Research On Visualization Platform Structure And Key Module Of Robot Emergency Control System

With the advancement of robot technology,robots are gradually replacing human rescuers and are being applied to areas such as information collection and emergency rescue in emergencies and dangerous areas.A visual command system for robot rescue teams is being established.Combined with public safety events,robot command and control theory and visualization knowledge,a robot emergency command visualization platform is constructed,aiming to show the information of robot emergency rescue at all stages and provide support for rescue decision.The main work includes:(1)Construction of the visual platform for robot emergency command and control system.The public safety triangle model is used to analyze the robot’s system functions and determine the rescue action content of the robot’s participation in emergency management.Based on the OODA ring model process,the robot emergency management activity process is analyzed as the basis for the design of key modules.Based on the classic data visualization model proposed by Stuart K.Card,a visualization model of emergency command information is designed to provide a reference for the overall process of data visualization.The architecture of the robot emergency accusation visualization platform is built,and three key visualization modules and databases are designed for environmental information,monitoring and early warning,and robot rescue decision.(2)Research on environmental information and visual module.The environmental information collected by the robot is sorted out and the visual elements of the visual platform interface are proposed based on the information foraging theory.In order to achieve better visualization,the data processing process of environmental information visualization are focused,including data preprocessing,interpolation processing and visual processing.Chemical disaster environmental information is taken as an example.The chemical fire data is preprocessed to standardize the data structure.Spline interpolation,inverse distance weight interpolation and Kringing interpolation are used to achieve spatial interpolation and analysis accuracy of chemical fire temperature,respectively.Visually express through GIS,charts and system element symbols.(3)Research on monitoring and warning and visual module.Situational Awareness Theory(SA)to construct a monitoring and early warning model is used to propose a robot information association model and a robot data fusion model as the basis of early warning data processing.The chemical disaster environment fire hazard identification and early warning and secondary disaster risk estimation and early warning sub-modules are mainly estimated.A hazard identification algorithm based on "BP neural network and DS evidence theory" is proposed to improve the accuracy of fire identification.The "fuzzy fault tree analysis method" is used to transform qualitative risk estimates into quantitative estimates,predict the risk probability of secondary disasters,and obtain current risk factors that are prone to disasters.Hazard identification and risk estimation predict critical situations,and provide timely warnings so that effective rescue measures can be taken.Finally,the early warning results are visualized.(4)Research on robot rescue decision making and visual module.In order to clarify the robot rescue action,the four elements of robots are extracted: entities,behaviors,tasks,and interactions.The object process method(OPM)system is used to analyze the rescue architecture,and the robot mission planning research is carried out in detail.Grid-based Approach is used to focus on constructing the task environment of robots under chemical disasters.Based on the Improved Ant Colony Algorithm,the path length of robots performing tasks in this environment is obtained as the path to be considered for task allocation.Cost information,through the elite genetic algorithm to simulate and solve the robot task allocation problem,and obtain the robot task planning plan.Finally,the visualization of robot resources and task planning is realized.The development and implementation of the robot emergency command visualization platform and key modules utilize the SSM development model and development technologies such as Arc GIS API for Java Script and Echarts.