Rescue equipment path regulation and control platform

Abstract

The invention relates to the technical field of rescue equipment path regulation and control, in particular to a rescue equipment path regulation and control platform which comprises a rescue path regulation and control center, a rescue blocking risk unit, a path planning unit, a dynamic management unit, a return scheduling unit and a rescue management unit. According to the invention, targeted screening and dynamic regulation and control are carried out on the forward planned path and the return planned path from the perspective of path planning of rescue equipment, so that rapid and safe rescue operation can be realized, and dynamic safety regulation and control evaluation analysis is carried out on obstacle information in an information feedback mode. The flexibility and the dynamic regulation and control efficiency of the rescue equipment are improved, meanwhile, the return performance of the rescue equipment in the return time period is analyzed in an information progressive mode, secondary regulation and control are conducted on the return rescue path based on the grading condition of the return performance, so that the sudden risk in the return rescue path is reduced, and the rescue efficiency is improved. And the reliability of the return rescue of the rescue equipment can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of rescue equipment path regulation, and in particular to a rescue equipment path regulation platform. Background Art

[0002] With the arrival of summer, waters become places where people flock, and swimming and playing in the water become a major way to relieve the summer heat. Along with this comes the potential threat of drowning accidents. Every year, drowning accidents claim thousands of lives, and many people lose their lives or face long-term health effects. Even in waters equipped with lifeguards, it is difficult to achieve round-the-clock monitoring of every area.

[0003] Currently, in the prior art, it is impossible to reasonably plan and screen the rescue paths of rescue equipment, thereby reducing the rescue efficiency of rescue equipment. At the same time, it is difficult to achieve fast and safe rescue operations, and it is impossible to dynamically adjust the rescue paths of rescue equipment, resulting in a risk of collision during the rescue process of rescue equipment, and thus unable to continue the rescue. At the same time, it is impossible to perform path regulation on the rescue equipment based on the performance of the rescue equipment, resulting in an increased risk of abnormal return rescue.

[0004] In view of the above technical deficiencies, a solution is now proposed. Summary of the Invention

[0005] The purpose of the present invention is to provide a rescue equipment path regulation platform to solve the above-mentioned technical deficiencies. The present invention analyzes from the perspective of rescue equipment path planning, and conducts targeted screening and dynamic regulation on the forward planning path and the return planning path, so as to reasonably select the forward rescue path and the return rescue path to achieve fast and safe rescue operations. And through the way of information feedback, dynamic safety regulation evaluation and analysis of obstacle information are carried out, which helps to improve the flexibility and dynamic regulation efficiency of rescue equipment. At the same time, through the way of information progression, the return performance of rescue equipment during the return period is analyzed, and the return rescue path is secondarily regulated based on the grading of the return performance to reduce the sudden risk in the return rescue path, thereby helping to improve the reliability of the return rescue of rescue equipment.

[0006] The purpose of the present invention can be achieved by the following technical solutions: A rescue equipment path regulation platform includes a rescue path regulation center, a rescue obstacle risk unit, a path planning unit, a dynamic management unit, a return scheduling unit, and a rescue management unit.

[0007] The rescue equipment path regulation platform retrieves the travel interference information of the recommended planning path of the rescue equipment, and sends the travel interference information to the rescue obstacle risk unit for rescue obstacle risk classification and assessment analysis to obtain the potential rescue risk index QJ.

[0008] The path planning unit is used to screen and analyze the rescue driving path for the basic planning information, and analyze it in combination with the rescue risk index QJ to obtain the preferred rescue path; the dynamic management unit is used to conduct a dynamic safety regulation evaluation and analysis on the collected obstacle information to obtain a safe rescue path;

[0009] The return scheduling unit is used to conduct a feedback route planning evaluation and analysis on the return planning information, and analyze it in combination with the rescue risk index QJ to obtain the return rescue path. At the same time, analyze the return rescue path to obtain the dynamic regulation intensity TD.

[0010] Preferably, the process of dividing and evaluating the rescue obstacle risk is as follows:

[0011] Collect the planned path of the rescue equipment, and set the planned path of the rescue equipment as the recommended planned path. Divide the recommended planned path into the forward planned path and the return planned path, and obtain the travel interference information of each recommended planned path. The travel interference information includes the turbulence interference index and the obstacle interference index;

[0012] Compare and analyze the turbulence interference index and the obstacle interference index with the preset turbulence interference index threshold and the preset obstacle interference index threshold. Set the number of the turbulence interference index and the obstacle interference index that are greater than or equal to the preset turbulence interference index threshold and the preset obstacle interference index threshold as the rescue obstruction risk coefficient, and conduct a discrimination process on the rescue obstruction risk coefficient to obtain first-level safety, second-level safety, and third-level safety. Obtain the corresponding potential rescue risk index QJ for first-level safety, second-level safety, and third-level safety. QJ = a1, a2, and a3, where 1 < a1 < a2 < a3.

[0013] Preferably, the turbulence interference index represents the product value obtained by multiplying the path length and the driving duration in the recommended planned path corresponding to the water flow velocity exceeding the preset water flow velocity threshold after data normalization; the obstacle interference index represents the value obtained by adding the total number of obstacle avoidance times and the total obstacle avoidance duration in the recommended planned path after data normalization.

[0014] Preferably, the process of screening and analyzing the rescue driving path is as follows:

[0015] Obtain the basic planning information of the forward planned path. The basic planning information includes the travel duration, the travel path distance, and the energy consumption value. At the same time, obtain the corresponding preset weight factor coefficients for the travel duration, the travel path distance, and the energy consumption value. Set the sum value between the product value of the travel duration and the corresponding preset weight factor coefficient, the product value of the travel path distance and the corresponding preset weight factor coefficient, and the product value of the energy consumption value and the corresponding preset weight factor coefficient as the planning feasibility value;

[0016] Label the planned feasible value as GK, substitute the planned feasible value GK and the potential rescue risk index QJ into the formula to obtain the selected evaluation coefficient D of the forward planned path, and then obtain the minimum value among the selected evaluation coefficients of each forward planned path, and set the forward planned path corresponding to the minimum value of the selected evaluation coefficient as the preferred rescue path.

[0017] Preferably, the dynamic safety regulation evaluation and analysis process is as follows:

[0018] Collect the rescue time period of the rescue equipment and set it as the time threshold, obtain the obstacle information of the obstacles during the process of the rescue equipment moving along the preferred rescue path within the time threshold, the obstacle information includes known avoidable obstacles and unknown avoidable obstacles, and perform discrimination processing on the obstacle information:

[0019] If the obstacle is a known obstacle, generate a normal signal; if the obstacle is an unknown avoidable obstacle, generate a dynamic regulation signal.

[0020] Preferably, when a dynamic regulation signal is generated, set the unknown avoidable obstacle as a dynamic obstacle, obtain the dynamic information of the dynamic obstacle, the dynamic information includes the traveling speed, traveling path, and size of the dynamic obstacle, based on the dynamic information of the dynamic obstacle, obtain the collision information between the dynamic obstacle and the rescue equipment, the collision information includes collision and no collision, and perform discrimination processing on the collision information to obtain a forward signal or an avoidance signal. When an avoidance signal is generated, obtain the avoidance route of the generated dynamic obstacle, and obtain the minimum value of the selected evaluation coefficient corresponding to the avoidance route, set the avoidance route corresponding to the minimum value of the selected evaluation coefficient as the planned avoidance route, obtain the starting intersection point and the ending intersection point of the planned avoidance route and the preferred rescue path, replace the line segment between the starting intersection point and the ending intersection point in the preferred rescue path with the planned avoidance route, and set the path formed after fusion as the safe rescue path.

[0021] Preferably, the feedback route planning evaluation and analysis process is as follows:

[0022] Obtain the return planning information of the return planning path, the return planning information includes the return duration and the traveling path distance, obtain the preset weight coefficients corresponding to the return duration and the traveling path distance, set the sum value between the product value of the return duration and the corresponding preset weight coefficient and the product value of the traveling path distance and the corresponding preset weight coefficient as the return selection coefficient. At the same time, obtain the potential rescue risk index QJ of the return planning path, set the product value between the return selection coefficient, the potential rescue risk index QJ, and the preset error correction coefficient as the return evaluation coefficient, obtain the return planning path corresponding to the minimum value of the return evaluation coefficient, and set it as the return rescue path.

[0023] Preferably, during the return period of the rescue equipment, the part where the actual operation performance value of the rescue equipment in the return rescue path during the return period is lower than the preset threshold is obtained and set as the dynamic regulation demand value. The actual operation performance value represents the number of kinetic energy parameter corresponding values of the rescue equipment that are lower than the preset threshold. The kinetic energy parameters include acceleration and driving speed. Then, the dynamic regulation demand value is judged and processed to obtain primary regulation and secondary regulation, and the corresponding dynamic regulation intensity TD of the primary regulation and secondary regulation is obtained, where TD = c1, c2, c2 > c1 > 1. Furthermore, the dynamic regulation intensity TD of the current rescue equipment is obtained.

[0024] The beneficial effects of the present invention are as follows:

[0025] (1) From the perspective of rescue equipment path planning, the present invention divides the recommended planned path into a forward planned path and a return planned path, and conducts targeted screening and dynamic regulation on the forward planned path and the return planned path.

[0026] (2) The present invention conducts rescue driving path screening analysis on the basic planning information of the forward planned path and feedback route planning evaluation analysis on the return planned information, and at the same time combines the potential rescue risk index QJ for analysis, which helps to avoid potential risks in the forward rescue path, and at the same time facilitates the reasonable selection of the forward rescue path and the return rescue path to achieve fast and safe rescue operations. By means of information feedback, the obstacle information is dynamically and safely regulated and evaluated to dynamically adjust the traveling path of the rescue equipment, which further helps to improve the flexibility and dynamic regulation efficiency of the rescue equipment.

[0027] (3) By means of information progression, the return performance of the rescue equipment during the return period is analyzed to grade the return performance of the rescue equipment, and based on the grading of the return performance, the return rescue path is secondarily regulated to reduce the sudden risks in the return rescue path, which further helps to improve the reliability of the rescue equipment during return rescue. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention will be further described below with reference to the accompanying drawings;

[0029] Figure 1 is the system flow block diagram of the present invention;

[0030] Figure 2 is the partial analysis reference diagram of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0032] Embodiment 1:

[0033] Please refer to Figures 1 to 2 As shown, the present invention is a rescue equipment path regulation platform, including a rescue path regulation center, a rescue obstacle risk unit, a path planning unit, a dynamic management unit, a return scheduling unit, and a rescue management unit. The rescue path regulation center is unidirectionally communicatively connected to the rescue obstacle risk unit. The rescue obstacle risk unit is unidirectionally communicatively connected to both the path planning unit and the return scheduling unit. The path planning unit is unidirectionally communicatively connected to the dynamic management unit. Both the return scheduling unit and the path planning unit are unidirectionally communicatively connected to the dynamic management unit;

[0034] The rescue equipment path regulation platform retrieves the travel interference information of the recommended planned path of the rescue equipment and sends the travel interference information to the rescue obstacle risk unit;

[0035] After receiving the travel interference information, the rescue obstacle risk unit conducts a rescue obstacle risk classification and evaluation analysis on the travel interference information to understand the potential impact level of the water flow environment and obstacle avoidance factors on the rescue during the rescue process, so as to reasonably classify the rescue obstacle risk, and further help to reasonably select the path. The specific rescue obstacle risk classification and evaluation analysis process is as follows:

[0036] Collect the planned path of the rescue equipment, and set the planned path of the rescue equipment as the recommended planned path. Divide the recommended planned path into a forward planned path and a return planned path;

[0037] Obtain the travel interference information of each recommended planned path. The travel interference information includes a turbulence interference index and an obstacle interference index;

[0038] In the embodiment of the present invention, the turbulence interference index represents the product value obtained by multiplying the path length and travel duration in the recommended planned path corresponding to the water flow velocity exceeding the preset water flow velocity threshold after data normalization processing. It should be noted that the turbulence interference index is an influence parameter reflecting the travel safety of the recommended planned path. The larger the value of the turbulence interference index, the greater the potential risk of the recommended planned path;

[0039] In the embodiments of the present invention, the obstacle interference index represents the value obtained by adding the total number of obstacle avoidance times and the total obstacle avoidance duration in the recommended planned path after data normalization. It should be noted that the larger the value of the obstacle interference index, the greater the risk of the recommended planned path being blocked during travel;

[0040] Compare and analyze the turbulence interference index and the obstacle interference index with the preset turbulence interference index threshold and the preset obstacle interference index threshold. Set the number of the turbulence interference index and the obstacle interference index that are greater than or equal to the preset turbulence interference index threshold and the preset obstacle interference index threshold as the rescue block risk coefficient, and perform discrimination processing on the rescue block risk coefficient:

[0041] If the rescue block risk coefficient = 0, it is determined as level one safety;

[0042] If the rescue block risk coefficient = 1, it is determined as level two safety;

[0043] If the rescue block risk coefficient = 2, it is determined as level three safety. Among them, the potential travel block risks corresponding to level one safety, level two safety, and level three safety increase in sequence. Obtain the potential rescue risk indexes QJ corresponding to level one safety, level two safety, and level three safety. QJ = a1, a2, and a3, that is, the potential rescue risk index QJ corresponding to level one safety is QJ = a1, the potential rescue risk index QJ corresponding to level two safety is QJ = a2, and the potential rescue risk index QJ corresponding to level three safety is QJ = a3. It should be noted that 1 < a1 < a2 < a3. Send the potential rescue risk index QJ to the path planning unit and the return scheduling unit.

[0044] Embodiment Two:

[0045] After receiving the potential rescue risk index QJ, the path planning unit immediately conducts screening and analysis of the rescue travel path for the collected basic planning information, so as to reasonably select the forward rescue path, and at the same time helps to avoid potential risks in the forward rescue path to improve travel safety. The specific process of the rescue travel path screening and analysis is as follows:

[0046] Obtain the basic planning information of the forward planned path. The basic planning information includes travel duration, travel path distance, and energy consumption value. At the same time, obtain the corresponding preset weight factor coefficients for the travel duration, travel path distance, and energy consumption value. Set the sum value between the product value of the travel duration and the corresponding preset weight factor coefficient, the product value of the travel path distance and the corresponding preset weight factor coefficient, and the product value of the energy consumption value and the corresponding preset weight factor coefficient as the planning feasibility value. It should be noted that the planning feasibility value is an influence parameter reflecting the basic advantage evaluation of the recommended planned path;

[0047] Label the planning feasibility value as GK, and substitute the planning feasibility value GK and the potential rescue risk index QJ into the formula Obtain the selected evaluation coefficient of the forward planning path. Among them, f1 and f2 are respectively the preset proportional factor coefficients of the planning feasibility value and the potential rescue risk index, f3 is the preset fault tolerance factor coefficient, f1, f2, and f3 are all greater than zero, D is the selected evaluation coefficient. Furthermore, obtain the minimum value among the selected evaluation coefficients of each forward planning path, and set the forward planning path corresponding to the minimum value of the selected evaluation coefficient as the preferred rescue path, and send the preferred rescue path to the rescue management unit. The rescue management unit immediately performs an execution operation according to the preferred rescue path upon receiving the preferred rescue path, which helps to eliminate the impact of potential risks during the rescue on the rescue, so as to achieve fast and safe rescue operations;

[0048] The dynamic management unit is used to collect the obstacle information of the obstacles and conduct a dynamic safety control evaluation analysis on the obstacle information, so as to dynamically adjust the traveling path of the rescue equipment, and further help to improve the flexibility and dynamic control efficiency of the rescue equipment. The specific dynamic safety control evaluation analysis process is as follows:

[0049] Collect the rescue time period of the rescue equipment and set it as the time threshold. Obtain the obstacle information of the obstacles during the process of the rescue equipment traveling along the preferred rescue path within the time threshold. The obstacle information includes known avoidable obstacles and unknown avoidable obstacles, and conduct a discrimination process on the obstacle information:

[0050] If the obstacle is a known obstacle, generate a normal signal. When the normal signal is generated, continue to travel along the preferred rescue path;

[0051] If the obstacle is an unknown avoidable obstacle, generate a dynamic control signal. When the dynamic control signal is generated, set the unknown avoidable obstacle as a dynamic obstacle, obtain the dynamic information of the dynamic obstacle. The dynamic information includes traveling speed, traveling path, dynamic obstacle size, etc. Based on the dynamic information of the dynamic obstacle, obtain the collision information between the dynamic obstacle and the rescue equipment. The collision information includes collision occurring and no collision occurring, and conduct a discrimination process on the collision information:

[0052] If the collision information is no collision occurring, generate a forward signal;

[0053] If the collision information indicates a collision, an avoidance signal is generated. When the avoidance signal is generated, the avoidance route of the generated dynamic obstacle is obtained, and the minimum value of the selected evaluation coefficient corresponding to the avoidance route is obtained. The avoidance route corresponding to the minimum value of the selected evaluation coefficient is set as the planned avoidance route. The starting intersection point and the ending intersection point of the planned avoidance route and the preferred rescue path are obtained. The line segment between the starting intersection point and the ending intersection point in the preferred rescue path is replaced with the planned avoidance route, and the path formed after fusion is set as the safe rescue path. The safe rescue path is sent to the rescue management unit. Upon receiving the safe rescue path, the rescue management unit immediately performs an execution operation according to the safe rescue path to dynamically adjust the travel path of the rescue equipment, thereby helping to improve the flexibility and dynamic regulation efficiency of the rescue equipment.

[0054] Embodiment Three:

[0055] After receiving the potential rescue risk index QJ, the return scheduling unit collects the return planning information of the return planning path and simultaneously conducts a feedback route planning evaluation analysis on the return planning information. The specific process of the feedback route planning evaluation analysis is as follows:

[0056] The return planning information of the return planning path is obtained. The return planning information includes the return duration and the travel path distance. The preset weight coefficients corresponding to the return duration and the travel path distance are obtained. The sum value between the product value of the return duration and the corresponding preset weight coefficient and the product value of the travel path distance and the corresponding preset weight coefficient is set as the return selection coefficient. At the same time, the potential rescue risk index QJ of the return planning path is obtained. The product value between the return selection coefficient, the potential rescue risk index QJ, and the preset error correction coefficient is set as the return evaluation coefficient. The return planning path corresponding to the minimum value of the return evaluation coefficient is obtained and set as the return rescue path;

[0057] The return time period of the rescue equipment is collected. The part where the actual operation performance value of the rescue equipment in the return rescue path during the return time period is lower than the preset threshold is obtained and set as the dynamic regulation demand value. The actual operation performance value represents the number of kinetic energy parameter corresponding values of the rescue equipment that are lower than the preset threshold. The kinetic energy parameters include acceleration, traveling speed, etc., and the dynamic regulation demand value is judged and processed:

[0058] If the dynamic regulation demand value is less than the preset dynamic regulation demand value threshold, it is determined as a first-level regulation;

[0059] If the dynamic regulation demand value is greater than or equal to the preset dynamic regulation demand value threshold, a secondary regulation is generated. Among them, the dynamic regulation demands corresponding to the primary regulation and the secondary regulation increase sequentially. Obtain the dynamic regulation strengths TD corresponding to the primary regulation and the secondary regulation, TD = c1, c2, that is, the dynamic regulation strength TD corresponding to the primary regulation is c1, and the dynamic regulation strength TD corresponding to the secondary regulation is c2, where c2 > c1 > 1. Furthermore, obtain the dynamic regulation strength TD of the rescue equipment, and send the dynamic regulation strength TD to the rescue management unit. After receiving the dynamic regulation strength TD, the rescue management unit immediately displays the preset warning text corresponding to the dynamic regulation strength TD, so as to perform secondary regulation on the return rescue path to reduce the sudden risks in the return rescue path, and thus contribute to improving the reliability and flexible regulation effect of the rescue equipment's return rescue;

[0060] In summary, from the perspective of the path planning of the rescue equipment, the present invention divides the recommended planned path into a forward planned path and a return planned path, and conducts targeted screening and dynamic regulation on the forward planned path and the return planned path, that is, conducts rescue driving path screening analysis on the basic planning information of the forward planned path and conducts feedback route planning evaluation analysis on the return planning information. At the same time, it is analyzed in combination with the potential rescue risk index QJ, which helps to avoid potential risks in the forward rescue path, and at the same time facilitates the reasonable selection of the forward rescue path and the return rescue path, so as to achieve fast and safe rescue operations. And through the way of information feedback, the dynamic safety regulation evaluation analysis of the obstacle information is carried out to dynamically adjust the traveling path of the rescue equipment, which thus contributes to improving the flexibility and dynamic regulation efficiency of the rescue equipment;

[0061] Analyze the return performance of the rescue equipment during the return period in the way of information progression, so as to grade the return performance of the rescue equipment, and based on the grading situation of the return performance, perform secondary regulation on the return rescue path to reduce the sudden risks in the return rescue path, and thus contribute to improving the reliability of the rescue equipment's return rescue.

[0062] The setting of the size of the threshold is for the convenience of comparison. Regarding the size of the threshold, it depends on the amount of sample data and the number of base numbers set by those skilled in the art for each group of sample data; as long as it does not affect the proportional relationship between the parameter and the quantified value.

[0063] The size of the coefficient is a specific value obtained by quantifying each parameter for the convenience of subsequent comparison. Regarding the size of the coefficient, it depends on the amount of sample data and the corresponding operation coefficients initially set by those skilled in the art for each group of sample data; as long as it does not affect the proportional relationship between the parameter and the quantified value.

[0064] The above formulas are all obtained by collecting a large amount of data for software simulation and selecting a formula close to the true value. The coefficients in the formula are set by those skilled in the art according to the actual situation. As described above, the above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution of the present invention and its inventive concept, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A rescue equipment path control platform, characterized in that: It includes rescue route control center, rescue obstacle risk unit, route planning unit, dynamic management unit, return dispatch unit and rescue management unit; The rescue path control platform retrieves the travel interference information of the rescue equipment recommended planning path, and sends the travel interference information to the rescue obstacle risk unit for rescue obstacle risk classification assessment and analysis to obtain a potential rescue risk index QJ; The path planning unit is used to screen and analyze the rescue driving path based on the basic planning information, and analyze it in combination with the rescue risk index QJ to obtain the preferred rescue path; the dynamic management unit is used to perform dynamic safety control evaluation and analysis on the collected obstacle information to obtain a safe rescue path; The return scheduling unit is used to conduct feedback route planning evaluation and analysis on the return planning information, and analyze it in combination with the rescue risk index QJ to obtain the return rescue path. At the same time, the return rescue path is analyzed to obtain the dynamic control intensity TD.

2. A rescue equipment path control platform according to claim 1, characterized in that: The rescue obstacle risk classification assessment and analysis process is as follows: The planned path of the rescue equipment is collected, and the planned path of the rescue equipment is set as the recommended planned path, the recommended planned path is divided into a forward planned path and a return planned path, and the travel interference information of each recommended planned path is obtained, and the travel interference information includes a spoiler interference index and an obstacle interference index; The spoiler interference index and the obstacle interference index are compared and analyzed with the preset spoiler interference index threshold and the preset obstacle interference index threshold, and the number of spoiler interference indices and obstacle interference indices that are greater than or equal to the preset spoiler interference index threshold and the preset obstacle interference index threshold is set as the rescue obstruction risk coefficient, and the rescue obstruction risk coefficient is discriminated and processed to obtain level one safety, level two safety and level three safety, and the potential rescue risk index QJ corresponding to the level one safety, level two safety and level three safety is obtained, QJ=a1, a2 and a3, 1<a1<a2<a3.

3. A rescue equipment path control platform according to claim 2, characterized in that: The disturbance interference index represents the product of the path length and driving time in the recommended planned path corresponding to the water flow velocity exceeding the preset water flow velocity threshold after data normalization processing; the obstacle interference index represents the value obtained by adding the total number of obstacle avoidance times and the total obstacle avoidance time in the recommended planned path after data normalization processing.

4. A rescue equipment path control platform according to claim 1, characterized in that: The rescue driving path screening and analysis process is as follows: Obtain basic planning information of the forward planning path, the basic planning information includes travel time, travel path distance and energy consumption value, and simultaneously obtain preset weight factor coefficients corresponding to the travel time, travel path distance and energy consumption value, and set the sum of the product value of the travel time and the corresponding preset weight factor coefficient, the product value of the travel path distance and the corresponding preset weight factor coefficient, and the product value of the energy consumption value and the corresponding preset weight factor coefficient as the planning feasible value; The planning feasible value is labeled as GK, and the planning feasible value GK and the potential rescue risk index QJ are substituted into the formula to obtain the selected evaluation coefficient D of the forward planning path, and then the minimum value of the selected evaluation coefficients of each forward planning path is obtained, and the forward planning path corresponding to the minimum value of the selected evaluation coefficient is set as the preferred rescue path.

5. A rescue equipment path control platform according to claim 1, characterized in that: The dynamic security control evaluation and analysis process is as follows: The rescue time period of the rescue equipment is collected and set as the time threshold. Obstacle information of obstacles encountered by the rescue equipment during its movement along the preferred rescue path within the time threshold is obtained. The obstacle information includes known avoidance obstacles and unknown avoidance obstacles, and the obstacle information is identified and processed: If the obstacle is a known obstacle, a normal signal is generated; if the obstacle is an unknown avoidance obstacle, a dynamic control signal is generated.

6. A rescue equipment path control platform according to claim 5, characterized in that: When a dynamic control signal is generated, an unknown avoidance obstacle is set as a dynamic obstacle, and the dynamic information of the dynamic obstacle is obtained. The dynamic information includes the travel speed, the travel path, and the size of the dynamic obstacle. Based on the dynamic information of the dynamic obstacle, the collision information between the dynamic obstacle and the rescue equipment is obtained, and the collision information includes whether a collision occurs or not. The collision information is judged and processed to obtain a forward signal or an avoidance signal. When an avoidance signal is generated, the avoidance route of the generated dynamic obstacle is obtained, and the minimum value of the selected evaluation coefficient corresponding to the avoidance route is obtained. The avoidance route corresponding to the minimum value of the selected evaluation coefficient is set as the planned avoidance route. The starting intersection point and the end intersection point of the planned avoidance route and the preferred rescue path are obtained, and the line segment between the starting intersection point and the end intersection point in the preferred rescue path is replaced with the planned avoidance route, and the fused path is set as the safe rescue path.

7. A rescue equipment path control platform according to claim 1, characterized in that: The feedback route planning evaluation and analysis process is as follows: The return planning information of the return planning path is obtained, the return planning information includes the return time and the travel path distance, the preset weight coefficients corresponding to the return time and the travel path distance are obtained, and the sum of the product of the return time and the corresponding preset weight coefficient and the product of the travel path distance and the corresponding preset weight coefficient is set as the return selection coefficient. At the same time, the potential rescue risk index QJ of the return planning path is obtained, and the product of the return selection coefficient, the potential rescue risk index QJ and the preset error correction coefficient is set as the return evaluation coefficient. The return planning path corresponding to the minimum value of the return evaluation coefficient is obtained, and it is set as the return rescue path.

8. A rescue equipment path control platform according to claim 7, characterized in that: The return time period of the rescue equipment is collected, and the part of the actual operation performance value of the rescue equipment in the return rescue path during the return time period that is lower than the preset threshold is obtained, and it is set as the dynamic control demand value. The actual operation performance value indicates the number of corresponding values ​​of the kinetic energy parameters of the rescue equipment that are lower than the preset threshold. The kinetic energy parameters include acceleration and driving speed. The dynamic control demand value is distinguished and processed to obtain primary control and secondary control, and the dynamic control strength TD corresponding to the primary control and secondary control is obtained, TD=c1, c2, c2>c1>1, and then the dynamic control strength TD of the current rescue equipment is obtained.

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