The　earthquake　is　destructive　and　may　cause　large-scale　casualties.　Compared　with　the　sharp　increase　in　the　number　of　wounded,　rescue　resources　are　obviously　insufficient.　Reasonable　scheduling　of　disaster-relief　vehicles　is　of　great　significance　for　rapid　rescue　work　and　shortening　the　rescue　time.　In　this　study,　an　emergency　vehicle　rescue　scheduling　with　multiple　rescue　centers,　multiple　disaster　points　after　the　earthquake　for　the　wounded　is　investigated.　A　multi-objective　mixed　integer　linear　programming　model　was　used　to　simultaneously　minimize　the　total　rescue　time　and　the　rescue　need　urgency　values.　In　order　to　solve　the　problem　efficiently,　the　epsilon-constraint　algorithm　and　the　two-stage　algorithm　are　proposed.　The　epsilon-constraint　algorithm　transforms　a　multi-objective　problem　into　a　single-objective　problem　with　epsilon-constraint,　and　then　uses　a　single-objective　optimization　method　to　solve　it.　The　two-stage　algorithm　divides　the　entire　rescue　area　into　multiple　independent　rescue　areas,　and　converts　multiple　rescue　centers　into　multiple　single　rescue　center　problems　to　improve　solution　efficiency.　The　effectiveness　of　the　algorithm　is　verified　by　an　arithmetic　examples.　Compared　with　the　firefly　algorithm,　the　two-stage　heuristic　algorithm　is　more　efficient,　and　the　solutions　obtained　by　the　epsilon-constraint　method　are　better　than　the　firefly　algorithm,　with　higher　quality　and　more　numbers.