Intelligent rescue assisting method and system for high-rise building fire

Abstract

The invention relates to the technical field of intelligent security and protection, in particular to an intelligent rescue assisting method and system for high-rise building fire disasters, and the method comprises the steps that a base station subsystem monitors environment information, and provides positioning information for a mobile terminal subsystem and an unmanned aerial vehicle subsystem; the visual subsystem collects image information of emergency exits in all floors, and people flow density distribution information is obtained based on the image information; the upper computer subsystem displays the movement tracks of the firefighter and the unmanned aerial vehicle and performs real-time navigation; state information of the person in distress is displayed in real time according to video information collected by the unmanned aerial vehicle subsystem; each base station is modeled according to the people flow density distribution information and the environment information, the optimal path information from each base station to the emergency exit is calculated, and the road sign subsystem displays the optimal path information sent by the upper computer subsystem and carries out voice prompt; the survival probability of persons in distress can be increased, and the risk of firemen can be reduced.

Description

Technical Field

[0001] The present invention relates to the field of intelligent security technology, and in particular to an intelligent fire evacuation auxiliary method and system for high-rise building fires. Background Art

[0002] Fires in high-rise buildings will cause huge losses of life and property, and seriously threaten social stability and economic prosperity. Due to the lack of fire scene information, manual rescue is inefficient and risky. At present, this technology is blank in China, and the application market has an urgent and large demand, so this technology has broad application prospects.

[0003] At present, fire rescue work in high-rise buildings relies on manual rescue, which mainly has the following pain points: The lack of early warning of fires leads to late detection, missing the golden time for evacuation and rescue, and the survival rate of people in distress is low; People in distress cannot obtain efficient evacuation guidance, resulting in low evacuation efficiency; The command center lacks real-time information about the fire scene and people in distress, making it difficult to make effective commands and formulate correct emergency plans; It is difficult for firefighters to obtain real-time, high-precision positioning of themselves and people in distress indoors, resulting in low rescue efficiency and high risks. Summary of the invention

[0004] The present invention aims to provide a high-rise building fire intelligent rescue assistance method and system to improve the survival rate of people in distress and reduce the risks of firefighters.

[0005] In order to achieve the above object, the present invention provides the following technical solutions: In a first aspect, an embodiment of the present invention provides an intelligent fire evacuation auxiliary system for a high-rise building, wherein the high-rise building comprises a plurality of floors, each floor having a safety exit, a safety passage connected to the safety exit, and a public passage connected to the safety passage; the system comprises: a host computer subsystem, a base station subsystem, a visual subsystem, a road sign subsystem, a drone subsystem, and a mobile terminal subsystem; the drone subsystem comprises a plurality of drones, with at least three drones being arranged on each floor; the mobile terminal subsystem comprises mobile terminals respectively arranged on safety helmets of a plurality of firefighters, and the mobile terminals are equipped with a UWB positioning module; The base station subsystem includes a plurality of base stations, and the plurality of base stations are respectively arranged on the walls of the public passages in the building; the base station subsystem is used to monitor the environmental information of the public passages on each floor, send the monitored environmental information to the upper computer subsystem, and trigger an alarm and send an alarm when it is determined that the environmental information exceeds the environmental threshold, and provide positioning information to the mobile terminal subsystem and the drone subsystem in the building; The visual subsystem is used to collect image information of safety passages on each floor of the building, and to count the flow of people at the safety exits on each floor in real time based on the collected image information to obtain the flow density distribution information of the building; The host computer subsystem is used to model each base station in the base station subsystem according to the crowd density distribution information of the building and the environmental information of each public passage in the building when the base station in the base station subsystem issues an alarm, and to calculate the optimal path information from each base station to the safety exit respectively with the optimization goal of making the time from the base station to the safety exit as short as possible and the safety as high as possible, and send the optimal path information to the road sign subsystem; The road sign subsystem is used to display the optimal path information sent from the host computer subsystem and provide voice prompts.

[0006] Optionally, the drone subsystem is used to perform coverage detection on each floor in the building, obtain location distribution information of persons in distress with limited mobility on each floor, send the location distribution information to the host computer subsystem, and send the location distribution information to the mobile terminal subsystem through the host computer subsystem; The mobile terminal subsystem is used to provide navigation information to firefighters and to provide real-time feedback of the firefighters' location information and physiological status information to the host computer subsystem.

[0007] Optionally, the host computer subsystem is also used to construct a three-dimensional map of the building, obtain environmental information collected by each base station in the base station subsystem, and display the environmental information at a corresponding position in the three-dimensional map according to the coordinates of the base station that collects the environmental information in the three-dimensional map.

[0008] Optionally, the host computer subsystem is also used to display the crowd density distribution information of the building, the environmental information of each public passage in the building, the location distribution information of people in distress and the location information of firefighters in the three-dimensional map, and construct a dynamic map of the fire environment in real time.

[0009] In a second aspect, an embodiment of the present invention provides a method for assisting intelligent evacuation of a high-rise building fire, which is applied to any intelligent evacuation of a high-rise building fire assisting system described in the first aspect, and the method comprises the following steps: S100, monitor the environmental information of the public channel where the base station is located through each base station in the base station subsystem, and send the monitored environmental information to the upper computer subsystem; trigger an alarm and send an alarm when it is determined that the environmental information exceeds the environmental threshold, and provide positioning information to the mobile terminal subsystem and the drone subsystem in the building; S200, collecting image information of the emergency exits on each floor of the building through the visual subsystem, and counting the flow of people at the emergency exits on each floor in real time based on the collected image information to obtain the distribution information of the density of people flow in the building; S300, when a base station in the base station subsystem sends out an alarm, the host computer subsystem models each base station in the base station subsystem according to the crowd density distribution information of the building and the environmental information of each public passage in the building, and takes the time from the base station to the safety exit as short as possible and the safety as high as possible as the optimization goal, calculates the optimal path information from each base station to the safety exit respectively, sends the optimal path information to the road sign subsystem, displays the optimal path information sent from the host computer subsystem through the road sign subsystem, and gives a voice prompt; S400, the upper computer subsystem displays the movement trajectory of the firefighter and the drone in the drone subsystem according to the positioning information provided by the mobile terminal subsystem and the drone subsystem, performs real-time navigation, obtains the video information collected by the drone subsystem, and displays the status information of the person in distress in real time according to the video information.

[0010] Optionally, the high-rise building fire intelligent rescue auxiliary system further includes a drone subsystem and a mobile terminal subsystem; the method further includes: The drone subsystem is used to cover and detect each floor in the building, obtain the location distribution information of the disabled persons in distress on each floor, send the location distribution information to the host computer subsystem, and send the location distribution information to the mobile terminal subsystem through the host computer subsystem; The mobile subsystem provides navigation information to firefighters, and provides real-time feedback of the firefighters' location information and physiological status information to the host subsystem.

[0011] Optionally, the method further comprises: A three-dimensional map of the building is constructed by the host computer subsystem, environmental information collected by each base station in the base station subsystem is obtained, and the environmental information is displayed at a corresponding position in the three-dimensional map according to the coordinates of the base station in the three-dimensional map that collects the environmental information.

[0012] Optionally, the upper computer subsystem displays the movement tracks of the firefighters and the drones in the drone subsystem and performs real-time navigation according to the positioning information provided by the mobile terminal subsystem and the drone subsystem, including: Each base station in the base station subsystem is used as a positioning base station, and the non-line-of-sight environment where the base station subsystem is located is converted into a line-of-sight environment through a positioning base station deployment algorithm; wherein each base station is configured with a UWB positioning module, and at least three positioning base stations are deployed within the line-of-sight range of each target; the target is a drone and / or a firefighter; An iterative algorithm is used to calculate the current best position estimate of the target by locating the relative distance between the base station and the target; The Kalman filter algorithm is used to fit the estimated current position with the position at the previous moment to obtain the target's motion trajectory, and the target's position information is uploaded to the host computer subsystem; The upper computer subsystem plans the best rescue route from firefighters to the people in distress based on the crowd density distribution information of the building, the environmental information of each public passage in the building, the location distribution information of the people in distress and the location information of the firefighters, and based on a dynamic multi-objective constraint algorithm, and sends the best rescue route to the mobile subsystem corresponding to the firefighters.

[0013] Optionally, the method further comprises: The upper computer subsystem displays the crowd density distribution information of the building, the environmental information of each public passage in the building, the location distribution information of the persons in distress and the location information of the firefighters in the three-dimensional map, and constructs a dynamic map of the fire scene environment in real time.

[0014] The beneficial effects of the present invention are as follows: the present invention discloses an intelligent rescue auxiliary method and system for high-rise building fires, which issues a fire warning through a base station and counts the density of people at each safety exit through a camera; the base station subsystem located in the safety passage can sense environmental information, count the flow of people in the safety passages on each floor in real time, calculate the best escape path for people in distress at different locations, and guide people in distress to evacuate efficiently through intelligent road signs; the present invention can increase the survival rate of people in distress and reduce the risk of firefighters. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0016] Figure 1 is a structural diagram of an intelligent rescue auxiliary system for high-rise building fires in an embodiment of the present invention; Figure 2 It is a flow chart of the intelligent rescue auxiliary method for high-rise building fire in an embodiment of the present invention. DETAILED DESCRIPTION

[0017] The following will be combined with the embodiments and drawings to clearly and completely describe the concept, specific structure and technical effects of the present invention, so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0018] See also Figure 1 , Figure 1 The present invention provides an intelligent fire evacuation and rescue auxiliary system for high-rise buildings. The high-rise building includes multiple floors, each floor has a safety exit, a safety passage connected to the safety exit, and a public passage connected to the safety passage; the intelligent fire evacuation and rescue auxiliary system for high-rise buildings includes: a host computer subsystem, a base station subsystem, a visual subsystem, a road sign subsystem, a drone subsystem and a mobile terminal subsystem; the drone subsystem includes multiple drones, and at least three drones are set on each floor; the mobile terminal subsystem includes mobile terminals respectively set on the safety helmets of multiple firefighters, and the mobile terminals are equipped with a UWB positioning module; The base station subsystem includes a plurality of base stations, and the plurality of base stations are respectively arranged on the walls of the public passages in the building; the base station subsystem is used to monitor the environmental information of the public passages on each floor, send the monitored environmental information to the upper computer subsystem, and trigger an alarm and send an alarm when it is determined that the environmental information exceeds the environmental threshold, and provide positioning information to the mobile terminal subsystem and the drone subsystem in the building; Specifically, the base station includes a UWB module, a WIFI module, a camera, a smoke concentration sensor, a temperature sensor, etc. A plurality of the base stations are respectively arranged on the walls of the public passages in the building. The UWB module is used to provide positioning information to the mobile terminal subsystem and the drone subsystem of the firefighters, and the camera, the smoke concentration sensor and the temperature sensor are used to monitor the local environment of their location to obtain environmental information including local images, smoke concentration and temperature; then, the environmental information is transmitted to the host computer through the WIFI module.

[0019] The main functions of the base station subsystem are as follows: Provide all-weather real-time fire monitoring for high-rise buildings, trigger alarms and report them immediately; Provide optimal evacuation route guidance for people in distress; Provide high-precision positioning guarantee for firefighters and drone subsystems.

[0020] The visual subsystem is used to collect image information of safety passages on each floor of the building, and to count the flow of people at the safety exits on each floor in real time based on the collected image information to obtain the flow density distribution information of the building; Specifically, the visual subsystem includes visible light cameras and infrared cameras, which are installed at the safety exits on each floor to count the flow of people in the safety passages on each floor in real time to improve the evacuation efficiency of people in distress.

[0021] The host computer subsystem is used to model each base station in the base station subsystem according to the crowd density distribution information of the building and the environmental information of each public passage in the building when the base station in the base station subsystem issues an alarm, and to calculate the optimal path information from each base station to the safe exit with the optimization goal of shortening the time from the base station to the safe exit as much as possible and making the safety as high as possible, and send the optimal path information to the signpost subsystem.

[0022] Specifically, the upper computer subsystem models each base station in the public channel according to the collected crowd density distribution and public channel environment information, and takes the time from the base station to the safe exit as short as possible and the safety as high as possible as the optimization goal. It calculates the optimal path information from each base station to the safe exit, so as to achieve the purpose of safe and efficient evacuation of nearby trapped people.

[0023] The road sign subsystem is used to display the optimal path information sent from the host computer subsystem and provide voice prompts.

[0024] Specifically, the road sign subsystem includes an LED light board, a WIFI module, a voice broadcast module and an STM32 single-chip microcomputer, which is used to control the LED light board to display the optimal path information according to the current optimal path information sent by the host computer, and to provide voice prompts to guide the efficient evacuation of people in distress.

[0025] In the embodiment provided by the present invention, a fire warning is issued by a base station, and people in the building start to go to the safety exits after receiving the prompt. The distribution of people flow at each safety exit may be quite different, that is, some safety exits are crowded, and some safety exits are sparse. The system can count the density of people flow at each safety exit through a camera; the base station subsystem located in the public passage can sense environmental information, such as temperature and smoke concentration; by real-time statistics of the flow of people in the safety passages on each floor, the best escape path for people in distress at different locations is calculated, and through intelligent road signs, people in distress are guided to evacuate efficiently; the present invention can increase the survival rate of people in distress and reduce the risk of firefighters.

[0026] In some embodiments, the drone subsystem is used to perform coverage detection on each floor of the building, obtain location distribution information of people in distress with limited mobility on each floor, and send the location distribution information to the mobile terminal subsystem through the host computer subsystem; Specifically, after most people have evacuated, the drone subsystem is activated for coverage search and rescue. The drone subsystem covers and detects the floors, obtains the distribution information of people in distress with limited mobility (or can provide gas masks), and provides the command center with the status information of people in distress with limited mobility. After firefighters enter the fire scene, rescue navigation services are provided to improve the rescue efficiency of firefighters.

[0027] The mobile terminal subsystem is used to provide navigation information to firefighters and to provide real-time feedback of the firefighters' location information and physiological status information to the host computer subsystem.

[0028] Specifically, the mobile subsystem can provide firefighters with high-precision navigation information, and can provide real-time feedback on the firefighters' location and physiological status to the host subsystem.

[0029] In some embodiments, the host computer subsystem is also used to construct a three-dimensional map of the building, obtain environmental information collected by each base station in the base station subsystem, and display the environmental information at a corresponding position in the three-dimensional map according to the coordinates of the base station that collected the environmental information in the three-dimensional map.

[0030] Specifically, the upper computer subsystem realizes the intuitive display of the fire form through real-time updating of environmental information on the three-dimensional map, provides information support for the command decision-making of the command center, and effectively guides on-site rescue personnel to adjust evacuation strategies.

[0031] In some embodiments, the host computer subsystem is also used to display the crowd density distribution information of the building, the environmental information of each public passage in the building, the location distribution information of people in distress and the location information of firefighters in the three-dimensional map, and construct a dynamic map of the fire environment in real time.

[0032] Specifically, the main function of the host computer subsystem is to obtain and process the information uploaded by the base station subsystem and the drone subsystem, and to build a dynamic map of the fire scene environment in real time to provide information support for the command decision-making of the command center.

[0033] In summary, in the embodiment provided by the present invention, the host computer subsystem includes the following functions: According to the positioning information and environmental information of the base station subsystem, a dynamic map of the fire scene environment is constructed in real time; Based on the crowd density distribution information of the building and the environmental information of each public passage in the building, each base station in the base station subsystem is modeled, with the optimization goal of shortening the time from the base station to the safety exit and making the safety as high as possible. The optimal path information from each base station to the safety exit is calculated respectively, and the optimal path information is sent to the corresponding base station for display.

[0034] Based on the positioning information of firefighters and drones, their movement trajectories are displayed and real-time navigation is performed; Based on the video information provided by the drone, the status information of the people in distress is displayed in real time.

[0035] See also Figure 2 , Figure 2 The present invention provides a high-rise building fire intelligent rescue auxiliary method, which comprises the following steps: S100, monitor the environmental information of the public channel where the base station is located through each base station in the base station subsystem, and send the monitored environmental information to the upper computer subsystem; trigger an alarm and send an alarm when it is determined that the environmental information exceeds the environmental threshold, and provide positioning information to the mobile terminal subsystem and the drone subsystem in the building; S200, collecting image information of the emergency exits on each floor of the building through the visual subsystem, and counting the flow of people at the emergency exits on each floor in real time based on the collected image information to obtain the distribution information of the density of people flow in the building; S300, when a base station in the base station subsystem sends out an alarm, the host computer subsystem models each base station in the base station subsystem according to the crowd density distribution information of the building and the environmental information of each public passage in the building, and takes the time from the base station to the safety exit as short as possible and the safety as high as possible as the optimization goal, calculates the optimal path information from each base station to the safety exit respectively, sends the optimal path information to the road sign subsystem, displays the optimal path information sent from the host computer subsystem through the road sign subsystem, and gives a voice prompt; S400, the upper computer subsystem displays the movement trajectory of the firefighter and the drone in the drone subsystem according to the positioning information provided by the mobile terminal subsystem and the drone subsystem, performs real-time navigation, obtains the video information collected by the drone subsystem, and displays the status information of the person in distress in real time according to the video information.

[0036] It can be seen that the contents of the above system embodiments are all applicable to the present method embodiments, the functions specifically implemented by the present method embodiments are the same as those of the above system embodiments, and the beneficial effects achieved are also the same as those achieved by the above system embodiments.

[0037] In some embodiments, the high-rise building fire intelligent rescue assistance system further includes a drone subsystem and a mobile terminal subsystem; the method further includes: The drone subsystem is used to cover and detect each floor in the building, obtain the location distribution information of the disabled persons in distress on each floor, send the location distribution information to the host computer subsystem, and send the location distribution information to the mobile terminal subsystem through the host computer subsystem; Provide navigation information to firefighters through the mobile terminal subsystem, and provide real-time feedback of firefighters' location information and physiological status information to the host computer subsystem; Specifically, the drone subsystem includes multiple drones, with at least three drones set up on each floor. The drones are equipped with WIFI modules, UWB modules, cameras, voice broadcast modules and onboard computers, which are usually stored in beehives. When a fire occurs, the host computer opens the beehive, and the drone subsystem covers and detects the distressed people who are unable to move in the fire scene according to the search path sent by the host computer. After finding the distressed people through the camera, the image information, location information and status information of the distressed people are uploaded in real time, and a gas mask is put in to extend the survival time of the distressed people. When a fire occurs, the indoor coverage detection is carried out to obtain the distribution of the distressed people in real time; the drone subsystem enters the fire scene environment after the fire occurs to search for people, and the drone subsystem group enters the fire scene before the firefighters enter the fire scene, and covers the entire building. The drone subsystem is equipped with a camera and a gas mask, which can identify people with limited movement and send their location to the host computer subsystem. At the same time, it can also deliver a gas mask to provide safety support for as many people with limited movement as possible.

[0038] The drone subsystem is equipped with temperature sensors and smoke sensors, which can sense the environmental conditions of the road section it passes through and upload them to the host computer subsystem. If it encounters a public passage that cannot be crossed due to severe fire conditions, the drone subsystem will also autonomously change the search direction and report to the host computer subsystem.

[0039] The mobile terminal subsystem is an intelligent safety helmet equipped with a communication module, a UWB positioning module and a VR display function. While protecting the safety of firefighters, it can receive map information from the host computer and provide autonomous navigation services for firefighters, projecting the navigation path onto the mask glass of the helmet in real time.

[0040] In some embodiments, the method further comprises: A three-dimensional map of the building is constructed by the host computer subsystem, environmental information collected by each base station in the base station subsystem is obtained, and the environmental information is displayed at a corresponding position in the three-dimensional map according to the coordinates of the base station in the three-dimensional map that collects the environmental information.

[0041] Specifically, the host computer subsystem constructs a three-dimensional map of the building, and the base station subsystem obtains environmental information such as the temperature and smoke concentration of the fire environment in real time; the base station subsystem is deployed inside the building in advance, so its coordinates are known information, and these coordinates are stored in advance in the host computer subsystem. The host computer subsystem can quickly construct the basic structure of the building according to the intelligent mapping algorithm. The intelligent mapping algorithm constructs a three-dimensional map of the building in the following way: first, based on the known base station location, it is displayed in three-dimensional space; second, for each floor of the base station subsystem, a reasonable connection is made to construct a basic public channel framework; then, through data fitting, the internal framework of the public channel is built; finally, the public channel framework of each floor is obtained to construct the basic framework of the building, that is, the three-dimensional map.

[0042] In some embodiments, the upper computer subsystem displays the movement tracks of the firefighters and the drones in the drone subsystem and performs real-time navigation according to the positioning information provided by the mobile terminal subsystem and the drone subsystem, including: Each base station in the base station subsystem is used as a positioning base station, and the non-line-of-sight environment where the base station subsystem is located is converted into a line-of-sight environment through a positioning base station deployment algorithm; wherein each base station is configured with a UWB positioning module, and at least three positioning base stations are deployed within the line-of-sight range of each target; the target is a drone and / or a firefighter; An iterative algorithm is used to calculate the current best position estimate of the target by locating the relative distance between the base station and the target; The Kalman filter algorithm is used to fit the estimated current position with the position at the previous moment to obtain the target's motion trajectory, and the target's position information is uploaded to the host computer subsystem; The upper computer subsystem plans the best rescue route from firefighters to the people in distress based on the crowd density distribution information of the building, the environmental information of each public passage in the building, the location distribution information of the people in distress and the location information of the firefighters, and based on a dynamic multi-objective constraint algorithm, and sends the best rescue route to the mobile subsystem corresponding to the firefighters.

[0043] Specifically, in order to achieve high-precision positioning in indoor non-line-of-sight environments, first, the non-line-of-sight environment needs to be converted into a line-of-sight environment through a positioning base station deployment algorithm. At least three positioning base stations are deployed within the line-of-sight range of a target, that is, there must be no obstacles between the positioning base station and the target. The relative distance between the target and the positioning base station is obtained through the ranging function of the UWB positioning base station; in some embodiments, a UWB positioning module is configured at each base station, which can be used as a positioning base station to provide high-precision navigation services for firefighters.

[0044] Secondly, in order to obtain the three-dimensional positioning information of the target in real time, an iterative algorithm is needed to calculate the current best position estimate of the target by positioning the relative distance between the base station and the target (the number of positioning base stations ≥ 3).

[0045] Then, in order to eliminate the noise of the base station and further improve the positioning accuracy, it is necessary to use the Kalman filter algorithm to fit the estimated current position with the position at the previous moment to obtain the most reasonable target motion trajectory.

[0046] Finally, after the firefighters and drone subsystems obtain their own precise locations, they can upload them to the host computer subsystem, which can display them on a three-dimensional map, integrate the obtained environmental information, crowd flow information, and information about people in distress, and based on a dynamic multi-objective constraint algorithm, plan a safe, efficient and optimal rescue route for each firefighter, thereby improving rescue efficiency and reducing safety risks for firefighters.

[0047] In some embodiments, the method further comprises: The upper computer subsystem displays the crowd density distribution information of the building, the environmental information of each public passage in the building, the location distribution information of the persons in distress and the location information of the firefighters in the three-dimensional map, and constructs a dynamic map of the fire scene environment in real time.

[0048] The above is a specific description of the preferred implementation of the present disclosure, but the present disclosure is not limited to the above-mentioned implementation mode. Technical personnel familiar with the field can also make various equivalent deformations or substitutions without violating the spirit of the present disclosure. These equivalent deformations or substitutions are all included in the scope defined by the claims of the present disclosure.

Claims

1. An intelligent fire evacuation auxiliary system for high-rise buildings, characterized in that: The high-rise building comprises a plurality of floors, each floor having a safety exit, a safety passage connected to the safety exit, and a public passage connected to the safety passage; The system includes: a host computer subsystem, a base station subsystem, a visual subsystem, a road sign subsystem, a drone subsystem and a mobile terminal subsystem; the drone subsystem includes multiple drones, with at least three drones set on each floor; the mobile terminal subsystem includes mobile terminals respectively set on the safety helmets of multiple firefighters, and the mobile terminals are equipped with a UWB positioning module; The base station subsystem includes a plurality of base stations, and the plurality of base stations are respectively arranged on the walls of the public passages in the building; the base station subsystem is used to monitor the environmental information of the public passages on each floor, send the monitored environmental information to the upper computer subsystem, and trigger an alarm and send an alarm when it is determined that the environmental information exceeds the environmental threshold, and provide positioning information to the mobile terminal subsystem and the drone subsystem in the building; The visual subsystem is used to collect image information of safety passages on each floor of the building, and based on the collected image information, count the flow of people at the safety exits on each floor in real time to obtain the distribution information of the density of people flow in the building; The host computer subsystem is used to display the movement trajectory of the firefighters and the drones in the drone subsystem and perform real-time navigation according to the positioning information provided by the mobile terminal subsystem and the drone subsystem when the base station in the base station subsystem issues an alarm; obtain the video information collected by the drone subsystem, and display the status information of the people in distress in real time according to the video information; and model each base station in the base station subsystem according to the crowd density distribution information of the building and the environmental information of each public passage in the building, with the optimization goals of shortening the time from the base station to the safety exit as much as possible and making the safety as high as possible, respectively calculate the optimal path information from each base station to the safety exit, and send the optimal path information to the road sign subsystem; The road sign subsystem is used to display the optimal path information sent from the host computer subsystem and provide voice prompts.

2. The system according to claim 1, characterized in that The drone subsystem is used to perform coverage detection on each floor of the building, obtain the location distribution information of the disabled persons in distress on each floor, send the location distribution information to the host computer subsystem, and send the location distribution information to the mobile terminal subsystem through the host computer subsystem; The mobile terminal subsystem is used to provide navigation information to firefighters and to provide real-time feedback of the firefighters' location information and physiological status information to the host computer subsystem.

3. The system according to claim 1, characterized in that The host computer subsystem is also used to construct a three-dimensional map of the building, obtain environmental information collected by each base station in the base station subsystem, and display the environmental information at a corresponding position in the three-dimensional map according to the coordinates of the base station that collected the environmental information in the three-dimensional map.

4. The system according to claim 3, characterized in that The host computer subsystem is also used to display the crowd density distribution information of the building, the environmental information of each public passage in the building, the location distribution information of people in distress and the location information of firefighters in the three-dimensional map, and to construct a dynamic map of the fire environment in real time.

5. A high-rise building fire intelligent rescue auxiliary method, characterized in that: Applied to the intelligent rescue assistance system for high-rise building fires according to any one of claims 1 to 4, the method comprises the following steps: S100, monitor the environmental information of the public channel where the base station is located through each base station in the base station subsystem, and send the monitored environmental information to the upper computer subsystem; trigger an alarm and send an alarm when it is determined that the environmental information exceeds the environmental threshold, and provide positioning information to the mobile terminal subsystem and the drone subsystem in the building; S200, collecting image information of the emergency exits on each floor of the building through the visual subsystem, and counting the flow of people at the emergency exits on each floor in real time based on the collected image information to obtain the distribution information of the flow density of people in the building; S300, when a base station in the base station subsystem sends out an alarm, the host computer subsystem models each base station in the base station subsystem according to the crowd density distribution information of the building and the environmental information of each public passage in the building, and takes the time from the base station to the safety exit as short as possible and the safety as high as possible as the optimization goal, calculates the optimal path information from each base station to the safety exit respectively, sends the optimal path information to the road sign subsystem, displays the optimal path information sent from the host computer subsystem through the road sign subsystem, and gives a voice prompt; S400, the upper computer subsystem displays the movement trajectory of the firefighter and the drone in the drone subsystem according to the positioning information provided by the mobile terminal subsystem and the drone subsystem, performs real-time navigation, obtains the video information collected by the drone subsystem, and displays the status information of the person in distress in real time according to the video information.

6. The method according to claim 5, characterized in that The high-rise building fire intelligent rescue auxiliary system also includes a drone subsystem and a mobile terminal subsystem; the method also includes: The drone subsystem is used to cover and detect each floor in the building, obtain the location distribution information of the disabled persons in distress on each floor, send the location distribution information to the host computer subsystem, and send the location distribution information to the mobile terminal subsystem through the host computer subsystem; The mobile subsystem provides navigation information to firefighters, and provides real-time feedback of the firefighters' location information and physiological status information to the host subsystem.

7. The method according to claim 6, characterized in that The method further comprises: A three-dimensional map of the building is constructed by the host computer subsystem, environmental information collected by each base station in the base station subsystem is obtained, and the environmental information is displayed at a corresponding position in the three-dimensional map according to the coordinates of the base station in the three-dimensional map that collects the environmental information.

8. The method according to claim 7, characterized in that The upper computer subsystem displays the movement tracks of the firefighters and the drones in the drone subsystem and performs real-time navigation according to the positioning information provided by the mobile terminal subsystem and the drone subsystem, including: Each base station in the base station subsystem is used as a positioning base station, and the non-line-of-sight environment where the base station subsystem is located is converted into a line-of-sight environment through a positioning base station deployment algorithm; wherein each base station is configured with a UWB positioning module, and at least three positioning base stations are deployed within the line-of-sight range of each target; the target is a drone and / or a firefighter; An iterative algorithm is used to calculate the current best position estimate of the target by locating the relative distance between the base station and the target; The Kalman filter algorithm is used to fit the estimated current position with the position at the previous moment to obtain the target's motion trajectory, and the target's position information is uploaded to the host computer subsystem; The upper computer subsystem plans the best rescue route from firefighters to the people in distress based on the crowd density distribution information of the building, the environmental information of each public passage in the building, the location distribution information of the people in distress and the location information of the firefighters, and based on a dynamic multi-objective constraint algorithm, and sends the best rescue route to the mobile subsystem corresponding to the firefighters.

9. The method according to claim 8, characterized in that The method further comprises: The upper computer subsystem displays the crowd density distribution information of the building, the environmental information of each public passage in the building, the location distribution information of the persons in distress and the location information of the target in the three-dimensional map, and constructs a dynamic map of the fire scene environment in real time.

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