地震灾情数据获取与三维建模现场试验

doi:10.16265/j.cnki.issn1003-3033.2026.01.0340

中国安全科学学报 ›› 2026, Vol. 36 ›› Issue (1): 242-248.doi: 10.16265/j.cnki.issn1003-3033.2026.01.0340

地震灾情数据获取与三维建模现场试验

高文冰¹(), 高扬²^,^**(), 许晨成¹, 王辰阳³, 肖军浩⁴, 陈彬⁵

¹ 中国人民警察大学研究生院,河北廊坊 065000
² 中国人民警察大学智慧警务学院,河北廊坊 065000
³ 清华大学安全科学学院,北京 100084
⁴ 国防科技大学智能科学学院,湖南长沙 410073
⁵ 国防科技大学系统工程学院,湖南长沙 410073

收稿日期:2025-08-19 修回日期:2025-11-17 出版日期:2026-01-28
通信作者:
** 高扬(1988—),男,山东潍坊人,博士,助理研究员,硕士生导师,主要从事公共安全与应急管理方面的研究。E-mail:gaoyang02@cppu.edu.cn。
作者简介:
高文冰 (2001—),男,河南平顶山人,硕士研究生,主要研究方向为公共安全与情报等。E-mail:bing520915@163.com。
肖军浩, 教授。
陈彬, 教授。
基金资助:
河北省教育厅科学研究项目(ZC2023076)

Field experimental study on earthquake disaster data acquisition and 3D modeling

GAO Wenbing¹(), GAO Yang²^,^**(), XU Chencheng¹, WANG Chenyang³, XIAO Junhao⁴, CHEN Bin⁵

¹ Graduate School, China People's Police University, Langfang Hebei 065000, China
² School of Intelligence Policing, China People's Police University, Langfang Hebei 065000, China
³ School of Safety Science, Tsinghua University, Beijing 100084, China
⁴ College of Intelligence Science and Technology, National University of Defense Technology, Changsha Hunan 410073, China
⁵ College of Systems Engineering, National University of Defense Technology, Changsha Hunan 410073, China

Received:2025-08-19 Revised:2025-11-17 Published:2026-01-28

摘要/Abstract

摘要：

为评估无人机(UAV)与救援机器人在地震灾情数据获取及三维建模中的应用效果,在北川地震遗址开展灾害现场空地协同应急响应试验,利用固定翼UAV获取地震灾区全域航拍影像,构建高分辨率俯视图;采用旋翼UAV补充采集重点区域;NuBot救援机器人进入受损建筑内部,通过视频图传与激光雷达扫描实时获取室内受灾影像与三维点云数据,并完成建筑内部结构与人工搭建倒塌场景的三维重建;基于三维地理信息与虚拟现实技术构建人机交互平台,实现三维场景的实时可视化与交互操作。结果表明:UAV可获取地震灾区全域与局部的影像,并形成高精度实景模型;救援机器人可在复杂环境中获取室内影像与三维点云数据,形成建筑内部结构的三维建模型;虚拟现实系统能可视化呈现三维场景并用于人机交互分析。

关键词: 地震灾情数据, 无人机(UAV), 救援机器人, 三维建模, 现场试验, 人机交互

Abstract:

To evaluate the application performance of UAVs and rescue robots in earthquake disaster data acquisition and three-dimensional (3D) modeling, an air-ground collaborative emergency response field experiment was conducted at the Beichuan earthquake site. In the experiment, fixed-wing UAVs were deployed to acquire aerial images covering the entire earthquake-affected area, from which high-resolution top-view images were generated, while rotary-wing UAVs were used to supplement data collection in key local regions. Meanwhile, the NuBot rescue robot was deployed to enter damaged buildings and collect indoor disaster images and 3D point cloud data through real-time video transmission and lidar scanning, and 3D reconstructions of interior building structures and artificially constructed collapse scenes were produced. Based on the acquired 3D geographic information, a human-machine interaction platform was developed using virtual reality technology to support visualization and interactive analysis of 3D scenes.The experimental results indicate that multi-scale image data covering both the overall earthquake-affected area and local regions were obtained and corresponding high-precision real-scene models were generated. Indoor images and 3D point cloud data were collected in complex environments, forming 3D models of interior building structures. The 3D scene data were visualized in the virtual reality system and applied to human-machine interaction analysis.

Key words: disaster data, unmanned aerial vehicle(UAV), rescue robot, 3D modeling, field experimental, human-machine interaction

中图分类号:

X915.5

高文冰, 高扬, 许晨成, 王辰阳, 肖军浩, 陈彬. 地震灾情数据获取与三维建模现场试验[J]. 中国安全科学学报, 2026, 36(1): 242-248.

GAO Wenbing, GAO Yang, XU Chencheng, WANG Chenyang, XIAO Junhao, CHEN Bin. Field experimental study on earthquake disaster data acquisition and 3D modeling[J]. China Safety Science Journal, 2026, 36(1): 242-248.

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地震灾情数据获取与三维建模现场试验

Field experimental study on earthquake disaster data acquisition and 3D modeling

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