Emergency command system based on rescue path planning

Abstract

The invention provides an emergency command system based on rescue path planning. The emergency command system comprises a handheld terminal, an unmanned aerial vehicle and a portable fusion scheduling all-in-one machine. The handheld terminal is used for collecting position information of rescue workers and sending the position information of the rescue workers to the portable fusion scheduling all-in-one machine; the unmanned aerial vehicle is used for collecting picture information of a target area and position information of a rescued person and sending the picture information of the target area and the position information of the rescued person to the portable fusion scheduling all-in-one machine; and the portable fusion scheduling all-in-one machine is used for predicting a current optimal rescue path by utilizing a pre-established path planning model based on the picture information of the target area, the position information of the rescued person and the position information of the rescuer, and sending the current optimal rescue path to the handheld terminal. According to the invention, the development efficiency of the rescue work is improved, the occurrence of accidents in the rescue work is reduced to the greatest extent, and the safety guarantee level of the rescue work is further improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of emergency command, and particularly relates to an emergency command system based on rescue path planning. Background Art

[0002] Flood disasters include two categories: flood disasters and rainwaterlogging disasters. Among them, disasters caused by heavy rainfall, snowmelt, ice floes, dam breaches, storm surges, etc., resulting in increased water volume and rising water levels in rivers, lakes and coastal areas, as well as floods and flash floods are called flood disasters; disasters caused by heavy rain, rainstorms or overly concentrated long-term rainfall, resulting in a large amount of accumulated water and runoff, and untimely drainage, causing waterlogging and flooding of land, houses, etc. are called rainwaterlogging disasters.

[0003] With the global climate change and the rapid development of cities, rainstorm disaster events occur frequently, posing a great threat to the daily life and personal and property safety of residents. When carrying out flood disaster rescue, carrying out rescue work without knowing the specific location of the trapped persons and the terrain structure of the disaster area not only increases the rescue difficulty, but also may put the rescue personnel and the rescued persons in danger. At present, in the case of no public network, the rear command center has problems such as difficulty in obtaining the on-site situation in real time and comprehensively, poor communication and cooperation among on-site personnel, and insufficient ability to monitor the safety of personnel and operations. Summary of the Invention

[0004] To overcome the problems existing in the above related technologies, the present application provides an emergency command system based on rescue path planning.

[0005] According to the first aspect of the embodiments of the present application, an emergency command system based on rescue path planning is provided, including: a handheld terminal, a drone, and a portable integrated dispatching machine;

[0006] The handheld terminal is used to collect the location information of the rescue personnel and send the location information of the rescue personnel to the portable integrated dispatching machine;

[0007] The drone is used to collect the picture information of the target area and the location information of the rescued persons, and send the picture information of the target area and the location information of the rescued persons to the portable integrated dispatching machine;

[0008] The portable integrated dispatching machine is used to predict the current optimal rescue path based on the picture information of the target area, the location information of the rescued persons and the location information of the rescue personnel, using a pre-established path planning model, and send the current optimal rescue path to the handheld terminal.

[0009] Preferably, the portable integrated dispatching machine is specifically used for:

[0010] Input the picture information of the target area, the location information of the rescued person, and the location information of the rescuer into the path planning model, and output the current optimal rescue path.

[0011] Preferably, the portable integrated dispatching machine includes:

[0012] A building unit for building the path planning model.

[0013] Preferably, the building unit includes:

[0014] A collection module for collecting historical picture information of the disaster area and the corresponding historical location information of the rescued person, historical location information of the rescuer, and historical optimal rescue path;

[0015] A marking module for marking the rescued persons in the picture information of the disaster area to obtain the marked historical picture information;

[0016] A construction module for constructing a data set with the marked historical picture information and the corresponding historical location information of the rescued person, historical location information of the rescuer, and historical optimal rescue path;

[0017] An acquisition module for training and validating a machine learning model using the data set to obtain the path planning model.

[0018] Preferably, the acquisition module includes:

[0019] A sub-module for dividing the data set into a training set and a validation set;

[0020] A training sub-module for training the machine learning model using the training set to obtain a trained machine learning model;

[0021] A validation sub-module for validating the trained machine learning model using the validation set. If the validation is successful, the trained machine learning model is the path planning model; if the validation fails, adjust the model parameters of the machine learning model and retrain until the validation is successful.

[0022] Preferably, the training sub-module is specifically used for:

[0023] Using the labeled historical picture information in the training set, the corresponding location information of historical rescued persons, and the location information of historical rescue personnel as the input layer training samples of the machine learning model, and using the historical optimal rescue path in the training set as the output layer training sample of the machine learning model to train the machine learning model, a trained machine learning model is obtained.

[0024] Preferably, the verification sub-module is specifically configured to:

[0025] Using the labeled historical picture information in the verification set, the corresponding location information of historical rescued persons, and the location information of historical rescue personnel as the input of the trained machine learning model, and outputting the predicted optimal rescue path;

[0026] Determine the degree of coincidence between the predicted optimal rescue path and the historical optimal rescue path. If the degree of coincidence is greater than or equal to the preset threshold, the verification is successful, and the trained machine learning model is the path planning model; if the degree of coincidence is less than the preset threshold, the verification fails, and the model parameters of the machine learning model are adjusted and retrained until the verification is successful.

[0027] Preferably, the handheld terminal, the drone, and the portable integrated dispatching machine all interact through a wireless broadband MESH self-organizing network.

[0028] Preferably, the system further includes:

[0029] A head-mounted device wearable on the head of a rescue personnel, which is used to collect video information in front of the rescue personnel, send the video information to the portable integrated dispatching machine, and send an alarm message when an obstacle is found within a preset distance in front of the rescue personnel.

[0030] Preferably, the head-mounted device and the portable integrated dispatching machine all interact through a wireless broadband MESH self-organizing network.

[0031] The technical solution provided by the present invention has the following beneficial effects:

[0032] An emergency command system based on rescue path planning provided by the present invention includes: a handheld terminal, a drone, and a portable integrated dispatching machine; the handheld terminal is used to collect the position information of rescue personnel and send the position information of the rescue personnel to the portable integrated dispatching machine; the drone is used to collect the picture information of the target area and the position information of the rescued personnel, and send the picture information of the target area and the position information of the rescued personnel to the portable integrated dispatching machine; the portable integrated dispatching machine is used to predict the current optimal rescue path based on the picture information of the target area, the position information of the rescued personnel, and the position information of the rescue personnel by using a pre-established path planning model, and send the current optimal rescue path to the handheld terminal. The technical solution provided by the present invention not only improves the efficiency of rescue work, minimizes the occurrence of accidents in rescue work to the greatest extent, and further improves the safety guarantee level of rescue work. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0034] Figure 1 FIG. is a schematic structural diagram of an emergency command system based on rescue path planning provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] In order to make the purpose, technical solutions and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions of the present invention in conjunction with the drawings. Obviously, the following embodiments are some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0036] Embodiment 1

[0037] The present invention provides an emergency command system based on rescue path planning, as Figure 1 shown, including: a handheld terminal, a drone, and a portable integrated dispatching machine;

[0038] The handheld terminal is used to collect the position information of rescue personnel and send the position information of the rescue personnel to the portable integrated dispatching machine;

[0039] A drone is used to collect picture information of a target area and the location information of the rescued persons, and send the picture information of the target area and the location information of the rescued persons to a portable integrated fusion dispatching machine;

[0040] The portable integrated fusion dispatching machine is used to predict the current optimal rescue path based on the picture information of the target area, the location information of the rescued persons and the location information of the rescue personnel by using a pre-established path planning model, and send the current optimal rescue path to a handheld terminal.

[0041] It can be understood that, due to the advantages of strong anti-interference ability, high safety and simple operation of the drone, using the drone to collect the picture information of the target area and the location information of the rescued persons improves the accuracy and reliability of information collection.

[0042] An emergency command system based on rescue path planning provided by the present invention is applicable to rescue work during flood disasters. In practical applications, it can also be applicable to other disaster rescue work.

[0043] Further, the portable integrated fusion dispatching machine is specifically used for:

[0044] Input the picture information of the target area, the location information of the rescued persons and the location information of the rescue personnel into the path planning model, and output the current optimal rescue path.

[0045] Further, the portable integrated fusion dispatching machine includes:

[0046] A building unit is used to build a path planning model.

[0047] Further, the building unit includes:

[0048] A collection module is used to collect historical picture information of the disaster-stricken area and its corresponding historical location information of the rescued persons, historical location information of the rescue personnel, and historical optimal rescue path;

[0049] A marking module is used to mark the rescued persons in the picture information of the disaster-stricken area to obtain the marked historical picture information;

[0050] A construction module is used to construct a data set with the marked historical picture information and its corresponding historical location information of the rescued persons, historical location information of the rescue personnel, and historical optimal rescue path;

[0051] An acquisition module is used to train and verify a machine learning model by using the data set to obtain a path planning model.

[0052] Further, the acquisition module includes:

[0053] A sub-module for dividing a data set into a training set and a validation set;

[0054] A training sub-module for training a machine learning model using the training set to obtain a trained machine learning model;

[0055] A validation sub-module for validating the trained machine learning model using the validation set. If the validation is successful, the trained machine learning model is a path planning model; if the validation fails, the model parameters of the machine learning model are adjusted and training is restarted until the validation is successful.

[0056] Furthermore, the training sub-module is specifically used for:

[0057] Using the labeled historical image information in the training set, the corresponding historical positions of the rescued persons, and the historical positions of the rescue personnel as the input layer training samples of the machine learning model, and using the historical optimal rescue path in the training set as the output layer training samples of the machine learning model to train the machine learning model, obtaining a trained machine learning model.

[0058] It should be noted that the "machine learning model" involved in the embodiments of the present invention is well-known to those skilled in the art. Therefore, its specific implementation manner will not be described in detail.

[0059] Furthermore, the validation sub-module is specifically used for:

[0060] Using the labeled historical image information in the validation set, the corresponding historical positions of the rescued persons, and the historical positions of the rescue personnel as the input of the trained machine learning model, and outputting the predicted optimal rescue path;

[0061] Determining the degree of coincidence between the predicted optimal rescue path and the historical optimal rescue path. If the degree of coincidence is greater than or equal to a preset threshold, the validation is successful, and the trained machine learning model is a path planning model; if the degree of coincidence is less than the preset threshold, the validation fails, and the model parameters of the machine learning model are adjusted and training is restarted until the validation is successful.

[0062] Furthermore, the handheld terminal, the drone, and the portable integrated dispatching machine all interact through a wireless broadband MESH self-organizing network.

[0063] The present invention uses a wireless broadband MESH self-organizing network for communication, ensuring smooth personnel communication, safe rescue operations, and emergency repair command, meeting the requirements of being simple to use, stable and reliable, and convenient to carry, and fully considering the extreme situations of power failure and network disconnection at the emergency disposal site and the inability of vehicle-mounted equipment to reach in large-scale disaster scenarios.

[0064] In some embodiments, wireless broadband MESH ad-hoc network communication can be achieved, but not limited to, by using communication satellites and ultra-small satellite portable stations, etc.

[0065] Furthermore, the system further includes:

[0066] A head-mounted device that can be worn on the head of a rescuer, which is used to collect video information in front of the rescuer, send the video information to the portable integrated dispatching machine, and send an alarm message when an obstacle is detected within a preset distance in front of the rescuer.

[0067] Specifically, the head-mounted device can send an alarm message by installing a speaker, but not limited to this. For example, send an alarm message such as "There is an obstacle ahead".

[0068] In some embodiments, the head-mounted device is also used for lighting, collecting the current position information of the rescuer, and sending the current position information of the rescuer to the portable integrated dispatching machine. When the handheld terminal fails, the current position information of the rescuer is sent to the portable integrated dispatching machine through the wearable device, so that the command center can always understand the position information of the rescuer and find the rescuer in time to ensure the personal safety of the rescuer.

[0069] Furthermore, the head-mounted device and the portable integrated dispatching machine interact with each other through a wireless broadband MESH ad-hoc network.

[0070] The head-mounted device involved in the present invention can not only protect the head safety of the rescuer, but also identify obstacles, remind the rescuer to change the underwater rescue route in time, avoid personnel injuries caused by hitting obstacles, and ensure the smooth progress of the rescue work.

[0071] An emergency command system based on rescue path planning provided by the present invention collects the position information of the rescuer through a handheld terminal and sends the position information of the rescuer to the portable integrated dispatching machine. The drone collects the picture information of the target area and the position information of the rescued person and sends the picture information of the target area and the position information of the rescued person to the portable integrated dispatching machine. The portable integrated dispatching machine predicts the current optimal rescue path based on the picture information of the target area, the position information of the rescued person and the position information of the rescuer by using a pre-established path planning model, and sends the current optimal rescue path to the handheld terminal, which not only improves the efficiency of the rescue work, minimizes the occurrence of unexpected situations in the rescue work, and further improves the safety guarantee level of the rescue work.

[0072] It is understandable that the same or similar parts in the above embodiments can be referred to each other, and for the content not described in detail in some embodiments, reference can be made to the same or similar content in other embodiments.

[0073] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) containing computer-usable program code.

[0074] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0075] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device that implements the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0076] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications or equivalent substitutions can still be made to the specific implementation manners of the present invention, and any modification or equivalent substitution that does not depart from the spirit and scope of the present invention should be covered by the protection scope of the claims of the present invention.

Claims

1. An emergency command system based on rescue path planning, characterized in that, Including: A handheld terminal, a drone, and a portable integrated fusion dispatching machine; The handheld terminal is used to collect the location information of rescue personnel and send the location information of the rescue personnel to the portable integrated fusion dispatching machine; The drone is used to collect the picture information of the target area and the location information of the rescued personnel, and send the picture information of the target area and the location information of the rescued personnel to the portable integrated fusion dispatching machine; The portable integrated fusion dispatching machine is used to predict the current optimal rescue path based on the picture information of the target area, the location information of the rescued personnel, and the location information of the rescue personnel by using a pre-established path planning model, and send the current optimal rescue path to the handheld terminal.

2. The system according to claim 1, characterized in that, The portable integrated fusion dispatching machine is specifically used for: Inputting the picture information of the target area, the location information of the rescued personnel, and the location information of the rescue personnel into the path planning model, and outputting the current optimal rescue path.

3. The system according to claim 1, characterized in that, The portable integrated fusion dispatching machine includes: A building unit for building the path planning model.

4. The system according to claim 3, characterized in that, The building unit includes: A collection module for collecting the historical picture information of the disaster area and its corresponding historical location information of the rescued personnel, historical location information of the rescue personnel, and historical optimal rescue path; A marking module for marking the rescued personnel in the picture information of the disaster area to obtain the marked historical picture information; A construction module for constructing a data set with the marked historical picture information and its corresponding historical location information of the rescued personnel, historical location information of the rescue personnel, and historical optimal rescue path; An acquisition module for training and validating a machine learning model by using the data set to obtain the path planning model.

5. The system according to claim 4, characterized in that, The acquisition module includes: A division sub-module for dividing the data set into a training set and a validation set; A training sub-module for training the machine learning model by using the training set to obtain a trained machine learning model; A validation sub-module for validating the trained machine learning model by using the validation set. If the validation is successful, the trained machine learning model is the path planning model; if the validation fails, adjust the model parameters of the machine learning model and retrain until the validation is successful.

6. The system according to claim 5, characterized in that, The training sub-module is specifically used for: Using the marked historical picture information and its corresponding historical location information of the rescued personnel, historical location information of the rescue personnel in the training set as the input layer training samples of the machine learning model, and using the historical optimal rescue path in the training set as the output layer training samples of the machine learning model to train the machine learning model to obtain a trained machine learning model.

7. The system according to claim 5, characterized in that, The validation sub-module is specifically used for: Using the marked historical image information in the validation set, the position information of the corresponding historical rescued personnel, and the position information of the historical rescue personnel as the input of the trained machine learning model, and outputting the predicted optimal rescue path; Determine the coincidence degree between the predicted optimal rescue path and the historical optimal rescue path. If the coincidence degree is greater than or equal to the preset threshold, the verification is successful, and the trained machine learning model is the path planning model; if the coincidence degree is less than the preset threshold, the verification fails, and the model parameters of the machine learning model are adjusted and retrained until the verification is successful.

8. The system according to claim 1, characterized in that, The handheld terminal, the drone, and the portable integrated dispatching machine all interact through a wireless broadband MESH self-organizing network.

9. The system according to claim 1, characterized in that, The system further includes: A head-mounted device wearable on the head of the rescue personnel, which is used to collect video information in front of the rescue personnel, send the video information to the portable integrated dispatching machine, and send an alarm message when an obstacle is found within a preset distance in front of the rescue personnel.

10. The system according to claim 9, characterized in that, The head-mounted device and the portable integrated dispatching machine all interact through a wireless broadband MESH self-organizing network.

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