CN105631555A - Evacuation path push method and device - Google Patents
Evacuation path push method and device Download PDFInfo
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- CN105631555A CN105631555A CN201610099041.XA CN201610099041A CN105631555A CN 105631555 A CN105631555 A CN 105631555A CN 201610099041 A CN201610099041 A CN 201610099041A CN 105631555 A CN105631555 A CN 105631555A
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Abstract
The embodiment of the invention discloses an evacuation path push method and device. The method comprises the steps: dividing a plane map of each floor of a target building into a plurality of grids of a first type in advance, and recording the passing state of each grid of the first type; and enabling the plane map of each floor to be divided into a plurality of grids of a second type. The method specifically comprises the steps: firstly determining all optimal paths; secondly determining the speed of the second type of grids on all optimal paths; thirdly searching the optimal path, which consumes the least time, from all the optimal paths, and enabling the searched path as an evacuation path; and finally transmitting the searched evacuation path to a mobile terminal of a target person. According to the embodiment of the invention, the method can collect the on-site real-time condition in the building through a sensor, enables the evacuation path which consumes the least time currently to serve as the evacuation path, provides the evacuation path for the target person, and greatly reduces the whole safety evacuation time.
Description
Technical field
The present invention relates to indoor fire-fighting and evacuate FIELD OF THE INVENTIONThe, particularly to a kind of method for pushing evacuating path and device.
Background technology
Along with development and the construction in city, it is big that the indoor of heavy construction all have area, and layout is complicated, the feature that densely populated place degree is high, mobility is strong. When special circumstances such as breaking out of fires, the evacuation how making personnel quick, safe becomes study hotspot. And the safe escape of personnel to consider two times, i.e. available safe egress time (ASET, and required safe escape time (REST AvailableSafetyEgressTime), RequiredSafetyEgressTime), concrete, available safe egress time is the time that fire development arrives precarious position, the required safe escape time is play the evacuating personnel time to safety zone from the moment on fire, and, meet ASET > REST time personnel can safe escape, otherwise can not by safety evacuation.
In prior art, there is the evacuation determining method of path when special circumstances such as multiple fire occur, but major part method be all for: based on static indoor environment, thering is provided shortest path is evacuating personnel path, and it is not based on real-time condition when fire or other special circumstances occur, the shortest path consuming time is provided, is so likely to result in the generation of personnel's jam situation, make evacuation time increase on the contrary.
When the special circumstances such as fire occur, the time is equal to life. So, it is provided that a kind of can according to real-time field condition for personnel determine evacuation path be highly important.
Summary of the invention
The embodiment of the invention discloses a kind of method for pushing evacuating path and device, evacuate path to formulate according to on-the-spot real-time condition, it is ensured that evacuate the reasonability in path, so that the required safe escape time of entirety is substantially reduced. Technical scheme is as follows:
First aspect, embodiments provides a kind of method for pushing evacuating path, in advance the plane map of floor each in target structures is divided into multiple first kind grid in method, records the current state of each first kind grid; The plane map of each floor is divided into multiple Equations of The Second Kind grid, and described Equations of The Second Kind grid includes the described first kind grid of predetermined number;
Described method includes:
A: when meeting preset trigger condition, collects the real time information of the sensor node feedback of each first kind grid binding, if the arbitrary detected value in described real time information exceedes default threshold value, updates the current state of corresponding first kind grid for passing through; Determine the density of personnel of each Equations of The Second Kind grid in real time, density of personnel based on each Equations of The Second Kind grid, the evacuation movement velocity of the personnel of each Equations of The Second Kind grid is determined by predetermined density of personnel-speed empirical equation, wherein, described real time information includes temperature value and/or the concentration of toxic gases value of corresponding first kind grid present position;
B: judge whether target person is in Stall, if, path planning algorithm is adopted to determine that starting point arrives the optimal path of each terminal, otherwise, path planning algorithm is adopted to determine the stairs port being currently located floor from starting point to target person, it is currently located the stairs port of floor to Stall stairs port and from Stall stairs port to the optimal path of each terminal from target person, wherein, described starting point is that target person is currently located first kind grid, described terminal is the extra exit of each straight-through described target structures space outerpace of Stall, node in described path planning algorithm is current state is the first kind grid that can pass through,
C: for each optimal path, based on the described evacuation movement velocity that its passed all Equations of The Second Kind grids are corresponding, it is determined that passage movement time; Based on predetermined stair movement Time Calculation formula and predetermined outlet by Time Calculation formula, it is determined that the time is passed through in stair movement time and outlet; The time is passed through, it is determined that minimum optimal path consuming time to select it be current evacuation path based on described passage movement time, stair movement time and outlet;
D: the current path of evacuating selected is sent to the mobile terminal that target person uses, makes target person receive current evacuation path.
Preferably, described preset trigger condition includes:
Target person uses mobile terminal to send path query and asks and report its location information;
Or, the mobile terminal of based target personnel, the location information of active obtaining target person.
Preferably, the described density of personnel determining each Equations of The Second Kind grid in real time, including:
Based on indoor locating system, personnel amount in each Equations of The Second Kind grid of real-time statistics, based on the personnel amount of each Equations of The Second Kind grid and area can be passed through, determining the density of personnel of each Equations of The Second Kind grid, described is that under current state, in corresponding each described Equations of The Second Kind grid, current state is the area sum of all first kind grids that can pass through by area;
Or, real-time collecting is arranged in the image of each camera collection of indoor, analyzes collected image based on predetermined image parser, it is thus achieved that the density of personnel of each Equations of The Second Kind grid.
Preferably, the real time information of the sensor node feedback of each first kind grid binding of described collection, if the arbitrary detected value in described real time information exceedes default threshold value, update the current state of corresponding first kind grid for passing through, and further comprise the steps of: between the described density of personnel determining each Equations of The Second Kind grid in real time
Real-time collecting is arranged in the image of each camera collection of indoor, collected image is analyzed based on predetermined image parser, obtain the visibility of each first kind grid, update the corresponding low visibility current state in the first kind grid of predetermined threshold value for passing through.
Preferably, described method also includes:
E: real-time tracing location target person, returns when default and performs step B-D, until described target person arrives the extra exit of the arbitrary straight-through described target structures space outerpace of Stall.
Preferably, described return when default performs step B-D, including:
Execution step B-D is returned with default interval time period.
Preferably, Tong Guo the border presetting each extra exit in the plane map of each floor, room door and Equations of The Second Kind grid is routing update flag bit, and described is the border passed through for personal security in Equations of The Second Kind grid by border;
Described return when default performs step B-D, including:
When described target person deviates current evacuation path or returns execution step B-D through routing update flag bit.
Second aspect, embodiments provides a kind of pusher evacuating path, in described device, in advance the plane map of floor each in target structures is divided into multiple first kind grid, records the current state of each first kind grid; The plane map of each floor is divided into multiple Equations of The Second Kind grid, and described Equations of The Second Kind grid includes the described first kind grid of predetermined number;
Described device includes:
Evacuate movement velocity and determine module, for when meeting preset trigger condition, collect the real time information of the sensor node feedback of each first kind grid binding, if the arbitrary detected value in described real time information exceedes default threshold value, update the current state of corresponding first kind grid for passing through; Determine the density of personnel of each Equations of The Second Kind grid in real time, density of personnel based on each Equations of The Second Kind grid, the evacuation movement velocity of the personnel of each Equations of The Second Kind grid is determined by predetermined density of personnel-speed empirical equation, wherein, described real time information includes temperature value and/or the concentration of toxic gases value of corresponding first kind grid present position;
Path statistical module, for judging whether target person is in Stall, if, path planning algorithm is adopted to determine that starting point arrives the optimal path of each terminal, otherwise, path planning algorithm is adopted to determine the stairs port being currently located floor from starting point to target person, it is currently located the stairs port of floor to Stall stairs port and from Stall stairs port to the optimal path of each terminal from target person, wherein, described starting point is that target person is currently located first kind grid, described terminal is the extra exit of each straight-through described target structures space outerpace of Stall, node in described path planning algorithm is current state is the first kind grid that can pass through,
Evacuate path determination module, for for each optimal path, based on the described evacuation movement velocity that its passed all Equations of The Second Kind grids are corresponding, it is determined that passage movement time; Based on predetermined stair movement Time Calculation formula and predetermined outlet by Time Calculation formula, it is determined that the time is passed through in stair movement time and outlet; The time is passed through, it is determined that minimum optimal path consuming time to select it be current evacuation path based on described passage movement time, stair movement time and outlet;
Evacuate path sending module, for the current path of evacuating selected is sent to the mobile terminal that target person uses, make target person receive current evacuation path.
Preferably, described evacuation movement velocity determines that the preset trigger condition described in module includes:
Target person uses mobile terminal to send path query and asks and report its location information;
Or, the mobile terminal of based target personnel, the location information of active obtaining target person.
Preferably, described evacuation movement velocity determines the density of personnel determining each Equations of The Second Kind grid in real time described in module, including:
Based on indoor locating system, personnel amount in each Equations of The Second Kind grid of real-time statistics, based on the personnel amount of each Equations of The Second Kind grid and area can be passed through, determining the density of personnel of each Equations of The Second Kind grid, described is that under current state, in corresponding each described Equations of The Second Kind grid, current state is the area sum of all first kind grids that can pass through by area;
Or, real-time collecting is arranged in the image of each camera collection of indoor, analyzes collected image based on predetermined image parser, it is thus achieved that the density of personnel of each Equations of The Second Kind grid.
Preferably, described evacuation movement velocity determines the real time information of the sensor node feedback collecting the binding of each first kind grid described in module, if the arbitrary detected value in described real time information exceedes default threshold value, update the current state of corresponding first kind grid for passing through, and also include between the described density of personnel determining each Equations of The Second Kind grid in real time:
Real-time collecting is arranged in the image of each camera collection of indoor, collected image is analyzed based on predetermined image parser, obtain the visibility of each first kind grid, update the corresponding low visibility current state in the first kind grid of predetermined threshold value for passing through.
Preferably, described device also includes:
Evacuate routing update module, for the current path of evacuating selected being sent to the mobile terminal that target person uses at evacuation path sending module, after making target person receive current evacuation path, real-time tracing location target person, when default, again run described path statistical module successively, evacuate path determination module and evacuate path sending module, until described target person arrives the extra exit of the arbitrary straight-through described target structures space outerpace of Stall.
Preferably, described in described evacuation routing update module when default, again run described path statistical module successively, evacuate path determination module and evacuate path sending module, including:
Again run described path statistical module successively with default interval time period ground, evacuate path determination module and evacuate path sending module.
Preferably, Tong Guo the border presetting each extra exit in the plane map of each floor, room door and Equations of The Second Kind grid is routing update flag bit, and described is the border passed through for personal security in Equations of The Second Kind grid by border;
Described in described evacuation routing update module when default, again run described path statistical module successively, evacuate path determination module and evacuate path sending module, including:
When described target person deviates current evacuation path or through routing update flag bit, again run described path statistical module successively, evacuate path determination module and evacuate path sending module.
A kind of method for pushing evacuating path and device disclosed in the embodiment of the present invention, sensor node can be passed through and collect the on-the-spot real-time condition in building, and in real time currently the shortest evacuation path consuming time is supplied to target person as evacuating path, ensure to evacuate the reasonability in path, so that the required safe escape time of entirety is substantially reduced.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
A kind of schematic flow sheet of a kind of method for pushing evacuating path that Fig. 1 provides for the embodiment of the present invention;
The another kind of schematic flow sheet of a kind of method for pushing evacuating path that Fig. 2 provides for the embodiment of the present invention;
A kind of structural representation of a kind of pusher evacuating path that Fig. 3 provides for the embodiment of the present invention;
The another kind of structural representation of a kind of pusher evacuating path that Fig. 4 provides for the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments. Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of protection of the invention.
In order to solve prior art problem, embodiments provide a kind of method for pushing evacuating path and device, path is evacuated, it is ensured that evacuate the reasonability in path, so that the required safe escape time of entirety is substantially reduced to formulate according to on-the-spot real-time condition.
A kind of method for pushing evacuating the path first below embodiment of the present invention provided is introduced. Wherein, a kind of method for pushing evacuating path that the embodiment of the present invention provides is applied to server.
It should be noted that in order to solve prior art problem, in the method that the embodiment of the present invention provides, in advance the plane map of floor each in target structures is divided into multiple first kind grid, records the current state of each first kind grid; The plane map of each floor is divided into multiple Equations of The Second Kind grid, and described Equations of The Second Kind grid includes the described first kind grid of predetermined number.
It is understood that in actual applications, first kind grid can be defined as 1 �� 1m2Grid, the grid of this magnitude can the particular location of accurate personnel, certainly, the specific size of first kind grid does not limit to 1 �� 1m2Other sizes can also be defined according to practical situation, for example: at the width narrow hallways less than 1m or width more than on the passage of 1m, the direction that can define flow of personnel is length direction, now the size in first kind Gridding length direction can being defined as 1m, the size of width sets according to practical situation.
Further, Equations of The Second Kind grid can be defined as 5 �� 5m2Grid, namely Equations of The Second Kind grid can be made up of 25 adjacent first kind grids, and certainly, Equations of The Second Kind grid can also be defined as 4 �� 4m2��6��6m2Or 4 �� 6m2Grid, etc., and, size that Equations of The Second Kind grid neither be fixed and shape, can set according to the plane map feature of floor.
It is emphasized that the actual size of all of first kind grid is probably unequal, in the embodiment of the present invention, what be only desirable to arrange the size of first kind grid is more slightly smaller, for instance 1 above-mentioned �� 1m2Grid, with convenient service device, being accurately positioned of target person can be determined by the position of the first kind grid at target person place.
Equally, the actual size of all of Equations of The Second Kind grid is also likely to be unequal, and in the embodiment of the present invention, what be only desirable to arrange the size of Equations of The Second Kind grid is slightly bigger, for instance 5 above-mentioned �� 5m2Grid, distinguish multiple region with convenient service device, add up the density of personnel information of regional one by one.
In addition, the current state of first kind grid includes can passing through and impassabitity, in computer programming, available values 1 represents that current state is for passing through, and numerical value 0 represents that current state is impassabitity, such as passage, its current state is for passing through, then its current state assignment is 1, and for barrier, its current state is can not be passed through, then its current state assignment is 0; The current state of all first kind grids can be saved in wherein by building database by server.
As it is shown in figure 1, a kind of method for pushing evacuating path of the present invention, it is possible to comprise the steps:
S1: when meeting preset trigger condition, collects the real time information of the sensor node feedback of each first kind grid binding, if the arbitrary detected value in described real time information exceedes default threshold value, updates the current state of corresponding first kind grid for passing through; Determine the density of personnel of each Equations of The Second Kind grid in real time, density of personnel based on each Equations of The Second Kind grid, the evacuation movement velocity of the personnel of each Equations of The Second Kind grid is determined by predetermined density of personnel-speed empirical equation, wherein, described real time information includes temperature value and/or the concentration of toxic gases value of corresponding first kind grid present position;
Should be noted that, the required real time information gathered may include that any one in temperature value and concentration of toxic gases value, temperature value and concentration of toxic gases value both can also be included, and it is possible to determine the real time information of required collection according to application scenarios. It will be understood by those skilled in the art that, sensor node corresponding to temperature value can be temperature sensor, sensor node corresponding to concentration of toxic gases value can be the sensor that can measure concentration of toxic gases, further, in actual applications, the toxic gas determined needed for can include CO gas and SO2Gas, then corresponding sensor is carbonomonoxide concentration sensor and sulfur dioxide concentration sensor, and certainly, toxic gas refers not only to CO gas and SO2Gas, it is also possible to for the gas that other is harmful.
Additionally, for each sensor node, in order to make the real time information of collection can be more accurate, can be the corresponding real time information collecting a first kind grid, certainly, it is contemplated that the waste of resource and Cost Problems, in the embodiment of the present invention, can also be the real time information of simultaneously collecting multiple first kind grid of each sensor node, it is clear that, only need to ensure that the real time information of each first kind grid is to sensor node should be had to collect.
In embodiments of the present invention, for each first kind grid, when detected value arbitrary in the real time information collected by sensor node exceedes threshold value, it was shown that this first kind grid is not suitable for personnel escape, then the passability of this first kind grid is updated to and can not be passed through; Further, the temperature value in real time information and the threshold value corresponding to concentration of toxic gases value, it is possible to set based on experience value or set according to the safety value provided in relevant safety criterion, not limiting at this.
It is emphasized that, owing to the ability to bear of different temperature and concentration of toxic gases is different by different crowds, such as, youngster to the ability to bear of temperature and concentration of toxic gases higher than old man and child, so arranging of the above-mentioned threshold value about temperature and concentration of toxic gases can be arranged for group characteristic, and group characteristic can set according to the main population in building, such as in the building that the youngsters such as market are more, can each threshold value be arranged higher, and in the building such as hospital or school, what can each threshold value be arranged is more relatively low.
Concrete, preset trigger condition can be set according to practical situation, for example: above-mentioned preset trigger condition can be:
Target person uses mobile terminal to send path query and asks and report its location information, this refers to when fire or other special circumstances occur, target person sends path query request to server and reports its location information to server, it is of course also possible to send the location information of server this target person of active detecting when path query is asked in target person to server.
The transmission of inquiry request herein can be passed through conventional technology and realize, such as, the mobile terminals such as mobile phone are provided with application program, server in the embodiment of the present invention is to should the server end of application program, such as server end and mobile terminal are by data cube computation such as 3G or 4G, then the application program that target person can easily pass through in its mobile terminal sends path query request to server end.
It addition, for example, above-mentioned preset trigger condition can also be:
The mobile terminal of based target personnel, the location information of active obtaining target person; Here may refer to, when breaking out of fire or other special circumstances in certain building, staff in this building sends path query request to server end, server end is asked based on this path query sent by staff, determine the information of this building, and then find all target person being in this building based on indoor locating system, and respectively path is evacuated in all target person planning searched out.
For realizing the function that server end actively services for each mobile terminal offer path planning being connected with server end, first, it can be the mobile terminal configuration vertical application of staff in building, when above-mentioned staff sends path query request by this vertical application, the building information that it is residing is sent to server end simultaneously; It addition, can by server end being arranged authority in the application program that the mobile terminal of above-mentioned target person is installed, then server end can actively obtain the location information of each target person based on indoor locating system.
Should be noted that, in above two preset trigger condition, server is required for obtaining the location information of target person, for indoor location information, it is possible to obtained by indoor positioning technologies conventional in prior art, for instance based on the indoor positioning technologies of Wi-Fi, bluetooth location technology or the indoor positioning technologies based on Zigbee, etc., due in the prior art, indoor positioning technologies is relatively conventional, does not too much describe herein.
Concrete, in one implementation, the described density of personnel determining each Equations of The Second Kind grid in real time may include that
Based on above-mentioned indoor locating system, personnel amount in each Equations of The Second Kind grid of real-time statistics, based on the personnel amount of each Equations of The Second Kind grid and area can be passed through, determining the density of personnel of each Equations of The Second Kind grid, described is that under current state, in corresponding each described Equations of The Second Kind grid, current state is the area sum of all first kind grids that can pass through by area.
In this kind of implementation, server can add up the personnel amount in each Equations of The Second Kind grid based on indoor locating system, then divided by Tong Guo the area under current state, namely obtains the density of personnel of each Equations of The Second Kind grid.
Further, with personnel do not carry mobile terminal, or its mobile terminal is not connected with server, server is collected less than the region residing for these personnel, therefore, in the reliability in order to improve density of personnel, in the embodiment of the present invention, the described density of personnel determining each Equations of The Second Kind grid in real time, it is possible to including:
Real-time collecting is arranged in the image of each camera collection of indoor, analyzes collected image based on predetermined image parser, it is thus achieved that the density of personnel of each Equations of The Second Kind grid; In building, pre-set a lot of photographic head, and ensure that the real time imaging of each Equations of The Second Kind grid can be transferred through camera collection, server is collected the image analysis technology that real time imaging carries out and is equally useful prior art, the such as conventional crowd density estimation method based on pixels statistics and the crowd density estimation method analyzed based on unity and coherence in writing, can pay the utmost attention in the present invention and use the crowd density estimation method analyzed based on unity and coherence in writing.
Additionally it should illustrate, density of personnel-speed empirical equation used in the embodiment of the present invention, it is possible to for:
In formula, u represents the translational speed of personnel, and �� is representing crowd density, and in embodiments of the present invention, u represents that �� is representing the crowd density corresponding to Equations of The Second Kind grid corresponding to the translational speed of personnel in Equations of The Second Kind grid.
Or, density of personnel-speed empirical equation used in the embodiment of the present invention can also be the density-velocity model formation of redtechenski and Milinski:
U=112D4-380D3+434D2-217D+57
In formula, u represents the translational speed of personnel, and unit is m/min, D is the ratio (m of the human body projected area on ground and the ground gross area2/m2); Wherein, D=Nf/ (wL), N are number, and f is human body projected area in the horizontal plane, L is artificial abortion's total length, w is artificial abortion's overall width, and in embodiments of the present invention, N/ (wL) is corresponding to the crowd density of Equations of The Second Kind grid, so in each Equations of The Second Kind grid, the value of D is the crowd density product with f of corresponding Equations of The Second Kind grid, and in calculating process, the value of f generally can be 0.2 square metre. Should be noted that the D hereinafter occurred is identical with D herein.
Certainly, density of personnel-speed empirical equation used in the embodiment of the present invention can also other density of personnel-speed empirical equation existing for prior art, do not limit at this.
Further, in order to improve the accuracy of the communications status of first kind grid, the real time information of the sensor node feedback of each first kind grid binding of collection step, if the arbitrary detected value in described real time information exceedes default threshold value, update the current state of corresponding first kind grid for passing through, and step determined in real time and can also be included step between the density of personnel of each Equations of The Second Kind grid:
Real-time collecting is arranged in the image of each camera collection of indoor, collected image is analyzed based on predetermined image parser, obtain the visibility of each first kind grid, update the corresponding low visibility current state in the first kind grid of predetermined threshold value for passing through;
Should be noted that, above-mentioned for obtain each Equations of The Second Kind grid density of personnel time acquired image to can also be used for analyzing the existing method being obtained visibility by image of visibility in this step be also diversified, such as, An Mingwei et al. proposes in " the meteorological optical range detection method based on road conditions video designs with system ": adopt the characteristics of image that can reflect visibility variation in the Edge Gradient Feature image of consistent contrast method, method of least square and inverse transformation is utilized to obtain the fitting function of contrast and distance, visibility value is finally determined by analyzing the relation between characteristics of image and distance.
Again such as, Chen Zhao just et al. proposes a kind of system utilizing the methods such as camera self-calibration model, wavelet transformation, video contrast's detection model curve matching to carry out visibility detection in " the video visibility detection algorithm based on wavelet transformation is studied and realizes ".
It should be emphasized that, when step determines that the density of personnel of each Equations of The Second Kind grid represents in real time: based on above-mentioned indoor locating system, personnel amount in each Equations of The Second Kind grid of real-time statistics, based on the personnel amount of each Equations of The Second Kind grid and area can be passed through, when determining the density of personnel of each Equations of The Second Kind grid, passed through cartographic represenation of area described herein: at the visibility obtaining each first kind grid, update corresponding low visibility after the current state of the first kind grid of predetermined threshold value is to pass through, then remove the passed through area value calculated.
S2: judge whether target person is in Stall, if, if, path planning algorithm is adopted to determine that starting point arrives the optimal path of each terminal, otherwise, path planning algorithm is adopted to determine the stairs port being currently located floor from starting point to target person, it is currently located the stairs port of floor to Stall stairs port and from Stall stairs port to the optimal path of each terminal from target person, wherein, described starting point is that target person is currently located first kind grid, described terminal is the extra exit of each straight-through described target structures space outerpace of Stall, node in described path planning algorithm is current state is the first kind grid that can pass through,
Should be noted that based on indoor locating system, server can judge that whether target person is at Stall; An above-mentioned starting point optimal path all corresponding to each outlet terminal; The extra exit of each straight-through described target structures space outerpace of Stall mentioned here refers to Stall and leads to each extra exit that building is extraneous, such as the gate in market, side door, back door etc., crowd can leave building safety by this extra exit and arrive the external world.
It should be emphasized that, in existing building, the quantity of the extra exit being positioned at the straight-through described target structures space outerpace of Stall is at least one, when quantity is more than for the moment, for each terminal, from starting point to terminal, look for an optimal path such as through path planning algorithm. But, when this quantity is more, statistics starting point is very huge to the workload of the optimal path of each terminal.
In order to make algorithm have higher efficiency, the starting point optimal path to each terminal can be calculated, such as, for the target person at Stall, first determine, with indoor locating system, the individual extra exit leading directly to described target structures space outerpace of preset number that distance objective personnel are nearest, only the extra exit of straight-through for preset number described target structures space outerpace is carried out subsequent arithmetic as terminal; Same, for being not in the path planning process of the target person of Stall, terminal is preset as the extra exit of the distance Stall stairs port straight-through described target structures space outerpace of nearest preset number; Certainly preset number described here should be determined according to actual, for instance, it is possible to it is three.
Path planning algorithm mentioned here is also very common in the prior art, for instance by dijkstra's algorithm, A* algorithm, Fallback algorithm and Floyd algorithm.
S3: for each optimal path, based on the described evacuation movement velocity that its passed all Equations of The Second Kind grids are corresponding, it is determined that passage movement time; Based on predetermined stair movement Time Calculation formula and predetermined outlet by Time Calculation formula, it is determined that the time is passed through in stair movement time and outlet; The time is passed through, it is determined that minimum optimal path consuming time to select it be current evacuation path based on described passage movement time, stair movement time and outlet;
It should be emphasized that, the multiple optimal paths obtained in step S2 be only for tried to achieve by path planning algorithm from starting point to the optimal path of corresponding terminal, do not contrast the starting point optimal path to each terminal, step S3 is through multiple optimal paths of trying to achieve in contrast step S2, and finally to select minimum optimal path consuming time be current evacuation path.
Should be noted that outlet described herein by the time refer to extra exit pass through the time. Passage movement time can pass through the time consumed in each Equations of The Second Kind grid of optimal path process, owing to server is can to collect to determine in target person path in each Equations of The Second Kind grid, and crowd's translational speed corresponding to Equations of The Second Kind grid can obtain, so the time required for each Equations of The Second Kind grid of process can be obtained, the required time of all Equations of The Second Kind grids of traverse in corresponding optimal path is added up, just obtains above-mentioned passage movement time.
Above-mentioned outlet by the time refer to extra exit by the time, and exit movement Time Calculation formula belongs to prior art, has more computation model, for instance can make a reservation for this formula in the embodiment of the present invention is:
In formula, Te represents that the time is passed through in outlet; NaRepresent that total number of persons is evacuated in functional areas, in embodiments of the present invention, it is possible to be expressed as the total number of persons in the Equations of The Second Kind grid at this place, extra exit; W represents the effective width (m) of this extra exit, it is possible to prestore in the server; N represents the flow of personnel coefficient (people/m s) of this extra exit, generally takes 1.3��1.5.
In the embodiment of the present invention, this outlet can also utilize formula by the computational methods of time:
u0=u [1.17+0.13sin (6.03D-0.12)]
u0For personnel in the movement velocity exported, unit is m/min, u is the horizontal movement velocity of personnel, and D is the ratio of the human body projected area at horizontal plane and the gross area.
In this law inventive embodiments, first pass through above-noted persons' density-velocity empirical equation and obtain the personnel translational speed u that the Equations of The Second Kind grid exporting place is corresponding, then the length according to the Equations of The Second Kind grid at outlet place, it is possible to obtain personnel's time by exporting.
It addition, above-mentioned stair movement Time Calculation formula also belongs to prior art, there is more computation model, for instance can make a reservation for this formula in the present invention is:
In formula, Ts represents the stair movement time of every floor ladder, and target person needs the stair movement time sum of each floor of process to be total stair movement time; P represents the personnel's number in the stair of corresponding floor, such as, target person is at second floor, then P represents that Stall is to the personnel's number in the stair of second floor, if target person is at 5th floors, then P represents the personnel's number in the stair of 5th floor, four Lou Zhi, can pass through indoor locating system and obtain the number of the personnel being arranged in corresponding floor stair in real time; W represents the effective width of stair, it is possible to prestore in the server.
In the embodiment of the present invention, the computational methods of this stair movement time can also utilize formula:
u��=u [0.775+0.44e-0.39D.sin(5.16D-0.224)]
u��For personnel in certain first floor ladder movement velocity, u is the horizontal movement velocity of personnel, above-noted persons' density-velocity empirical equation can be first passed through and obtain personnel's translational speed that the Equations of The Second Kind grid at this floor ladder place is corresponding, be the ratio that u, D are the human body projected area at horizontal plane and the gross area.
According to should the length of floor ladder, just can obtain personnel's movement time at this floor ladder, so the stair movement time is the movement time sum that target person needs each floor ladder of process.
S4: the current path of evacuating selected is sent to the mobile terminal that target person uses, makes target person receive current evacuation path.
In this programme, sensor node can be passed through and collect the on-the-spot real-time condition in building, and in real time currently the shortest evacuation path consuming time is supplied to target person as evacuating path, it is ensured that evacuate the reasonability in path, so that the required safe escape time of entirety is substantially reduced.
Further, when occurring due to special circumstances such as fire, the environmental change in building is very rapid, accordingly, it would be desirable to dynamic realtime ground provides for target person evacuates path. Based on this kind of demand, on the basis of the embodiment shown in Fig. 1, as in figure 2 it is shown, a kind of method for pushing evacuating path of the present invention can also comprise the steps:
S5: real-time tracing location target person, returns when default and performs step S2-S4, until described target person arrives the extra exit of the arbitrary straight-through described target structures space outerpace of Stall.
Concrete, in one implementation, the above-mentioned execution step S2-S4 that returns when default may is that
Execution step S2-S4 is returned with default interval time period.
In addition, in another kind of implementation, Tong Guo the border that can preset each extra exit in the plane map of each floor, room door and Equations of The Second Kind grid is routing update flag bit, and described is the border passed through for personal security in Equations of The Second Kind grid by border;
Now, the above-mentioned execution step S2-S4 that returns when default can be:
When described target person deviates current evacuation path or returns execution step S2-S4 through routing update flag bit; When server detects that by indoor locating system the current evacuation path of target person deviation is to after certain distance, or when Tong Guo the border that target person have passed through room door or Equations of The Second Kind grid being detected, again select evacuate path and be supplied to the mobile terminal of this target person for this target person.
Additionally, it should be noted that, in this kind of implementation, a duration threshold value can be preset, when server detects that target person is for a long time without routing update flag bit, and duration alreadys more than this duration threshold value preset, server can directly return execution step S2-S4, again plans evacuation path for target person.
Scheme described in the present embodiment, the on-the-spot real-time condition in sensor collection building can be collected by, and determine the shortest path consuming time for personnel selection, it addition, deviate former evacuation path or through routing update flag bit personnel, again evacuate path for personnel selection, or periodically again evacuate path for personnel selection, there is provided in real time and evacuate path, it is ensured that evacuate the reasonability in path, so that the required safe escape time of entirety is substantially reduced.
Corresponding to said method embodiment, embodiments provide a kind of pusher evacuating path, in described device, in advance the plane map of floor each in target structures is divided into multiple first kind grid, records the current state of each first kind grid; The plane map of each floor is divided into multiple Equations of The Second Kind grid, and described Equations of The Second Kind grid includes the described first kind grid of predetermined number;
A kind of structural representation of a kind of pusher evacuating path as shown in Figure 3, described device may include that
Evacuate movement velocity and determine module 210, for when meeting preset trigger condition, collect the real time information of the sensor node feedback of each first kind grid binding, if the arbitrary detected value in described real time information exceedes default threshold value, update the current state of corresponding first kind grid for passing through; Determine the density of personnel of each Equations of The Second Kind grid in real time, density of personnel based on each Equations of The Second Kind grid, the evacuation movement velocity of the personnel of each Equations of The Second Kind grid is determined by predetermined density of personnel-speed empirical equation, wherein, described real time information includes temperature value and/or the concentration of toxic gases value of corresponding first kind grid present position;
Path statistical module 220, for judging whether target person is in Stall, if, path planning algorithm is adopted to determine that starting point arrives the optimal path of each terminal, otherwise, path planning algorithm is adopted to determine the stairs port being currently located floor from starting point to target person, it is currently located the stairs port of floor to Stall stairs port and from Stall stairs port to the optimal path of each terminal from target person, wherein, described starting point is that target person is currently located first kind grid, described terminal is the extra exit of each straight-through described target structures space outerpace of Stall, node in described path planning algorithm is current state is the first kind grid that can pass through,
Evacuate path determination module 230, for for each optimal path, based on the described evacuation movement velocity that its passed all Equations of The Second Kind grids are corresponding, it is determined that passage movement time; Based on predetermined stair movement Time Calculation formula and predetermined outlet by Time Calculation formula, it is determined that the time is passed through in stair movement time and outlet; The time is passed through, it is determined that minimum optimal path consuming time to select it be current evacuation path based on described passage movement time, stair movement time and outlet;
Evacuate path sending module 240, for the current path of evacuating selected is sent to the mobile terminal that target person uses, make target person receive current evacuation path.
A kind of pusher evacuating path disclosed in the embodiment of the present invention, sensor node can be passed through and collect the on-the-spot real-time condition in building, and in real time currently the shortest evacuation path consuming time is supplied to target person as evacuating path, ensure to evacuate the reasonability in path, so that the required safe escape time of entirety is substantially reduced.
Concrete, the preset trigger condition that this evacuation movement velocity is determined in module 210 includes:
Target person uses mobile terminal to send path query and asks and report its location information;
Or, the mobile terminal of based target personnel, the location information of active obtaining target person.
Concrete, this evacuation movement velocity determines the density of personnel determining each Equations of The Second Kind grid in real time described in module 210, including:
Based on indoor locating system, personnel amount in each Equations of The Second Kind grid of real-time statistics, based on the personnel amount of each Equations of The Second Kind grid and area can be passed through, determining the density of personnel of each Equations of The Second Kind grid, described is that under current state, in corresponding each described Equations of The Second Kind grid, current state is the area sum of all first kind grids that can pass through by area;
Or, real-time collecting is arranged in the image of each camera collection of indoor, analyzes collected image based on predetermined image parser, it is thus achieved that the density of personnel of each Equations of The Second Kind grid.
Concrete, this evacuation movement velocity determines the real time information of the sensor node feedback collecting the binding of each first kind grid described in module 210, if the arbitrary detected value in described real time information exceedes default threshold value, update the current state of corresponding first kind grid for passing through, and also include between the described density of personnel determining each Equations of The Second Kind grid in real time:
Real-time collecting is arranged in the image of each camera collection of indoor, collected image is analyzed based on predetermined image parser, obtain the visibility of each first kind grid, update the corresponding low visibility current state in the first kind grid of predetermined threshold value for passing through.
Further, on the basis of the device shown in Fig. 3, as shown in Figure 4, a kind of pusher evacuating path that the embodiment of the present invention provides can also include:
Evacuate routing update module 250, for the current path of evacuating selected being sent to the mobile terminal that target person uses at evacuation path sending module 240, after making target person receive current evacuation path, real-time tracing location target person, when default, again run described path statistical module successively, evacuate path determination module and evacuate path sending module, until described target person arrives the extra exit of the arbitrary straight-through described target structures space outerpace of Stall.
Concrete, in this evacuation routing update module 250 indication when default, again run described path statistical module successively, evacuate path determination module and evacuate path sending module, including:
Again run described path statistical module successively with default interval time period ground, evacuate path determination module and evacuate path sending module.
Concrete, Tong Guo the border presetting each extra exit in the plane map of each floor, room door and Equations of The Second Kind grid is routing update flag bit, and described is the border passed through for personal security in Equations of The Second Kind grid by border;
Then in this evacuation routing update module 250 indication when default, again run described path statistical module successively, evacuate path determination module and evacuate path sending module, including:
When described target person deviates current evacuation path or through routing update flag bit, again run described path statistical module successively, evacuate path determination module and evacuate path sending module.
This programme can pass through the on-the-spot real-time condition in sensor collection building, and determine the shortest path consuming time for personnel selection, additionally, former evacuation path is deviateed or through routing update flag bit personnel, again path is evacuated for personnel selection, or periodically again evacuate path for personnel selection, provide real-time dynamicly and evacuate path, make the required safe escape time of entirety be substantially reduced.
It should be noted that in this manual, extra exit is the definition in architectonics, i.e. the outlet in the staircase gateway of confession under directions safety evacuation or straight-through outdoor security region. Additionally, in this manual, the positional information of stair in building, room door and extra exit can have previously been stored in data base, such as, when dividing first kind grid, first kind grid residing for stair, room door and extra exit is arranged adeditive attribute, makes server end pass through this adeditive attribute and can mark stair, room door and extra exit.
It should be noted that, in this article, the relational terms of such as first and second or the like is used merely to separate an entity or operation with another entity or operating space, and not necessarily requires or imply the relation that there is any this reality between these entities or operation or sequentially. And, term " includes ", " comprising " or its any other variant are intended to comprising of nonexcludability, so that include the process of a series of key element, method, article or equipment not only include those key elements, but also include other key elements being not expressly set out, or also include the key element intrinsic for this process, method, article or equipment. When there is no more restriction, statement " including ... " key element limited, it is not excluded that there is also other identical element in including the process of described key element, method, article or equipment.
Each embodiment in this specification all adopts relevant mode to describe, between each embodiment identical similar part mutually referring to, what each embodiment stressed is the difference with other embodiments. Especially for device embodiment, owing to it is substantially similar to embodiment of the method, so what describe is fairly simple, relevant part illustrates referring to the part of embodiment of the method.
One of ordinary skill in the art will appreciate that all or part of step realizing in said method embodiment can be by the hardware that program carrys out instruction relevant and completes, described program can be stored in computer read/write memory medium, the storage medium obtained designated herein, as: ROM/RAM, magnetic disc, CD etc.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit protection scope of the present invention. All make within the spirit and principles in the present invention any amendment, equivalent replacement, improvement etc., be all contained in protection scope of the present invention.
Claims (9)
1. the method for pushing evacuating path, it is characterised in that in advance the plane map of floor each in target structures is divided into multiple first kind grid, records the current state of each first kind grid; The plane map of each floor is divided into multiple Equations of The Second Kind grid, and described Equations of The Second Kind grid includes the described first kind grid of predetermined number; Described method includes:
A: when meeting preset trigger condition, collects the real time information of the sensor node feedback of each first kind grid binding, if the arbitrary detected value in described real time information exceedes default threshold value, updates the current state of corresponding first kind grid for passing through; Determine the density of personnel of each Equations of The Second Kind grid in real time, density of personnel based on each Equations of The Second Kind grid, the evacuation movement velocity of the personnel of each Equations of The Second Kind grid is determined by predetermined density of personnel-speed empirical equation, wherein, described real time information includes temperature value and/or the concentration of toxic gases value of corresponding first kind grid present position;
B: judge whether target person is in Stall, if, path planning algorithm is adopted to determine that starting point arrives the optimal path of each terminal, otherwise, path planning algorithm is adopted to determine the stairs port being currently located floor from starting point to target person, it is currently located the stairs port of floor to Stall stairs port and from Stall stairs port to the optimal path of each terminal from target person, wherein, described starting point is that target person is currently located first kind grid, described terminal is the extra exit of each straight-through described target structures space outerpace of Stall, node in described path planning algorithm is current state is the first kind grid that can pass through,
C: for each optimal path, based on the described evacuation movement velocity that its passed all Equations of The Second Kind grids are corresponding, it is determined that passage movement time; Based on predetermined stair movement Time Calculation formula and predetermined outlet by Time Calculation formula, it is determined that the time is passed through in stair movement time and outlet; The time is passed through, it is determined that minimum optimal path consuming time to select it be current evacuation path based on described passage movement time, stair movement time and outlet;
D: the current path of evacuating selected is sent to the mobile terminal that target person uses, makes target person receive current evacuation path.
2. method according to claim 1, it is characterised in that described preset trigger condition includes:
Target person uses mobile terminal to send path query and asks and report its location information;
Or, the mobile terminal of based target personnel, the location information of active obtaining target person.
3. method according to claim 1, it is characterised in that the described density of personnel determining each Equations of The Second Kind grid in real time, including:
Based on indoor locating system, personnel amount in each Equations of The Second Kind grid of real-time statistics, based on the personnel amount of each Equations of The Second Kind grid and area can be passed through, determining the density of personnel of each Equations of The Second Kind grid, described is that under current state, in corresponding each described Equations of The Second Kind grid, current state is the area sum of all first kind grids that can pass through by area;
Or, real-time collecting is arranged in the image of each camera collection of indoor, analyzes collected image based on predetermined image parser, it is thus achieved that the density of personnel of each Equations of The Second Kind grid.
4. method according to claim 1, it is characterized in that, the real time information of the sensor node feedback of each first kind grid binding of described collection, if the arbitrary detected value in described real time information exceedes default threshold value, update the current state of corresponding first kind grid for passing through, and further comprise the steps of: between the described density of personnel determining each Equations of The Second Kind grid in real time
Real-time collecting is arranged in the image of each camera collection of indoor, collected image is analyzed based on predetermined image parser, obtain the visibility of each first kind grid, update the corresponding low visibility current state in the first kind grid of predetermined threshold value for passing through.
5. the method according to any one of Claims 1 to 4, it is characterised in that described method also includes:
E: real-time tracing location target person, returns when default and performs step B-D, until described target person arrives the extra exit of the arbitrary straight-through described target structures space outerpace of Stall.
6. method according to claim 5, it is characterised in that described return when default performs step B-D, including:
Execution step B-D is returned with default interval time period.
7. method according to claim 5, it is characterized in that, Tong Guo the border presetting each extra exit in the plane map of each floor, room door and Equations of The Second Kind grid is routing update flag bit, and described is the border passed through for personal security in Equations of The Second Kind grid by border;
Described return when default performs step B-D, including:
When described target person deviates current evacuation path or returns execution step B-D through routing update flag bit.
8. the pusher evacuating path, it is characterised in that in advance the plane map of floor each in target structures is divided into multiple first kind grid, records the current state of each first kind grid; The plane map of each floor is divided into multiple Equations of The Second Kind grid, and described Equations of The Second Kind grid includes the described first kind grid of predetermined number;
Described device includes:
Evacuate movement velocity and determine module, for when meeting preset trigger condition, collect the real time information of the sensor node feedback of each first kind grid binding, if the arbitrary detected value in described real time information exceedes default threshold value, update the current state of corresponding first kind grid for passing through; Determine the density of personnel of each Equations of The Second Kind grid in real time, density of personnel based on each Equations of The Second Kind grid, the evacuation movement velocity of the personnel of each Equations of The Second Kind grid is determined by predetermined density of personnel-speed empirical equation, wherein, described real time information includes temperature value and/or the concentration of toxic gases value of corresponding first kind grid present position;
Path statistical module, for judging whether target person is in Stall, if, path planning algorithm is adopted to determine that starting point arrives the optimal path of each terminal, otherwise, path planning algorithm is adopted to determine the stairs port being currently located floor from starting point to target person, it is currently located the stairs port of floor to Stall stairs port and from Stall stairs port to the optimal path of each terminal from target person, wherein, described starting point is that target person is currently located first kind grid, described terminal is the extra exit of each straight-through described target structures space outerpace of Stall, node in described path planning algorithm is current state is the first kind grid that can pass through,
Evacuate path determination module, for for each optimal path, based on the described evacuation movement velocity that its passed all Equations of The Second Kind grids are corresponding, it is determined that passage movement time; Based on predetermined stair movement Time Calculation formula and predetermined outlet by Time Calculation formula, it is determined that the time is passed through in stair movement time and outlet; The time is passed through, it is determined that minimum optimal path consuming time to select it be current evacuation path based on described passage movement time, stair movement time and outlet;
Evacuate path sending module, for the current path of evacuating selected is sent to the mobile terminal that target person uses, make target person receive current evacuation path.
9. device according to claim 8, it is characterised in that described device also includes:
Evacuate routing update module, for the current path of evacuating selected being sent to the mobile terminal that target person uses at evacuation path sending module, after making target person receive current evacuation path, real-time tracing location target person, when default, again run described path statistical module successively, evacuate path determination module and evacuate path sending module, until described target person arrives the extra exit of the arbitrary straight-through described target structures space outerpace of Stall.
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| CN111814338A (en) * | 2020-07-13 | 2020-10-23 | 广东工业大学 | Building evacuation path generation method, system and equipment |
| CN111814338B (en) * | 2020-07-13 | 2024-03-29 | 广东工业大学 | Building evacuation path generation method, system and equipment |
| CN111915837A (en) * | 2020-09-18 | 2020-11-10 | 郑州轻工业大学 | Indoor intelligent evacuation navigation system and method |
| CN112883054A (en) * | 2021-01-28 | 2021-06-01 | 上海应用技术大学 | Personnel evacuation navigation system and method for interior of hotel building |
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