CN109472411A - The adaptive emergency evacuation navigation system of large scale business synthesis - Google Patents
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Abstract
The invention discloses the adaptive emergency evacuation navigation system and method for a kind of large scale business synthesis, including fire monitoring, location navigation, path planning, exit signs, Situation Assessment.Firstly, obtaining fire accurate location according to fire monitoring subsystem；Secondly, Position Fixing Navigation System utilizes acquisition for mobile terminal personnel location information；Then, path planning subsystem is according to dangerous distribution map according to can be accurate to calculate effectively evacuation path by grid；Again, exit signs subsystem will effectively evacuate path and show on mobile terminals, be that the personnel of handheld terminal carry out real-time navigation；Finally, Situation Assessment subsystem utilizes infrared image, dangerous distribution map is obtained, to being updated by grid for building, it is ensured that the timely and effective property of planning path can be improved by the validity of grid.
Description
Technical field
The present invention relates to a kind of adaptive emergency evacuation navigation system, belong to heavy construction security against fire field, especially relate to
And a kind of adaptive emergency evacuation navigation system of large-scale synthesis body.
Background technique
With the continuous quickening of Urbanization in China, Commercial Complex comes into being.It is usually contained in Commercial Complex
Commercially, the multiple functions such as food and drink, entertainment have the characteristics that the density of population is big, construction area is big, more especially build including underground
It builds, causes spatial closure higher.It is big that high concentration, mobility be easy to appear for the crowd in large scale business synthesis, it is past
Toward that cannot fully understand to building structure, once encountering burst fire incident, it be easy to cause crowd panic.At this point, if cannot
It is timely and effective to be evacuated, stream of people's conflict is easily caused, best evacuation time is missed, causes unnecessary economic loss and personnel
Injures and deaths.
Large scale business synthesis mostly uses traditional emergency evacuation system at present, using fixed short distance guidance evacuation
Principle has ignored the influence of the dynamic factor of the development of fire incident situation and flow of personnel.Occur a variety of intelligence in recent years to dredge
The system of dissipating carries out evacuation navigation according to fire type or rank although these systems and fire protection alarm system link.But still
The dynamic change trend and personnel's DYNAMIC DISTRIBUTION situation for not accounting for fire, leading to evacuation navigation, there may be certain to prolong
Late, it is unable to ensure evacuation before people to safety zone in time.
Summary of the invention
Deficiency existing for emergency evacuation navigation system of the present invention for large scale business synthesis proposes a kind of large-scale quotient
The adaptive emergency evacuation navigation system of industry synthesis and method.
The technical scheme is that:
A kind of adaptive emergency evacuation navigation system of large scale business synthesis is provided characterized by comprising
Fire monitoring subsystem obtains fire location information according to fire monitor and control facility in building；
Personnel positioning subsystem obtains the location information of personnel according to mobile terminal location；
Situation Assessment subsystem obtains Infrared video image, and the temperature profile at scene is generated according to Infrared video image；
According to temperature profile, division can be by putting and can not pass through a little；And according to given threshold, temperature profile is converted into danger
Distribution map；
Path planning subsystem periodically updates evacuation path using default planning algorithm；Specifically building is divided into
Stereoscopic grid, and rower by point and can not be clicked through to stereoscopic grid by point according to the Situation Assessment system subdivision
Note, obtaining can be by grid, and traversal is all to be calculated each pass through and put corresponding evacuation path and terminal by point；
Navigation subsystem is evacuated, according to the personnel location information of acquisition, using the current location of personnel as starting point, and according to institute
The newest evacuation path of path planning subsystem generation is stated, accurate navigation is carried out for personnel, indicates safety evacuation.
Above-mentioned technical proposal is connect, the default planning algorithm is specific as follows:
It can be obtained by grid according to the benchmark grid of building and dangerous distribution map, in basis point Gridding, will be endangered
Can not obtain by label on benchmark grid and updated pass through grid in dangerous distribution map；
In the updated can obtain the evacuation path of all free points by grid, traversing all free points.
Above-mentioned technical proposal is connect, the personnel positioning subsystem is also used to whether regular judgement personnel evacuate completely, works as institute
When thering are personnel to have been moved off fire building, path planning subsystem termination algorithm.
Above-mentioned technical proposal is connect, the Situation Assessment subsystem is specifically used for:
Using infrared camera existing in building, infrared image I is got(i,j)；
The characteristics of reacting heat radiation according to infrared image, by infrared image I(i,j)It is converted into temperature pattern T(i,j), medium temperature
Spend image T(i,j)Calculation formula it is as follows:
T(i,j)=INT (I(i,j)(GRAY/(t1-t0)))
Wherein GRAY is the gray value of infrared image, T(i,j)It is the temperature value after being converted into, INT is to be rounded algorithm, t1For
Current Temperatures, t0For benchmark temperature；
Temperature threshold TEMP is set, according to given threshold, by temperature pattern T(i,j)Dangerous distribution map is converted into, 0 in image
Representing can not be by point, and 1 represent can be by point, wherein obtaining dangerous distribution map D(i,j)Calculation formula is as follows:
WhereinIt is each pixel value of temperature pattern,It is each pixel value of dangerous distribution map.
The present invention also provides a kind of adaptive emergency evacuation air navigation aids of large scale business synthesis, which is characterized in that
The following steps are included:
According to fire monitor and control facility in building, fire location information is obtained；
According to mobile terminal location, the location information of personnel is obtained；
Infrared video image is obtained, the temperature profile at scene is generated according to Infrared video image；According to temperature profile,
Dividing can be by putting and can not pass through a little；And according to given threshold, temperature profile is converted into dangerous distribution map；
Evacuation path is periodically updated using default planning algorithm；Building is specifically divided into stereoscopic grid, and according to
The Situation Assessment system subdivision by point and can not click through line flag to stereoscopic grid by point, obtain that net can be passed through
Lattice, traversal is all to be calculated each pass through and put corresponding evacuation path and terminal by point；
According to the personnel location information of acquisition, using the current location of personnel as starting point, and according to the path planning subsystem
The newest evacuation path that system generates carries out accurate navigation for personnel, indicates safety evacuation.
Above-mentioned technical proposal is connect, the default planning algorithm is specific as follows:
It can be obtained by grid according to the benchmark grid of building and dangerous distribution map, in basis point Gridding, will be endangered
Can not obtain by label on benchmark grid and updated pass through grid in dangerous distribution map；
In the updated can obtain the evacuation path of all free points by grid, traversing all free points.
Connect above-mentioned technical proposal, this method further comprises the steps of: whether regular judgement personnel evacuate completely, when all personnel
When being left fire building, path planning subsystem termination algorithm.
Connect above-mentioned technical proposal, the acquisition of dangerous distribution map specifically includes the following steps:
Using infrared camera existing in building, infrared image I is got(i,j)；
The characteristics of reacting heat radiation according to infrared image, by infrared image I(i,j)It is converted into temperature pattern T(i,j), medium temperature
Spend image T(i,j)Calculation formula it is as follows:
T(i,j)=INT (I(i,j)(GRAY/(t1-t0)))
Wherein GRAY is the gray value of infrared image, T(i,j)It is the temperature value after being converted into, INT is to be rounded algorithm, t1For
Current Temperatures, t0For benchmark temperature；
Temperature threshold TEMP is set, according to given threshold, by temperature pattern T(i,j)Dangerous distribution map is converted into, 0 in image
Representing can not be by point, and 1 represent can be by point, wherein obtaining dangerous distribution map D(i,j)Calculation formula is as follows:
WhereinIt is each pixel value of temperature pattern,It is each pixel value of dangerous distribution map.
The present invention also provides a kind of computer readable storage mediums, have the computer journey that can be executed by processor
The step of sequence, which executes the adaptive emergency evacuation air navigation aid of above-mentioned large scale business synthesis.
Advantageous effects of the invention: the present invention large scale business synthesis emergency evacuation there are aiming at the problem that, mention
A kind of adaptive emergency evacuation navigation system out.Traditional short distance guidance evacuation is changed into adaptive security and drawn by the system
It leads, is distributed situation in conjunction with fire development situation and personnel, adjust automatically is evacuated guidance path, fully considered during evacuation
Dynamic image factor is realized and is adjusted to the dynamic of emergency evacuation, and predictive evacuation, greatly improves the effective of emergency evacuation
Property.
Detailed description of the invention
Fig. 1 is a kind of adaptive emergency evacuation instruction system construction drawing of large scale business synthesis of the present invention.
Fig. 2 is a kind of adaptive emergency evacuation instruction algorithm flowchart of system of large scale business synthesis of the present invention.
Specific embodiment
Elaborate with reference to the accompanying drawing to the embodiment of the present invention: the present embodiment before being with technical solution of the present invention
It puts and is implemented, give detailed embodiment and process, but protection scope of the present invention is not limited to subordinate's example.
The adaptive emergency evacuation navigation system of large scale business synthesis of the invention, including fire monitoring, location navigation, road
Diameter planning, exit signs, Situation Assessment.First according to fire monitoring subsystem, fire source accurate location and Disaster Grade letter are obtained
Breath；After obtaining fire information, using mobile terminal location navigation subsystem, personnel's distribution situation in building at this time is obtained.
Secondly path planning subsystem plans that evacuation path is not yet spread since this alarm has just occurred according to personnel's distribution situation, this
When planning path principle be nearby principle.Then it is carried out according to the evacuation navigation subsystem of the path of planning on mobile terminals
Evacuation navigation, using the current location of Field Force as starting point, using the terminal of planning path as terminal, carries out evacuation navigation.Finally
Situation Assessment subsystem reappraises fire disaster situation and personnel's distribution situation relocates, according to state after interval time T
The assessment result of gesture evaluation subsystem re-starts evacuation path planning, realizes that Adaptive Planning evacuates path, enhancing evacuation road
The validity of diameter reduces the influence of exit signs hysteresis quality.
As shown in Figure 1, for a kind of large scale business synthesis adaptive emergency evacuation instruction system of present pre-ferred embodiments
The structure chart of system, including fire monitoring, personnel positioning, path planning, five evacuation navigation, Situation Assessment subsystems, each height
Algorithm flow between system and subsystem is as shown in Fig. 2, details are as follows:
1, fire monitoring
Fire monitoring subsystem of the present invention, using fire detector existing in building, for example, cigarette sense detects
Device, temperature detector, video detector.When fire detector is alarmed, which can accurately export fire generation
The information such as position, temperature and fire size class.
2, personnel positioning
Personnel positioning subsystem of the present invention positions the personnel for holding the terminal using mobile terminal.?
When fire alarm occurs, by personnel's positioning subsystem, the position of all personnel in building is understood in real time, obtains everyone
The current location of member, which is the starting point in evacuating personnel path.
3, path planning
Path planning subsystem of the present invention, passage path planning algorithm obtain the evacuation terminal of each position,
Middle path planning algorithm is divided into two steps, firstly, acquisition building can pass through dot grid distribution map；Then, according to can pass through a little
Grid distribution map obtains the evacuation path termination of each point using A-Star algorithm；Details are as follows for each step:
Firstly, acquisition building can pass through dot grid distribution map.Whole building ground is divided into a plane net
Lattice.In this plane net trrellis diagram, the coordinate of each mesh point is indicated with (X, Y), and each (X, Y) corresponding value has 0 and 1 two kind,
Wherein 1 indicate to indicate pass through a little by point and 0.Wherein mesh point shared by wall can not be by point, in plane because being
Corresponding coordinate value is directly marked as 0 in grid chart；For large scale business synthesis, there are a variety of business types, divide
For multiple merchant storefronts, therefore for the mesh point that StoreFront of only one outlet is covered, be directly labeled as can not by point,
Respective value is 0, obtains plane net trrellis diagram I by both the above mode0.After fire occurs, situation assessment system gets danger
Distribution map, according to dangerous distribution map and plane grid figure I0, obtaining after fire can be by dot grid distribution map I, wherein I0(X,Y)With
D(i,j)Conversion formula between (x, y) coordinate value is as follows:
X=(i-1) × a+x
Y=(j-1) × b+y
Wherein (i, j) is infrared camera matrix coordinate, and a and b are the transverse direction of infrared camera shooting image respectively and indulge
To pixel number.To ensure that ground areas is completely covered in dangerous distribution map and plane grid figure seamless connection conversion, infrared camera,
And then form infrared camera matrix.
It can be variation according to the variation of dangerous distribution map by grid distribution map, adaptively obtaining newest can effectively pass through net
Lattice distribution figure, by the transformational relation of above dangerous distribution map and plane grid figure coordinate, can be obtained building at this time can
Pass through dot grid distribution map I.
Then, can be by dot grid distribution map I according to the building class of acquisition, the evacuation path of each point of adaptive polo placement is whole
Point.According to dot grid distribution map I can be passed through, the evacuation path termination of each point is obtained using following algorithm:
Traverse it is all can be by point, the corresponding evacuation path of point and terminal can each be passed through by calculating.Calculating process are as follows: (1)
Can currently be calculated at a distance from adjacent all of the point by putting as starting point；Wherein vertically adjacent to point distance be 1, bevel edge
Adjacent point distance is root 2；By the point adjacent with minimum range point, calculating is re-started, until the path extends to and evacuates out
Mouthful, which is path termination；By backtracking, the point of minimum range is successively recorded, planning path can be obtained.(2)
Repeat step (1), traversal complete it is all can be available all to pass through the evacuation path of point and terminal by point.
4, evacuation navigation
Evacuation navigation subsystem of the present invention, using mobile terminal, (mountable corresponding APP is soft on mobile terminal
Part), planning path is presented, navigates to hold the personnel of the terminal.Mobile terminal real-time display planning path, the path with
Personnel current location is starting point, and terminal is in the outlet port obtained using path planning system.By newest in the end APP real-time display
Planning path, and direction is guided with arrow, evacuation navigation is carried out for the personnel, it is ensured that the evacuation route of escape personnel is that have
Effect.
5, Situation Assessment
Situation Assessment subsystem of the present invention obtains the temperature profile at scene using Infrared video image；Wherein
Infrared camera covers all ground, forms infrared camera matrix, is labeled as (i, j) to the coordinate of each infrared camera,
The infrared image that each camera obtains is I(i,j).According to the profiling temperatures of each infrared image, it is classified as to pass through
It puts and can not pass through a little.
Situation Assessment subsystem includes determining whether that personnel flee from situation, obtain infrared image, obtain temperature profile, obtain danger
Four steps of dangerous distribution map, wherein details are as follows:
Firstly, by time interval TS, whether judgement personnel evacuate completely, evacuated completely according to personnel, this algorithm
It is adaptive to execute Situation Assessment, obtain newest effective dangerous distribution map.When position information of mobile terminal shows all personnel
Fire building is left, at this time termination algorithm；If someone in fire building, executes following steps.
Secondly, getting infrared image I using infrared camera existing in building(i,j)。
Then, the characteristics of reacting heat radiation according to infrared image, is converted into temperature pattern T for infrared image(i,j), medium temperature
Spend image T(i,j)Calculation formula it is as follows:
T(i,j)=INT (I(i,j)(GRAY/(t1-t0)))
Wherein GRAY is the gray value of infrared image, T(i,j)It is the temperature value after being converted into, INT is to be rounded algorithm, t1For
Current Temperatures, t0For benchmark temperature, in the present embodiment, select 25 DEG C as fiducial temperature.
Finally, temperature pattern is converted into dangerous distribution map, danger point according to given threshold by setting temperature threshold TEMP
0 represent can not be by point in cloth image, and 1 represent can be by point, wherein obtaining dangerous distribution map D(i,j)Calculation formula is as follows:
WhereinIt is each pixel value of temperature pattern,It is each pixel value of dangerous distribution map, the present embodiment
Middle TEMP=45 DEG C.
Above is only presently preferred embodiments of the present invention, are not used to limit the scope of implementation of the present invention, Fan Yibenfa
Equivalent changes and modifications carried out by shape described in bright scope of the claims, construction, feature and spirit, should be included in the present invention
Scope of the claims in.
Claims (9)
1. a kind of adaptive emergency evacuation navigation system of large scale business synthesis characterized by comprising
Fire monitoring subsystem obtains fire location information according to fire monitor and control facility in building；
Personnel positioning subsystem obtains the location information of personnel according to mobile terminal location；
Situation Assessment subsystem obtains Infrared video image, and the temperature profile at scene is generated according to Infrared video image；According to
Temperature profile, division can be by putting and can not pass through a little；And according to given threshold, temperature profile is converted into dangerous distribution
Figure；
Path planning subsystem periodically updates evacuation path using default planning algorithm；Building is specifically divided into solid
Grid, and line flag by point and can not be clicked through to stereoscopic grid by point according to the Situation Assessment system subdivision,
Obtaining can be by grid, and traversal is all to be calculated each pass through and put corresponding evacuation path and terminal by point；
Navigation subsystem is evacuated, according to the personnel location information of acquisition, using the current location of personnel as starting point, and according to the road
The newest evacuation path that path planning subsystem generates carries out accurate navigation for personnel, indicates safety evacuation.
2. the adaptive emergency evacuation navigation system of large scale business synthesis according to claim 1, which is characterized in that institute
It is specific as follows to state default planning algorithm:
It can be obtained by grid according to the benchmark grid of building and dangerous distribution map, in basis point Gridding, by danger point
Can not obtain by label on benchmark grid and updated pass through grid in Butut；
In the updated can obtain the evacuation path of all free points by grid, traversing all free points.
3. the adaptive emergency evacuation navigation system of large scale business synthesis according to claim 1, which is characterized in that institute
It states personnel positioning subsystem and is also used to whether regular judgement personnel evacuate completely, when all personnel has been moved off fire building
When, path planning subsystem termination algorithm.
4. the adaptive emergency evacuation navigation system of large scale business synthesis according to claim 3, which is characterized in that institute
Situation Assessment subsystem is stated to be specifically used for:
Using infrared camera existing in building, infrared image I is got；
The characteristics of reacting heat radiation according to infrared image, is converted into temperature pattern T for infrared image I, wherein the meter of temperature pattern T
It is as follows to calculate formula:
T=INT (I (GRAY/ (t1-t0)))
Wherein GRAY is the gray value of infrared image, and T is the temperature value after being converted into, and INT is to be rounded algorithm, t1For Current Temperatures,
t0For benchmark temperature；
Temperature threshold TEMP is set, according to given threshold, temperature pattern T is converted into dangerous distribution map, 0 representative can not in image
By point, 1 representative can be by point, wherein it is as follows to obtain dangerous distribution map D calculation formula:
Wherein TPIt is each pixel value of temperature pattern, DPIt is each pixel value of dangerous distribution map.
5. a kind of adaptive emergency evacuation air navigation aid of large scale business synthesis, which comprises the following steps:
According to fire monitor and control facility in building, fire location information is obtained；
According to mobile terminal location, the location information of personnel is obtained；
Infrared video image is obtained, the temperature profile at scene is generated according to Infrared video image；According to temperature profile, divide
By point and it can not pass through a little；And according to given threshold, temperature profile is converted into dangerous distribution map；
Evacuation path is periodically updated using default planning algorithm；Building is specifically divided into stereoscopic grid, and according to described
Situation Assessment system subdivision can by point and can not by point to stereoscopic grid click through line flag, obtain can by grid,
Traverse it is all can be by point, the corresponding evacuation path of point and terminal can each be passed through by calculating；
According to the personnel location information of acquisition, using the current location of personnel as starting point, and it is raw according to the path planning subsystem
At newest evacuation path, for personnel carry out accurate navigation, indicate safety evacuation.
6. the adaptive emergency evacuation air navigation aid of large scale business synthesis according to claim 5, which is characterized in that institute
It is specific as follows to state default planning algorithm:
It can be obtained by grid according to the benchmark grid of building and dangerous distribution map, in basis point Gridding, by danger point
Can not obtain by label on benchmark grid and updated pass through grid in Butut；
In the updated can obtain the evacuation path of all free points by grid, traversing all free points.
7. the adaptive emergency evacuation air navigation aid of large scale business synthesis according to claim 5, which is characterized in that should
Method further comprises the steps of: whether regular judgement personnel evacuate completely, when all personnel has been moved off fire building, path rule
Small rowboat system closure algorithm.
8. the adaptive emergency evacuation air navigation aid of large scale business synthesis according to claim 5, which is characterized in that danger
The acquisition of dangerous distribution map specifically includes the following steps:
Using infrared camera existing in building, infrared image I is got；
The characteristics of reacting heat radiation according to infrared image, is converted into temperature pattern T for infrared image I, wherein the meter of temperature pattern T
It is as follows to calculate formula:
T=INT (I (GRAY/ (t1-t0)))
Wherein GRAY is the gray value of infrared image, and T is the temperature value after being converted into, and INT is to be rounded algorithm, t1For Current Temperatures,
t0For benchmark temperature；
Temperature threshold TEMP is set, according to given threshold, temperature pattern T is converted into dangerous distribution map, 0 representative can not in image
By point, 1 representative can be by point, wherein it is as follows to obtain dangerous distribution map D calculation formula:
Wherein TPIt is each pixel value of temperature pattern, DPIt is each pixel value of dangerous distribution map.
9. a kind of computer readable storage medium, which is characterized in that it has the computer program that can be executed by processor, the meter
Calculation machine program executes the adaptive emergency evacuation air navigation aid of the large scale business synthesis as described in any one of claim 5-8
The step of.
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| CN112504262A (en) * | 2020-11-19 | 2021-03-16 | 中国建筑科学研究院有限公司 | Method for navigating people in building floor, method and system for navigating people in multi-floor building |
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| CN112287849A (en) * | 2020-10-30 | 2021-01-29 | 武汉理工光科股份有限公司 | Fire early warning method and device for high-rise building |
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