Modular and multi-scale simulation of building emergency rescue system and method based on digital twin

Abstract

The present invention discloses a modular, multi-scale simulation in-building emergency rescue system and method based on digital twins, the system includes a parameterized equipment model construction module, a parameterized floor environment simulation module, a real-time data acquisition and monitoring module, a fault monitoring and fault analysis module, an emergency rescue path intelligent generation module, and a user interaction interface module. The system adopts a modular design, which can be deployed independently and flexibly combined to meet the needs of different building structures, floor environments and elevator brands. At the same time, with the help of the multi-scale simulation technology of the Unity3D platform, high-precision simulation and visualization of the equipment operation status are achieved, so that operation and maintenance personnel and rescue personnel can intuitively and accurately understand the equipment's operating status and floor environment, provide a precise and intuitive virtual environment for emergency rescue, and provide strong technical support for the development and application of simulation equipment emergency rescue systems.

Description

Technical Field

[0001] The present invention belongs to the technical field of special equipment emergency rescue, and specifically relates to a modular, multi-scale simulation in-building emergency rescue system and method based on digital twins. Background Art

[0002] With the acceleration of the modernization process of cities, more and more new high-rise buildings and old buildings need to be renovated or upgraded. However, due to the diversity of building structures, floor environments and elevator brands, elevator emergency rescue work has become extremely complicated. Traditionally, emergency rescue mainly relies on the experience and judgment of rescuers. This method not only has a slow response speed, but also has difficulty in ensuring safety and is difficult to adapt to the fault handling needs of elevators of different brands and types.

[0003] In recent years, the rapid development of the Internet of Things, big data and digital twin technology has brought new opportunities for emergency response to elevator failures. However, most digital twin elevator systems on the market are customized for a single elevator, and have obvious incompatibilities with elevators of different floor environments and brands, making it difficult to achieve wide applicability and efficiency. Summary of the invention

[0004] The purpose of the present invention is to provide a modular, multi-scale simulation in-building emergency rescue system and method based on digital twins to solve the problems mentioned in the background technology.

[0005] In order to solve the above technical problems, the present invention adopts the following solutions:

[0006] The modular, multi-scale simulation in-building emergency rescue system based on digital twins includes a parametric equipment model construction module, a parametric floor environment simulation module, a real-time data acquisition and monitoring module, a fault monitoring and fault analysis module, an emergency rescue path intelligent generation module, and a user interaction interface module.

[0007] Among them, the parametric equipment model construction module relies on the Unity3D platform and uses parametric modeling technology to build three-dimensional models of the mechanical structure, electrical control system and core components of the equipment installed in the building.

[0008] The parametric floor environment simulation module uses parametric modeling technology to construct a high-precision three-dimensional model of the building based on the detailed layout information, floor height information, passable information and obstacle information of each floor.

[0009] The real-time data collection and monitoring module communicates with the integrated Internet of Things platform to access and process equipment operation data in real time.

[0010] The fault monitoring and fault analysis module receives the equipment fault information transmitted by the Internet of Things platform in real time, combines it with historical fault data, and conducts in-depth analysis and real-time monitoring of the equipment operation status; issues early warning signals for equipment faults, and provides corresponding rescue plans based on the fault analysis results and the three-dimensional building model.

[0011] The emergency rescue path intelligent generation module combines digital twin technology and rescue solutions to plan the optimal emergency rescue path.

[0012] The user interaction interface module is used to display the real-time status monitoring screen and fault monitoring information of the equipment.

[0013] The system described in the present invention can flexibly adapt to different building structures and floor environments, is compatible with various brands and types of equipment, realizes rapid deployment and upgrading through modular design, and uses multi-scale simulation technology to realize comprehensive monitoring and accurate analysis of the equipment operation status, thereby greatly improving the efficiency and safety of elevator emergency rescue, and providing strong guarantees for elevator safety management in the process of modernizing cities.

[0014] As a further improvement, the parametric device model building module has a built-in detailed device parameter library and model customization tools, which support users to quickly customize and update the three-dimensional model of the device according to the brand, model and specification parameters of the specific device.

[0015] As a further improvement, the parametric floor environment simulation module allows the user to dynamically edit and update various parameters in the floor structure according to actual needs.

[0016] As a further improvement, the real-time data collection and monitoring module supports MQTT and HTTP communication protocols, is compatible with JSON and XML data formats, and has data verification and error correction functions.

[0017] As a further improvement, the emergency rescue path intelligent generation module integrates multi-level intelligent algorithms to plan the rescue path based on real-time data, floor structure and obstacle distribution factors, and adjust the rescue path in real time according to the actual situation during the rescue process.

[0018] As a further improvement, the user interaction interface module has three input components: a touch screen, a mouse and a keyboard, and has a two-dimensional, three-dimensional and virtual reality view switching function.

[0019] An emergency rescue method, based on the above-mentioned digital twin-based modular, multi-scale simulation in-building emergency rescue system, comprises the following steps:

[0020] Step 1: The data real-time collection and monitoring module of the system communicates with the device IoT platform in real time through the MQTT protocol to realize the real-time collection and monitoring of device operation data; each device corresponds to a unique number;

[0021] Step 2: When a device fails, the IoT platform issues an alarm message and transmits the message to the system. The user interface module displays the alarm message, including the device fault code and device number.

[0022] Step 3: The parametric equipment model building module queries the database for the equipment mechanical structure, electrical control system and core components corresponding to the faulty equipment number according to the faulty equipment number, and builds a three-dimensional model of the faulty equipment;

[0023] At the same time, the parametric floor environment simulation module queries the database for the building information, floor detailed layout information, floor height information, passable information and obstacle information corresponding to the faulty equipment number according to the faulty equipment number, and constructs a high-precision three-dimensional model of the building where the faulty equipment is located;

[0024] Step 4: The fault monitoring and fault analysis module performs fault analysis based on the received equipment fault information, and provides corresponding rescue solutions in combination with the fault equipment model and building model constructed in step 3;

[0025] Step 5: The rescuer carries a mobile terminal with a positioning function, which can communicate with the system wirelessly in real time. The emergency rescue path intelligent generation module plans the optimal emergency rescue path based on the rescue plan provided in step 4 and the rescue end location based on the digital twin technology. It is sent to the mobile terminal for display. At the same time, the user interaction interface module displays the rescue situation in real time.

[0026] Rescuers carry out rescue work according to the planned rescue route.

[0027] Further improvement, the rescue path planning in step 5 specifically includes the following steps:

[0028] Step 5.1: According to the location of the faulty equipment, the floor structure information, and the potential rescue channel information, the rescue area is divided into a series of nodes and edges connecting these nodes to form a three-dimensional grid graph; where the nodes represent the equipment location and the pre-specified identification area on the floor, and the edges represent the reachability between the nodes;

[0029] Step 5.2: Set the location of the faulty device as the starting point and the rescue end location as the end point; create an open list to store the nodes to be explored, create a closed list to store the nodes that have been explored, and set the parent node pointer for each node to track the path;

[0030] Step 5.3: Add the starting point to the open list and set its priority to 0, then loop through the following steps until the end point is found or the open list is empty:

[0031] Step 5.3.1: Select the node n with the smallest comprehensive priority f(n) in the open list as the current node, f(n) = g(n) + h(n), and determine whether the current node is the end point:

[0032] If yes, end the search;

[0033] Otherwise, remove the current node n from the open list and add it to the closed list;

[0034] Among them, g(n) represents the actual moving time from the starting point to the current node; h(n) represents the estimated moving time from the current node to the end point;

[0035] Step 5.3.2: Traverse all neighboring nodes of the current node and determine whether they are in the closed list. If not, add the corresponding nodes to the open list and update the open list;

[0036] Step 5.4: Start from the end point and trace back to the starting point along the parent node pointer to build a complete rescue path.

[0037] As a further improvement, after the rescue mission is completed, the fault monitoring and fault analysis module can record the fault information in detail and store it in the historical fault database, thereby realizing dynamic updating and supplementation of fault data.

[0038] As a further improvement, the emergency rescue path intelligent generation module dynamically adjusts the rescue path according to the real-time location and operating status of the equipment, as well as the movement or change of obstacles, thereby ensuring the efficiency and accuracy of the rescue operation.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] 1. The system of the present invention adopts a modular design, which can be deployed independently or flexibly combined to meet the needs of different building structures, floor environments and equipment brands. It is convenient for rapid customization and deployment according to different building structures and equipment types, and improves the safety, efficiency and convenience of equipment operation and maintenance management as a whole. In addition, with the help of the multi-scale simulation technology of the Unity3D platform, high-precision simulation and visualization of the equipment operation status are achieved, so that operation and maintenance personnel and rescue personnel can intuitively and accurately understand the equipment's operating status and floor environment, providing an accurate and intuitive virtual environment for emergency rescue, while significantly improving the efficiency and accuracy of supervision.

[0041] 2. The Internet of Things technology integrated into the rescue system of the present invention ensures the real-time collection and monitoring of key operating data of the equipment, provides a reliable data basis for the digital twin, and further enhances the real-time and accuracy of the simulation.

[0042] 3. The application of intelligent algorithms enables rapid planning and dynamic optimization of emergency rescue routes, as well as efficient monitoring and analysis of faults, effectively improving the response speed of emergency rescue and the accuracy of fault handling. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is an architecture diagram of the modular, multi-scale simulation in-building emergency rescue system based on digital twins according to the present invention;

[0044] Figure 2 A flow chart of real-time data collection and monitoring module of the present invention;

[0045] Figure 3 Provides a user interface for elevator rescue;

[0046] Figure 4 This is a flow chart of planning a rescue path based on the A* algorithm described in the present invention. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] Embodiment 1: In this embodiment, an elevator is taken as an example. Figure 1 , a modular, multi-scale simulation in-building emergency rescue system based on digital twins, including a parametric equipment model construction module, a parametric floor environment simulation module, a real-time data acquisition and monitoring module, a fault monitoring and fault analysis module, an emergency rescue path intelligent generation module, and a user interaction interface module.

[0049] The parametric equipment model construction module relies on the Unity3D platform and uses parametric modeling technology to build a three-dimensional model of the mechanical structure (including car, guide rails, traction machine, wire rope, etc.), electrical control system (covering control cabinets, sensors, motor drivers, etc.) and core components (such as brakes, speed limiters, safety clamps, etc.) of the elevator installed in the building. This module ensures a high degree of consistency between the model and the physical elevator in terms of structure, function and operating characteristics by defining parameters such as the size, material properties, and motion relationships of key components. In order to adapt to elevators of different brands and models, the module has a rich parameter library built in. Users can adjust the corresponding parameter values ​​in the model according to the actual elevator specifications, such as car size, load capacity, running speed, etc., to achieve rapid customization and updating of the model, thereby meeting the modeling needs of diverse elevator types.

[0050] In this embodiment, the parametric equipment model construction module imports the 3D geometric model constructed by the real elevator data installed in the building through SolidWorks software into Unity. The specific method is: according to the actual physical parameters of the elevator, including size, component layout and other data, complete the construction of the 3D geometric model, then export it into FBX format, and then import it into Unity; then use Unity's C# script system to build a basic 3D elevator parametric model.

[0051] The user needs to input the specific specifications of the elevator, such as the size, material properties, motion mechanism, brand and model of the elevator. The parametric equipment model construction module will modify the basic three-dimensional elevator model data through the C# script system to generate a parametric elevator model that is highly consistent with the real object. For example, according to the elevator size entered by the user, the script will scale the model accordingly; according to the material properties, the model's material mapping and physical properties will be adjusted; according to the motion mechanism, the model's animation and physical behavior will be set. Through these adjustments, the parametric equipment model construction module can generate a parametric elevator model that is highly consistent with the real object.

[0052] The above steps ensure that the parametric elevator model building module can adjust the compatibility of different brands and models of elevators with this system according to the specific specification information of the elevator.

[0053] The parametric floor environment simulation module is based on the floor layout (including the location of each household, corridor width, stairwell location, etc.), floor height information (the height of each floor, the total number of floors, etc.), passable information (such as the opening and closing status of doors, channel width, etc.) and obstacle information (such as the location and size of walls, columns, etc.), and adopts parametric modeling technology to expand and construct a three-dimensional parametric model of the building environment where the elevator is located on the basis of the elevator model.

[0054] Specifically, users can input or modify floor parameters such as the total height of the floor, the specific height of each floor, the location and size of obstacles, etc. through the interface built by Unity's C# script system; after receiving these parameters, the parametric floor environment simulation module will make corresponding adjustments to the floor model through the C# script. The script will automatically recalculate and update the geometry, size and obstacle distribution of the floor model based on the new parameters entered by the user to ensure that the floor model accurately corresponds to the actual situation.

[0055] This module allows users to dynamically edit and update various parameters in the floor structure according to actual needs, such as adjusting the use of rooms, changing the location of obstacles, or adding or removing floors, so as to ensure that the simulation environment is highly consistent with the actual situation. This provides a virtual environment that is extremely close to reality for emergency rescue, which helps to improve the accuracy of rescue path planning and the efficiency of rescue operations.

[0056] The data real-time collection and monitoring module is connected to the IoT platform of different elevator brands to realize the real-time collection and monitoring of elevator operation data. Figure 2 As shown, specifically, the user imports the MQTTnet library through the Package Manager in the Unity development environment. The library supports the MQTT protocol and provides a rich API interface to facilitate communication with the MQTT server; configure the relevant parameters of the Unity project to ensure that the development environment is stable and reliable.

[0057] Build the MQTT client module by creating a new C# script in Unity, instantiating an MQTT client object, and setting the connection options, including the MQTT server's IP address, port number, client ID, and necessary authentication information, such as username and password.

[0058] Implement core functions of the MQTT protocol such as connection, subscription, publishing, and disconnection.

[0059] The system will send data requests to the elevator IoT platform via the MQTT protocol periodically or at a set frequency.

[0060] After receiving the request, the elevator IoT platform will return the real-time operation data of the elevator in JSON data format, including but not limited to the current position of the elevator, operating status (such as running, stopped, faulty, etc.), speed, load, and potential fault information.

[0061] In order to ensure the accuracy of the collected data, the system has a built-in data verification mechanism. It is used to perform multiple verifications on the received data, including data format verification, data range verification, and data consistency verification. When data anomalies or errors are found, the system will immediately mark or discard them and try to re-collect data to ensure the accuracy and reliability of the data.

[0062] The system will display the verified data in real time on the user interface. Users can intuitively see the current status, running trajectory and potential fault information of the elevator through the system monitoring interface.

[0063] The fault monitoring and fault analysis module uses data analysis technology to continuously and carefully monitor the operation status of the elevator. After receiving the elevator fault information transmitted by the Internet of Things platform, it combines historical fault data to issue an early warning signal for the elevator fault, and provides a corresponding rescue plan based on the fault analysis results and the three-dimensional building model.

[0064] Specifically: the system receives real-time operating data from the elevator Internet of Things platform, including but not limited to key indicators such as the elevator's speed, position, load, vibration frequency, and motor temperature, so as to fully grasp the real-time operating status of the elevator.

[0065] On this basis, the system is also designed with a fault report receiving mechanism that can instantly receive and process fault reports from elevator maintenance personnel or automatic monitoring systems. These reports contain preliminary information such as the time, location, and phenomenon description of the fault.

[0066] The fault monitoring and fault analysis module identifies abnormal patterns or trends in elevator operation by comparing historical fault records with real-time data. This comparative analysis helps the system predict potential fault points, issue early warnings, and provide fault cause analysis and corresponding rescue suggestions based on fault cases in historical data.

[0067] In order to continuously improve the accuracy and efficiency of fault prediction and rescue strategies, the system has also established a historical fault database. The database records in detail the occurrence, handling process, cause analysis and final solution of each fault, forming a fault knowledge base. By mining and analyzing these historical data, the system can continuously optimize its fault prediction model, improve the accuracy and response speed of fault identification, and thus provide a more powerful guarantee for the safe operation of the elevator. After the rescue mission is completed, the module will also record and store the fault information in detail in the historical fault database, realize the dynamic update and supplement of fault data, and provide richer and more accurate data support for subsequent fault prediction and rescue.

[0068] The emergency rescue path intelligent generation module combines digital twin technology and rescue solutions to plan the optimal emergency rescue path.

[0069] In order to find the optimal rescue path, the emergency rescue path intelligent generation module integrates the A* intelligent path planning algorithm, which can find the shortest or optimal path from the starting point to the end point by searching and evaluating the cost of different paths based on graph theory. The starting point is the location of the faulty elevator, and the end point is the rescue end location.

[0070] In addition, the intelligent generation module of emergency rescue paths can also adjust the rescue path in real time according to the actual situation during the rescue process, such as the location of rescue personnel, rescue progress, etc., to ensure the optimality and efficiency of the rescue path.

[0071] like Figure 3 As shown, the user interaction interface module is used to display the real-time status monitoring screen and fault monitoring information of the equipment. The module has three input components: touch screen, mouse and keyboard, and has the function of switching between two-dimensional, three-dimensional and virtual reality views.

[0072] The user interaction interface module is designed with an intuitive and easy-to-use operation interface, which provides real-time elevator status monitoring functions, including the current location of the elevator, operating status, etc. At the same time, it is equipped with a fault monitoring information area, which can instantly display the fault information detected by the system, so that the operation and maintenance personnel can take timely measures. In addition, the operation and maintenance personnel can directly start the emergency rescue process through the interface, including selecting a rescue plan and deploying rescue resources.

[0073] Embodiment 2: An emergency rescue method, based on the above-mentioned digital twin-based modular, multi-scale simulation in-building emergency rescue system, comprises the following steps:

[0074] Step 1: The system's real-time data collection and monitoring module communicates with the elevator IoT platform in real time through the MQTT protocol to achieve real-time collection and monitoring of elevator operation data; each elevator corresponds to a unique number.

[0075] Step 2: When an elevator fails, the elevator IoT platform issues an alarm message and transmits the message to the system. The user interface module displays the alarm message, including the elevator fault code and elevator number.

[0076] Step 3: The parametric equipment model building module queries the database for the elevator mechanical structure, electrical control system and core components corresponding to the faulty equipment number, and builds a three-dimensional model of the faulty elevator.

[0077] At the same time, the parameterized floor environment simulation module calculates the number of the faulty elevator, queries the database for the building information, detailed floor layout information, floor height information, accessible information, and obstacle information corresponding to the elevator number, and constructs a high-precision three-dimensional model of the building where the faulty elevator is located.

[0078] Step 4: The fault monitoring and fault analysis module performs fault analysis based on the received elevator fault information, and provides corresponding rescue solutions based on the fault elevator model and building model constructed in step 3.

[0079] Step 5: The rescuers carry a mobile terminal with a positioning function, which can communicate with the system wirelessly in real time. The intelligent generation module of the emergency rescue path plans the optimal emergency rescue path based on the rescue plan and the rescue end location provided in step 4 based on the digital twin technology. The path is sent to the mobile terminal for display. At the same time, the user interaction interface module displays the rescue situation in real time. The rescuers carry out rescue of the faulty elevator according to the planned rescue path.

[0080] like Figure 4 As shown, the rescue path is planned based on the A* algorithm, which specifically includes the following steps:

[0081] Step 5.1: According to the location of the faulty elevator, the floor structure information, and the potential rescue channel information, the rescue area is divided into a series of nodes and edges connecting these nodes to form a three-dimensional grid graph; wherein the nodes represent the elevator location and the pre-designated identification area on the floor, and the edges represent the reachability between the nodes.

[0082] Step 5.2: Set the location of the faulty elevator as the starting point and the rescue end location as the end point (such as the bottom of the elevator shaft, the floor safety exit, etc.). Create an open list to store the nodes to be explored, create a closed list to store the nodes that have been explored, and set the parent node pointer for each node to track the path.

[0083] Step 5.3: Add the starting point to the open list and set its priority to 0, then loop through the following steps until the end point is found or the open list is empty:

[0084] Step 5.3.1: Select the node n with the smallest comprehensive priority f(n) in the open list as the current node, f(n) = g(n) + h(n), and determine whether the current node is the end point:

[0085] If yes, end the search;

[0086] Otherwise, remove the current node n from the open list and add it to the closed list;

[0087] Among them, g(n) represents the actual moving time from the starting point to the current node; h(n) represents the estimated moving time from the current node to the end point;

[0088] In this embodiment, the calculation of g(n) involves the total time taken by the rescuer to move from the starting point to the current node n in three-dimensional space, including the walking time in the corridor or stairs, the time waiting for the normally operating elevator, and the time required for the rescuer to take the normal elevator.

[0089] The specific calculation is as follows: g(n) = t 行走 + t 等待 + t 电梯 In the corridor or staircase area, the walking speed of the rescuer is set to a constant v 行走 , unit: meter / second. Use the Manhattan distance formula in three-dimensional space to calculate the distance d from the current node to the next node 1 , by taking the distance d 1 Divide by walking speed v 行走 , get the walking time t 行走 .

[0090] Waiting time t 等待 Set to a fixed value, representing the average waiting time.

[0091] In the elevator shaft, the running speed of the normal operating elevator is set to v 电梯 , unit: m / s. Then, through the vertical distance d of the well 电梯 Divide by the elevator running speed v 电梯 , get the elevator running time t 电梯 .

[0092] In this embodiment, h(n) = t 预计 × 权重 . Calculate the distance d from the current node to the end point based on the Manhattan distance calculation method in three-dimensional coordinates 2 . Set the expected average moving speed v 预计 , which is the comprehensive value of the rescuer's walking speed. Then, through the Manhattan distance d 2 Divide by the estimated average moving speed to get the estimated time t 预计 , that is: t 预计 =d 2 / v 预计 ,The estimated time is used to evaluate the efficiency of the path.

[0093] In order to balance the exploration and utilization of the algorithm, the weight factor w is introduced 权重 , which is used to adjust the influence of Manhattan distance in the calculation. In this embodiment, w is set 权重 is 1.1. In other embodiments, w 权重 It takes a value between [0.95, 1.2], depending on the specific situation.

[0094] Step 5.3.2: Traverse all neighboring nodes of the current node and determine whether they are in the closed list. If not, add the corresponding nodes to the open list and update the open list.

[0095] Step 5.4: Start from the end point and trace back to the starting point along the parent node pointer to build a complete rescue path.

[0096] The emergency rescue path intelligent generation module dynamically adjusts the rescue path according to the real-time location and operating status of the equipment, as well as the movement or change of obstacles.

[0097] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A modular, multi-scale simulation-based building emergency rescue system, characterized by: It includes parameterized equipment model building module, parameterized floor environment simulation module, real-time data acquisition and monitoring module, fault monitoring and fault analysis module, emergency rescue path intelligent generation module, and user interaction interface module; The parametric equipment model building module relies on the Unity3D platform and uses parametric modeling technology to build three-dimensional models of the mechanical structure, electrical control system and core components of the equipment installed in the building. The parametric equipment model building module has a built-in detailed equipment parameter library and model customization tools, which supports users to quickly customize and update the three-dimensional model of the equipment according to the brand, model and specification parameters of the specific equipment. The parametric floor environment simulation module uses parametric modeling technology to construct a high-precision three-dimensional model of the building based on the detailed layout information, floor height information, passable information and obstacle information of each floor; the parametric floor environment simulation module allows users to dynamically edit and update various parameters in the floor structure according to actual needs; The real-time data collection and monitoring module communicates with the integrated Internet of Things platform to access and process equipment operation data in real time; The fault monitoring and fault analysis module receives the equipment fault information transmitted by the IoT platform in real time, combines it with historical fault data, and conducts in-depth analysis and real-time monitoring of the equipment operation status; issues early warning signals for equipment faults, and provides corresponding rescue solutions based on the fault analysis results and the three-dimensional building model; The emergency rescue path intelligent generation module combines digital twin technology and rescue solutions to plan the optimal emergency rescue path; The user interaction interface module is used to display the real-time status monitoring screen and fault monitoring information of the equipment; The real-time data collection and monitoring module supports MQTT and HTTP communication protocols, is compatible with JSON and XML data formats, and has data verification and error correction functions; The emergency rescue path intelligent generation module integrates multi-level intelligent algorithms to plan the rescue path based on real-time data, floor structure and obstacle distribution factors, and adjust the rescue path in real time according to the actual situation during the rescue process; The above-mentioned digital twin-based modular, multi-scale simulation-based building emergency rescue system includes the following steps: Step 1: The data real-time collection and monitoring module of the system communicates with the device IoT platform in real time through the MQTT protocol to realize the real-time collection and monitoring of device operation data; each device corresponds to a unique number; Step 2: When a device fails, the IoT platform issues an alarm message and transmits the message to the system. The user interface module displays the alarm message, including the device fault code and device number. Step 3: The parametric equipment model building module queries the database for the equipment mechanical structure, electrical control system and core components corresponding to the faulty equipment number according to the faulty equipment number, and builds a three-dimensional model of the faulty equipment; At the same time, the parametric floor environment simulation module queries the database for the building information, floor detailed layout information, floor height information, passable information and obstacle information corresponding to the faulty equipment number according to the faulty equipment number, and constructs a high-precision three-dimensional model of the building where the faulty equipment is located; Step 4: The fault monitoring and fault analysis module performs fault analysis based on the received equipment fault information, and provides corresponding rescue solutions in combination with the fault equipment model and building model constructed in step 3; Step 5: The rescuer carries a mobile terminal with a positioning function, which can communicate with the system wirelessly in real time. The emergency rescue path intelligent generation module plans the optimal emergency rescue path based on the rescue plan and rescue end location provided in step 4 based on the digital twin technology, and sends it to the mobile terminal for display. At the same time, the user interaction interface module displays the rescue situation in real time. The rescuers carry out rescue of the faulty elevator according to the planned rescue path. The specific steps include: Step 5.1: According to the location of the faulty equipment, the floor structure information, and the potential rescue channel information, the rescue area is divided into a series of nodes and edges connecting these nodes to form a three-dimensional grid graph; where the nodes represent the equipment location and the pre-specified identification area on the floor, and the edges represent the reachability between the nodes; Step 5.2: Set the location of the faulty device as the starting point and the rescue end location as the end point; create an open list to store the nodes to be explored, create a closed list to store the nodes that have been explored, and set the parent node pointer for each node to track the path; Step 5.3: Add the starting point to the open list and set its priority to 0, then loop through the following steps until the end point is found or the open list is empty: Step 5.3.1: Select the node n with the smallest comprehensive priority f(n) in the open list as the current node, f(n) = g(n) + h(n), and determine whether the current node is the end point: If yes, end the search; Otherwise, remove the current node n from the open list and add it to the closed list; Where h(n) represents the estimated time from the current node to the end point; the calculation of g(n) involves the total time it takes for the rescuer to move from the starting point to the current node n in three-dimensional space, including the time spent walking in the corridor or stairs, the time waiting for the normal elevator, and the time required for the rescuer to take the normal elevator; the specific calculation is as follows: g(n) = t 行走 + t 等待 + t 电梯 ; In the corridor or staircase area, the walking speed of the rescuer is set to a constant v 行走 , unit: meter / second; use the Manhattan distance formula in three-dimensional space to calculate the distance d1 from the current node to the next node, by dividing the distance d1 by the walking speed v 行走 , get the walking time t 行走 ; Waiting time t 等待 Set to a fixed value, indicating the average waiting time; In the elevator shaft, the running speed of the normal operating elevator is set to v 电梯 , unit: m / s; then, through the vertical distance d of the well 电梯 Divide by the elevator running speed v 电梯 , get the elevator running time t 电梯 ; h(n) = t 预计 * w 权重 ; Calculate the distance d2 from the current node to the end point based on the Manhattan distance calculation method in three-dimensional coordinates; set the expected average moving speed v 预计 , which is the comprehensive value of the rescuer's walking speed; then, the estimated time t is obtained by dividing the Manhattan distance d2 by the expected average moving speed. 预计 , that is: t 预计 =d2 / v 预计 , the estimated time is used to evaluate the efficiency of the path; Step 5.3.2: Traverse all neighboring nodes of the current node and determine whether they are in the closed list. If not, add the corresponding nodes to the open list and update the open list; Step 5.4: Start from the end point and trace back to the starting point along the parent node pointer to build a complete rescue path.

2. The modular, multi-scale simulation in-building emergency rescue system based on digital twins as claimed in claim 1, characterized in that: The user interaction interface module has three input components: a touch screen, a mouse and a keyboard, and has a two-dimensional, three-dimensional and virtual reality view switching function.

3. The modular, multi-scale simulation in-building emergency rescue system based on digital twin according to claim 2 is characterized in that: After the rescue mission is completed, the fault monitoring and fault analysis module can record the fault information in detail and store it in the historical fault database, realizing dynamic updating and supplementation of fault data.

4. The modular, multi-scale simulation in-building emergency rescue system based on digital twins according to claim 3 is characterized in that: The emergency rescue path intelligent generation module dynamically adjusts the rescue path according to the real-time location and operating status of the equipment, as well as the movement or change of obstacles.

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