Engineering machinery man-machine collaborative scheduling system and method applied to earthquake disaster site

Abstract

The invention provides an engineering machinery man-machine cooperative scheduling system and method applied to an earthquake disaster site, and relates to the technical field of man-machine cooperative scheduling, and the system comprises a site environment information obtaining module which is used for obtaining the site environment information of the earthquake disaster site; the rasterization processing module is used for performing area rasterization processing to generate a disaster area grid map; the task execution list generation module is used for performing task allocation evaluation, generating a rescue task execution list and extracting a primary task and a secondary task; the path planning module is used for performing path planning and generating a first rescue path and a second rescue path; and the collaborative rescue scheduling module is used for carrying out collaborative rescue scheduling on earthquake disasters. The technical problems that in the prior art, due to the fact that an effective man-machine cooperative scheduling mechanism is lacked, the collaboration between rescue workers and engineering machinery is poor, rescue resources are wasted, and the rescue efficiency is low are solved.

Description

Technical Field

[0001] This invention relates to the field of human-machine collaborative scheduling technology, specifically to a human-machine collaborative scheduling system and method for engineering machinery applied at earthquake disaster sites. Background Technology

[0002] Earthquake disasters often result in widespread and severe damage, involving building collapses, road damage, and people being trapped. A key task in post-disaster relief is to conduct rapid and efficient search and rescue operations and infrastructure restoration. In this context, the coordinated efforts of engineering machinery and rescue personnel are crucial to the effectiveness of disaster relief. However, current technologies lack effective human-machine collaborative scheduling mechanisms, leading to poor cooperation between rescue personnel and engineering machinery. This, in turn, results in disordered execution of rescue tasks and affects the prioritization of rescue missions. Summary of the Invention

[0003] This application provides a human-machine collaborative scheduling system and method for engineering machinery applied at earthquake disaster sites, aiming to solve the technical problem that the lack of an effective human-machine collaborative scheduling mechanism in the existing technology leads to poor cooperation between rescue personnel and engineering machinery, resulting in waste of rescue resources and low rescue efficiency.

[0004] The first aspect disclosed in this application provides a human-machine collaborative scheduling system for engineering machinery applied at earthquake disaster sites. The system includes: a site environment information acquisition module for acquiring site environment information of the earthquake disaster site, including the distribution of earthquake ruins, key rescue areas, dangerous areas, and machinery operation areas; a rasterization processing module for performing regional rasterization processing based on the site environment information to generate a disaster area raster map; a task execution list generation module for evaluating and allocating post-disaster rescue tasks, generating a rescue task execution list, and extracting primary and secondary tasks from it, wherein the primary tasks are executed by a first type of engineering machinery and rescue personnel, and the secondary tasks are executed by a second type of engineering machinery and rescue personnel; a path planning module for analyzing the primary and secondary tasks, performing path planning based on the disaster area raster map, and generating a first rescue path for the first type of engineering machinery and a second rescue path for the second type of engineering machinery; and a collaborative rescue scheduling module for performing earthquake disaster collaborative rescue scheduling of the first type of engineering machinery, the second type of engineering machinery, and the rescue personnel according to the first and second rescue paths.

[0005] The second aspect of this application discloses a method for human-machine collaborative scheduling of engineering machinery applied to earthquake disaster sites. This method is implemented through the aforementioned human-machine collaborative scheduling system for engineering machinery applied to earthquake disaster sites. The method includes: acquiring on-site environmental information of the earthquake disaster site, including the distribution of earthquake ruins, key rescue areas, dangerous areas, and machinery operation areas; performing regional rasterization processing based on the on-site environmental information to generate a disaster area raster map; evaluating and allocating post-disaster rescue tasks to generate a rescue task execution list, and extracting primary and secondary tasks from it, wherein the primary tasks are executed by a first type of engineering machinery and rescue personnel, and the secondary tasks are executed by a second type of engineering machinery and rescue personnel; analyzing the primary and secondary tasks, performing path planning based on the disaster area raster map, and generating a first rescue path for the first type of engineering machinery and a second rescue path for the second type of engineering machinery; and performing earthquake disaster collaborative rescue scheduling of the first type of engineering machinery, the second type of engineering machinery, and the rescue personnel according to the first and second rescue paths.

[0006] One or more technical solutions provided in this application have at least the following beneficial effects: By acquiring on-site environmental information from earthquake disaster sites, comprehensive and accurate on-site data is provided for subsequent rescue work. This ensures that post-disaster rescue missions can be carried out based on a thorough understanding of the specific environmental conditions, reducing decision-making errors caused by inaccurate environmental information and improving rescue efficiency and safety. By performing regional rasterization processing based on on-site environmental information to generate disaster area raster maps, the complex information of the disaster area can be transformed into a digital format that is easy to process and analyze. These raster maps provide detailed spatial data support for subsequent route planning and task allocation. Furthermore, by evaluating and allocating post-disaster rescue tasks and extracting primary and secondary tasks, tasks can be scientifically and rationally prioritized according to task requirements. Prioritizing high-priority resources for key tasks ensures that the most critical tasks are handled first, maximizing rescue efficiency and effectiveness. During route planning, different types of engineering machinery are planned based on a disaster area grid map, generating suitable rescue routes to ensure the smooth progress of rescue operations while avoiding unnecessary route conflicts and resource waste. Through the coordinated scheduling of first-class and second-class engineering machinery and rescue personnel, all resources can cooperate effectively without conflict during task execution. Reasonable resource allocation and scheduling allow rescue personnel and engineering machinery to be flexibly adjusted according to task priorities and actual needs, ensuring the efficient completion of rescue missions.

[0007] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0008] Figure 1 This is a schematic diagram of the structure of an engineering machinery human-machine collaborative scheduling system applied to earthquake disaster sites, provided in an embodiment of this application.

[0009] Figure 2 This is a schematic diagram of a human-machine collaborative scheduling method for engineering machinery applied to earthquake disaster sites, provided in an embodiment of this application.

[0010] Figure labeling: 10 for on-site environmental information acquisition module, 20 for rasterization processing module, 30 for task execution list generation module, 40 for path planning module, and 50 for collaborative rescue dispatch module. Detailed Implementation

[0011] This application provides a human-machine collaborative scheduling system and method for engineering machinery applied at earthquake disaster sites, which solves the technical problem that the lack of an effective human-machine collaborative scheduling mechanism in the prior art leads to poor cooperation between rescue personnel and engineering machinery, resulting in waste of rescue resources and low rescue efficiency.

[0012] After introducing the basic principles of this application, various non-limiting embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0013] Example 1, as Figure 1 As shown in the embodiment of this application, a human-machine collaborative scheduling system for engineering machinery applied at earthquake disaster sites is provided. The system includes: The on-site environmental information acquisition module 10 is used to acquire on-site environmental information of the earthquake disaster site, including the distribution of earthquake ruins, key rescue areas, dangerous areas, and machinery operation areas.

[0014] The rasterization processing module 20 is used to perform regional rasterization processing based on the on-site environmental information to generate a disaster area raster map.

[0015] The task execution list generation module 30 is used to evaluate the allocation of post-disaster relief tasks, generate a list of relief task executions, and extract primary and secondary tasks from it. The primary tasks are performed by first-class engineering machinery and rescue personnel, and the secondary tasks are performed by second-class engineering machinery and rescue personnel.

[0016] The path planning module 40 is used to analyze the primary and secondary tasks, perform path planning based on the disaster area grid map, and generate a first rescue path for the first type of engineering machinery and a second rescue path for the second type of engineering machinery.

[0017] The collaborative rescue dispatch module 50 is used to conduct collaborative rescue dispatch of the first type of engineering machinery, the second type of engineering machinery, and the rescue personnel for earthquake disasters based on the first rescue path and the second rescue path.

[0018] Furthermore, the system also includes a rescue path constraint module, comprising: The collaborative rescue constraint generation unit is used to analyze and determine the workload requirements, equipment access requirements, and personnel access restrictions of each grid based on the disaster area grid map and the needs of the rescue mission, and generate collaborative rescue constraints.

[0019] The rescue path determination unit is used to determine whether the first rescue path and the second rescue path meet the collaborative rescue constraints.

[0020] The first collaborative rescue dispatch unit is used to conduct collaborative rescue dispatch of the first type of engineering machinery, the second type of engineering machinery, and the rescue personnel at the earthquake disaster site based on the first rescue path and the second rescue path if both the first rescue path and the second rescue path meet the collaborative rescue constraints.

[0021] Furthermore, the personnel access restrictions include the maximum working load of rescue personnel, the mobility of rescue personnel, and the minimum safe distance in the access area.

[0022] Furthermore, the rescue route constraint module also includes: The collaborative adjustment planning unit is used to perform collaborative adjustment planning on the second rescue path and generate a second optimized rescue path if the first rescue path and the second rescue path do not meet the collaborative rescue constraints.

[0023] The second collaborative rescue dispatch unit is used to conduct collaborative rescue dispatch of the first type of engineering machinery, the second type of engineering machinery, and the rescue personnel at the earthquake disaster site based on the first rescue path and the second optimized rescue path.

[0024] Furthermore, the collaborative adjustment planning unit includes: The route adjustment instruction generation channel is used to generate route adjustment instructions for the second rescue route based on the task priorities of the primary and secondary tasks.

[0025] The overlapping area analysis channel is used to perform overlapping area analysis on the first rescue path and the second rescue path based on the disaster area raster map.

[0026] The local optimization channel is used to locally optimize the second rescue path according to the path adjustment instruction, using the overlapping area as the path adjustment constraint, and generate the second optimized rescue path.

[0027] Furthermore, the task execution list generation module includes: The first post-disaster relief task extraction unit is used to extract the first post-disaster relief task based on the post-disaster relief task.

[0028] The first task feature information extraction unit is used to extract first task feature information based on the first post-disaster relief task, wherein the first task feature information includes operation target, spatial layout, and time window.

[0029] The matching unit is used to acquire real-time construction machinery status data, combine it with the first task feature information, perform construction machinery-task matching, and obtain the first construction machinery-task matching result.

[0030] The rescue mission execution list generation unit is used to generate the rescue mission execution list based on the first engineering machinery-mission matching result.

[0031] Furthermore, the rasterization processing module includes: The disaster area basic map generation unit is used to generate a disaster area basic map of the earthquake disaster site.

[0032] The labeling unit is used to label the distribution of earthquake ruins, key rescue areas, dangerous areas and machinery operation areas, and generate passability labels and impassable labels.

[0033] The label identification unit is used to perform regional rasterization processing on the disaster area base map and mark the accessibility label and inaccessibility label on the raster to generate the disaster area raster map.

[0034] Furthermore, the path planning module includes: The shortest path search unit is used to perform a shortest path search on the disaster area grid map, with the impassability label as the path planning passage constraint, the current position of the first type of engineering machinery as the first starting point, the current position of the second type of engineering machinery as the second starting point, and the location of the rescue area as the ending point, to generate the first rescue path and the second rescue path.

[0035] Through the detailed description of the engineering machinery human-machine collaborative scheduling method applied to earthquake disaster sites, those skilled in the art will clearly understand the engineering machinery human-machine collaborative scheduling system applied to earthquake disaster sites in this embodiment. Since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and relevant parts can be referred to the method section.

[0036] Example 2, based on the same inventive concept as the engineering machinery human-machine collaborative scheduling system applied to earthquake disaster sites in the previous examples, such as... Figure 2 As shown in the embodiment of this application, a human-machine collaborative scheduling method for engineering machinery applied at earthquake disaster sites is provided. The method includes: Obtain on-site environmental information of the earthquake disaster site, including the distribution of earthquake ruins, key rescue areas, dangerous areas, and machinery operation areas.

[0037] Obtaining on-site environmental information at earthquake disaster sites involves, specifically, on-site surveys and 3S technologies such as satellite imagery, drone aerial photography, or earthquake-resistant databases. The aim is to identify the specific distribution of debris at the disaster site, including collapsed buildings and damaged roads. Key rescue areas refer to areas that require priority handling after the disaster, such as severely affected residential areas, hospitals, and schools. These areas may have a large number of trapped people or involve important infrastructure, and rescue operations should be carried out there first. Dangerous areas include areas where secondary disasters such as aftershocks, landslides, and fires may occur. Identifying these areas helps guide rescue personnel to avoid unnecessary risks and prevent them from entering these high-risk areas. Machinery operation areas refer to places where engineering machinery, such as excavators and bulldozers, can be operated safely and effectively. These areas should take into account the terrain, debris density, and the mobility of machinery.

[0038] Based on the on-site environmental information, a regional rasterization process is performed to generate a disaster area raster map.

[0039] Using basic data from the earthquake-stricken area, such as satellite imagery, drone data, and existing city maps, a basic map of the disaster area is created. This basic map typically includes information such as the geographical location of the disaster area, roads, and the location of buildings and structures. Based on the on-site environmental information, the basic map of the disaster area is labeled, mainly into two categories: one is the passability label, which indicates which areas are safe for engineering machinery and rescue personnel to pass through. These areas are usually areas with less rubble and low assessed risk; the other is the impassable label, which marks areas that cannot be passed through, such as severely damaged buildings, areas with post-disaster flooding, landslides, or fires.

[0040] The basic map of the disaster area is divided into multiple grids, each grid representing a small area of ​​the disaster area. These grids are used to digitize the disaster area information, which facilitates further route planning and task allocation. The basic map of the disaster area is marked according to the accessibility and inaccessibility labels to form a grid map of the disaster area. This quantifies the environmental information of each small area, which facilitates subsequent calculations and decision-making.

[0041] The post-disaster relief mission is assessed for task allocation, a list of relief missions is generated, and primary and secondary missions are extracted from it. The primary missions are performed by Class I engineering machinery and rescue personnel, and the secondary missions are performed by Class II engineering machinery and rescue personnel.

[0042] From the overall assessment of the disaster site, all possible rescue tasks are identified. Task types include, but are not limited to, rubble excavation, search and rescue of trapped personnel, restoration of critical infrastructure (such as water and electricity supply), and road clearing. Tasks are categorized based on their nature, urgency, and required resources. Based on the task categorization results, tasks are matched with engineering machinery. During the matching process, the real-time status of the engineering machinery is crucial, including its availability, working capacity, location, and fuel status. This information is obtained through remote monitoring systems or reports from on-site personnel. For example, heavy machinery is suitable for rubble clearing, while light machinery is suitable for delicate operations in confined areas. Based on the task-machine matching results, a rescue task execution list is generated.

[0043] The primary and secondary tasks are identified. Primary tasks are those that are urgent and crucial to disaster relief, usually directly related to the life or death of trapped people or the restoration of critical infrastructure, such as rescuing trapped people and opening up passageways. Secondary tasks are those that are relatively less urgent or have a smaller impact on the overall rescue process, such as clearing rubble and restoring non-critical facilities. Tasks are assigned based on the primary and secondary tasks. First, the primary tasks are assigned to engineering machinery and coordinating rescue personnel. Secondary tasks are assigned after the primary tasks are assigned.

[0044] Analyze the primary and secondary tasks, perform path planning based on the disaster area grid map, and generate the first rescue path and the second rescue path.

[0045] Analyzing the primary and secondary tasks, the primary task is usually more urgent and needs to be completed first. The nature of the task and the area involved determine which type of engineering machinery to choose. For example, tasks that require heavy equipment to handle rubble clearing and road opening, or rescue tasks that require the coordinated operation of Class I and Class II engineering machinery; secondary tasks can be handled when they are not urgent, and may involve rubble removal, small-scale facility restoration, etc. These tasks can be completed later.

[0046] Route planning is conducted based on the accessibility and inaccessibility labels in the disaster area raster map. When planning, inaccessible areas, such as collapse zones and landslide areas, as well as dangerous areas that must be avoided, need to be considered. For each task route, a shortest path algorithm, such as Dijkstra's algorithm or A* algorithm, can be used to calculate the optimal path. The shortest path not only considers distance but also the accessibility of engineering machinery, avoidance of dangerous areas, and traffic congestion. The appropriate first and second rescue routes are selected based on the spatial layout and priority of the tasks. For example, primary tasks usually require direct access to the rescue area, while secondary tasks may have more flexibility and can choose secondary routes.

[0047] Based on the first rescue route and the second rescue route, coordinate earthquake disaster relief and dispatch the first type of engineering machinery, the second type of engineering machinery, and the rescue personnel.

[0048] Based on the task type and route planning, the tasks of Category I and Category II engineering machinery and rescue personnel are arranged. This process, through the combination of route planning and real-time dispatch, ensures the smooth progress of the rescue operation and maximizes the use of existing resources for post-disaster relief.

[0049] Furthermore, the method also includes: Based on the disaster area grid map and combined with the needs of the rescue mission, the working load requirements, equipment access requirements, and personnel access restrictions of each grid are analyzed and determined to generate collaborative rescue constraints; it is determined whether the first rescue path and the second rescue path meet the collaborative rescue constraints; if the first rescue path and the second rescue path both meet the collaborative rescue constraints, then the first type of engineering machinery, the second type of engineering machinery, and the rescue personnel are dispatched for collaborative rescue at the earthquake disaster site according to the first rescue path and the second rescue path.

[0050] Requirements and restrictions related to the rescue mission are set for each grid area to ensure the smooth execution of the mission and avoid resource conflicts and safety issues. Workload requirements refer to the maximum workload and capacity of the rescue mission within a given grid area. For example, heavy machinery needs to handle certain demanding tasks, such as rubble clearing, so the workload requirements for that grid area will be higher. Equipment access requirements define the accessibility of different types of engineering machinery within each grid area. For instance, heavy machinery cannot pass through narrow or high-risk areas, while light machinery is suitable for operations in these areas, especially in hazardous areas or areas with dense rubble, where access requirements are more stringent. Personnel access restrictions define the maximum load and time limits for rescue personnel to work safely within each grid area. Based on workload requirements, equipment access requirements, and personnel access restrictions, collaborative rescue constraints are established for each grid.

[0051] Inspect each grid along the first and second rescue routes to ensure that the workload requirements, equipment access requirements, and personnel access restrictions of these grids meet the collaborative rescue constraints. If any grid in the route does not meet the collaborative rescue constraints, the route needs to be adjusted. The route selection should avoid overly dense or difficult-to-pass areas and avoid conflicts with other rescue missions.

[0052] If the first and second rescue routes meet all the constraints of collaborative rescue, collaborative rescue scheduling can be implemented. Specifically, based on the route planning results, the first and second types of engineering machinery are assigned to different tasks. The routes for primary tasks are preferentially assigned to the first and second types of engineering machinery, while the routes for secondary tasks are mainly assigned to the second type of engineering machinery. The work of rescue personnel is arranged according to the route planning and task requirements. The arrangement of rescue personnel must take into account safety, workload, and task priority.

[0053] Furthermore, the personnel access restrictions include the maximum working load of rescue personnel, the mobility of rescue personnel, and the minimum safe distance in the access area.

[0054] In post-disaster relief operations, personnel access restrictions are a key factor in ensuring the safety of rescue personnel and the effective execution of missions. These restrictions include the maximum workload of rescue personnel, their mobility, and the minimum safe distance within the access area. The maximum workload refers to the maximum weight or workload that each rescuer can bear within a specific timeframe. In post-disaster environments, rescuers often need to carry rescue equipment, tools, or rescue the injured, thus requiring consideration of each rescuer's maximum carrying capacity. The mobility of rescue personnel refers to their range and flexibility within a specific area. This is typically constrained by environmental factors, such as densely packed rubble, narrow passages, or extreme weather conditions. Mobility reflects not only the personnel's ability to perform tasks in a post-disaster environment but also their physical strength and agility. The minimum safe distance within the access area refers to the minimum distance that rescuers must maintain from potential hazards such as rubble, fire zones, and hazardous chemicals when operating at the disaster site. This is a crucial safety measure to ensure personnel are protected from secondary disasters or dangers during mission execution.

[0055] Furthermore, the method also includes: If the first rescue path and the second rescue path do not meet the collaborative rescue constraints, then the second rescue path is collaboratively adjusted and planned to generate a second optimized rescue path; based on the first rescue path and the second optimized rescue path, the first type of engineering machinery, the second type of engineering machinery, and the rescue personnel are dispatched for collaborative rescue at the earthquake disaster site.

[0056] If the first and second rescue paths do not meet the collaborative rescue constraints, the paths need to be adjusted. At this point, the focus is on the collaborative adjustment of the second type of rescue path to generate an optimized path. Specifically, by checking the collaborative rescue constraints, the reasons why the path does not meet the constraints are identified. For example, the first and second paths may have overlapping grid areas, leading to resource conflicts. Priority is given to ensuring that the path of the primary task is not affected, while the second type of rescue path is the target of adjustment. The second rescue path should try to avoid areas that are already severely restricted to avoid conflicts with other rescue tasks. Based on the gridded map, the second rescue path is replanned to avoid conflicts between the two rescue tasks in the same area. After the collaborative adjustment of the second rescue path, a new optimized path is generated. This path meets all collaborative rescue constraints and can successfully pass through all necessary rescue areas.

[0057] After the second rescue route is adjusted, the rescue dispatch phase begins. Based on the first rescue route and the second optimized rescue route, the coordinated rescue dispatch of Class I engineering machinery, Class II engineering machinery, and rescue personnel at the earthquake disaster site is carried out.

[0058] Furthermore, the method for collaboratively adjusting and planning the second rescue route to generate a second optimized rescue route includes: Based on the task priorities of primary and secondary tasks, a path adjustment instruction for the second rescue route is generated; an overlap area analysis is performed on the first and second rescue routes based on the disaster area grid map; according to the path adjustment instruction, the second rescue route is locally optimized using the overlap area as a path adjustment constraint to generate the second optimized rescue route.

[0059] Primary tasks, which are usually completed as quickly as possible and are crucial to the urgency of the rescue, such as rescuing trapped personnel and repairing critical facilities, should have their routes prioritized to ensure unobstructed access and avoid conflicts with secondary task routes. Secondary tasks, such as clearing rubble and repairing non-critical facilities, can typically have more flexibility in terms of time. Their routes can be adjusted appropriately to avoid consuming important resources and space, especially if they overlap with primary task routes. In cases where primary and secondary rescue routes overlap, adjustments to the secondary rescue route can be generated based on task priority to prevent secondary tasks from blocking primary task routes.

[0060] Identify and analyze the overlapping areas between the first and second rescue routes. The overlapping area refers to the area where the first and second rescue routes intersect on the disaster area grid map. The intersection of the routes means that the two routes need to pass through the same area, which can lead to problems such as resource conflicts and difficulties in passage.

[0061] Based on the analysis of overlapping areas and the route adjustment instructions, the second rescue route is partially adjusted. This means that the entire route will not be significantly changed, but rather optimized for local areas of the overlapping parts of the route. Specifically, if the second rescue route conflicts with the first rescue route, a detour can be made near the overlapping area. The detour should be made in areas with good safety and accessibility to avoid additional time and resource consumption. When performing local optimization, priority should be given to ensuring that the primary task is not affected, and important areas in the primary task route should be avoided as much as possible. The optimized second rescue route needs to meet the time requirements of the task, the equipment accessibility, and the personnel safety. After the route adjustment is completed, a new optimized route, namely the second optimized rescue route, is generated.

[0062] Furthermore, the method for evaluating and allocating disaster relief tasks and generating a list of relief tasks to be executed includes: Based on the disaster relief mission, a first disaster relief mission is extracted; based on the first disaster relief mission, first mission feature information is extracted, wherein the first mission feature information includes operation target, spatial layout, and time window; real-time engineering machinery status data is obtained, and combined with the first mission feature information, engineering machinery-task matching is performed to obtain a first engineering machinery-task matching result; based on the first engineering machinery-task matching result, the rescue mission execution list is generated.

[0063] All post-disaster relief tasks are identified, such as rubble clearing, rescue of trapped personnel, road clearing, and facility repair. Tasks can be classified according to different disaster situations and needs. The first post-disaster relief task is randomly extracted from all tasks. This random extraction method facilitates the subsequent traversal and analysis of all tasks.

[0064] First, clearly define the ultimate goal of the first disaster relief mission. For example, the mission goal could be to rescue trapped people, clear obstacles from the rubble, or repair important infrastructure. The mission goal must be clear to ensure that each mission can be completed as expected. Second, determine the spatial layout required for the mission. The spatial layout includes the geographical location of the mission and the area involved. For example, the spatial layout of a rubble clearing mission may be a large collapsed area, while the spatial layout of a mission to rescue trapped people may be more concentrated. Third, clarify the time requirements for mission execution, including the start and end times of the mission. For example, the time window for a rescue mission may require completion within 48 hours, while a rubble clearing mission may have a longer time window.

[0065] Real-time status data of construction machinery is acquired, such as availability, load capacity, location, and health status (e.g., machinery malfunction or maintenance). This information is monitored in real time through sensors, IoT technology, etc. The working capacity of each machine is evaluated based on the real-time data to ensure that it can meet the requirements of the task. For example, whether a large excavator can enter a confined space, or whether a small loader can handle the task load.

[0066] Based on the characteristics of the task, including operational objectives, spatial layout, and time window, the capabilities of the machinery are matched. For example, heavy machinery is suitable for rubble clearing, while light machinery is better suited for precision operations or working in confined areas. The most suitable engineering machinery is selected. For urgent tasks, priority is given to equipment that is on standby and has strong working capabilities; for tasks with time window requirements, it is ensured that the equipment can be deployed in a timely manner. After the matching of engineering machinery and tasks is completed, matching results are generated, including the type of machinery required for each task, the number of pieces of equipment, the equipment status, and the scheduled working time.

[0067] The order of task execution is determined based on the importance and urgency of the tasks. Priority tasks are typically executed first, while secondary tasks can be scheduled later. This ensures that each task has sufficient resource support and avoids resource conflicts. For example, some tasks may require multiple machines to operate simultaneously, while others may only require one machine. Each task's execution list details the task objective, the operating machinery, personnel arrangements, and estimated time. The generated task execution list can be monitored in real time and adjusted based on actual execution progress.

[0068] Furthermore, the step of performing regional rasterization processing based on the on-site environmental information to generate a disaster area raster map includes: Generate a basic map of the earthquake disaster site; label the distribution of earthquake ruins, key rescue areas, dangerous areas, and machinery operation areas, and generate passability and impassability labels; perform regional rasterization processing on the basic map of the disaster area, and mark the passability and impassability labels on the raster to generate the raster map of the disaster area.

[0069] Image data of the disaster area is acquired using satellite imagery, drone aerial photography, lidar, or other remote sensing technologies. This data provides high-resolution geographic information for creating a base map of the disaster area. The collected data is then integrated to generate a base map of the disaster area, which shows the overall geographic layout of the disaster area, including buildings, roads, key areas, etc.

[0070] Based on remote sensing data from the disaster area's base map and on-site survey results, the distribution areas of earthquake ruins are marked. These areas are typically dangerous post-disaster zones, such as collapsed buildings and damaged roads. Ruins areas are marked as impassable because they severely impede the passage of engineering machinery and the activities of rescue personnel. Based on post-disaster assessments, key rescue areas are identified. These areas are likely severely affected and require priority rescue, such as hospitals, schools, and residential areas. Key rescue areas are usually marked as passable because they typically require priority rescue efforts. Dangerous areas may exist in the disaster area due to aftershocks, fires, toxic gas leaks, etc. These areas pose a threat to the safety of rescue personnel and equipment and are marked as impassable. Rescue activities should generally avoid these areas, or special safety measures are required. Based on factors such as ruin density, ground conditions, and area accessibility, areas suitable for engineering machinery operation are determined. Machinery operation areas are marked as passable because these areas are suitable for engineering machinery to enter and perform tasks.

[0071] The disaster area base map is divided into small grids, each representing a region. The size of each grid can be set as needed to improve map accuracy. Generated accessibility and inaccessibility labels are applied to each grid. Each grid is labeled according to its location: Accessible grids: areas suitable for machinery operation and rescue personnel activities; Inaccessible grids: including ruins, dangerous areas, etc., areas unsuitable for entry. All labeled grid areas are combined into a complete disaster area grid map. This map provides foundational data for subsequent route planning, resource allocation, and task assignment, ensuring that rescue missions can rationally plan routes and avoid dangerous areas.

[0072] Furthermore, the method for generating a first rescue route for the first type of engineering machinery and a second rescue route for the second type of engineering machinery based on the disaster area grid map includes: On the disaster area grid map, using the impassability label as the path planning passage constraint, taking the current position of the first type of engineering machinery as the first starting point, the current position of the second type of engineering machinery as the second starting point, and the location of the rescue area as the ending point, a shortest path search is performed to generate the first rescue path and the second rescue path.

[0073] In the raster map of the disaster area, the existing impassability labels mark areas that cannot be passed, such as ruins and dangerous areas. When searching for the shortest path, the algorithm needs to treat these areas as obstacles and prevent the path from passing through these areas, allowing machinery to pass through the raster areas marked as passable.

[0074] The first type of construction machinery, such as heavy machinery like large excavators and bulldozers, is set as the first starting point for the path search. Based on information from the disaster area grid map, the precise location of the machinery is obtained. The second type of construction machinery, such as light machinery like small loaders and bulldozers, is set as the second starting point for the path search. This type of machinery may need to pass through different areas and usually has strong mobility. The specific location of the rescue area, such as severely affected areas or critical infrastructure repair areas, is set as the destination of the path. The path planning needs to ensure that both types of machinery can reach the rescue area smoothly.

[0075] Shortest path search algorithms, such as Dijkstra's algorithm and A* algorithm, are used for path planning. The algorithm can calculate two optimal paths based on the passable areas and obstacle areas on the disaster area grid map. The first rescue path is generated by shortest path search based on the starting point of the first type of engineering machinery and the ending point of the rescue area. During the path planning process, the passability of the machinery, obstacles, and passable areas are considered. Similarly, the second rescue path is generated by shortest path search algorithm based on the starting point of the second type of engineering machinery and the ending point of the rescue area. Since the second type of machinery may need to pass through some narrower areas, the path planning needs to consider smaller passable areas.

[0076] In summary, the human-machine collaborative scheduling method for engineering machinery applied at earthquake disaster sites provided in this application has the following technical effects: By acquiring on-site environmental information from earthquake disaster sites, comprehensive and accurate on-site data is provided for subsequent rescue work. This ensures that post-disaster rescue missions can be carried out based on a thorough understanding of the specific environmental conditions, reducing decision-making errors caused by inaccurate environmental information and improving rescue efficiency and safety. By performing regional rasterization processing based on on-site environmental information to generate disaster area raster maps, the complex information of the disaster area can be transformed into a digital format that is easy to process and analyze. These raster maps provide detailed spatial data support for subsequent route planning and task allocation. Furthermore, by evaluating and allocating post-disaster rescue tasks and extracting primary and secondary tasks, tasks can be scientifically and rationally prioritized according to task requirements. Prioritizing high-priority resources for key tasks ensures that the most critical tasks are handled first, maximizing rescue efficiency and effectiveness. During route planning, different types of engineering machinery are planned based on a disaster area grid map, generating suitable rescue routes to ensure the smooth progress of rescue operations while avoiding unnecessary route conflicts and resource waste. Through the coordinated scheduling of first-class and second-class engineering machinery and rescue personnel, all resources can cooperate effectively without conflict during task execution. Reasonable resource allocation and scheduling allow rescue personnel and engineering machinery to be flexibly adjusted according to task priorities and actual needs, ensuring the efficient completion of rescue missions.

[0077] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A man-machine collaborative scheduling system applied to an engineering machine on a site of a seismic disaster, characterized in that, The system comprises: a field environment information acquisition module, configured to acquire field environment information of a field of a seismic disaster, the field environment information comprising a distribution of a seismic debris, a key rescue area, a dangerous area, and a mechanical operation area; a gridding processing module, configured to perform regional gridding processing based on the field environment information to generate a grid map of a disaster area; a task execution list generation module, configured to perform task allocation evaluation on post-disaster rescue tasks to generate a rescue task execution list, and extract primary tasks and secondary tasks from the rescue task execution list, wherein the primary tasks are executed by a first type of engineering machinery and rescue personnel, and the secondary tasks are executed by a second type of engineering machinery and rescue personnel; a path planning module, configured to analyze the primary tasks and the secondary tasks, perform path planning based on the grid map of the disaster area to generate a first rescue path of the first type of engineering machinery and a second rescue path of the second type of engineering machinery; and a cooperative rescue dispatching module, configured to perform seismic disaster cooperative rescue dispatching of the first type of engineering machinery, the second type of engineering machinery, and the rescue personnel according to the first rescue path and the second rescue path.

2. The man-machine collaborative scheduling system of construction machinery applied to a seismic disaster site according to claim 1, characterized in that, The system further comprises a rescue path constraint module, comprising: a cooperative rescue constraint generation unit, configured to analyze and determine a work load requirement, a device passage requirement, and a personnel passage limitation of each grid based on the grid map of the disaster area and in combination with rescue task requirements to generate a cooperative rescue constraint; a rescue path judgment unit, configured to judge whether the first rescue path and the second rescue path satisfy the cooperative rescue constraint; a first cooperative rescue dispatching unit, configured to perform seismic disaster field cooperative rescue dispatching of the first type of engineering machinery, the second type of engineering machinery, and the rescue personnel according to the first rescue path and the second rescue path if the first rescue path and the second rescue path all satisfy the cooperative rescue constraint.

3. The man-machine collaborative scheduling system of construction machinery applied to a seismic disaster site according to claim 2, characterized in that, The personnel passage limitation comprises a maximum work load of rescue personnel, an activity ability of rescue personnel, and a minimum safety distance of a passage area.

4. The man-machine cooperative scheduling system of construction machinery applied to a seismic disaster site according to claim 2, characterized in that, The rescue path constraint module further comprises: a cooperative adjustment planning unit, configured to perform cooperative adjustment planning on the second rescue path to generate a second optimized rescue path if the first rescue path and the second rescue path do not satisfy the cooperative rescue constraint; a second cooperative rescue dispatching unit, configured to perform seismic disaster field cooperative rescue dispatching of the first type of engineering machinery, the second type of engineering machinery, and the rescue personnel according to the first rescue path and the second optimized rescue path.

5. The man-machine collaborative scheduling system of construction machinery applied to a seismic disaster site according to claim 4, characterized in that, The cooperative adjustment planning unit comprises: a path adjustment instruction generation channel, configured to generate a path adjustment instruction of the second rescue path according to a task priority of the primary tasks and the secondary tasks; an overlapping area analysis channel, configured to perform overlapping area analysis on the first rescue path and the second rescue path based on the grid map of the disaster area; a local optimization channel, configured to perform local optimization on the second rescue path according to the path adjustment instruction and taking the overlapping area as a path adjustment constraint to generate the second optimized rescue path.

6. The man-machine cooperative scheduling system of construction machinery applied to a seismic disaster site according to claim 1, characterized in that, The task execution list generation module comprises: The first post-disaster rescue task extraction unit is configured to extract a first post-disaster rescue task based on the post-disaster rescue task; The first task feature information extraction unit is configured to extract first task feature information based on the first post-disaster rescue task, wherein the first task feature information includes a work target, a spatial layout, and a time window; The matching unit is configured to obtain real-time engineering machinery state data, combine the first task feature information, perform engineering machinery-task matching, and obtain a first engineering machinery-task matching result; The rescue task execution list generation unit is configured to generate the rescue task execution list according to the first engineering machinery-task matching result.

7. The man-machine collaborative scheduling system of construction machinery applied to a seismic disaster site according to claim 1, characterized in that, The grid processing module comprises: The disaster area basic map generation unit is configured to generate a disaster area basic map of the earthquake disaster site; The label division unit is configured to perform label division on the earthquake ruin distribution, the key rescue area, the dangerous area, and the machinery operation area, and generate passability labels and impassability labels; The label identification unit is configured to perform regional grid processing on the disaster area basic map, identify the passability labels and the impassability labels on the grid, and generate the disaster area grid map.

8. The man-machine cooperative scheduling system of construction machinery applied to a seismic disaster site according to claim 7, characterized in that, The path planning module comprises: The shortest path search unit is configured to perform shortest path search on the disaster area grid map, take the impassability labels as path planning passability constraints, take the current position of the first type of engineering machinery as a first starting point, take the current position of the second type of engineering machinery as a second starting point, and take the position of the rescue area as a terminal point, and generate the first rescue path and the second rescue path.

9. A method for human-robot collaborative scheduling of construction machinery applied to a site of a seismic disaster, characterized by, The application of the engineering machinery man-machine collaborative scheduling system for earthquake disaster sites according to any one of claims 1-8, the method comprises: Obtaining site environment information of the earthquake disaster site, the site environment information including earthquake ruin distribution, key rescue areas, dangerous areas, and machinery operation areas; Performing regional grid processing based on the site environment information to generate a disaster area grid map; Performing task allocation evaluation on post-disaster rescue tasks to generate a rescue task execution list, and extracting primary tasks and secondary tasks therefrom, wherein the primary tasks are executed by the first type of engineering machinery and rescue personnel, and the secondary tasks are executed by the second type of engineering machinery and rescue personnel; Analyzing the primary tasks and the secondary tasks, performing path planning based on the disaster area grid map to generate a first rescue path of the first type of engineering machinery and a second rescue path of the second type of engineering machinery; Performing earthquake disaster collaborative rescue scheduling of the first type of engineering machinery, the second type of engineering machinery, and the rescue personnel according to the first rescue path and the second rescue path.

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