CN109655068A - Path replanning method and device, system based on the event of fire that happens suddenly in building - Google Patents
Path replanning method and device, system based on the event of fire that happens suddenly in building Download PDFInfo
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- CN109655068A CN109655068A CN201910099266.9A CN201910099266A CN109655068A CN 109655068 A CN109655068 A CN 109655068A CN 201910099266 A CN201910099266 A CN 201910099266A CN 109655068 A CN109655068 A CN 109655068A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
- G08B17/06—Electric actuation of the alarm, e.g. using a thermally-operated switch
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Abstract
The invention discloses a kind of path replanning methods based on the event of fire that happens suddenly in building, this method comprises: establishing the spatial scene model of practical building, and carry out initialization process；Find most short evacuation path in building；When emergency event occurs, event information is received, event area simulation model is established and carries out emergency event simulation, obtain event simulation result；Evacuation path is carried out according to analog result to plan again；Route data after path is planned again is transmitted to guidance equipment, i.e., carries out voice evacuation by broadcast；Guidance evacuation is carried out by light open and close.
Description
Technical field
The disclosure belongs to the technical field of path planning, is related to a kind of path weight based on the event of fire that happens suddenly in building
Method and device for planning, system.
Background technique
Only there is provided background technical informations relevant to the disclosure for the statement of this part, it is not necessary to so constitute first skill
Art.
As urban development has come into the period of rapid growth, the continuous expansion of population size has urban population
The characteristics of concentration, city suffer a calamity increasingly severe with the threat of great unexpected incidents.Crowd evacuation problem directly affects
To city suffer a calamity with great unexpected incidents occur when personnel rapid safe transfer.
Existing crowd evacuation mode is all built upon under constant event scene, have ignored the mutability of scene event, burst,
Uncertainty, situation can because the difference and event coverage in event source lead to the variations of environment situation, fire situation not
In the case where bright, crowd cannot make their own correct judgement, can only be according to original route programme path, and its route cannot expire
The practical demand of sufficient event scenarios, misguidance when this will cause to crowd evacuation, what is immediately come is bigger personnel's wound
Die situation.
In practical applications, common path planning algorithm has: dijkstra's algorithm, Floyed algorithm, A* algorithm, D* are calculated
Method, genetic algorithm, cellular automata, simulated annealing, artificial neural network, ant group algorithm, particle swarm algorithm, nitrification enhancement
Etc..With the fast development of science and technology, the environment that Path Planning Technique is faced is also increasingly complex changeable, and this requires roads
The ability that diameter planning algorithm will have quick response complex environment to change, and traditional path planning algorithm is in this regard also
Shortcoming.
Summary of the invention
For the deficiencies in the prior art, one or more other embodiments of the present disclosure provide a kind of based on building
Path replanning method and device, the system of middle burst event of fire, plan original route again under emergency case, are led to
Cross with environment dynamic interaction, continuously attempt to different behavioral strategies and improved, it is final to obtain optimum behavior strategy, obtain complete
Office's optimal path, real-time update path, to select a most suitable best-effort path for people's mass selection.
According to the one aspect of one or more other embodiments of the present disclosure, provide a kind of based on the fire thing that happens suddenly in building
The path replanning method of part.
A kind of path replanning method based on the event of fire that happens suddenly in building, this method comprises:
The spatial scene model of practical building is established, and carries out initialization process；
Find most short evacuation path in building；
When emergency event occurs, event information is received, event area simulation model is established and carries out emergency event simulation, obtain
To event simulation result；
Evacuation path is carried out according to analog result to plan again.
Further, in the method, carrying out initialization process to the spatial scene model includes: initialization spatial field
The number and location information of entrance in scape model initialize in spatial scene model and are installed on suitable position in building in advance
Safe escape relevant apparatus number and location information, initialize spatial scene model in personage individual amount and position letter
The quantity and location information of barrier in breath, and initialization spatial scene model.
Further, in the method, most short evacuation path in building is found using A* algorithm.
Further, in the method, when emergency event occurs, the event letter of safe escape relevant apparatus acquisition is received
Breath establishes event area simulation model and carries out emergency event simulation；
The event information includes fire location information, fire range information and fire temperature information.
Further, in the method, evacuation path is carried out using the Q-learning algorithm in intensified learning to advise again
It draws.
Further, this method further includes that the evacuation path output area guidance equipment after planning again carries out guidance and dredges
It dissipates.
According to the one aspect of one or more other embodiments of the present disclosure, a kind of computer readable storage medium is provided.
A kind of computer readable storage medium, wherein being stored with a plurality of instruction, described instruction is suitable for by terminal device
Reason device loads and executes a kind of path replanning method based on the event of fire that happens suddenly in building.
According to the one aspect of one or more other embodiments of the present disclosure, a kind of terminal device is provided.
A kind of terminal device comprising processor and computer readable storage medium, processor is for realizing each instruction；Meter
Calculation machine readable storage medium storing program for executing is suitable for being loaded by processor and being executed described one kind and is based on for storing a plurality of instruction, described instruction
The path replanning method for the event of fire that happens suddenly in building.
According to the one aspect of one or more other embodiments of the present disclosure, provide a kind of based on the fire thing that happens suddenly in building
The path replanning system of part.
A kind of path replanning system based on the event of fire that happens suddenly in building, the system include:
Safe escape relevant apparatus is installed on suitable position in building, for when the thing for occurring to acquire when emergency event
Part information, and it is sent to terminal device；
Terminal device, for executing a kind of path replanning method based on the event of fire that happens suddenly in building,
And the evacuation path planned again is sent to guidance equipment；
Equipment is guided, carries out guidance evacuation for receiving the evacuation path planned again.
Further, the safe escape relevant apparatus include temperature sensor, it is smoke sensor device, video sensor, red
Outer sensor；Each safe escape relevant apparatus subregion label installation；
The temperature sensor and smoke sensor device are used to detect the generation of emergency fire；
The video sensor is used to acquire the occurrence scope of emergency fire；
The infrared sensor for detect danger zone whether presence of people.
Further, the guidance equipment includes fire alarm linkage control port, fire alarm linkage control end
Mouth is connect with the terminal device, memory, emergent broadcast equipment and lighting system respectively；
Fire alarm linkage control port receives the evacuation path of the terminal device transmission, transfers in memory
Emergent broadcast information is sent to emergent broadcast equipment and carries out voice guidance evacuation；And it controls lighting system and opens on evacuation path
Light closes the light on non-evacuation path.
The disclosure the utility model has the advantages that
A kind of path replanning method and device, system based on the event of fire that happens suddenly in building described in the disclosure,
Suitable position subregion label installation safe escape relevant apparatus between floors is to obtain the position of emergency event, range, big
The information such as small；Abstract model of place is carried out to practical building to establish, and is carried out at initialization to spatial scene model is obtained
Reason；Early period finds most short evacuation path in building using A* algorithm；When emergency event occurs, is sensed and filled according to safe escape
The information such as position, range, the size that collected event occurs are set, event area simulation model is established, obtains event simulation knot
Fruit；Then evacuation path is carried out using nitrification enhancement according to analog result to plan again；Road after path is planned again
Line number is transmitted according to guidance equipment.The method that the disclosure plans original route under emergency case again, uses
Q-Learning algorithm in intensified learning carrys out solution of emergent event and carries out path planning control, it does not need to obtain the mould of environment
Type, learner by with environment dynamic interaction, continuously attempt to different behavioral strategies and improved, finally obtain optimum behavior
Strategy, so that global optimum path is obtained, real-time update path, to select a most suitable best-effort path for people's mass selection.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is a kind of path replanning side based on the event of fire that happens suddenly in building according to one or more embodiments
Method flow chart；
Fig. 2 is the specific method flow chart according to one or more embodiments；
Fig. 3 is the A* algorithm flow schematic diagram according to one or more embodiments；
Fig. 4 is the intensified learning flow diagram according to one or more embodiments；
Fig. 5 is the location point path relation schematic diagram according to one or more embodiments；
Fig. 6 is the location point path relation matrix schematic diagram according to one or more embodiments；
Fig. 7 is to initialize schematic diagram according to the Q matrix table of one or more embodiments.
Specific embodiment:
Below in conjunction with the attached drawing in one or more other embodiments of the present disclosure, to one or more other embodiments of the present disclosure
In technical solution be clearly and completely described, it is clear that described embodiments are only a part of the embodiments of the present invention,
Instead of all the embodiments.Based on one or more other embodiments of the present disclosure, those of ordinary skill in the art are not being made
Every other embodiment obtained, shall fall within the protection scope of the present invention under the premise of creative work.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms that the present embodiment uses have and the application person of an ordinary skill in the technical field
Normally understood identical meanings.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
It should be noted that flowcharts and block diagrams in the drawings show according to various embodiments of the present disclosure method and
The architecture, function and operation in the cards of system.It should be noted that each box in flowchart or block diagram can represent
A part of one module, program segment or code, a part of the module, program segment or code may include one or more
A executable instruction for realizing the logic function of defined in each embodiment.It should also be noted that some alternately
Realization in, function marked in the box can also occur according to the sequence that is marked in attached drawing is different from.For example, two connect
The box even indicated can actually be basically executed in parallel or they can also be executed in a reverse order sometimes,
This depends on related function.It should also be noted that each box and flow chart in flowchart and or block diagram
And/or the combination of the box in block diagram, the dedicated hardware based system that functions or operations as defined in executing can be used are come
It realizes, or the combination of specialized hardware and computer instruction can be used to realize.
In the absence of conflict, the feature in the embodiment and embodiment in the disclosure can be combined with each other, and tie below
It closes attached drawing and embodiment is described further the disclosure.
According to the one aspect of one or more other embodiments of the present disclosure, provide a kind of based on the fire thing that happens suddenly in building
The path replanning method of part.
As shown in Figure 1, a kind of path replanning method based on the event of fire that happens suddenly in building, this method comprises:
S101 establishes the spatial scene model of practical building, and carries out initialization process；
S102 finds most short evacuation path in building；
S103 receives event information when emergency event occurs, and establishes event area simulation model and carries out emergency event mould
It is quasi-, obtain event simulation result；
S104 carries out evacuation path according to analog result and plans again.
In the present embodiment, specific method flow chart is as shown in Fig. 2, install safety in practical building suitable position first
Evacuate relevant apparatus.The determination of emergency event generation is served to demonstrate how using a variety of safe escape relevant apparatus in the present embodiment
Property, and acquisition position, range, number, the information such as temperature are to S101 and S103.
The safe escape relevant apparatus includes temperature sensor, smoke sensor device, video sensor, infrared sensor.
The above two are used to detect the generation of emergency fire, and video sensor is used to obtain the occurrence scope of emergency, infrared biography
Sensor is used to detect danger zone, and whether somebody exists.Because each device is the installation of subregion label, sensor
Response can obtain outgoing event generation position.
It is specifically intended that:
Infrared sensor is installed in entrance, this device is used to count the number of disengaging building, if the people entered
The number that number is less than away, then illustrate that still someone is without departing from danger in building.
Further, if discovery has the infrared sensor data for checking various places inside without departing from population at risk, to not taking off
Precise positioning is carried out from population at risk position, it is convenient that it is implemented targetedly to succour；
In sensitizing range mounting temperature sensor, smoke sensor device, video sensor, the infrared sensing easily having an accident
Device, to provide the live first information in time when event occurs and to reduce the wasting of resources；
In interior of building, other rationally carry out installation safe escape relevant apparatus according to reality everywhere.
In S101, abstract model of place carried out to practical building using modeling software, and to obtaining two-dimensional space
Model of place carries out initialization process.
Carrying out initialization process to the spatial scene model includes: to initialize the number of entrance in spatial scene model
And location information, initialize the safe escape relevant apparatus for being installed on suitable position in building in spatial scene model in advance
Number and location information initialize the individual amount and location information of personage in spatial scene model, in the present embodiment by people
Object is defined as the particle of no volume size, so not considering the radius of personage to path planning bring shadow in the present embodiment
It rings；And initialize the quantity and location information of barrier zone in spatial scene model.
In S102, most short evacuation path in building is found using A* algorithm.Formula are as follows: F (n)=G (n)+H (n) leads to
Cross and assess this cost value to search for nearest path, wherein H (n) be from current state node n to dbjective state node most
The estimate cost in good path.We select the manhatton distance between two nodes as H (n).
It should be noted that A* algorithm is to solve the most effective direct search method of shortest path in a kind of static road network,
It is combined with the heuristic search algorithm of dijkstra's algorithm and BFS algorithm.A* algorithm is mainly characterized by estimation current state
Node evaluates whether current state node is next optimal path node the distance between to dbjective state node with this, by public affairs
Formula indicates are as follows: F (n)=G (n)+H (n), wherein F (n) is from original state node through current state node n to dbjective state section
The cost estimation of point；G (n) is from original state node to the actual cost of current state node n in state space；H (n) is
From current state node n to the estimate cost of the optimal path of dbjective state node.Herein, we select between two nodes
Manhatton distance is as H (n), i.e. H (n)=D* (abs (n.x-goal.x)+abs (n.y-goal.y)), wherein D is a position
Set the minimum cost for moving adjacent to position.
What is be put into unlatching table is starting point and is not belonging to closing table and is the point of the point of proximity of starting point；
What is stored in closing table is processed point；
Specific step is as follows:
1) starting point is put into unlatching table；
2) it opens if it is sky in table, algorithm stops；Otherwise, take the smallest point of F (n) as the point on optimal path；
3) neighbor point of current state point is calculated, if this point is not closing table, and table is not being opened, then unlatching is added
Table
4) step 2,3 is repeated until being that algorithm exits.
Since target point, successively searching each makes F (n) be that the point of minimum value goes to starting point, and here it is final roads
Diameter.Algorithm is as shown in Figure 3.
In S103, when emergency event occurs, the event information of safe escape relevant apparatus acquisition is received, event is established
Regional simulation model carries out emergency event simulation；
The event information includes fire location information, fire range information and fire temperature information.
In the present embodiment, when emergency event occurs, to real-time scene number received by safe escape relevant apparatus
According to location information, range information, simulation process is carried out in two-dimensional scene, to establish conflagration area model, is realized and real thing
Co-extensive, the virtual analog with degree in part, facilitate the progress of next step.
Since fiery point range has certain range, to reduce Riming time of algorithm, the formation efficiency of new route is promoted,
Reservation process is done to the path domain other than fire point, is only deleted the path in fire point range, to quickly obtain
Conflagration area analog result, the form of expression are position coordinates (xi,yi), wherein building edge and conflagration area edge have special
Label.
In S104, evacuation path is carried out using the Q-learning algorithm in intensified learning and is planned again.
In the present embodiment, the Q-Learning in intensified learning is used according to according to the obtained analog result in S103
Algorithm carries out evacuation path and plans again.Intensified learning is to continuously attempt to different rows by intelligent body and environment dynamic interaction
For strategy and the on-line study technology that is subject to retrofit to adapt to environment, global optimum's path policy can be cooked up using it.
It should be noted that intensified learning is to continuously attempt to different behavior plans by intelligent body and environment dynamic interaction
It omits and is subject to retrofit to adapt to the on-line study technology of environment, it does not need to obtain the support of environmental information, is a kind of suitable
For the path planning control algolithm under circumstances not known.What it was faced is multi-level decision-making problem, it is therefore an objective to plan global optimum's row
For strategy, guarantee that global gain is best.
The setting of intensified learning consists of two parts, and one is intelligent body, the other is environment.Intensified learning Q-
Learning algorithm: environment sends a state s to intelligent body first, and then intelligent body takes movement a to ring based on its knowledge
It should state.Later, environment sends next state, and return r is returned to intelligent body.The prize that intelligent body environment is returned
It encourages to update its knowledge, a upper movement is assessed.This circulation is continued for, and ties until environment sends final state
This event of beam.Thought is as shown in Figure 4.
In Q-Learning, (s a) corresponds to a corresponding Q value, according to the big of Q value in learning process to each Q
It is small, select the movement of next step.The definition of Q value is if executing currently associated movement and according under some strategy execution
It goes, by the summation V of obtained return rπ(st), return is defined as follows:
So intelligent body follow optimal policy obtain do largest cumulative return V* can be expressed as:
In Q-Learning learning process, Q value is initialized as:
Q0(s0, a)=r+ γ V0(s0)
Update Q (s a) is following form:
Wherein, under t moment, s indicate state set, a indicate behavior aggregate, r (s, a) indicate at state s execution movement a will
The return arrived, π are control strategy, and α refers to learning rate, and α is bigger, retain before training effect it is fewer, γ indicate discount because
Son meets 0≤γ < 1, it determines the far and near influence degree to return of time.
In the present embodiment, intensified learning Q-Leariing algorithm will be applied in path planning.
The behavior aggregate A of intelligent body is made of eight movements, is indicated are as follows:
A={ up, down, left, right, lu, ld, ru, rd }
The state set S of intelligent body is indicated by corresponding eight location points of eight movements are as follows:
S={ (x1,y1),(x2,y2)...(x8,y8)}
The present embodiment is existing by taking 8 location points as an example: being starting point at position 0, is target point at position 7, at position 1 and 4
It is as shown in Figure 5 for the path relation of barrier.Then we represent location status to go, can structure to arrange representative movement direction
It builds as shown in Figure 6 about the matrix Q table of return as follows.Wherein -1 the return for encountering barrier is represented, 0 indicates what no path can be walked
Return, 1 indicates the consumption return of without hindrance advance, and 2 represent the return for reaching target point.
At the beginning, Q table is initialized as 0 by us, updates Policy Updates Q table such as Fig. 7, and using following formula:
γ=0.8 is wherein enabled,
In renewal process, when encountering the identical location point of Q value, we take ε-greedy method, allow intelligent body with certain
Probability make random movement, rather than simple executed according to the score of Q table.Q function training start when we
1 is set by ε.Then, it with the raising of intelligent body experience, is gradually decreased.
Herein, the optional path of target position 0 has 1,2,3,6 four, removes at the position 1 for negative value, for other
At three, we randomly choose position 6, find out Q value, are so iterated down, find the Q maximum value in each iterative process.
The continuous study of intelligent body in this way, matrix are eventually restrained, i.e., Q value is not changing, then we just have found optimal road
Diameter.The path planning of eight location points in example is in this way, similarly, the scenario path planning with conflagration area is also such.
So may be summarized as follows using the learning process that Q-learning algorithm carries out path planning:
1) according to the position result of fire disaster simulation initialize Q (s, a),
2) the location information s (t) of intelligent body perception t moment
3) according to current location and return value r (t), intelligent body selects whichaway mobile a (t).
4) when intelligent body is selected acts on environment, environment changes:
I.e. current location is transformed into next new position s (t+1), provides return r (t) immediately, and r (t) has following fixed herein
Justice:
5) Q table is updated:Feed back to intelligence
Body.
6) step 2 is turned to, if Q table is restrained, then stops recycling.
7) optimal path location point is obtained.
Further, this method further includes that the evacuation path output area guidance equipment after planning again carries out guidance and dredges
It dissipates.
1) voice guidance evacuation is carried out by emergent broadcast.There is emergent broadcast equipment the fire alarm of corresponding region to link
Control port, it is automatic to touch built-in emergent broadcast information when fire generation；
This step mainly includes three contents: emergent broadcast platform, fire alarm linkage control port and terminal plays equipment.
Emergent broadcast platform be mainly used to send emergent broadcast routing information, i.e., path plan again after route data,
The equipment used such as transceiver, the i.e. relay device of wireless signal；Fire alarm linkage control port uses adapter, fits
Orchestration is used to receive emergent broadcast routing information, and control instruction guidance is output to terminal plays equipment；Terminal plays equipment is used
To do the final output response of outgoing event, the equipment used such as loudspeaker etc..
2) guidance evacuation is carried out by control lighting system, can track route open light, can not track route close
Close light.
It in the present embodiment, can by signal relay device by route information and lighting system progress joint control after simulation
Track route opens light, can not track route close light, to reduce the probability of casualties, increase escape unharmed scene
A possibility that.
According to the one aspect of one or more other embodiments of the present disclosure, a kind of computer readable storage medium is provided.
A kind of computer readable storage medium, wherein being stored with a plurality of instruction, described instruction is suitable for by terminal device
Reason device loads and executes a kind of path replanning method based on the event of fire that happens suddenly in building.
According to the one aspect of one or more other embodiments of the present disclosure, a kind of terminal device is provided.
A kind of terminal device comprising processor and computer readable storage medium, processor is for realizing each instruction；Meter
Calculation machine readable storage medium storing program for executing is suitable for being loaded by processor and being executed described one kind and is based on for storing a plurality of instruction, described instruction
The path replanning method for the event of fire that happens suddenly in building.
These computer executable instructions execute the equipment according to each reality in the disclosure
Apply method or process described in example.
In the present embodiment, computer program product may include computer readable storage medium, containing for holding
The computer-readable program instructions of row various aspects of the disclosure.Computer readable storage medium, which can be, can keep and store
By the tangible device for the instruction that instruction execution equipment uses.Computer readable storage medium for example can be-- but it is unlimited
In-- storage device electric, magnetic storage apparatus, light storage device, electric magnetic storage apparatus, semiconductor memory apparatus or above-mentioned
Any appropriate combination.The more specific example (non exhaustive list) of computer readable storage medium includes: portable computing
Machine disk, hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read only memory (EPROM or
Flash memory), static random access memory (SRAM), Portable compressed disk read-only memory (CD-ROM), digital versatile disc
(DVD), memory stick, floppy disk, mechanical coding equipment, the punch card for being for example stored thereon with instruction or groove internal projection structure, with
And above-mentioned any appropriate combination.Computer readable storage medium used herein above is not interpreted instantaneous signal itself,
The electromagnetic wave of such as radio wave or other Free propagations, the electromagnetic wave propagated by waveguide or other transmission mediums (for example,
Pass through the light pulse of fiber optic cables) or pass through electric wire transmit electric signal.
Computer-readable program instructions described herein can be downloaded to from computer readable storage medium it is each calculate/
Processing equipment, or outer computer or outer is downloaded to by network, such as internet, local area network, wide area network and/or wireless network
Portion stores equipment.Network may include copper transmission cable, optical fiber transmission, wireless transmission, router, firewall, interchanger, gateway
Computer and/or Edge Server.Adapter or network interface in each calculating/processing equipment are received from network to be counted
Calculation machine readable program instructions, and the computer-readable program instructions are forwarded, for the meter being stored in each calculating/processing equipment
In calculation machine readable storage medium storing program for executing.
Computer program instructions for executing present disclosure operation can be assembly instruction, instruction set architecture (ISA)
Instruction, machine instruction, machine-dependent instructions, microcode, firmware instructions, condition setup data or with one or more programmings
The source code or object code that any combination of language is write, the programming language include the programming language-of object-oriented such as
C++ etc., and conventional procedural programming languages-such as " C " language or similar programming language.Computer-readable program refers to
Order can be executed fully on the user computer, partly be executed on the user computer, as an independent software package
Execute, part on the user computer part on the remote computer execute or completely on a remote computer or server
It executes.In situations involving remote computers, remote computer can include local area network by the network-of any kind
(LAN) or wide area network (WAN)-is connected to subscriber computer, or, it may be connected to outer computer (such as utilize internet
Service provider is connected by internet).In some embodiments, by being believed using the state of computer-readable program instructions
Breath comes personalized customization electronic circuit, such as programmable logic circuit, field programmable gate array (FPGA) or programmable logic
Array (PLA), the electronic circuit can execute computer-readable program instructions, to realize the various aspects of present disclosure.
It should be noted that although being referred to several modules or submodule of equipment in the detailed description above, it is this
Division is only exemplary rather than enforceable.In fact, in accordance with an embodiment of the present disclosure, two or more above-described moulds
The feature and function of block can embody in a module.Conversely, the feature and function of an above-described module can be with
Further division is to be embodied by multiple modules.
According to the one aspect of one or more other embodiments of the present disclosure, provide a kind of based on the fire thing that happens suddenly in building
The path replanning system of part.
A kind of path replanning system based on the event of fire that happens suddenly in building, the system include:
Safe escape relevant apparatus is installed on suitable position in building, for when the thing for occurring to acquire when emergency event
Part information, and it is sent to terminal device；
Terminal device, for executing a kind of path replanning method based on the event of fire that happens suddenly in building,
And the evacuation path planned again is sent to guidance equipment；
Equipment is guided, carries out guidance evacuation for receiving the evacuation path planned again.
Further, the safe escape relevant apparatus include temperature sensor, it is smoke sensor device, video sensor, red
Outer sensor；Each safe escape relevant apparatus subregion label installation；
The temperature sensor and smoke sensor device are used to detect the generation of emergency fire；
The video sensor is used to acquire the occurrence scope of emergency fire；
The infrared sensor for detect danger zone whether presence of people.
Further, the guidance equipment includes fire alarm linkage control port, fire alarm linkage control end
Mouth is connect with the terminal device, memory, emergent broadcast equipment and lighting system respectively；
Fire alarm linkage control port receives the evacuation path of the terminal device transmission, transfers in memory
Emergent broadcast information is sent to emergent broadcast equipment and carries out voice guidance evacuation；And it controls lighting system and opens on evacuation path
Light closes the light on non-evacuation path.
The disclosure the utility model has the advantages that
A kind of path replanning method and device, system based on the event of fire that happens suddenly in building described in the disclosure,
Suitable position subregion label installation safe escape relevant apparatus between floors is to obtain the position of emergency event, range, big
The information such as small；Abstract model of place is carried out to practical building to establish, and is carried out at initialization to spatial scene model is obtained
Reason；Early period finds most short evacuation path in building using A* algorithm；When emergency event occurs, is sensed and filled according to safe escape
The information such as position, range, the size that collected event occurs are set, event area simulation model is established, obtains event simulation knot
Fruit；Then evacuation path is carried out using nitrification enhancement according to analog result to plan again；Road after path is planned again
Line number is transmitted according to guidance equipment.The method that the disclosure plans original route under emergency case again, uses
Q-Learning algorithm in intensified learning carrys out solution of emergent event and carries out path planning control, it does not need to obtain the mould of environment
Type, learner by with environment dynamic interaction, continuously attempt to different behavioral strategies and improved, finally obtain optimum behavior
Strategy, so that global optimum path is obtained, real-time update path, to select a most suitable best-effort path for people's mass selection.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.Therefore, the present invention is not intended to be limited to this
These embodiments shown in text, and it is to fit to the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. a kind of path replanning method based on the event of fire that happens suddenly in building, which is characterized in that this method comprises:
The spatial scene model of practical building is established, and carries out initialization process；
Find most short evacuation path in building；
When emergency event occurs, event information is received, event area simulation model is established and carries out emergency event simulation, obtain thing
Part analog result；
Evacuation path is carried out according to analog result to plan again.
2. a kind of path replanning method based on the event of fire that happens suddenly in building as described in claim 1, feature exist
In,
In the method, carrying out initialization process to the spatial scene model includes: to enter and leave in initialization spatial scene model
The number and location information of mouth, initialize the safe escape phase for being installed on suitable position in building in spatial scene model in advance
The number and location information of device are closed, initializes the individual amount and location information of personage in spatial scene model, and initial
Change the quantity and location information of barrier in spatial scene model.
3. a kind of path replanning method based on the event of fire that happens suddenly in building as described in claim 1, feature exist
In,
In the method, most short evacuation path in building is found using A* algorithm.
4. a kind of path replanning method based on the event of fire that happens suddenly in building as described in claim 1, feature exist
In,
In the method, when emergency event occurs, the safe escape correlation for being installed on suitable position in building in advance is received
The event information of device acquisition establishes event area simulation model and carries out emergency event simulation；
The event information includes fire location information, fire range information and fire temperature information.
Further, in the method, evacuation path is carried out using the Q-l earni ng algorithm in intensified learning to plan again.
5. a kind of path replanning method based on the event of fire that happens suddenly in building as described in claim 1, feature exist
In this method further includes that the evacuation path output area guidance equipment after planning again carries out guidance evacuation.
6. a kind of computer readable storage medium, wherein being stored with a plurality of instruction, which is characterized in that described instruction is suitable for by terminal
The processor of equipment is loaded and is executed as described in any one in claim 1-5 a kind of based on the event of fire that happens suddenly in building
Path replanning method.
7. a kind of terminal device comprising processor and computer readable storage medium, processor is for realizing each instruction；It calculates
Machine readable storage medium storing program for executing is for storing a plurality of instruction, which is characterized in that described instruction is suitable for being loaded by processor and being executed such as power
Benefit requires a kind of described in any item path replanning methods based on the event of fire that happens suddenly in building of 1-5.
8. a kind of path replanning system based on the event of fire that happens suddenly in building, which is characterized in that the system includes:
Safe escape relevant apparatus is installed on suitable position in building, for when the event letter for occurring to acquire when emergency event
Breath, and it is sent to terminal device；
Terminal device, it is as described in any one in claim 1-5 a kind of based on the event of fire that happens suddenly in building for executing
Path replanning method, and the evacuation path planned again is sent to guidance equipment；
Equipment is guided, carries out guidance evacuation for receiving the evacuation path planned again.
9. a kind of path replanning system based on the event of fire that happens suddenly in building as claimed in claim 8, feature exist
In the safe escape relevant apparatus includes temperature sensor, smoke sensor device, video sensor, infrared sensor；Each peace
Full evacuation relevant apparatus subregion label installation；
The temperature sensor and smoke sensor device are used to detect the generation of emergency fire；
The video sensor is used to acquire the occurrence scope of emergency fire；
The infrared sensor for detect danger zone whether presence of people.
10. a kind of path replanning system based on the event of fire that happens suddenly in building as claimed in claim 8, feature exist
In, the guidance equipment include fire alarm linkage control port, fire alarm linkage control port respectively with the end
End equipment, memory, emergent broadcast equipment are connected with lighting system；
Fire alarm linkage control port receives the evacuation path of the terminal device transmission, transfers the emergency in memory
Broadcast message is sent to emergent broadcast equipment and carries out voice guidance evacuation；And it controls lighting system and opens the lamp evacuated on path
Light closes the light on non-evacuation path.
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| CN111427378A (en) * | 2020-04-10 | 2020-07-17 | 南宁师范大学 | Method for planning preferential rescue path of unmanned aerial vehicle in mountainous region |
| CN111612162A (en) * | 2020-06-02 | 2020-09-01 | 中国人民解放军军事科学院国防科技创新研究院 | Reinforced learning method and device, electronic equipment and storage medium |
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| CN111427378A (en) * | 2020-04-10 | 2020-07-17 | 南宁师范大学 | Method for planning preferential rescue path of unmanned aerial vehicle in mountainous region |
| CN111612162A (en) * | 2020-06-02 | 2020-09-01 | 中国人民解放军军事科学院国防科技创新研究院 | Reinforced learning method and device, electronic equipment and storage medium |
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| CN112199773B (en) * | 2020-09-25 | 2023-12-29 | 西安空间无线电技术研究所 | Waveguide path generation method and device |
| CN113639755A (en) * | 2021-08-20 | 2021-11-12 | 江苏科技大学苏州理工学院 | Fire scene escape-rescue combined system based on deep reinforcement learning |
| CN114364102B (en) * | 2021-12-22 | 2023-12-05 | 无锡轻大建筑设计研究院有限公司 | Emergency lighting system for building |
| CN114364102A (en) * | 2021-12-22 | 2022-04-15 | 无锡轻大建筑设计研究院有限公司 | Emergency lighting system for building |
| CN114495412A (en) * | 2022-01-24 | 2022-05-13 | 北京工业大学 | Multi-storey building fire evacuation guiding system based on cellular automaton |
| CN114723185A (en) * | 2022-06-08 | 2022-07-08 | 中国人民解放军海军工程大学 | Method for generating fire emergency evacuation path of nuclear power station |
| CN115474172B (en) * | 2022-11-14 | 2023-01-24 | 成都大学 | Indoor dense people stream group pedestrian population evacuation method combined with UWB (ultra Wide band) acquisition |
| CN115474172A (en) * | 2022-11-14 | 2022-12-13 | 成都大学 | Indoor dense people stream group pedestrian population evacuation method combined with UWB acquisition |
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