CN106940825A - A kind of evacuation planning method and evacuation planning system towards disaster emergency - Google Patents

Abstract

The invention relates to an evacuation planning method and evacuation planning system oriented to disaster emergency. By establishing a virtual force field, the complex large-scale evacuation problem is described by a force field function, and the evacuation of personnel is determined by the negative gradient direction of the force field function. It solves the problem that it is difficult to model the complex disaster environment, makes the problem description simple, and improves the calculation efficiency of the algorithm; it can also take into account the factors that affect emergency evacuation planning, such as the location of people to be evacuated, the distribution and capacity of shelters, etc. Internally, timely evacuation guidance is provided for the people to be evacuated, and in the process of solving the algorithm, the real-time remaining capacity parameters of the emergency refuge are used as the gravity coefficient, so that the capacity of the refuge reaches a balanced state during the entire evacuation process, saving a lot of evacuation. Over time, with the increase in the number of evacuated people, the advantages of the algorithm become more and more obvious.

Description

Disaster emergency-oriented evacuation planning method and evacuation planning system

technical field

The invention relates to a disaster emergency-oriented evacuation planning method and an evacuation planning system, belonging to the technical field of disaster protection.

Background technique

In recent years, various disasters that are difficult to predict and control have broken out frequently, bringing painful disasters and huge economic losses to human beings, some of which have huge and far-reaching impacts. In 2005, Hurricane "Katrina" swept across Florida and the coast of the Gulf of Mexico, causing more than 1,800 deaths, millions of people homeless, and economic losses of more than 34 billion U.S. dollars; The earthquake triggered a huge tsunami, which caused heavy casualties and property losses. The earthquake and tsunami also hit the Fukushima nuclear power plant, triggering the largest nuclear leak since the Chernobyl nuclear leak, and the number of emergency evacuations These large-scale disasters have led to large-scale group migration and refuge. Therefore, how to carry out rapid and effective disaster emergency response to the characteristics of high suddenness, destructiveness, complexity and uncertainty of disaster events has attracted more and more attention from governments and academic circles around the world. The most important measure to prevent and reduce casualties caused by accidents is to carry out timely and orderly evacuation planning for people within the scope of the disaster.

For the emergency evacuation planning problem (Emergency Evacuation Planning Problem, EEPP), there are mainly the following difficulties:

(1) When a disaster occurs, due to the untimely dissemination of real disaster information, the people to be evacuated in the disaster-stricken area are in a state of high tension and fear, which affects the judgment of the disaster situation, and the herd mentality causes large-scale road congestion and unorganized evacuation behavior This resulted in a serious imbalance in the distribution of shelters and delayed the precious evacuation time.

(2) The existing research results on emergency evacuation planning can be divided into two aspects: macroscopic and microscopic. Macroscopic evacuation research focuses on large-scale evacuation, but lacks the consideration of humanized evacuation; microscopic evacuation research mainly focuses on the evacuation of small-scale crowds in an indoor environment, but lacks consideration of macroscopic evacuation place allocation, and is not universal.

(3) There are many factors that affect emergency evacuation planning, such as the location of people to be evacuated, road congestion, the distribution and capacity of shelters, etc., but the existing research usually only considers unilateral or certain factors, and then affects The scientific nature of the research is compromised, and the practical application is lacking.

Contents of the invention

The technical problem to be solved by the present invention is to provide a disaster emergency-oriented evacuation planning method that can effectively improve the solution efficiency, shorten the length of evacuation routes and evacuation time, and make the remaining capacity of surrounding refuges reach a balanced state.

The present invention adopts the following technical solutions in order to solve the above-mentioned technical problems: the present invention has designed a kind of evacuation planning method facing disaster emergency, respectively for each person to be evacuated, according to the following steps, to realize the evacuation of the people to be evacuated to the place of refuge:

Step 1. Establish the Cartesian coordinate system xoy corresponding to the evacuated personnel with the latitude and longitude coordinates X of the personnel to be evacuated;

Step 2. Obtain the Euclidean distance between the longitude and latitude coordinates X of the people to be evacuated and the longitude and latitude coordinates O of the disaster occurrence point, as the danger distance d _O , and at the same time, obtain the distance between the longitude and latitude coordinates X of the people to be evacuated and the longitude and latitude coordinates G _m of each refuge The Euclidean distance between is used as the evacuation distance of each refuge for the people to be evacuated 1≤m≤M, M represents the total number of shelters;

Step 3. For each shelter, get the satisfaction Each shelter corresponding to the condition is used as each optional evacuation shelter corresponding to the people to be evacuated, and _ρG represents the safe evacuation distance of the preset shelter;

Step 4. For each optional evacuation shelter, according to the following formula:

Obtain the virtual gravity of each optional evacuation shelter for the people to be evacuated Among them, i={1,...,I}, I≤M, I represents the number of optional evacuation shelters corresponding to the people to be evacuated, Indicates the virtual gravitational force of the i-th optional evacuation shelter for the people to be evacuated, k represents the preset virtual gravitational coefficient, ρ(X,G _i ) represents the latitude and longitude coordinates X of the people to be evacuated and the latitude and longitude coordinates G _i of the ith safe evacuation refuge Euclidean distance between;

At the same time, according to the following formula:

Obtain the virtual repulsion F _rep (X) of the disaster occurrence point for the personnel to be evacuated, where m represents the preset virtual repulsion coefficient, ρ(X, O) represents the distance between the latitude and longitude coordinates X of the personnel to be evacuated and the latitude and longitude coordinates O of the disaster occurrence point Euclidean distance, Indicates the unit vector between the longitude and latitude coordinate X of the people to be evacuated and the longitude and latitude coordinate O of the disaster occurrence point, _ρ0 represents the virtual repulsion radius of the disaster occurrence point;

Step 5. Obtain the connection lines between the latitude and longitude coordinates X of the personnel to be evacuated and the latitude and longitude coordinates G _i of each safe refuge, and respectively obtain the angles α _i and α between each connection line and the x-axis in the rectangular coordinate system xoy _i represents the angle between the line between the latitude and longitude coordinates of the people to be evacuated and the latitude and longitude coordinates of the ith safe refuge and the x-axis in the rectangular coordinate system xoy; at the same time, the latitude and longitude coordinates X of the people to be evacuated and the latitude and longitude coordinates O of the disaster occurrence point are obtained The angle β between the connecting line and the x-axis in the Cartesian coordinate system xoy;

Step 6. According to the angle α _i between the line between the latitude and longitude coordinates X of the personnel to be evacuated and the latitude and longitude coordinates G _i of each optional evacuation shelter and the x-axis in the Cartesian coordinate system xoy, and the latitude and longitude coordinates X of the personnel to be evacuated and The angle β between the line connecting the longitude and latitude coordinates O of the disaster occurrence point and the x-axis in the Cartesian coordinate system xoy can be obtained for each and F _rep (X) act on the resultant force F _sumx (X) of the component on the x-axis in the rectangular coordinate system xoy, and obtain each and F _rep (X) act on the resultant force F _sumy (X) of the component on the y-axis in the rectangular coordinate system xoy;

Step 7. Obtain the virtual resultant force F (X) acting on the personnel to be evacuated by F _sumx (X) and F _sumy (X), and obtain the included angle η of the x-axis in the virtual resultant force F (X) and the Cartesian coordinate system xoy;

Step 8. Determine the evacuation direction of the people to be evacuated according to the angle η between the virtual resultant force F(X) and the x-axis in the Cartesian coordinate system xoy, and then obtain the correspondence of each optional evacuation shelter for each optional evacuation shelter The value of η-α _i |, and obtain the optional evacuation shelter corresponding to the minimum value, as the final evacuation shelter of the people to be evacuated.

As a preferred technical solution of the present invention: the operation of step 6 is performed by adopting an orthogonal decomposition method of force.

Compared with the prior art, a disaster emergency-oriented evacuation planning method adopted by the present invention has the following technical effects:

(1) The disaster emergency-oriented evacuation planning method designed by the present invention describes the complex large-scale evacuation problem through the force field function by establishing a virtual force field, and determines the evacuation direction of personnel by the negative gradient direction of the force field function, It solves the problem that it is difficult to model complex disaster environments, makes the problem description simple, and improves the computational efficiency of the algorithm;

(2) In the disaster emergency-oriented evacuation planning method designed by the present invention, the factors affecting the emergency evacuation planning, such as the position of the personnel to be evacuated, the distribution of refuges and their capacity, etc., can be taken into consideration, and timely evacuation guidance can be provided for the personnel to be evacuated, And in the process of solving the algorithm, the real-time remaining capacity parameters of the emergency shelter are used as the gravity coefficient, so that the capacity of the shelter reaches a balanced state during the entire evacuation process, which saves a lot of evacuation time. As the number of evacuated people increases, the advantages of the algorithm become more obvious.

Corresponding to this, the technical problem to be solved in the present invention is to provide a method that can effectively improve the solution efficiency, shorten the length of the evacuation route and evacuation time, and make the remaining capacity of the surrounding refuges reach a balanced state based on the designed disaster emergency-oriented evacuation planning method. , and taking road congestion into consideration, an evacuation planning system based on disaster emergency-oriented evacuation planning methods.

In order to solve the above-mentioned technical problems, the present invention adopts the following technical solutions: the present invention designs an evacuation planning system that applies a disaster emergency-oriented evacuation planning method described in claim 1, including a cloud server and a cloud server that is respectively equipped for each person to be evacuated Each mobile terminal includes a control module, and a latitude and longitude coordinate acquisition module, a communication module, and an information output module that are connected to the control module respectively; The latitude and longitude coordinates are uploaded by the control module to the cloud server through the communication module, and the cloud server obtains the evacuation route plan for the personnel to be evacuated based on the latitude and longitude coordinates of the personnel to be evacuated, the latitude and longitude coordinates of the disaster occurrence point, and the latitude and longitude coordinates of each shelter, and gives feedback The mobile terminal corresponding to the personnel to be evacuated is displayed to the corresponding personnel to be evacuated through the information output module in the corresponding mobile terminal, so as to realize the safe evacuation of the personnel to be evacuated.

As a preferred technical solution of the present invention: it also includes a management terminal communicatively connected to the cloud server.

As a preferred technical solution of the present invention: the communication module in the mobile terminal is a wireless communication module.

An evacuation planning system for disaster emergency-oriented evacuation planning methods according to the present invention, compared with the prior art by adopting the above technical scheme, has the following technical effects: an evacuation planning system designed by the present invention for disaster emergency-oriented evacuation planning methods The system, with the disaster emergency-oriented evacuation planning method as the core, is constructed based on the Mobile Cloud computing platform to realize the collaborative work of the two functional components of the mobile terminal and the cloud server. Using the powerful computing power of the cloud server, the complex disaster construction Model and large-scale crowd evacuation planning calculations are all handed over to the cloud server to complete, and the mobile terminal is only responsible for the collection of positioning data and the display of evacuation planning results, which greatly reduces the limitation on the computing power of the mobile terminal, improves the working efficiency of the system, and shortens the Processing time is reduced, giving it a high promotional potential.

Description of drawings

Fig. 1 is the system framework diagram of the evacuation planning system of the evacuation planning system of the design of the present invention facing disaster emergency;

Fig. 2 is the virtual force field schematic diagram under the disaster environment in the evacuation planning method of the present invention design facing disaster emergency;

Fig. 3 is the force diagram of the personnel to be evacuated in the virtual force field under the disaster environment in the design of the evacuation planning method facing disaster emergency in the present invention;

Fig. 4 is a flow chart of the present invention for designing a disaster emergency-oriented evacuation planning method.

detailed description

The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings.

As shown in Figure 1, the present invention designs a kind of evacuation planning system oriented to the evacuation planning method of disaster emergency, takes the designed evacuation planning method oriented to disaster emergency as the core, and constructs it based on the Mobile Cloud computing platform, the evacuation planning system can It is divided into four subsystems, mainly including data acquisition subsystem, network transmission subsystem, cloud service processing subsystem and user access subsystem. The data acquisition subsystem is mainly composed of mobile terminal equipment for the evacuated personnel, responsible for collecting the location information (ie latitude and longitude data) of the evacuated personnel; the task of the network transmission subsystem is to transmit the latitude and longitude data obtained by the data acquisition subsystem through the wireless communication network Transmission to the cloud data access server, providing physical support of the network and data communication guarantee; the business center of the cloud service subsystem is the core of the system, receiving terminal data from the data acquisition subsystem through the cloud data access server, and providing data Store, search, call and other services, store and manage the location data of people to be evacuated, shelter data, disaster data, etc. for the system. The main task of the cloud service processing subsystem is to use the powerful computing power of the cloud to apply the design in the content server. The evacuation planning algorithm analyzes and calculates the user data, and presents the evacuation planning results to the user; the user access subsystem is the interactive interface between the user and the cloud service, and the cloud provides a browser-based access interface for the management personnel of the emergency evacuation center through the Web server At the same time, it provides the evacuation planning display interface and other cloud services for the mobile terminal equipment of the people to be evacuated, so that users can easily obtain the required information.

In practical applications, specifically, the present invention designs an evacuation planning system oriented to a disaster emergency evacuation planning method, including a cloud server end, a management terminal communicating with the cloud server end, and a management terminal that is respectively equipped in each to-be-evacuated Mobile terminals for personnel, each mobile terminal includes a control module, and a latitude and longitude coordinate acquisition module, a wireless communication module, and an information output module respectively connected to the control module; the latitude and longitude coordinate acquisition module in each mobile terminal collects in real time to obtain the corresponding The latitude and longitude coordinates of the personnel are uploaded by the control module to the cloud server through the wireless communication module, and the cloud server obtains the evacuation route plan for the personnel to be evacuated based on the latitude and longitude coordinates of the personnel to be evacuated, the latitude and longitude coordinates of the disaster occurrence point, and the latitude and longitude coordinates of each shelter , and feed back to the mobile terminal corresponding to the people to be evacuated, and display to the corresponding people to be evacuated through the information output module in the corresponding mobile terminal, so as to realize the safe evacuation of the people to be evacuated.

The present invention designs an evacuation planning system oriented to the disaster emergency evacuation planning method, whose core is the evacuation planning algorithm. Below we will focus on introducing the more efficient evacuation planning algorithm proposed by the present invention.

Through the method of establishing a virtual force field for large-scale emergency evacuation planning problems, the virtual force field established for the disaster environment is shown in Figure 2. The basic idea is to assume that the person to be evacuated moves in a virtual force field as a particle. The people to be evacuated in the virtual force field are subjected to the virtual gravitational force of multiple shelters around them as target points and the virtual repulsive force generated by the disaster occurrence point as an obstacle point. The virtual gravitational force is generated by the target point and points to the target point. The object is generated and points away from the obstacle. Then, the people to be evacuated move in the virtual force field towards the direction of the descending force field function. Effective evacuation is achieved through the joint action of virtual attraction and virtual repulsion. It can be seen from Figure 2 that the closer the distance to the refuge, the smaller the value of the virtual force field; the farther the distance from the refuge, the greater the value of the virtual force field. That is, in any environmental space, as long as there is a target point, a virtual force field can be generated and calculated, and the force of the people to be evacuated in the virtual force field is shown in Figure 3.

For each person to be evacuated, follow the steps below to realize the evacuation of the people to be evacuated to the refuge

In practical applications, let the latitude and longitude coordinates of each refuge field be G _m , and the latitude and longitude coordinates of a single person to be evacuated be X, so the total virtual force field function V(X) of the people to be evacuated in the environmental space is:

Among them, V(X) represents the virtual composite force field, Represents the virtual gravitational field generated by the refuge site G _m , and V _rep (X) represents the virtual repulsive field generated by the longitude and latitude coordinate O of the disaster occurrence point.

The virtual force experienced by the people to be evacuated is defined as the negative gradient of the force field. Therefore, the virtual resultant force received by the people to be evacuated is

Among them, F(X) represents the virtual resultant force; Represents the virtual gravitational force generated by the refuge site _Gm , and F _rep (X) represents the virtual repulsive force generated by the longitude and latitude coordinate O of the disaster occurrence point.

The virtual gravitational field produced by multiple shelters for evacuated people can pull the people to be evacuated to the target point. The virtual gravitational field generated by the target shelter is

Among them, k is the virtual gravitational coefficient, and ρ(X, G _m ) represents the Euclidean distance from the longitude and latitude coordinate X of the people to be evacuated to the shelter G _m .

The virtual gravitational force produced by the shelter G _m on the longitude and latitude coordinates X of the evacuated personnel is:

in, is a vector towards the latitude and longitude coordinate X of the person to be evacuated, and its magnitude is associated with X and G _m .

A virtual repulsion field is established for the people to be evacuated within the scope of the disaster, and its function is shown in the following formula:

In the formula, l represents the virtual repulsion coefficient, ρ(X, O) represents the Euclidean distance from the longitude and latitude coordinate X of the people to be evacuated to the disaster occurrence point O, and _ρ0 represents the virtual repulsion radius of the disaster occurrence point.

Define the virtual repulsion as the negative gradient of the virtual repulsion field:

The evacuation planning algorithm flow based on the virtual force field is shown in Figure 4, that is, a disaster emergency-oriented evacuation planning method designed by the present invention is aimed at each person to be evacuated, specifically according to the following steps, to realize the evacuation of the people to be evacuated Evacuation of the site:

Step 1. Using the latitude and longitude coordinates X of the personnel to be evacuated, establish the rectangular coordinate system xoy corresponding to the personnel to be evacuated.

Step 2. Obtain the Euclidean distance between the longitude and latitude coordinates X of the people to be evacuated and the longitude and latitude coordinates O of the disaster occurrence point, as the danger distance d _O , and at the same time, obtain the distance between the longitude and latitude coordinates X of the people to be evacuated and the longitude and latitude coordinates G _m of each refuge The Euclidean distance between is used as the evacuation distance of each refuge for the people to be evacuated 1≤m≤M, M represents the total number of shelters.

Step 3. For each shelter, get the satisfaction Each shelter corresponding to the condition is an optional evacuation shelter corresponding to the people to be evacuated, and ρ _G represents the safe evacuation distance of the preset shelter.

Step 4. For each optional evacuation shelter, according to the following formula:

Obtain the virtual gravity of each optional evacuation shelter for the people to be evacuated Among them, i={1,...,I}, I≤M, I represents the number of optional evacuation shelters corresponding to the people to be evacuated, Indicates the virtual gravitational force of the i-th optional evacuation shelter for the people to be evacuated, k represents the preset virtual gravitational coefficient, ρ(X,G _i ) represents the latitude and longitude coordinates X of the people to be evacuated and the latitude and longitude coordinates G _i of the ith safe evacuation refuge Euclidean distance between .

At the same time, according to the following formula:

Obtain the virtual repulsion F _rep (X) of the disaster occurrence point for the personnel to be evacuated, where m represents the preset virtual repulsion coefficient, ρ(X, O) represents the distance between the latitude and longitude coordinates X of the personnel to be evacuated and the latitude and longitude coordinates O of the disaster occurrence point Euclidean distance, Indicates the unit vector between the longitude and latitude coordinate X of the people to be evacuated and the longitude and latitude coordinate O of the disaster occurrence point, and _ρ0 represents the virtual repulsion radius of the disaster occurrence point.

Step 5. Obtain the connection lines between the latitude and longitude coordinates X of the personnel to be evacuated and the latitude and longitude coordinates G _i of each safe refuge, and respectively obtain the angles α _i and α between each connection line and the x-axis in the Cartesian coordinate system xoy _i represents the angle between the line between the latitude and longitude coordinates of the people to be evacuated and the latitude and longitude coordinates of the ith safe refuge and the x-axis in the rectangular coordinate system xoy; at the same time, the latitude and longitude coordinates X of the people to be evacuated and the latitude and longitude coordinates O of the disaster occurrence point are obtained The angle β between the connecting line and the x-axis in the rectangular coordinate system xoy.

Step 6. Using the orthogonal decomposition method of force, according to the angle α _i between the line between the longitude and latitude coordinates X of the personnel to be evacuated and the longitude and latitude coordinates G _i of each optional evacuation shelter and the x-axis in the rectangular coordinate system xoy, And the angle β between the line between the longitude and latitude coordinates X of the people to be evacuated and the longitude and latitude coordinates O of the disaster occurrence point and the x axis in the Cartesian coordinate system xoy, to obtain each and F _rep (X) act on the resultant force F _sumx (X) of the component on the x-axis in the rectangular coordinate system xoy, and obtain each and F _rep (X) act on the resultant force F _sumy (X) of the component on the y-axis in the rectangular coordinate system xoy.

Step 7. Obtain the virtual resultant force F(X) acting on the personnel to be evacuated from F _sumx (X) and F _sumy (X), and obtain the angle η between the virtual resultant force F(X) and the x-axis in the Cartesian coordinate system xoy.

Step 8. Determine the evacuation direction of the people to be evacuated according to the angle η between the virtual resultant force F(X) and the x-axis in the rectangular coordinate system xoy, and then obtain the correspondence of each optional evacuation shelter for each optional evacuation shelter The value of η-α _i |, and obtain the optional evacuation shelter corresponding to the minimum value, as the final evacuation shelter of the people to be evacuated.

The disaster emergency-oriented evacuation planning method designed by the present invention describes the complex large-scale evacuation problem through the force field function by establishing a virtual force field, and determines the evacuation direction of personnel through the negative gradient direction of the force field function, which solves the problem of The complex disaster environment is difficult to model, which makes the problem description simple and improves the calculation efficiency of the algorithm; not only that, but also factors that affect emergency evacuation planning, such as the location of people to be evacuated, the distribution and capacity of shelters, etc., can be taken into account. Provide timely evacuation guidance to the people to be evacuated, and in the process of solving the algorithm, the real-time remaining capacity parameters of the emergency shelter are used as the gravity coefficient, so that the capacity of the shelter reaches a balanced state during the entire evacuation process, saving a lot of evacuation time. As the number of evacuated people increases, the advantages of the algorithm become more obvious.

The embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments, and can also be made without departing from the gist of the present invention within the scope of knowledge possessed by those of ordinary skill in the art. Variations.

Claims (5)

1. An evacuation planning method for disaster emergency is characterized in that aiming at each person to be evacuated, the evacuation of the person to be evacuated to a refuge place is realized according to the following steps:

step 1, establishing a rectangular coordinate system xoy corresponding to an evacuation person by using longitude and latitude coordinates X of the evacuation person;

step 2, obtaining the Euclidean distance between the longitude and latitude coordinate X of the personnel to be evacuated and the longitude and latitude coordinate O of the disaster occurrence point as a dangerous distance d_OSimultaneously, obtaining longitude and latitude coordinates X of the people to be evacuated andlongitude and latitude coordinates G of each refuge_mThe Euclidean distance between the refuges is taken as the evacuation distance of the people to be evacuated corresponding to each refugeM is more than or equal to 1 and less than or equal to M, and M represents the total number of refuges;

step 3, aiming at each refuge, obtaining the requirementsEach shelter corresponding to the condition is taken as each optional evacuation shelter corresponding to the people to be evacuated, rho_GRepresenting the safe evacuation distance of a preset refuge;

and 4, aiming at each optional evacuation shelter respectively, according to the following formula:

$F_{att}^i\left(X\right)=-k\·\mathrm{\ρ}(X,G_i)$

obtaining the virtual gravitation of each optional evacuation shelter to the people to be evacuatedWherein I is {1, …, I }, I is less than or equal to M, I represents the number of optional evacuation shelters corresponding to the people to be evacuated,representing the virtual gravity of the ith optional evacuation shelter to the people to be evacuated, k representing a preset virtual gravity coefficient, rho (X, G)_i) Coordinates X and X of longitude and latitude representing personnel to be evacuatedIth safe evacuation refuge longitude and latitude coordinate G_iEuclidean distance between;

meanwhile, according to the following formula:

$F_{rep}\left(X\right)=m(\frac{1}{\mathrm{\ρ}(X,O)}-\frac{1}{{\mathrm{\ρ}}_0})\·\frac{1}{{\mathrm{\ρ}}^2(X,O)}\·\▿\mathrm{\ρ}(X,O)$

obtaining a virtual repulsion force F of a disaster occurrence point for people to be evacuated_rep(X), wherein m represents a preset virtual repulsive force coefficient, rho (X, O) represents the Euclidean distance between the longitude and latitude coordinate X of the personnel to be evacuated and the longitude and latitude coordinate O of the disaster occurrence point,represents the unit vector, rho, between the latitude and longitude coordinates X of the people to be evacuated and the latitude and longitude coordinates O of the disaster occurrence point₀A virtual repulsive force action radius representing a disaster occurrence point;

step (ii) of5. Obtaining longitude and latitude coordinates X of the people to be evacuated and longitude and latitude coordinates G of each safety shelter respectively_iThe included angle α between each connecting line and the x axis in the rectangular coordinate system xoy is respectively obtained_i，α_iRepresenting the included angle between the connecting line between the longitude and latitude coordinates of the personnel to be evacuated and the longitude and latitude coordinates of the ith safety shelter and the X axis in the rectangular coordinate system xoy, and simultaneously obtaining the included angle β between the connecting line between the longitude and latitude coordinates X of the personnel to be evacuated and the longitude and latitude coordinates O of the disaster occurrence point and the X axis in the rectangular coordinate system xoy;

step 6, respectively matching the longitude and latitude coordinates X of the people to be evacuated with the longitude and latitude coordinates G of each optional evacuation shelter_iThe included angle α between the connecting line and the x axis in the rectangular coordinate system xoy_iAnd an included angle β between a connecting line between the longitude and latitude coordinate X of the personnel to be evacuated and the longitude and latitude coordinate O of the disaster occurrence point and an X axis in a rectangular coordinate system xoy is obtainedAnd F_rep(X) resultant force F acting on component on X-axis in rectangular coordinate system xoy_sumx(X), and obtaining eachAnd F_rep(X) resultant force F acting on component on y-axis in rectangular coordinate system xoy_sumy(X)；

Step 7. from F_sumx(X) and F_sumy(X) obtaining a virtual resultant force F (X) acting on people to be evacuated, and obtaining an included angle η between the virtual resultant force F (X) and an X axis in a rectangular coordinate system xoy;

step 8, determining the evacuation direction of the people to be evacuated according to the virtual resultant force F (X) and the included angle η of the x axis in the rectangular coordinate system xoy, and then obtaining | η - α corresponding to each optional evacuation shelter according to each optional evacuation shelter_iAnd | obtaining the value of | and obtaining the optional evacuation shelter corresponding to the minimum value as the final evacuation shelter for the people to be evacuated.

2. The disaster-emergency-oriented evacuation planning method of claim 1, wherein: the step 6 operation is performed by using a force orthogonal decomposition method.

3. An evacuation planning system applying the disaster emergency-oriented evacuation planning method of claim 1, wherein: the system comprises a cloud server and mobile terminals respectively equipped with people to be evacuated, wherein each mobile terminal comprises a control module, and a longitude and latitude coordinate acquisition module, a communication module and an information output module which are respectively connected with the control module; the longitude and latitude coordinate acquisition module in each mobile terminal acquires longitude and latitude coordinates corresponding to people to be evacuated in real time, the longitude and latitude coordinates are uploaded to the cloud server side through the communication module by the control module, the cloud server side acquires an evacuation route scheme for the people to be evacuated based on the longitude and latitude coordinates of the people to be evacuated, the longitude and latitude coordinates of a disaster occurrence point and the longitude and latitude coordinates of each refuge place, the evacuation route scheme is fed back to the mobile terminal corresponding to the people to be evacuated, the information output module in the corresponding mobile terminal displays the people to be evacuated, and safe evacuation of the corresponding people to be evacuated is achieved.

4. An evacuation planning system of the disaster emergency oriented evacuation planning method according to claim 3, wherein: the cloud server terminal is connected with the management terminal in a communication mode.

5. An evacuation planning system of the disaster emergency oriented evacuation planning method according to claim 3, wherein: the communication module in the mobile terminal is a wireless communication module.