone.

[0122] It is clear that the sequential flight path set refers to the mission flight path set after being arranged in sequence. Since the drone dispatch location is far away from the initial rescue point, the drone takes a long time to fly. This will cause the following problems: when the drone with a closer mission flight path arrives at the designated location, it needs to wait for other drones to land one after another, and this waiting time may be longer due to the differences in the flight paths of each mission. Therefore, the following scheme is selected for drone dispatch: drones with longer mission flight paths are dispatched first. This operation minimizes the waiting time of the drone at the designated location and improves the efficiency of the entire aerial wireless transmission channel architecture. The mission drone refers to a drone that has been parameterized. Before dispatching the drone, the communication parameters of the signal repeater carried by the drone must be set, for example: setting the signal gain of the signal repeater.

[0123] In detail, the parameter adjustment of the drone cluster to obtain the task drone cluster includes:

[0124] The initial rescue point position in the initial rescue point position set is used as the signal transmission starting point to obtain a signal transmission starting point set, the maximum dispatch distance in the dispatch distance set is identified, and the number of signal relay points is calculated based on the maximum dispatch distance and a preset reference relay distance, wherein the number of signal relay points is expressed as:

[0125] ;

[0126] in, Indicates the number of signal relay points. Indicates the maximum dispatch distance, Indicates the reference relay distance, Indicates the rounding symbol;

[0127] Identify the location of the initial rescue point corresponding to the maximum dispatch distance, record the location of the initial rescue point corresponding to the maximum dispatch distance as the relay starting point, record the drone dispatch position as the relay end point, and record the straight line between the relay starting point and the relay end point as the relay path;

[0128] According to the number of signal relay points, the signal relay points are determined on the relay path to obtain a signal relay point set, wherein the signal relay points are evenly distributed on the relay path;

[0129] Extracting signal transmission starting points in sequence from the signal transmission starting point set, based on the signal transmission starting points, identifying the closest distance in the signal relay point set to obtain neighbor relay points, and pairing the neighbor relay points with the signal transmission starting points to obtain a neighbor relay point group;

[0130] Obtaining the neighbor relay distance of the neighbor relay point group, and setting the signal gain of the neighbor relay point based on the neighbor relay distance and the preset initial signal strength to obtain the relay signal gain;

[0131] Summarize and reduce the relay signal gain and neighbor relay point group to obtain the target neighbor point group set;

[0132] Using the neighbor relay point group set, non-neighbor relay points are identified in the signal relay point set to obtain a non-neighbor relay point set, the number of non-neighbors of the non-neighbor relay points in the non-neighbor relay point set is obtained, f drones are extracted from the drone cluster based on the number of non-neighbors, and signal gains are set for the f drones in turn according to a preset initial signal gain to obtain a relay drone cluster, where f represents the number of non-neighbors;

[0133] The number of starting points of the signal transmission starting points in the signal transmission starting point set is obtained, q drones are extracted from the drone cluster, and signal gains of the q drones are set in sequence according to initial signal gains to obtain a starting point drone cluster;

[0134] Extracting n drones from the drone cluster, setting relay gains for the n drones according to the neighbor relay point group set, and obtaining a neighbor drone cluster, wherein n represents the number of target neighbor point groups in the target neighbor point group set;

[0135] The relay drone cluster, the starting point drone cluster and the neighboring drone cluster are aggregated in sequence to obtain a task drone cluster.

[0136] It can be understood that the signal transmission starting point refers to the starting point of signal transmission in the air wireless transmission channel, the maximum dispatch distance refers to the largest dispatch distance in the dispatch distance set, and the reference relay distance refers to the artificially set dispatch distance. The reference relay distance is the optimal distance for signal transmission, which satisfies both the length of signal transmission and the stability of signal transmission. The signal relay point refers to the point evenly distributed on the relay path, and its number is the number of signal relay points. The neighbor relay point refers to the signal relay point closest to the signal transmission starting point, the neighbor relay point group refers to a combination of a neighbor relay point and the corresponding signal transmission starting point, the neighbor relay distance refers to the distance between the neighbor relay point in the neighbor relay point group and the signal transmission starting point, and the initial signal strength refers to the artificially set signal strength, which will be successfully transmitted within a reference relay distance, and the power loss of the drone is also small. The relay signal gain refers to the signal gain required by the neighbor relay point, and the relay signal gain is used to amplify the received rescue signal so that the rescue signal can be clearly transmitted.

[0137] It can be understood that the target neighbor point group set refers to the set of relay signal gain and neighbor relay point group after weight reduction. Since multiple signal transmission starting points may have the same neighbor relay point, weight reduction operation should be performed on this situation to ensure that the neighbor relay point appearing in the target neighbor point group set is unique. The non-neighbor relay point set refers to the set of signal relay points that are not neighbor relay points in the signal relay point set. The non-neighbor number refers to the number of non-neighbor relay points in the non-neighbor relay point set. The initial signal gain refers to the artificially set signal gain. Since the rescue signal received for the first time is not fixed, an initial signal gain should be set to prevent the rescue signal received for the first time from being too weak to be transmitted backwards.

[0138] It should be explained that the relay drone cluster refers to a drone cluster used to transmit rescue signals. The relay drone cluster will be distributed on the relay path according to the signal relay point set. Since these relay drones will not be directly connected to the signal transmission starting point, the signals they receive will be the signals of other drones after signal gain, so the rescue signals they receive will be controllable signals, and only an initial signal gain needs to be set for them. The starting point number of the signal transmission starting point refers to the number of signal transmission starting points in the signal transmission starting point set. The starting point drone cluster refers to a drone cluster used to transmit rescue signals and collect disaster information. Since the starting point drone coincides with the initial rescue point, the starting point drone will directly collect the disaster situation at the initial rescue point and transmit the collected rescue signal downward. Since the collected rescue signal is direct and is not amplified by other drones, it is necessary for the starting point drone to perform an initial amplification gain to prevent the collected rescue signal from being too weak.

[0139] It can be understood that the neighboring drone cluster refers to a collection of drones hovering at neighboring relay points. Although the neighboring drone cluster is also distributed on the relay path according to the signal relay point set, unlike the relay drone, the neighboring drone must receive the rescue signal from the starting point drone and pass the rescue signal on. However, the distance between the neighboring drone and the starting point drone is not the reference relay distance. Therefore, the signal gain of the neighboring drone cannot be set as the initial signal gain, but must be set in combination with the neighboring relay distance.

[0140] Specifically, the signal gain of the neighboring relay point is set based on the neighboring relay distance and the preset initial signal strength to obtain the relay signal gain, including:

[0141] Based on the reference relay distance, setting a reference relay loss;

[0142] According to the neighbor relay distance, the reference relay distance and the reference relay loss, the initial relay loss is calculated using the following formula:

[0143] ;

[0144] in, represents the initial relay loss, represents the reference relay loss, represents the logarithmic function, Indicates the neighbor relay distance.

[0145] According to the initial signal strength and initial relay loss, the relay signal gain is calculated using the following formula:

[0146] ;

[0147] in, Represents the relay signal gain, Indicates the initial signal strength.

[0148] It is clear that the reference relay loss refers to the signal loss within the reference relay distance, which is obtained by searching in relevant literature based on the reference relay distance. For example, if the reference relay distance is 200m, the reference relay loss is 100db. The initial relay loss refers to the loss of the rescue signal in the process of transmitting the rescue signal from the signal transmission starting point to the neighboring relay point in a neighboring relay point group.

[0149] Specifically, the relay signal gain and the neighbor relay point group are aggregated and reduced to obtain a target neighbor point group set, including:

[0150] Summarize the relay signal gain and the neighbor relay point group by key-value pairs to obtain an original neighbor point group set;

[0151] Sequentially extracting neighbor relay point groups from the original neighbor point group set, recording the neighbor relay point group as a central relay point group, and identifying multiple repeated relay point groups in the original neighbor point group set based on the central relay point group;

[0152] Obtain multiple repeated signal gains of the multiple repeated relay point groups, obtain the central signal gain of the central relay point group, identify the maximum signal gain among the multiple repeated signal gains and the central signal gain, determine the maximum relay point group corresponding to the maximum signal gain, and use the maximum relay point group and the maximum signal gain as the target neighbor point group and the target signal gain, respectively;

[0153] The target neighbor point group and the target signal gain are summarized by key-value pairs to obtain a target neighbor point group set, wherein the target neighbor point group set is expressed as:

[0154] ;

[0155] in, represents the target neighbor point set, represents the first target neighbor point group, Indicates the starting point of the first signal transmission. Indicates the first nearest neighbor relay point, Indicates the first target signal gain, represents the nth target neighbor point group, Indicates the starting point of the nth signal transmission, represents the nth nearest neighbor relay point, represents the nth target signal gain, and n represents the number of target neighbor point groups in the target neighbor point group set.

[0156] It can be understood that the original neighbor point group set refers to the summary set of direct key-value pairs of relay signal gain and neighbor relay point group. The repeated relay point group refers to the original neighbor point group in which the repeated relay point is the same as the central relay point in the central relay point group, wherein the repeated relay point is the neighbor relay point in the repeated relay point group, the original neighbor point group refers to the neighbor relay point group in the original neighbor point group set, the central relay point refers to the neighbor relay point in the central relay point group, the repeated signal gain refers to the relay signal gain corresponding to the repeated relay point group, the central signal gain refers to the relay signal gain corresponding to the central relay point group, and the maximum relay point group refers to the neighbor relay point group corresponding to the maximum signal gain.

[0157] For example, a certain original neighbor point group set is: {([AW]: 100), ([BW]: 120), ([CG]: 150), ([DW]: 160), ([EK]: 180)}, and a neighbor relay point group is extracted from the original neighbor point group set as: ([AW]: 100), then the neighbor relay point group is recorded as the central relay point group, and the neighbor relay points and relay signal gains of the central relay point group are W and 100 respectively, that is, the central relay point and the central signal gain are W and 100 respectively, then the original neighbor point groups with neighbor relay points W in the original neighbor point group set are: ([BW]: 100), ([BW]: 120) and ([D W]:160), that is, they are repeated relay point groups, and their multiple relay signal gains, that is, multiple repeated signal gains, are respectively: 100, 120 and 160. The multiple repeated signal gains and the central gain signal are maximum value identified, and the maximum signal gain is 160, so 160 is used as the target signal gain, and the repeated relay point group or the central relay point group with a relay signal gain of 160 is [DW], so [DW] is the maximum relay point group, that is, the target relay point group.

[0158] S3. According to the preliminary rescue point location set and the drone cluster, the tunnel rescue area is accurately scanned to obtain multiple accurate rescue point locations.

[0159] It can be understood that the precise rescue point location set refers to the specific disaster-stricken locations obtained through drone cluster survey. Since the preliminary rescue point location set is obtained by comparing the differences in the target rescue area pictures before and after the disaster, this difference may be caused by the tunnel disaster or other reasons. For example, the felling of trees will cause the forest area in the disaster tunnel scan image to be different from the forest area in the picture before the disaster, and this difference is not caused by the tunnel disaster. Therefore, the preliminary rescue point location set cannot fully reflect the disaster situation in the target rescue area. Therefore, it is necessary to use a drone cluster to conduct another precise scan of the tunnel rescue area.

[0160] It should be explained that the drone cluster has the function of building an aerial wireless transmission channel, but the drone can take close-up photos of the tunnel rescue area by carrying a camera. Therefore, the scanned image obtained by the drone cluster will be a clear two-dimensional rescue area image, which will be able to reflect whether a disaster has occurred in the tunnel rescue area and whether the disaster is serious. For example, a drone captured a large-scale collapse in a certain area, thereby determining that the area is a precise rescue point location. Through further data collection by the drone cluster, a comprehensive disaster investigation can be conducted on the entire tunnel rescue area. It should be noted that due to the limited equipment carried by the drone, it can only perform simple recognition of the captured images, so it is necessary to manually make further judgments on the precise rescue point location in subsequent operations.

[0161] S4. Utilizing the aerial wireless transmission channel, the multiple precise rescue point locations are sequentially transmitted to a preset aggregation gateway to obtain a target rescue point location set.

[0162] It can be understood that the aggregation gateway refers to a network device that can organize wireless data signals, wherein the wireless data signals, for example, multiple precise rescue point locations. After the drone cluster collects multiple precise rescue point locations, the rescue point location set is sent to the aggregation gateway. The aggregation gateway further filters and integrates the precise rescue point location set to obtain the target rescue point location set. At the same time, relevant personnel can also call the data of the aggregation gateway at any time to better cooperate with the rescue work.

[0163] It can be understood that the target rescue point location set refers to the precise rescue point location set that has been screened and sorted. Although the target rescue point location set can be obtained through the drone cluster, there may be duplicate data in these target rescue point location sets because multiple drones may take pictures of the same area. At the same time, due to the different shooting angles of different drones, the judgment of the precise rescue point location is also different. For example: drone A takes a picture from above and finds that there is no obvious collapse of a certain mountain, but drone B takes a picture from the side and finds that the same mountain has obvious collapse, so the two drones will have different judgments on the precise rescue point location.

[0164] In detail, the method of using the aerial wireless transmission channel to sequentially transmit the multiple precise rescue point locations to a preset aggregation gateway to obtain a target rescue point location set includes:

[0165] Counting the location appearance frequency of each precise rescue point location among the multiple precise rescue point locations to obtain a location appearance frequency set;

[0166] Extracting position occurrence frequencies from the position occurrence frequency set in sequence;

[0167] Determine whether the location occurrence frequency is greater than a preset occurrence frequency threshold:

[0168] If the occurrence frequency of the location is greater than the occurrence frequency threshold, then obtaining the target rescue point location corresponding to the occurrence frequency of the location;

[0169] If the occurrence frequency of the location is not greater than the occurrence frequency threshold, the location of the low-frequency rescue point corresponding to the occurrence frequency of the location is obtained, and a drone-photographed picture of the low-frequency rescue point location is retrieved;

[0170] Manually identify the pictures taken by the drone to obtain manual identification results, and record the low-frequency rescue point positions that are manually identified as rescue points as target rescue point positions, wherein the manual identification results include: rescue points and non-rescue points;

[0171] The target rescue point positions are aggregated to obtain a target rescue point position set.

[0172] It is clear that the location occurrence frequency refers to the number of times different precise rescue point locations appear in the precise rescue point location concentration. The occurrence frequency threshold refers to an integer set manually, which is used to determine whether the precise rescue point location is accurate. Since the precise rescue point location is determined by the built-in program of the drone, there is inaccuracy. However, when multiple drones determine that a certain location in the tunnel rescue area is a precise rescue point location, it means that the location has a great possibility of being affected by disasters, so no human judgment is required.

[0173] It should be explained that the low-frequency rescue point location refers to the precise rescue point location corresponding to the frequency of occurrence of the location that is not greater than the frequency threshold, and the drone-photographed picture refers to the picture of the disaster situation in the tunnel rescue area taken by the drone at the precise rescue point location. There may be multiple drone-photographed pictures because the same drone may have taken multiple pictures. The manual identification result refers to the result of the manual judgment of whether the precise rescue point location is a rescue point. The judgment result is of two types: rescue point and non-rescue point. The judgment basis of the rescue point is: the manual judgment that the precise rescue point location has undergone a disaster or may undergo a disaster, and the judgment basis of the non-rescue point is: the manual judgment that the precise rescue point location has not undergone a disaster and there is no possibility of a disaster in a short time.

[0174] S5. Identify the target rescue area set corresponding to the target rescue point location set, perform rescue path planning according to the target rescue area set to obtain a rescue path set, and based on the rescue path set, dispatch a pre-built back-end rescue unit to the target rescue area set to obtain a front-end rescue unit.

[0175] It can be understood that the target rescue area refers to the area in the tunnel rescue area where manual rescue work needs to be carried out, the rescue path set refers to the set of routes for manual rescue forces to go to the target rescue area, and the rescue path set is planned by the command center of the rescue operation. The back-end rescue unit refers to the various manual rescue forces mobilized to respond to the tunnel rescue operation, including: medical team, collection team and rescue team, and the front-end rescue unit refers to the integration of manual rescue forces and dispatching them to the front of the tunnel disaster.

[0176] For example, a tunnel rescue command center receives a set of target rescue areas: Area A, Area B, and Area C. The command center then plans paths for these areas to make the path to the target rescue area set as fast as possible. Next, a medical team, a collection team, and a rescue team are divided into a rescue unit. There are three such rescue units in total. These three rescue units are dispatched to Area A, Area B, and Area C according to the rescue path. These three rescue units constitute the front-end rescue unit.

[0177] S6. Using the front-end rescue unit to collect damage information of the target rescue area set, and obtain tunnel damage data, wherein the tunnel damage data includes: manually taken photos, manually taken videos and manually described texts.

[0178] It needs to be explained that the target rescue area set is obtained based on photography by a drone cluster. It only knows that a disaster has occurred in the target rescue area set, but the extent of casualties and building damage caused by the disaster is not known. The front-end rescue unit can have a more detailed understanding of the target rescue area set, and at the same time, carry out specific rescue operations on the target rescue area set.

[0179] Exemplarily, an area A is concentrated in the target rescue area, and the rescue unit carrying out rescue work in area A is rescue unit A, wherein rescue unit A is a part of the front-end rescue unit. Rescue unit A takes pictures of the disaster situation in area A, obtains images and videos of area A, and makes a text description of the specific disaster situation in area A, detailing the number of casualties, collapsed area and required rescue supplies in area A.

[0180] S7. According to the aerial wireless transmission channel and tunnel destruction data, the target rescue area set is divided into rescue environment to obtain a closed rescue area set and an extreme rescue area set.

[0181] It can be understood that the enclosed rescue area refers to an area with a relatively closed environment, such as a closed room, and the extreme rescue environment refers to an area with extremely small rescue space where larger wireless communication equipment cannot be installed, such as a collapsed room.

[0182] It needs to be explained that when the front-end rescue unit is carrying out rescue operations, due to the different rescue environments, the aerial wireless transmission channel will not be able to meet the needs of all rescue environments. For example, in a closed rescue environment, the rescue signal will be greatly blocked by the closed environment, resulting in incomplete signals received by the aerial wireless transmission channel at the beginning. Therefore, it is necessary to build a corresponding signal transmission channel for this kind of rescue environment with large-scale obstruction.

[0183] It is understandable that after the front-end rescue unit collects the tunnel damage data, it will transmit the tunnel damage data to the command center at the rear through the aerial wireless transmission channel. Since the front-end rescue unit has not yet carried out large-scale rescue work at this time, it only carries out rescue operations for simple rescue situations, such as: medical assistance for the wounded. For severely collapsed parts, the details of the collapsed part need to be reported to the command center, waiting for further rescue supplies and communication architecture.

[0184] Furthermore, rescuers in the front-end rescue unit should carry satellite phones, which are devices that conduct voice, data and text message communications through satellite communication systems. They can be used in various terrains and are not restricted by geographical locations. After collecting tunnel damage data, rescuers should use aerial wireless transmission channels to transmit tunnel damage data to the command center. They should also use satellite phones to contact the command center to prevent the aerial wireless transmission channel from failing due to sudden failures, such as errors in setting the position of the drone, bad weather, etc., which may prevent the tunnel damage data from being transmitted to the command center in a timely manner. At the same time, if the satellite signal between the rescuer's location and the command center is strong, the command center can also quickly carry out front-end rescue, such as building a fiber optic channel.

[0185] S8. Construct a ground wireless communication framework for the enclosed rescue area set to obtain a ground wireless transmission channel set, and lay a ground wired communication framework for the extreme rescue area set to obtain a ground wired transmission channel set, thereby completing the construction of a combined air-ground-space tunnel emergency rescue communication.

[0186] It can be understood that the ground wireless transmission channel refers to a communication channel that can transmit signals from a closed rescue area to a rear command center wirelessly, and the ground wired transmission channel refers to a communication channel that can transmit signals from an extreme rescue area to a rear command center by wire.

[0187] In detail, the ground wireless communication framework is performed on the closed rescue area set to obtain a ground wireless transmission channel set, including:

[0188] Selecting enclosed rescue areas in sequence from the enclosed rescue areas, dispatching the pre-acquired portable communication vehicle to the enclosed rescue area, wherein the portable communication vehicle is equipped with a signal repeater and stops at the entrance of the enclosed rescue area;

[0189] Identify the vehicle-mounted neighboring drone that is closest to the portable communication vehicle-mounted device, and use the vehicle-mounted neighboring drone to perform a signal access operation between the portable communication vehicle-mounted device and the air wireless transmission channel to obtain a ground external transmission channel;

[0190] The pre-acquired self-organizing network single soldier is carried to the front-end rescue unit to obtain a closed rescue unit, the closed rescue unit is connected to the ground external transmission channel for signal access to obtain a ground wireless transmission channel, and the ground wireless transmission channels are aggregated to obtain a ground wireless transmission channel set.

[0191] It is understandable that the portable communication vehicle refers to a movable relay point that can receive signals from a closed rescue area. The vehicle-mounted neighboring drone refers to the drone that is closest to the portable communication vehicle in the air wireless transmission channel. The ground external transmission channel refers to the air wireless transmission channel connected to the portable communication vehicle. The self-organizing network soldier refers to a wireless communication device that can be carried with you. The closed rescue unit refers to a front-end rescue unit carrying a self-organizing network soldier.

[0192] It needs to be explained that after the portable communication vehicle is connected to the aerial wireless transmission channel, the portable communication vehicle can be regarded as a relay point of the aerial wireless transmission channel. Since it is very close to the closed rescue environment and the self-organizing network soldier is portable and anti-interference, the signal in the closed rescue area can be clearly received through the portable communication vehicle.

[0193] In detail, the laying of ground wired communication for the extreme rescue area set to obtain a ground wired transmission channel set includes:

[0194] Selecting extreme rescue areas in the extreme rescue area set in turn, and obtaining the optical fiber laying distance between the extreme rescue area and a preset rear command center;

[0195] Acquire the laid optical fiber according to the optical fiber laying distance, and carry the laid optical fiber to a preset mobile vehicle to obtain a ground wired laying vehicle, wherein the mobile vehicle carries a data transmission device;

[0196] The ground wired laying vehicle is used to lay optical fiber in an extreme rescue area to obtain a ground wired transmission channel, and the ground wired transmission channels are aggregated to obtain a ground wired transmission channel set.

[0197] It is clear that the rear command center refers to the area for commanding rescue activities, where rescue activities include: dispatching drone clusters, dispatching rear rescue units, etc. The fiber optic laying distance refers to the distance between the extreme rescue area and the rear command center, the laid optical fiber refers to the carrier connecting the rear command center and the extreme rescue area, which is used to transmit signals between the extreme rescue area and the rear command center, the ground wired laying vehicle refers to a mobile vehicle with laid optical fiber, which will travel from the rear command center to the extreme rescue area, and the laying of optical fiber will be carried out by professionals during this driving process, and the data transmission device refers to a device that can transmit rescue information in the extreme rescue area.

[0198] The present invention is to solve the problems described in the background technology. The present invention first performs a high-altitude range scan on the tunnel rescue area to obtain a disaster tunnel scan map, and performs an image comparison operation on the disaster tunnel scan map, thereby realizing the acquisition of a preliminary rescue point location set, providing a basis for the subsequent construction of an aerial wireless transmission channel, and then, according to the preliminary rescue point location set, a drone cluster is used to perform aerial wireless communication on the tunnel rescue area to obtain an aerial wireless transmission channel, which provides a way to subsequently transmit detailed information on the tunnel rescue area, and also provides security and information support for dispatching back-end rescue units. At the same time, the aerial wireless transmission channel avoids the position of obstacles on the basis of ensuring a short transmission path, thereby improving the signal transmission efficiency of the entire emergency rescue communication. The preliminary rescue point location set and the drone cluster are used to accurately scan the tunnel rescue area to obtain multiple accurate rescue point locations. This step accurately identifies the rescue points in the tunnel rescue area, provides accurate targets for subsequent rescue work, avoids a large amount of invalid rescue information transmission, and improves the accuracy of signal transmission in emergency rescue communications. Through the aerial wireless transmission channel, multiple accurate rescue point locations are sequentially transmitted to the aggregation gateway to obtain a target rescue point location set, which optimizes the accurate rescue point location set, making the rescue points more accurate, and further improving the signal transmission accuracy of the emergency rescue communication. The first step improves the accuracy of signal transmission in emergency rescue communications. Next, the target rescue area set corresponding to the target rescue point location set is identified, and the rescue path is planned according to the target rescue area set to obtain the rescue path set. The rescue path planning is realized, so that the rescue forces in the rear can reach the rescue site safely and quickly. Based on the rescue path set, the rear rescue unit is dispatched to the target rescue area set to obtain the front rescue unit. This step successfully dispatches the rescue force to the rescue site, which provides a prerequisite for subsequent understanding of the specific situation of the target rescue area. The front rescue unit is used to collect the damage situation of the target rescue area set to obtain the tunnel damage situation. Data is collected to realize the collection of specific conditions of the target rescue area. Then, the rescue environment of the target rescue area set is divided according to the tunnel damage data to obtain a closed rescue area set and an extreme rescue area set. This divides the target rescue area in more detail and provides conditions for the targeted architecture of the subsequent transmission channel. Finally, a ground wireless communication framework is constructed for the closed rescue area set to obtain a ground wireless transmission channel set, and a ground wired communication is laid for the extreme rescue area set to obtain a ground wired transmission channel set, so that different types of rescue areas can have corresponding transmission channels, which improves the accuracy of signal transmission in the entire emergency rescue communication. Therefore, the present invention can improve the accuracy and efficiency of signal transmission in emergency rescue communication.

[0199] like Figure 2 As shown, it is a functional module diagram of an air-ground combined tunnel emergency rescue communication construction system provided by an embodiment of the present invention.

[0200] The air-ground-integrated tunnel emergency rescue communication construction system 100 of the present invention can be installed in an electronic device. According to the functions to be implemented, the air-ground-integrated tunnel emergency rescue communication construction system 100 can include an air channel construction module 101, a rescue location acquisition module 102, a tunnel data acquisition module 103 and an emergency communication construction module 104. The module of the present invention can also be referred to as a unit, which refers to a series of computer program segments that can be executed by an electronic device processor and can complete fixed functions, which are stored in the memory of the electronic device.

[0201] The aerial channel building module 101 is used to obtain a tunnel rescue area, perform a high-altitude range scan on the tunnel rescue area, obtain a disaster tunnel scan map, perform an image comparison operation on the disaster tunnel scan map, obtain a preliminary rescue point location set, and use a pre-built drone cluster to perform aerial wireless communication on the tunnel rescue area according to the preliminary rescue point location set to obtain an aerial wireless transmission channel, wherein the drone cluster is equipped with a signal repeater;

[0202] The rescue location acquisition module 102 is used to accurately scan the tunnel rescue area according to the preliminary rescue point location set and the drone cluster to obtain multiple accurate rescue point locations, and use the aerial wireless transmission channel to sequentially transmit the multiple accurate rescue point locations to a preset aggregation gateway to obtain a target rescue point location set;

[0203] The tunnel data collection module 103 is used to identify the target rescue area set corresponding to the target rescue point location set, perform rescue path planning according to the target rescue area set to obtain a rescue path set, dispatch a pre-built back-end rescue unit to the target rescue area set based on the rescue path set to obtain a front-end rescue unit, and use the front-end rescue unit to collect damage conditions on the target rescue area set to obtain tunnel damage data, wherein the tunnel damage data includes: manually taken photos, manually taken videos and manually described texts;

[0204] The emergency communication construction module 104 is used to divide the rescue environment of the target rescue area set according to the aerial wireless transmission channel and tunnel damage data, obtain a closed rescue area set and an extreme rescue area set, construct a ground wireless communication framework for the closed rescue area set to obtain a ground wireless transmission channel set, and lay ground wired communications for the extreme rescue area set to obtain a ground wired transmission channel set, thereby completing the construction of a combined air-ground-space tunnel emergency rescue communication.

[0205] In detail, the modules in the air-ground combined tunnel emergency rescue communication construction system 100 in the embodiment of the present invention are used in the same manner as above. Figure 1The same technical means are used as the method for building the air-ground combined tunnel emergency rescue communication described in the text, and can produce the same technical effects, so I will not go into details here.

[0206] like Figure 3 , which is a schematic diagram of the structure of an electronic device for implementing a method for establishing tunnel emergency rescue communications in a combined air-ground-space manner provided by an embodiment of the present invention.

[0207] The electronic device 1 may include a processor 10, a memory 11 and a bus 12, and may also include a computer program stored in the memory 11 and executable on the processor 10, such as a method program for establishing tunnel emergency rescue communications for combined air-space-ground.

[0208] Among them, the memory 11 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, mobile hard disk, multimedia card, card-type memory (for example: SD or DX memory, etc.), magnetic memory, disk, optical disk, etc. In some embodiments, the memory 11 can be an internal storage unit of the electronic device 1, such as a mobile hard disk of the electronic device 1. In other embodiments, the memory 11 can also be an external storage device of the electronic device 1, such as a plug-in mobile hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device 1. Further, the memory 11 also includes an internal storage unit of the electronic device 1 and an external storage device. The memory 11 can not only be used to store application software and various types of data installed in the electronic device 1, such as the code of the tunnel emergency rescue communication construction method program of the air-ground joint space, etc., but also can be used to temporarily store data that has been output or is to be output.

[0209] The processor 10 may be composed of an integrated circuit in some embodiments, for example, a single packaged integrated circuit, or a plurality of packaged integrated circuits with the same or different functions, including one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and a combination of various control chips, etc. The processor 10 is the control core (Control Unit) of the electronic device, and uses various interfaces and lines to connect the various components of the entire electronic device, and executes or executes the programs or modules stored in the memory 11 (such as the method program for building tunnel emergency rescue communications for air-ground combined), and calls the data stored in the memory 11 to execute various functions of the electronic device 1 and process data.

[0210] The bus 12 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus 12 may be divided into an address bus, a data bus, a control bus, etc. The bus 12 is configured to realize connection and communication between the memory 11 and at least one processor 10, etc.

[0211] Figure 3 Only an electronic device with components is shown, and those skilled in the art will understand that Figure 3 The structure shown does not constitute a limitation on the electronic device 1, and may include fewer or more components than shown in the figure, or combine certain components, or arrange the components differently.

[0212] For example, although not shown, the electronic device 1 may also include a power source (such as a battery) for supplying power to various components. Preferably, the power source may be logically connected to the at least one processor 10 through a power management system, so that the power management system can realize functions such as charging management, discharging management, and power consumption management. The power source may also include any components such as one or more DC or AC power sources, recharging systems, power failure detection circuits, power converters or inverters, and power status indicators. The electronic device 1 may also include a variety of sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be repeated here.

[0213] Furthermore, the electronic device 1 may also include a network interface. Optionally, the network interface may include a wired interface and / or a wireless interface (such as a WI-FI interface, a Bluetooth interface, etc.), which is generally used to establish a communication connection between the electronic device 1 and other electronic devices.

[0214] Optionally, the electronic device 1 may further include a user interface, which may be a display, an input unit (such as a keyboard), or a standard wired interface or a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, and an OLED (Organic Light-Emitting Diode) touch device. The display may also be appropriately referred to as a display screen or a display unit, which is used to display information processed in the electronic device 1 and to display a visual user interface.

[0215] The program of the method for establishing the tunnel emergency rescue communication for the air-ground combined with the ground-ground combined is a combination of multiple instructions, and when it is run in the processor 10, it can achieve:

[0216] Acquire a tunnel rescue area, perform a high-altitude range scan on the tunnel rescue area to obtain a disaster tunnel scan map, perform an image comparison operation on the disaster tunnel scan map, and obtain a preliminary rescue point location set;

[0217] According to the preliminary rescue point location set, a pre-built drone cluster is used to establish aerial wireless communication in the tunnel rescue area to obtain an aerial wireless transmission channel, wherein the drone cluster is equipped with a signal repeater;

[0218] According to the preliminary rescue point location set and the drone cluster, the tunnel rescue area is accurately scanned to obtain multiple accurate rescue point locations;

[0219] Using the aerial wireless transmission channel, the multiple precise rescue point locations are sequentially transmitted to a preset aggregation gateway to obtain a target rescue point location set;

[0220] Identify the target rescue area set corresponding to the target rescue point location set, perform rescue path planning according to the target rescue area set to obtain a rescue path set, and dispatch a pre-built back-end rescue unit to the target rescue area set based on the rescue path set to obtain a front-end rescue unit;

[0221] The front-end rescue unit is used to collect damage information of the target rescue area set to obtain tunnel damage data, wherein the tunnel damage data includes: manually taken photos, manually taken videos and manually described texts;

[0222] According to the aerial wireless transmission channel and tunnel destruction data, the target rescue area set is divided into rescue environment to obtain a closed rescue area set and an extreme rescue area set;

[0223] A ground wireless communication framework is constructed for the enclosed rescue area set to obtain a ground wireless transmission channel set; ground wired communication is laid for the extreme rescue area set to obtain a ground wired transmission channel set, thereby completing the construction of air-ground-space combined tunnel emergency rescue communication.

[0224] Specifically, the specific implementation method of the processor 10 for the above instructions can refer to Figures 1 to 3 The description of the relevant steps in the corresponding embodiments will not be repeated here.

[0225] Furthermore, if the module / unit integrated in the electronic device 1 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. The computer-readable storage medium can be volatile or non-volatile. For example, the computer-readable medium can include: any entity or system that can carry the computer program code, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, and a read-only memory (ROM).

[0226] The present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor of an electronic device, the computer program can implement:

[0227] Acquire a tunnel rescue area, perform a high-altitude range scan on the tunnel rescue area to obtain a disaster tunnel scan map, perform an image comparison operation on the disaster tunnel scan map, and obtain a preliminary rescue point location set;

[0228] According to the preliminary rescue point location set, a pre-built drone cluster is used to establish aerial wireless communication in the tunnel rescue area to obtain an aerial wireless transmission channel, wherein the drone cluster is equipped with a signal repeater;

[0229] According to the preliminary rescue point location set and the drone cluster, the tunnel rescue area is accurately scanned to obtain multiple accurate rescue point locations;

[0230] Using the aerial wireless transmission channel, the multiple precise rescue point locations are sequentially transmitted to a preset aggregation gateway to obtain a target rescue point location set;

[0231] Identify the target rescue area set corresponding to the target rescue point location set, perform rescue path planning according to the target rescue area set to obtain a rescue path set, and dispatch a pre-built back-end rescue unit to the target rescue area set based on the rescue path set to obtain a front-end rescue unit;

[0232] The front-end rescue unit is used to collect damage information of the target rescue area set to obtain tunnel damage data, wherein the tunnel damage data includes: manually taken photos, manually taken videos and manually described texts;

[0233] According to the aerial wireless transmission channel and tunnel destruction data, the target rescue area set is divided into rescue environment to obtain a closed rescue area set and an extreme rescue area set;

[0234] A ground wireless communication framework is constructed for the enclosed rescue area set to obtain a ground wireless transmission channel set; ground wired communication is laid for the extreme rescue area set to obtain a ground wired transmission channel set, thereby completing the construction of air-ground-space combined tunnel emergency rescue communication.

[0235] In the several embodiments provided by the present invention, it should be understood that the disclosed devices, systems and methods can be implemented in other ways. For example, the system embodiments described above are only illustrative, and actual implementation may have other division methods.

[0236] The modules described as separate components may or may not be physically separated, and the components shown as modules 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 modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0237] In addition, each functional module 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 hardware plus software functional modules.

[0238] It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0239] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. A method for establishing tunnel emergency rescue communication by combining air, ground and space, characterized in that: The method comprises: Acquire a tunnel rescue area, perform a high-altitude range scan on the tunnel rescue area to obtain a disaster tunnel scan map, perform an image comparison operation on the disaster tunnel scan map, and obtain a preliminary rescue point location set; According to the preliminary rescue point location set, a pre-built drone cluster is used to establish aerial wireless communication in the tunnel rescue area to obtain an aerial wireless transmission channel, wherein the drone cluster is equipped with a signal repeater; According to the preliminary rescue point location set and the drone cluster, the tunnel rescue area is accurately scanned to obtain multiple accurate rescue point locations; Using the aerial wireless transmission channel, the multiple precise rescue point locations are sequentially transmitted to a preset aggregation gateway to obtain a target rescue point location set; Identify the target rescue area set corresponding to the target rescue point location set, perform rescue path planning according to the target rescue area set to obtain a rescue path set, and dispatch a pre-built back-end rescue unit to the target rescue area set based on the rescue path set to obtain a front-end rescue unit; The front-end rescue unit is used to collect damage information of the target rescue area set to obtain tunnel damage data, wherein the tunnel damage data includes: manually taken photos, manually taken videos and manually described texts; According to the aerial wireless transmission channel and tunnel destruction data, the target rescue area set is divided into rescue environment to obtain a closed rescue area set and an extreme rescue area set; A ground wireless communication framework is constructed for the confined rescue area set to obtain a ground wireless transmission channel set, and a ground wired communication is laid for the extreme rescue area set to obtain a ground wired transmission channel set, thereby completing the construction of an air-ground-space combined tunnel emergency rescue communication; The performing of an image comparison operation on the scanned image of the disaster tunnel to obtain a preliminary rescue point location set includes: Obtain a normal tunnel scan image of the tunnel rescue area during a non-disaster period, wherein the normal tunnel scan image is the last scan image during the non-disaster period; According to a preset standard definition and a standard image size, the normal tunnel scan image and the disaster tunnel scan image are calibrated to obtain a calibrated normal image and a calibrated disaster image, wherein the calibrated normal image and the calibrated disaster image have the same definition and image size; Constructing the calibrated normal map and the calibrated disaster map in the same coordinate system to obtain a normal coordinate map and a disaster coordinate map, and performing pixel value analysis on the normal coordinate map to obtain a normal pixel value set; Extract normal pixel values ​​in the normal pixel value set in sequence, obtain pixel coordinates corresponding to the normal pixel values, identify pixel values ​​of coordinate points in a disaster coordinate map based on the pixel coordinates, obtain disaster pixel values, and calculate pixel differences between the normal pixel values ​​and the disaster pixel values; Determine whether the pixel difference is greater than a preset standard deviation: If the pixel difference is greater than the standard deviation, the pixel coordinates are marked as the initial rescue point position; Summarizing the preliminary rescue point locations to obtain a preliminary rescue point location set; The method of using the aerial wireless transmission channel to sequentially transmit the multiple precise rescue point locations to a preset aggregation gateway to obtain a target rescue point location set includes: Counting the location appearance frequency of each precise rescue point location among the multiple precise rescue point locations to obtain a location appearance frequency set; Extracting position occurrence frequencies from the position occurrence frequency set in sequence; Determine whether the location occurrence frequency is greater than a preset occurrence frequency threshold: If the occurrence frequency of the location is greater than the occurrence frequency threshold, then obtaining the target rescue point location corresponding to the occurrence frequency of the location; If the occurrence frequency of the location is not greater than the occurrence frequency threshold, the location of the low-frequency rescue point corresponding to the occurrence frequency of the location is obtained, and a drone-photographed picture of the low-frequency rescue point location is retrieved; Manually identify the pictures taken by the drone to obtain manual identification results, and record the low-frequency rescue point positions that are manually identified as rescue points as target rescue point positions, wherein the manual identification results include: rescue points and non-rescue points; Summarizing the target rescue point locations to obtain a target rescue point location set; The step of performing ground wireless communication on the enclosed rescue area set to obtain a ground wireless transmission channel set includes: Selecting enclosed rescue areas in sequence from the enclosed rescue areas, dispatching the pre-acquired portable communication vehicle to the enclosed rescue area, wherein the portable communication vehicle is equipped with a signal repeater and stops at the entrance of the enclosed rescue area; Identify the vehicle-mounted neighboring drone that is closest to the portable communication vehicle-mounted device, and use the vehicle-mounted neighboring drone to perform a signal access operation between the portable communication vehicle-mounted device and the air wireless transmission channel to obtain a ground external transmission channel; The pre-acquired self-organizing network single soldier is carried to the front-end rescue unit to obtain a closed rescue unit, the closed rescue unit is connected to the ground external transmission channel for signal access to obtain a ground wireless transmission channel, and the ground wireless transmission channels are aggregated to obtain a ground wireless transmission channel set; The step of laying ground wired communications for the extreme rescue area set to obtain a ground wired transmission channel set includes: Selecting extreme rescue areas in the extreme rescue area set in turn, and obtaining the optical fiber laying distance between the extreme rescue area and a preset rear command center; Acquire the laid optical fiber according to the optical fiber laying distance, and carry the laid optical fiber to a preset mobile vehicle to obtain a ground wired laying vehicle, wherein the mobile vehicle carries a data transmission device; The ground wired laying vehicle is used to lay optical fiber in an extreme rescue area to obtain a ground wired transmission channel, and the ground wired transmission channels are aggregated to obtain a ground wired transmission channel set.

2. The method for establishing tunnel emergency rescue communication by combining air, ground and space as claimed in claim 1, characterized in that: The method of using a pre-built drone cluster to establish aerial wireless communication in the tunnel rescue area according to the preliminary rescue point location set to obtain an aerial wireless transmission channel includes: Perform obstacle identification on the scanned image of the disaster tunnel to obtain an obstacle position set; Extracting preliminary rescue point positions in sequence from the preliminary rescue point position set, calculating the dispatch distance between the preliminary rescue point position and the preset drone dispatch position, and obtaining a dispatch distance set; According to the dispatch distance set, a flight path set of the drone cluster is set, wherein the flight path set is a set of straight-line paths between the drone dispatch location and the initial rescue point location; Extract flight paths in sequence from the flight path set, and extract obstacle positions in sequence from the obstacle position set; Determine whether the flight path contains an obstacle position: If the flight path contains an obstacle position, perform an obstacle circumvention operation on the flight path to obtain a mission flight path; If the flight path does not contain an obstacle position, the flight path is recorded as a mission flight path; Summarizing the mission flight paths to obtain a mission flight path set, and performing a sorting operation on the mission flight path set to obtain a sequential flight path set, wherein the sorting operation is to arrange the mission flight paths in the mission flight path set from far to near; The parameters of the drone cluster are adjusted to obtain a task drone cluster, and based on the sequential flight path set, the task drone cluster is dispatched to obtain an aerial wireless transmission channel.

3. The method for establishing tunnel emergency rescue communication by combining air, space and land as claimed in claim 2, characterized in that: The step of adjusting parameters of the drone cluster to obtain a task drone cluster includes: The initial rescue point position in the initial rescue point position set is used as the signal transmission starting point to obtain a signal transmission starting point set, the maximum dispatch distance in the dispatch distance set is identified, and the number of signal relay points is calculated based on the maximum dispatch distance and a preset reference relay distance, wherein the number of signal relay points is expressed as: ； in, Indicates the number of signal relay points. Indicates the maximum dispatch distance, Indicates the reference relay distance, Indicates the rounding symbol; Identify the location of the initial rescue point corresponding to the maximum dispatch distance, record the location of the initial rescue point corresponding to the maximum dispatch distance as the relay starting point, record the drone dispatch position as the relay end point, and record the straight line between the relay starting point and the relay end point as the relay path; According to the number of signal relay points, the signal relay points are determined on the relay path to obtain a signal relay point set, wherein the signal relay points are evenly distributed on the relay path; Extracting signal transmission starting points in sequence from the signal transmission starting point set, based on the signal transmission starting points, identifying the closest distance in the signal relay point set to obtain neighbor relay points, and pairing the neighbor relay points with the signal transmission starting points to obtain a neighbor relay point group; Obtaining the neighbor relay distance of the neighbor relay point group, and setting the signal gain of the neighbor relay point based on the neighbor relay distance and the preset initial signal strength to obtain the relay signal gain; Summarize and reduce the relay signal gain and neighbor relay point group to obtain the target neighbor point group set; Using the neighbor relay point group set, non-neighbor relay points are identified in the signal relay point set to obtain a non-neighbor relay point set, the number of non-neighbors of the non-neighbor relay points in the non-neighbor relay point set is obtained, f drones are extracted from the drone cluster based on the number of non-neighbors, and signal gains are set for the f drones in turn according to a preset initial signal gain to obtain a relay drone cluster, where f represents the number of non-neighbors; The number of starting points of the signal transmission starting points in the signal transmission starting point set is obtained, q drones are extracted from the drone cluster, and signal gains of the q drones are set in sequence according to initial signal gains to obtain a starting point drone cluster; Extracting n drones from the drone cluster, setting relay gains for the n drones according to the neighbor relay point group set, and obtaining a neighbor drone cluster, wherein n represents the number of target neighbor point groups in the target neighbor point group set; The relay drone cluster, the starting point drone cluster and the neighboring drone cluster are aggregated in sequence to obtain a task drone cluster.

4. The method for establishing tunnel emergency rescue communication by combining air, ground and space as claimed in claim 3, characterized in that: The signal gain of the neighboring relay point is set based on the neighboring relay distance and the preset initial signal strength to obtain the relay signal gain, including: Based on the reference relay distance, setting a reference relay loss; According to the neighbor relay distance, the reference relay distance and the reference relay loss, the initial relay loss is calculated using the following formula: ； in, represents the initial relay loss, represents the reference relay loss, represents the logarithmic function, Indicates the neighbor relay distance; According to the initial signal strength and initial relay loss, the relay signal gain is calculated using the following formula: ； in, Represents the relay signal gain, Indicates the initial signal strength.

5. The method for establishing tunnel emergency rescue communication by combining air, ground and space as claimed in claim 4, characterized in that: The relay signal gain and the neighbor relay point group are aggregated and reduced to obtain a target neighbor point group set, including: Summarize the relay signal gain and the neighbor relay point group by key-value pairs to obtain an original neighbor point group set; Sequentially extracting neighbor relay point groups from the original neighbor point group set, recording the neighbor relay point group as a central relay point group, and identifying multiple repeated relay point groups in the original neighbor point group set based on the central relay point group; Obtain multiple repeated signal gains of the multiple repeated relay point groups, obtain the central signal gain of the central relay point group, identify the maximum signal gain among the multiple repeated signal gains and the central signal gain, determine the maximum relay point group corresponding to the maximum signal gain, and use the maximum relay point group and the maximum signal gain as the target neighbor point group and the target signal gain, respectively; The target neighbor point group and the target signal gain are summarized by key-value pairs to obtain a target neighbor point group set, wherein the target neighbor point group set is expressed as: ； in, represents the target neighbor point set, represents the first target neighbor point group, Indicates the starting point of the first signal transmission. Indicates the first neighbor relay point, Indicates the first target signal gain, represents the nth target neighbor point group, Indicates the starting point of the nth signal transmission, represents the nth nearest neighbor relay point, represents the nth target signal gain, and n represents the number of target neighbor point groups in the target neighbor point group set.

6. An air-ground combined tunnel emergency rescue communication construction system, characterized in that: The system comprises: An aerial channel building module is used to obtain a tunnel rescue area, perform a high-altitude range scan on the tunnel rescue area, obtain a disaster tunnel scan map, perform an image comparison operation on the disaster tunnel scan map, obtain a preliminary rescue point location set, and use a pre-built drone cluster to perform aerial wireless communication on the tunnel rescue area according to the preliminary rescue point location set to obtain an aerial wireless transmission channel, wherein the drone cluster is equipped with a signal repeater; A rescue location acquisition module, used to accurately scan the tunnel rescue area according to the preliminary rescue point location set and the drone cluster to obtain multiple accurate rescue point locations, and use the aerial wireless transmission channel to sequentially transmit the multiple accurate rescue point locations to a preset aggregation gateway to obtain a target rescue point location set; A tunnel data collection module is used to identify the target rescue area set corresponding to the target rescue point location set, perform rescue path planning according to the target rescue area set to obtain a rescue path set, dispatch a pre-built back-end rescue unit to the target rescue area set based on the rescue path set to obtain a front-end rescue unit, and use the front-end rescue unit to collect damage conditions on the target rescue area set to obtain tunnel damage data, wherein the tunnel damage data includes: manually taken photos, manually taken videos and manually described texts; An emergency communication construction module is used to divide the rescue environment of the target rescue area set according to the aerial wireless transmission channel and tunnel damage data to obtain a closed rescue area set and an extreme rescue area set, to construct a ground wireless communication framework for the closed rescue area set to obtain a ground wireless transmission channel set, to lay ground wired communication for the extreme rescue area set to obtain a ground wired transmission channel set, and to complete the construction of air-ground-ground combined tunnel emergency rescue communication; The performing of an image comparison operation on the scanned image of the disaster tunnel to obtain a preliminary rescue point location set includes: Obtain a normal tunnel scan image of the tunnel rescue area during a non-disaster period, wherein the normal tunnel scan image is the last scan image during the non-disaster period; According to a preset standard definition and a standard image size, the normal tunnel scan image and the disaster tunnel scan image are calibrated to obtain a calibrated normal image and a calibrated disaster image, wherein the calibrated normal image and the calibrated disaster image have the same definition and image size; Constructing the calibrated normal map and the calibrated disaster map in the same coordinate system to obtain a normal coordinate map and a disaster coordinate map, and performing pixel value analysis on the normal coordinate map to obtain a normal pixel value set; Extract normal pixel values ​​in the normal pixel value set in sequence, obtain pixel coordinates corresponding to the normal pixel values, identify pixel values ​​of coordinate points in a disaster coordinate map based on the pixel coordinates, obtain disaster pixel values, and calculate pixel differences between the normal pixel values ​​and the disaster pixel values; Determine whether the pixel difference is greater than a preset standard deviation: If the pixel difference is greater than the standard deviation, the pixel coordinates are marked as the initial rescue point position; Summarizing the preliminary rescue point locations to obtain a preliminary rescue point location set; The method of using the aerial wireless transmission channel to sequentially transmit the multiple precise rescue point locations to a preset aggregation gateway to obtain a target rescue point location set includes: Counting the location appearance frequency of each precise rescue point location among the multiple precise rescue point locations to obtain a location appearance frequency set; Extracting position occurrence frequencies from the position occurrence frequency set in sequence; Determine whether the location occurrence frequency is greater than a preset occurrence frequency threshold: If the occurrence frequency of the location is greater than the occurrence frequency threshold, then obtaining the target rescue point location corresponding to the occurrence frequency of the location; If the occurrence frequency of the location is not greater than the occurrence frequency threshold, the location of the low-frequency rescue point corresponding to the occurrence frequency of the location is obtained, and a drone-photographed picture of the low-frequency rescue point location is retrieved; Manually identify the pictures taken by the drone to obtain manual identification results, and record the low-frequency rescue point positions that are manually identified as rescue points as target rescue point positions, wherein the manual identification results include: rescue points and non-rescue points; Summarizing the target rescue point locations to obtain a target rescue point location set; The step of performing ground wireless communication on the enclosed rescue area set to obtain a ground wireless transmission channel set includes: Selecting enclosed rescue areas in sequence from the enclosed rescue areas, dispatching the pre-acquired portable communication vehicle to the enclosed rescue area, wherein the portable communication vehicle is equipped with a signal repeater and stops at the entrance of the enclosed rescue area; Identify the vehicle-mounted neighboring drone that is closest to the portable communication vehicle-mounted device, and use the vehicle-mounted neighboring drone to perform a signal access operation between the portable communication vehicle-mounted device and the air wireless transmission channel to obtain a ground external transmission channel; The pre-acquired self-organizing network single soldier is carried to the front-end rescue unit to obtain a closed rescue unit, the closed rescue unit is connected to the ground external transmission channel for signal access to obtain a ground wireless transmission channel, and the ground wireless transmission channels are aggregated to obtain a ground wireless transmission channel set; The step of laying ground wired communications for the extreme rescue area set to obtain a ground wired transmission channel set includes: Selecting extreme rescue areas in the extreme rescue area set in turn, and obtaining the optical fiber laying distance between the extreme rescue area and a preset rear command center; Acquire the laid optical fiber according to the optical fiber laying distance, and carry the laid optical fiber to a preset mobile vehicle to obtain a ground wired laying vehicle, wherein the mobile vehicle carries a data transmission device; The ground wired laying vehicle is used to lay optical fiber in an extreme rescue area to obtain a ground wired transmission channel, and the ground wired transmission channels are aggregated to obtain a ground wired transmission channel set.

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