CN109714873A - A kind of emergency lighting controller able and method of the most short evacuation best-effort path of automatic planning - Google Patents
A kind of emergency lighting controller able and method of the most short evacuation best-effort path of automatic planning Download PDFInfo
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The present invention provides a kind of method of most short evacuation best-effort path of automatic planning, the multiple cells marked off including obtaining predetermined unit area in region to be sought, and each cell is marked；Wherein, when practical obstacle object is not present on a certain cell, then it is labeled as 0；Conversely, being labeled as 1；It in region to be sought, determines that lamps and lanterns and exit direction respectively occupy corresponding cell and position, and calculates lamps and lanterns to exit direction and need to pass by least cell to obtain optimal path；Obtained optimal path is sent to lamps and lanterns to show.Implement the present invention, automatic path planning is realized by the automatic planning shortest path function of intelligence, achievees the purpose that be directed correctly to and be directed toward time shortening.
Description
Technical field
The present invention relates to security against fire emergence technology fields, more particularly to one kind to plan most short evacuation best-effort path automatically
Emergency lighting controller able and method.
Background technique
Currently, emergency lighting controller able on the market is most of using prediction scheme mode on control lamps and lanterns instruction direction；Its
In, prediction scheme, which refers to, is write the direction that lamps and lanterns to be indicated as linkage formula with fire alarm point, i.e., linkage is public after fire alarm occurs for this fire alarm point
Lamps and lanterns in formula will point to fixed direction.
However, aforesaid way but there is a problem of larger in practical applications, problem is: one, commissioning staff's needs
A large amount of lamps and lanterns prediction scheme information is write according to actual fire alarm point；Two, when multiple fire alarms occur, the direction of lamps and lanterns will appear mistake
Accidentally；Three, the time in lamps and lanterns instruction direction is longer when fire alarm is met an urgent need.
Summary of the invention
The technical problem to be solved by the embodiment of the invention is that providing the most short evacuation best-effort path of the automatic planning of one kind
Emergency lighting controller able and method realize automatic path planning by the automatic planning shortest path function of intelligence, reach correct
It is directed toward and is directed toward the purpose of time shortening.
In order to solve the above-mentioned technical problem, the embodiment of the invention provides a kind of most short evacuation best-effort path of automatic planning
Method the described method comprises the following steps:
Step S1, multiple cells that region to be sought is marked off with predetermined unit area are obtained, and to each
A cell is marked；Wherein, when practical obstacle object is not present on a certain cell, then it is labeled as 0；Conversely, being labeled as
1；
Step S2, in the region to be sought, determine that lamps and lanterns and exit direction respectively occupy corresponding cell and position
It sets, and calculates the lamps and lanterns to the exit direction and need to pass by least cell to obtain optimal path；Wherein, described
Lamps and lanterns to the exit direction least cell that needs to pass by is the practical mobile value by each cell and its estimates
Value is calculated to be added the mobile value of resulting shortest path to determine, the specific steps are as follows:
(1) list to be checked and path list are constructed, and is added the lamps and lanterns as starting point in the list to be checked；
(2) following processes are repeated, until the list to be checked is added for the exit direction or described to be checked list is empty is
Only:
A, the list to be checked is traversed, searches that shortest path is mobile to be worth the smallest node, using the node as currently wanting
The node of processing, and the reality of four cells among eight direction units of the node adjacency both horizontally and vertically is set
Mobile value is 1, the practical mobile value of four cells of diagonal direction among eight direction units of the node adjacency
It is 1.4, and it is eight directions of the node adjacency that the estimation value of eight direction cells of the node adjacency, which is arranged,
Respectively the horizontal interval number of cell and perpendicular separation number between the exit direction are the sum of cumulative for cell；
B, the node is put into the path list；
C, following processing is done to eight direction cells of the node adjacency:
If the label of some the direction cell currently judged is or in the path list, ignores；
If the label of some the direction cell currently judged is and not in the path list, continue to test
Some the direction cell currently judged out adds some the direction cell currently judged not in the list to be checked
Enter the list to be checked, and the father node for some direction cell that the node is set as currently judging, and further note
Record the mobile value of shortest path, practical mobile value and estimation value of the node；Or continue to test out currently judge it is a certain
A direction cell judges the node motion to some the direction cell currently judged in the list to be checked
Practical mobile value is minimum, then the node is set as the father node of some the direction cell currently judged, and into one
Step recalculates the mobile value of shortest path and practical mobile value of some the direction cell currently judged；
(3) judge the exit direction in the list to be checked or it is described it is to be checked list is empty, then by the path
Sequentially node in list is connected as optimal path；
Step S3, obtained optimal path the lamps and lanterns are sent to show.
2, the method for the most short evacuation best-effort path of automatic planning as described in claim 1, which is characterized in that described predetermined
Unit square area is 1 meter * 1 meter.
The embodiment of the invention also provides a kind of emergency lighting controller able of the most short evacuation best-effort path of automatic planning, packets
It includes:
Search and marking unit, the multiple units marked off for obtaining region to be sought with predetermined unit area
Lattice, and each cell is marked；Wherein, when practical obstacle object is not present on a certain cell, then it is labeled as 0；
Conversely, being labeled as 1；
Optimal path determination unit, for determining that lamps and lanterns and exit direction respectively occupy phase in the region to be sought
The cell answered and position, and it is optimal to obtain to calculate the lamps and lanterns to the exit direction least cell that needs to pass by
Path；Wherein, the lamps and lanterns to the exit direction least cell that needs to pass by is reality by each cell
Mobile value and its estimation value are added the mobile value of resulting shortest path to determine, the specific steps are as follows:
(1) list to be checked and path list are constructed, and is added the lamps and lanterns as starting point in the list to be checked；
(2) following processes are repeated, until the list to be checked is added for the exit direction or described to be checked list is empty is
Only:
A, the list to be checked is traversed, searches that shortest path is mobile to be worth the smallest node, using the node as currently wanting
The node of processing, and the reality of four cells among eight direction units of the node adjacency both horizontally and vertically is set
Mobile value is 1, the practical mobile value of four cells of diagonal direction among eight direction units of the node adjacency
It is 1.4, and it is eight directions of the node adjacency that the estimation value of eight direction cells of the node adjacency, which is arranged,
Respectively the horizontal interval number of cell and perpendicular separation number between the exit direction are the sum of cumulative for cell；
B, the node is put into the path list；
C, following processing is done to eight direction cells of the node adjacency:
If the label of some the direction cell currently judged is or in the path list, ignores；
If the label of some the direction cell currently judged is and not in the path list, continue to test
Some the direction cell currently judged out adds some the direction cell currently judged not in the list to be checked
Enter the list to be checked, and the father node for some direction cell that the node is set as currently judging, and further note
Record the mobile value of shortest path, practical mobile value and estimation value of the node；Or continue to test out currently judge it is a certain
A direction cell judges the node motion to some the direction cell currently judged in the list to be checked
Practical mobile value is minimum, then the node is set as the father node of some the direction cell currently judged, and into one
Step recalculates the mobile value of shortest path and practical mobile value of some the direction cell currently judged；
(3) judge the exit direction in the list to be checked or it is described it is to be checked list is empty, then by the path
Sequentially node in list is connected as optimal path；
Transmission unit is shown for obtained optimal path to be sent to the lamps and lanterns.
Wherein, the predetermined unit area is 1 meter * 1 meter.
Wherein, obtained optimal path is sent to the lamps and lanterns by two lines bus technology by the emergency lighting controller able
It is shown.
The implementation of the embodiments of the present invention has the following beneficial effects:
1, the present invention writes a large amount of lamps and lanterns prediction scheme information without commissioning staff, can be planned automatically according to actual path
Out from the most suitable path in extra exit；
2, the system can the automatic planning again in the case where freeing fire alarm early period when multiple fire alarms occur by the present invention
Suitable path, the direction for indicating lamps and lanterns do not conflict rationally；
3, the present invention greatly shortens the time in lamps and lanterns instruction direction in fire alarm emergency；The lamps and lanterns under special emergency
Indicate the time less than 1 second；
4, the present invention can be used for the field of the densely populated places such as factory, school, hospital, market, hotel, theater, exhibition room, office building
Institute provides safely and effectively evacuate path when a fire, reduces casualties and financial losses.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without any creative labor, according to
These attached drawings obtain other attached drawings and still fall within scope of the invention.
Fig. 1 is the flow chart of the method for the most short evacuation best-effort path of automatic planning provided in an embodiment of the present invention；
Fig. 2 is area grid to be sought in the method for the most short evacuation best-effort path of automatic planning provided in an embodiment of the present invention
The application scenario diagram of division；
Fig. 3 is lamps and lanterns are adjacent in the method for the most short evacuation best-effort path of automatic planning provided in an embodiment of the present invention eight
The application scenario diagram of the mobile value of the shortest path of direction grid, practical mobile value and estimation value；
Fig. 4 is that the lower path of lamps and lanterns refers in the method for the most short evacuation best-effort path of automatic planning provided in an embodiment of the present invention
The application scenario diagram shown；
Fig. 5 is lamps and lanterns path routing inspection in the method for the most short evacuation best-effort path of automatic planning provided in an embodiment of the present invention
The application scenario diagram looked into；
Fig. 6 is that the application scenario diagram after determining is routed in Fig. 5；
Fig. 7 is the structure of the emergency lighting controller able of the most short evacuation best-effort path of automatic planning provided in an embodiment of the present invention
Schematic diagram.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, the present invention is made into one below in conjunction with attached drawing
Step ground detailed description.
As shown in Figure 1, in the embodiment of the present invention, the method for the most short evacuation best-effort path of the automatic planning of one kind of proposition,
It the described method comprises the following steps:
Step S1, multiple cells that region to be sought is marked off with predetermined unit area are obtained, and to each
A cell is marked；Wherein, when practical obstacle object is not present on a certain cell, then it is labeled as 0；Conversely, being labeled as
1；
Step S2, in the region to be sought, determine that lamps and lanterns and exit direction respectively occupy corresponding cell and position
It sets, and calculates the lamps and lanterns to the exit direction and need to pass by least cell to obtain optimal path；Wherein, described
Lamps and lanterns to the exit direction least cell that needs to pass by is the practical mobile value by each cell and its estimates
Value is calculated to be added the mobile value of resulting shortest path to determine, the specific steps are as follows:
(1) list to be checked and path list are constructed, and is added the lamps and lanterns as starting point in the list to be checked；
(2) following processes are repeated, until the list to be checked is added for the exit direction or described to be checked list is empty is
Only:
A, the list to be checked is traversed, searches that shortest path is mobile to be worth the smallest node, using the node as currently wanting
The node of processing, and the reality of four cells among eight direction units of the node adjacency both horizontally and vertically is set
Mobile value is 1, the practical mobile value of four cells of diagonal direction among eight direction units of the node adjacency
It is 1.4, and it is eight directions of the node adjacency that the estimation value of eight direction cells of the node adjacency, which is arranged,
Respectively the horizontal interval number of cell and perpendicular separation number between the exit direction are the sum of cumulative for cell；
B, the node is put into the path list；
C, following processing is done to eight direction cells of the node adjacency:
If the label of some the direction cell currently judged is or in the path list, ignores；
If the label of some the direction cell currently judged is and not in the path list, continue to test
Some the direction cell currently judged out adds some the direction cell currently judged not in the list to be checked
Enter the list to be checked, and the father node for some direction cell that the node is set as currently judging, and further note
Record the mobile value of shortest path, practical mobile value and estimation value of the node；Or continue to test out currently judge it is a certain
A direction cell judges the node motion to some the direction cell currently judged in the list to be checked
Practical mobile value is minimum, then the node is set as the father node of some the direction cell currently judged, and into one
Step recalculates the mobile value of shortest path and practical mobile value of some the direction cell currently judged；
(3) judge the exit direction in the list to be checked or it is described it is to be checked list is empty, then by the path
Sequentially node in list is connected as optimal path；
Step S3, obtained optimal path the lamps and lanterns are sent to show.
In embodiments of the present invention, predetermined unit area is 1 meter * 1 meter or other area, can be with
It is specifically designed according to actual environment.
As shown in Figures 2 to 6, the method for most short evacuation best-effort path is planned one of embodiment of the present invention automatically
Application scenarios are described further:
The region to be searched (such as architectural plane) is divided into 1 meter * 1 meter square grid (as shown in Figure 2), simplification is searched
Rope region is 2 dimension groups.Label it is good it is all walk channel (being labeled as 0) and not walking shelter (labeled as 1)；Its
In, black lattice are barrier impassabitity.
By the way which grid that needs to pass by from lamps and lanterns A to outlet B calculated, path is just had found.Once path has found,
It can be moved to another side's center of a lattice from a square center of a lattice, until arriving at the destination.The next step of A after path determines
Direction can determine, obtain the instruction direction of lamps and lanterns at A, directly be issued instruction order on the lamps and lanterns at A by double bus.Its
In, two lines bus technology, that is, controller uses the CAN protocol of standard to distribution electricity, and maximum rate can reach 1Mbit/ seconds communication speed
Rate；Distribution electricity and lamps and lanterns communication use power supply and communication synthesis two lines bus technology, traffic rate is fast, cable wiring manufacture is simple and at
This is lower.
The principle for finding path is worth G, estimation value H (it is expected that each grid is horizontal by the practical movement of each grid
Straight line reaches the distance S and vertical reach L of target, can be indicated here by the grid quantity at interval: i.e. H=S+
L summation F), i.e. shortest path mobile value F=G+H determines that the specific implementation steps are as follows:
Firstly, preparing to establish two lists for memory node, i.e., list to be checked and path list.
Secondly, list to be checked is added using lamps and lanterns A as starting point in (1)；(2) following process is repeated:
A. as shown in figure 3, traversing list to be checked, the smallest node of F value is searched, using it as current node to be processed.
Three numbers of every lattice are respectively as follows: the practical mobile value G in the lower left corner, if moving up and down needs and expending is 1, diagonal line movement is
1.4 (bevel edge is obtained less than the sum of both sides according to Pythagorean theorem)；The lower right corner is that straight line arrival mesh target value H (is put aside other
Factor)；The number in the upper left corner is F, F=G+H.
B. this node is moved on to path list.
C. each grid of 8 adjacent squares (both transportable directions) of current grid is handled:
If it be not accessible or it in path list (as shown in figure 4, the grid of dashed-line outer box be path
Table), ignore it.Otherwise, it is done as follows:
◆ if it adds it in list to be checked and current grid is set as its father not in list to be checked,
Record F, G and the H value of the grid.
◆ if whether more it in list to be checked, check this paths (reaching its there via current grid)
It is good, it is referred to G value.Smaller G value indicates that this is better path.If it is, its father is set as working as front
Lattice, and recalculate its G and F value (calculation method is described above).If your list to be checked is sorted by F value
Words, if you may need to resequence after change has occurred in the F value calculated, as shown in Figure 5.
For the point in the lower right corner in wait table look-up, i.e., the distance for moving directly to the lower right corner from lamps and lanterns A is shorter at this time.So answering
Path is revised as shown in Figure 6 by this.
D, exit direction in list to be checked or it is to be checked list is empty, stop.
◆ terminal has been added in list to be checked, path has been found at this time, or
◆ search terminal failure, and list to be checked be it is empty, at this time without path.
Finally, storing path.Since terminal, each grid is moved along father node until starting point, escapes here it is most short
Raw path.
As shown in fig. 7, the emergency of the most short evacuation best-effort path of the automatic planning of the one kind provided is shone in the embodiment of the present invention
Bright controller, comprising:
It searches and marking unit 110, marks off for obtaining region to be sought with predetermined unit area multiple
Cell, and each cell is marked；Wherein, it when practical obstacle object is not present on a certain cell, then marks
It is 0；Conversely, being labeled as 1；
Optimal path determination unit 120, for determining that lamps and lanterns and exit direction respectively occupy in the region to be sought
Corresponding cell and position, and calculate the lamps and lanterns to the exit direction and need to pass by least cell to obtain most
Shortest path；Wherein, the lamps and lanterns to the exit direction least cell that needs to pass by is reality by each cell
The mobile value in border and its estimation value are added the mobile value of resulting shortest path to determine, the specific steps are as follows:
(1) list to be checked and path list are constructed, and is added the lamps and lanterns as starting point in the list to be checked；
(2) following processes are repeated, until the list to be checked is added for the exit direction or described to be checked list is empty is
Only:
A, the list to be checked is traversed, searches that shortest path is mobile to be worth the smallest node, using the node as currently wanting
The node of processing, and the reality of four cells among eight direction units of the node adjacency both horizontally and vertically is set
Mobile value is 1, the practical mobile value of four cells of diagonal direction among eight direction units of the node adjacency
It is 1.4, and it is eight directions of the node adjacency that the estimation value of eight direction cells of the node adjacency, which is arranged,
Respectively the horizontal interval number of cell and perpendicular separation number between the exit direction are the sum of cumulative for cell；
B, the node is put into the path list；
C, following processing is done to eight direction cells of the node adjacency:
If the label of some the direction cell currently judged is or in the path list, ignores；
If the label of some the direction cell currently judged is and not in the path list, continue to test
Some the direction cell currently judged out adds some the direction cell currently judged not in the list to be checked
Enter the list to be checked, and the father node for some direction cell that the node is set as currently judging, and further note
Record the mobile value of shortest path, practical mobile value and estimation value of the node；Or continue to test out currently judge it is a certain
A direction cell judges the node motion to some the direction cell currently judged in the list to be checked
Practical mobile value is minimum, then the node is set as the father node of some the direction cell currently judged, and into one
Step recalculates the mobile value of shortest path and practical mobile value of some the direction cell currently judged；
(3) judge the exit direction in the list to be checked or it is described it is to be checked list is empty, then by the path
Sequentially node in list is connected as optimal path；
Transmission unit 130 is shown for obtained optimal path to be sent to the lamps and lanterns.
Wherein, the predetermined unit area is 1 meter * 1 meter.
Wherein, obtained optimal path is sent to the lamps and lanterns by two lines bus technology by the emergency lighting controller able
It is shown.
The implementation of the embodiments of the present invention has the following beneficial effects:
1, the present invention writes a large amount of lamps and lanterns prediction scheme information without commissioning staff, can be planned automatically according to actual path
Out from the most suitable path in extra exit；
2, the system can the automatic planning again in the case where freeing fire alarm early period when multiple fire alarms occur by the present invention
Suitable path, the direction for indicating lamps and lanterns do not conflict rationally；
3, the present invention greatly shortens the time in lamps and lanterns instruction direction in fire alarm emergency；The lamps and lanterns under special emergency
Indicate the time less than 1 second；
4, the present invention can be used for the field of the densely populated places such as factory, school, hospital, market, hotel, theater, exhibition room, office building
Institute provides safely and effectively evacuate path when a fire, reduces casualties and financial losses.
It is worth noting that, in the above system embodiment, included each system unit only according to function logic into
What row divided, but be not limited to the above division, as long as corresponding functions can be realized；In addition, each functional unit
Specific name is also only for convenience of distinguishing each other, the protection scope being not intended to restrict the invention.
Those of ordinary skill in the art will appreciate that implement the method for the above embodiments be can be with
Relevant hardware is instructed to complete by program, the program can be stored in a computer readable storage medium,
The storage medium, such as ROM/RAM, disk, CD.
Above disclosed is only a preferred embodiment of the present invention, cannot limit the power of the present invention with this certainly
Sharp range, therefore equivalent changes made in accordance with the claims of the present invention, are still within the scope of the present invention.
Claims (5)
1. a kind of method of the most short evacuation best-effort path of automatic planning, which is characterized in that the described method comprises the following steps:
Step S1, multiple cells that region to be sought is marked off with predetermined unit area are obtained, and to each list
First lattice are marked；Wherein, when practical obstacle object is not present on a certain cell, then it is labeled as 0；Conversely, being labeled as 1；
Step S2, in the region to be sought, determine that lamps and lanterns and exit direction respectively occupy corresponding cell and position, and
It calculates the lamps and lanterns to the exit direction and needs to pass by least cell to obtain optimal path；Wherein, the lamps and lanterns
It is practical mobile value and its estimation valence by each cell to the exit direction least cell that needs to pass by
Value is added the mobile value of resulting shortest path to determine, the specific steps are as follows:
(1) list to be checked and path list are constructed, and is added the lamps and lanterns as starting point in the list to be checked；
(2) following processes are repeated, until the exit direction addition list to be checked or described to be checked until list is empty:
A, the list to be checked is traversed, searches that shortest path is mobile to be worth the smallest node, using the node as currently handling
Node, and the practical movement of four cells among eight direction units of the node adjacency both horizontally and vertically is set
Value is 1, and the practical mobile value of four cells of diagonal direction is among eight direction units of the node adjacency
1.4, and it is eight direction units of the node adjacency that the estimation value of eight direction cells of the node adjacency, which is arranged,
Respectively the horizontal interval number of cell and perpendicular separation number between the exit direction are the sum of cumulative for lattice；
B, the node is put into the path list；
C, following processing is done to eight direction cells of the node adjacency:
If the label of some the direction cell currently judged is or in the path list, ignores；
If the label of some the direction cell currently judged is and not in the path list, continues to test out and work as
Institute is added not in the list to be checked, some the direction cell currently judged in some direction cell of preceding judgement
List to be checked, and the father node for some direction cell that the node is set as currently judging are stated, and further record should
The mobile value of the shortest path of node, practical mobile value and estimation value；Or continue to test out some side currently judged
To cell in the list to be checked, and judge the reality of the node motion to some the direction cell currently judged
Mobile value is minimum, then the node is set as the father node of some the direction cell currently judged, and further weight
Newly calculate the mobile value of shortest path and practical mobile value of some the direction cell currently judged；
(3) judge the exit direction in the list to be checked or it is described it is to be checked list is empty, then by the path list
In sequentially node be connected as optimal path；
Step S3, obtained optimal path the lamps and lanterns are sent to show.
2. the method for the most short evacuation best-effort path of automatic planning as described in claim 1, which is characterized in that the predetermined unit
Area is 1 meter * 1 meter.
3. a kind of emergency lighting controller able of the most short evacuation best-effort path of automatic planning characterized by comprising
Search and marking unit, the multiple cells marked off for obtaining region to be sought with predetermined unit area,
And each cell is marked；Wherein, when practical obstacle object is not present on a certain cell, then it is labeled as 0；Instead
It, is labeled as 1；
Optimal path determination unit, for determining that lamps and lanterns and exit direction are respectively occupied accordingly in the region to be sought
Cell and position, and calculate the lamps and lanterns to the exit direction and need to pass by least cell to obtain optimal road
Diameter；Wherein, the lamps and lanterns to the exit direction least cell that needs to pass by is practical shifting by each cell
Dynamic value and its estimation value are added the mobile value of resulting shortest path to determine, the specific steps are as follows:
(1) list to be checked and path list are constructed, and is added the lamps and lanterns as starting point in the list to be checked；
(2) following processes are repeated, until the exit direction addition list to be checked or described to be checked until list is empty:
A, the list to be checked is traversed, searches that shortest path is mobile to be worth the smallest node, using the node as currently handling
Node, and the practical movement of four cells among eight direction units of the node adjacency both horizontally and vertically is set
Value is 1, and the practical mobile value of four cells of diagonal direction is among eight direction units of the node adjacency
1.4, and it is eight direction units of the node adjacency that the estimation value of eight direction cells of the node adjacency, which is arranged,
Respectively the horizontal interval number of cell and perpendicular separation number between the exit direction are the sum of cumulative for lattice；
B, the node is put into the path list；
C, following processing is done to eight direction cells of the node adjacency:
If the label of some the direction cell currently judged is or in the path list, ignores；
If the label of some the direction cell currently judged is and not in the path list, continues to test out and work as
Institute is added not in the list to be checked, some the direction cell currently judged in some direction cell of preceding judgement
List to be checked, and the father node for some direction cell that the node is set as currently judging are stated, and further record should
The mobile value of the shortest path of node, practical mobile value and estimation value；Or continue to test out some side currently judged
To cell in the list to be checked, and judge the reality of the node motion to some the direction cell currently judged
Mobile value is minimum, then the node is set as the father node of some the direction cell currently judged, and further weight
Newly calculate the mobile value of shortest path and practical mobile value of some the direction cell currently judged；
(3) judge the exit direction in the list to be checked or it is described it is to be checked list is empty, then by the path list
In sequentially node be connected as optimal path；
Transmission unit is shown for obtained optimal path to be sent to the lamps and lanterns.
4. the emergency lighting controller able of the most short evacuation best-effort path of automatic planning as claimed in claim 3, which is characterized in that institute
Stating predetermined unit area is 1 meter * 1 meter.
5. the emergency lighting controller able of the most short evacuation best-effort path of automatic planning as claimed in claim 3, which is characterized in that institute
It states emergency lighting controller able obtained optimal path is sent to by the lamps and lanterns by two lines bus technology and show.
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| CN109714873B (en) | 2020-04-24 |
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