CN109900276A - The real-time emergency route planing method in station based on point-line-surface barrier model construction - Google Patents
The real-time emergency route planing method in station based on point-line-surface barrier model construction Download PDFInfo
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Abstract
The present invention is the real-time emergency route planing method in station based on point-line-surface barrier model construction, under the premise of not losing indoor fixed obstacle location information, guarantee that algorithm calculates three-dimensional optimal path after station emergency occurs in real time, its core concept are as follows: before path planning, station monolithic architecture floor plan design is subjected to data processing in advance, the barrier map structuring work in whole region is completed, records the information in server so as to shorten system operation time.Simultaneously, due to consideration that the uplink and downlink and waiting room of station interior section escalator can only downlinks to platform part escalator, uplink only has individual special circumstances of stair, therefore it using attribute informations such as all uplink and downlinks of stair in barrier, is added in path cost to solve the problems, such as that planning path tallies with the actual situation.By accurate real-time path planning, the disposing task of station Security Personnel in emergency circumstances with high efficiency completion is instructed.
Description
Technical field
The invention belongs to intelligent security guard technical fields, are specifically related to a kind of vehicle based on point-line-surface barrier model construction
It stands real-time emergency route planing method.
Background technique
In the modern life, with deepening continuously for internet and smart media, the trip of people is greatly facilitated.It gos out
Outer we increasingly be unable to do without the help of navigation system, and outdoor navigation system technology is quite mature, but there are also one for indoor navigation
Fixed development space, key point are the selection of indoor positioning optimal case, the modeling of indoor map and indoor navigation algorithm
The research optimized in performance.Currently, indoor navigation need further to develop, do not formed in unified industry so far
Unified standard, just for being designed under specific environment.The Liu Xiaoxiao of China Mining University is " based on indoor three-dimensional map
Path planning research " for the building of indoor multi-dimensional map, by the space structure for the building studied by coarseness to particulate
Degree is divided, and information needed is included in data structure used in its D-K path planning algorithm, is needed in the process big
The time is measured to the hierarchic sequences such as subregion, horizontal connection, barrier progress manual amendment, heavy workload, content complexity；Beijing hypergraph
" design and realization across floor Path Planning Technique based on indoor road network " of the Huang Kejia of software et al. is at initial data
In reason, Multi-layer road data are obtained, and then carry out across floor path planning using two-way improvement A* algorithm, and for big
For the large-scale station of area, what complicated road information brought algorithm is complicated logic and very grave calculating pressure, stair
The building for being connected to table can not be well comprising facility informations such as railway stations, therefore cannot bring and accurately meet the practical feelings in scene
The most short planning path of condition；" the Digital Campus indoor and outdoor integrated three-dimensional navigation path planning " of Beijing University of Civil Engineering and Architecture be more
It is placed on the reading and UI design of threedimensional model, the software that navigation programming engine only uses Arc GIS ready-made is to School
The extraction and planning that three-dimensional navigation path network carries out.
Current interior path planning is made based on the complex environment information of indoor map data can not be as outdoor navigation one
Sample carries out road network selection processing to road, in addition connected relation is compared with remaining field between elevator due to railway station internal passageway complexity
Elevator it is more complicated, the leptosomatic slow-footed problem of feature bring algorithm process of station platform layer becomes path planning
More complicated, the railway station also really real-time emergency route planning of offer solution of emergent event at present is provided.
Summary of the invention
Road big for Primary Stage Data modification amount existing for current indoor path planning algorithm such as D-K algorithm, indoor
Net need to improve A* algorithm used in data carry out bulk information extraction and simulating biology intelligent algorithm genetic algorithm and
Existing computation complexity is excessively high in practical applications for ant group algorithm, legacy paths planing method such as QuadTree algorithm, algorithm
Structure is too simple, but search efficiency is lower, and when with the increase of barrier quantity or environment more sophisticated, algorithm
Complexity can increase sharply, and can not carry out map structuring for this complex scene in large-scale public place especially railway station with complete
The shortcomings that at path planning, the invention proposes a kind of real-time emergency route rule in station based on point-line-surface barrier model construction
The method of drawing instructs the disposition work of station Security Personnel in emergency circumstances with high efficiency completion by accurate real-time path planning
Make.
Realize the technical solution of the object of the invention are as follows:
A kind of real-time emergency route planing method in station based on point-line-surface barrier model construction, comprising the following steps:
Step 1: the environmental map of station Security Personnel is established:
1-1, data acquisition: by the point cloud data at the collected station to be planned of laser scanner, to path planning
Related building and equipment mark whether pass through or uplink and downlink attribute, floor information in advance, and auxiliary completes depositing for cartographic information
Work is stored up, multiple KML files are generated according to number of floor levels；
1-2, map datum parsing: looping through from the KML file that step 1-1 is obtained, and batch is read, will be in building
Subregion is carried out, defines enclosed type, half open and close type, two class formation unit respectively, completes map datum parsing；
The storage of 1-3, structural unit longitude and latitude elevation information: in the parsing data of step 1-2, structural unit is searched
Profile inflection point, building related with path planning and device attribute information, latitude and longitude information corresponding to the attribute information are complete
Portion is stored in map primary data matrix [,] map；
1-4, map primary data matrix [,] map is completed to map datum matrix using point-line-surface barrier building method
[lon_error, lat_error] map arrives turning for barrier model matrix [b_lon_error, b_lat_error] b_map again
Change, realize the mapping of world coordinates to pixel coordinate:
(1) from map primary data matrix [,] map information that step 1-3 is stored, the boundary value of barrier is found, and
The warp of corresponding barrier, the maximum value of latitude coordinate and minimum value are recorded, is denoted as respectively as lon_max, lat_max and lon_
min,lat_min；
(2) it is determined according to the difference of the difference of above-mentioned longitude maximum value and minimum value, latitude maximum value and minimum value
The scale of map datum matrix, note map datum matrix are [lon_error, lat_error] map；With point (lon_min, lat_
Min it) is used as world coordinates origin,
Wherein lon_error=lon_max-lon_min；
Lat_error=lat_max-lat_min；
Using the linear scanning method diagram data progress data extraction over the ground of point-line-surface, it is sequentially completed to each barrier vertex
Latitude and longitude coordinates extract, the mapping relations between world coordinates and pixel coordinate are established, further to original latitude and longitude information
Processing, be denoted as respectively (b_lon_1, b_lat_1), (b_lon_2, b_lat_2) ..., (b_lon_n, b_lat_n), pass through b_
Lon_i=k*b_lat_i+b, traversal obtain the position of all coordinate points by the line, point all on straight line are set 0, generation
The table region impassabitity；Corresponding position pixel is 0 when region can pass through, and initial obstacle object model matrix is obtained, by map number
Pixel coordinate system is all switched to according to matrix and carries out corresponding information storage in the initial obstacle object model matrix established；
Wherein i indicates the storage order on vertex, and n is the total number of storage point, 0 < i≤n；K is two neighboring endpoint line
Slope, b is Linear intercept；
(3) double solid line processing is carried out to the pixel coordinate mutated site in step (2), obtains final barrier model
Matrix [b_lon_error, b_lat_error] b_map completes the building of station Security Personnel environmental map；
Step 2: building for station Security Personnel location information data chain is completed
Station Security Personnel passes through hand-held or wearable device real-time update location information to respective storey base station server, base
Site server carries out exchanging for information with path planning server, to complete the Data Preparation before emergency event；
Step 3: it using the path that improvement A* algorithm is all Security Personnel calculating arrival emergency event scene and deposits
The path for the condition that meets is screened and is opened up by setting Security Personnel to the constraint condition of emergency event field position by storage
Show；
Data transmitting after 3-1, emergency burst: barrier mould constructed by path planning server storing step one
Emergency is occurring for type matrix [b_lon_error, b_lat_error] b_map, any station Security Personnel institute band client
Neighbouring location information is uploaded in time afterwards to path planning server；
3-2, more Security Personnel's location informations upload: path planning server obtains all Security Personnel by locating base station
Location information, use and improve the accurate real-time perfoming of A* algorithm and calculate；Wherein, location information includes accurate longitude and latitude and floor
Highly, it is constructed according to the barrier that architectural scale carries out variable step；Accurate location information is converted into phase under pixel coordinate
For the relative position information of pixel coordinate origin；
3-3, the multipath for improving A* algorithm calculate: path planning server is believed using the position of all Security Personnel in station
Breath and certain Security Personnel upload to the location information of the emergency event of path planning server, comprehensively consider institute's planning path
Elevator up-down, underpass path and part Security Personnel's special lift actual conditions are used for multiple times and improve A* algorithm, real
When calculate Security Personnel to emergency event scene all paths and store；
3-4, the realization across floor algorithm: the path that previous step is stored, by setting path distance, across number of floor levels
Constraint condition, when same floor security emergency route is less than any building related with path planning of the floor and equipment arrival now
When the path of field, path planning terminates；Otherwise the nearest building related with path planning of record emergency event scene distance
And equipment, coordinate letter of the longitude and latitude of accurate determination building related with path planning and equipment by mapping relations conversion
Breath, search close on floor, and then using building related with path planning and equipment as node, it is corresponding to find next destination
Building related with path planning and equipment export, switch to the calculating of next floor, carried out after guidance path storage total
The comparison of distance cost, when two paths across floor be greater than place floor apart from when, directly output with floor shortest path
Diameter, otherwise exports the path adduction across floor, and path planning terminates；It filters out and reaches the most fast Security Personnel in emergency event scene
Contingency planning path is issued to station Security Personnel by corresponding floor base station server while path exports and is instructed, completed
At high speed, the emergency of high accuracy handles work.
The invention has the benefit that
On the one hand the method for the present invention passes through centralized control method, path planning server obtains station Security Personnel building ring
The global information in border provides traffic information for the processing of emergency emergency, and on the other hand each station Security Personnel can be with
Resulting routing information is calculated according to real-time upload location information to each layer base station server and access path planning server.
The fast path planning server of arithmetic speed carries out complicated data and calculates work, gives the route result obtained to Security Personnel institute
Client, shorten system operation time.In addition, using comprehensive information, root is obtained after the building of point-line-surface Disorder Model
Variable step data processing is used according to building actual conditions, controls the size of model information matrix significantly, and improved " double
Solid line " barrier building method solves the problems, such as that map datum matrix precision is low and causes to improve A* algorithm " through walls ", solves
The excessive problem of the excessive bring calculation amount of server end map scale.This method makes the information such as barrier distortionless as far as possible
Under precision, moreover it is possible to guarantee to improve the validity and real-time of A* algorithm, so be advised for 500*300 meters of the two stop platform of railway station
The large-scale map of mould can carry out immediately path planning for 4 seconds or so after client end response, and final output three-dimensional path is accurate
Degree is other in meter level rather than the simple distribution of part of nodes greatly improves to ensure that the real-time emergency route planning in station
The office efficiency of the emergency relief of Security Personnel more greatly ensure that the safety of passenger, increase reality for station intelligent monitoring
With property and novelty.
Detailed description of the invention
The railway station Fig. 1 map datum three-dimensional figure.
Matrix analogue simulation figure after the railway station Fig. 2 Stall 2.5D KML map and parsing.
Matrix analogue simulation figure after the railway station Fig. 3 second floor 2.5D KML map and parsing.
Matrix analogue simulation figure after the 2.5D KML map of three building, the railway station Fig. 4 and parsing.
Fig. 5 field data chain structure block diagram.
The railway station Fig. 6 three-dimensional emergency route planning flow chart.
Fig. 7 improves A* pathfinding algorithm flow chart.
Host computer analogue simulation is shown after the encapsulation of Fig. 8 the method for the present invention.
After the encapsulation of Fig. 9 the method for the present invention, the host computer path planning module integrated simulation display renderings of station monitoring room.
Specific embodiment
The present invention is discussed in further detail in the following with reference to the drawings and specific embodiments.
A kind of real-time emergency route planing method in station based on point-line-surface barrier model construction of the invention, including it is following
Step:
Step 1: the environmental map of station Security Personnel is established:
1-1, data acquisition: by the point cloud data at the collected station to be planned of laser scanner, 3ds lattice are converted to
Formula imported into 3dmax；Rough profile is drawn using localspace software, to building related with path planning and is set
Whether standby mark in advance passes through or uplink and downlink attribute, floor information, the building related with path planning and equipment refer to electricity
The paths such as terraced, artificial staircase, outbound channel, Security Personnel's escalator dedicated), auxiliary completes the storage work of cartographic information, such as
Part elevator, in attribute be arranged flag be 10, show only downlink can not uplink, flag be 01 representative only uplink can not
Downlink；Multiple KML files are generated according to number of floor levels；
1-2, map datum parsing: looping through from the KML file that step 1-1 is obtained, and batch is read, will be in building
Subregion is carried out, defines enclosed type, half open and close type, two class formation unit respectively, completes map datum parsing；
The storage of 1-3, structural unit longitude and latitude elevation information: in the parsing data of step 1-2, structural unit is searched
Profile inflection point, building related with path planning and device attribute information, latitude and longitude information corresponding to the attribute information are complete
Portion is stored in map primary data matrix [,] map, the module calls data and use after convenience；
1-4, map primary data matrix [,] map is completed to map datum matrix using point-line-surface barrier building method
[lon_error, lat_error] map arrives turning for barrier model matrix [b_lon_error, b_lat_error] b_map again
Change, realize the mapping of world coordinates to pixel coordinate:
(4) from map primary data matrix [,] map information that step 1-3 is stored, the boundary value of barrier is found, and
The warp of corresponding barrier, the maximum value of latitude coordinate and minimum value are recorded, is denoted as respectively as lon_max, lat_max and lon_
min,lat_min；
(5) it is determined according to the difference of the difference of above-mentioned longitude maximum value and minimum value, latitude maximum value and minimum value
The scale of map datum matrix, note map datum matrix are [lon_error, lat_error] map；With point (lon_min, lat_
Min it) is used as world coordinates origin,
Wherein lon_error=lon_max-lon_min；
Lat_error=lat_max-lat_min；
(6) using the linear scanning method of point-line-surface, diagram data carries out data extraction over the ground, is sequentially completed to each barrier
The latitude and longitude coordinates on vertex are extracted, be denoted as respectively (lon_1, lat_1), (lon_2, lat_2) ..., (lon_n, lat_n), build
Mapping relations between vertical world coordinates and pixel coordinate are denoted as (b_lon_ further to the processing of original latitude and longitude information respectively
1, b_lat_1), (b_lon_2, b_lat_2) ..., (b_lon_n, b_lat_n), by b_lon_i=k*b_lat_i+b, time
It goes through to obtain the position of all coordinate points by the line, point all on straight line is set 0, represents the region impassabitity；Region
Corresponding position pixel is 0 when can be current, obtains initial obstacle object model matrix, and map datum matrix is all switched to pixel and is sat
Mark system simultaneously carries out corresponding information storage in the initial obstacle object model matrix established；
B_lon_i=(lon_i-lon_min) * 1000000
B_lat_i=(lat_i-lat_min) * 1000000
B=b_lon_i-k*b_lat_i
Wherein i indicates the storage order on vertex, and n is the total number of storage point, 0 < i≤n；
(b_lon_i, b_lat_i), (b_lon_i+1, b_lat_i+1) are that the barrier in this layer of building is adjacent respectively
Deviation information of the longitude and latitude of endpoint relative to pixel coordinate system origin, k are the slope of two neighboring endpoint line.
(7) when in use for the model refinement A* algorithm of above-mentioned building, due to the processing of variable step, lead to programme path
The problem of pixel coordinate mutated site passes through barrier, the program has carried out double solid line to pixel coordinate mutated site again
Processing obtains final barrier model matrix [b_lon_error, b_lat_error] b_ so that the path of planning is more acurrate
map。
Step 2: building for station Security Personnel location information data chain is completed
Station Security Personnel passes through hand-held or wearable device real-time update location information to respective storey base station server, base
Site server carries out exchanging for information with path planning server, to complete the Data Preparation before emergency event；
Step 3: it using the path that improvement A* algorithm is all Security Personnel calculating arrival emergency event scene and deposits
The path for the condition that meets is screened and is opened up by setting Security Personnel to the constraint condition of emergency event field position by storage
Show；
Data transmitting after 3-1, emergency burst: barrier mould constructed by path planning server storing step one
Emergency is occurring for type matrix [b_lon_error, b_lat_error] b_map, any station Security Personnel institute band client
Location information near uploading in time afterwards to path planning server,
3-2, more Security Personnel's location informations upload: path planning server obtains m Security Personnel by locating base station
Location information, use and improve the accurate real-time perfoming of A* algorithm and calculate；Wherein, location information includes accurate longitude and latitude and floor
Highly, it is constructed according to the barrier that architectural scale carries out variable step；Accurate location information is converted into phase under pixel coordinate
For the relative position information of pixel coordinate origin, used for improving A* algorithm.
List < h >j=list < h >j
0 < j≤m in formula, list < lon, lat >jIt .lon is the longitude information in the combination of Security Personnel's latitude and longitude information,
List < lon, lat >jIt .lat is the latitude information in the combination of Security Personnel's latitude and longitude information, Step_size is customized
Step value.List < lon, lat >jFor the latitude and longitude information of j-th of Security Personnel, list < x >jFor j-th of Security Personnel's phase
For origin in the relative position of longitude, list < y >jFor j-th of Security Personnel relative to origin in the relative position of latitude,
List < h >jFor the actual height information of j-th of Security Personnel；X, y respectively indicates the Security Personnel and is passing through relative to origin
Relative position on degree, latitude, h are the height of practical place floor.
3-3, the multipath for improving A* algorithm calculate: path planning server is believed using the position of all Security Personnel in station
Breath and certain Security Personnel upload to the location information of the emergency event of path planning server, comprehensively consider institute's planning path
The actual conditions such as elevator up-down, underpass path and part Security Personnel's special lift are used for multiple times and improve A* algorithm,
Security Personnel is calculated to all paths at emergency event scene in real time and is stored.
3-4, the realization across floor algorithm: the path that previous step is stored, by setting path distance, across number of floor levels
Constraint condition, when same floor security emergency route, which is less than any elevator of the floor, reaches the path at scene, path planning terminates；
Otherwise the coordinate of mapping relations conversion is passed through apart from nearest elevator, the accurate longitude and latitude for determining elevator in record emergency event scene
Information, search close on floor, and then using elevator as node, find the corresponding elevator outlet of next destination, switch to lower Stall
The calculating of layer carries out the comparison of total distance cost after guidance path storage, when two paths across floor are greater than place floor
Apart from when, directly export the shortest path with floor, otherwise export the path adduction across floor, path planning terminates；Screening
The most fast Security Personnel's contingency planning path in emergency event scene is reached out, passes through corresponding floor base station clothes while path exports
Device be engaged in station Security Personnel sending instruction, completes high speed, the emergency of high accuracy handles work.
The algorithm flow for wherein improving the specific implementation of A* algorithm, belongs to existing technology, specific as follows:
(1) creates two chained lists and stores node to be detected and detection node respectively: two empty chain tables are respectively created:
Starting point is put into OPEN table by OPEN chained list and CLOSED chained list；
(2) if without node in OPEN table, then indicate that path planning fails, algorithm terminates；If there is node, (3) are gone to step；
(3) chooses the smallest node N of evaluation function F value in OPEN table, is put into CLOSED table；
(4) judges whether node N is destination node: if present node N to destination node manhatton distance for 0, then
Reach target point；If reaching destination node, path planning success goes to step (10), otherwise, does not arrive destination node also, turns step
Suddenly (5)；
(5) expanding node N: node N is currently located the adjacent cross of road ahead not in CLOSED table by selection
Crossing grid calculates its F value as connection child node；
The calculation formula of F value are as follows:
F (n)=G'(n)+H'(n) (3)
Wherein, F (n) is the evaluation function of node n, G'(n) the actual cost function that is node N, it indicates from start node
The heuristic function for being node N to the mobile expense of present node, H'(n) indicates that present node is mobile to the estimation of destination node
Expense.
(6) determines the connection child node of extension: the connection child node of extension is judged whether in OPEN table, if child node
In OPEN table, goes to step (8) and otherwise go to step (7)；
(7) OPEN table is added in the connection child node of extension by: OPEN table is added as node in the connection child node of extension
Child node, the father node pointer of the node is directed toward node N, then goes to step (2)；
(8) determines the F value of expanding node: calculating the F value that the node passes through node N, the calculation method and step of F value
(5) the F value calculating method in is identical；If more than the F value of itself, (9) are gone to step；Otherwise, go to step (2)；
(9) updates the value of value node itself of expanding node, updates the value of the node in table, goes to step (2)；
(10) finally each node extends obtained path to his father's node direction to since target point is this method
The path cooked up.
By the present invention is based on the real-time emergency route planing methods in the station of point-line-surface barrier model construction to be packaged, and
Carry out test emulation simulated route；Final environment and data deployment are combined with the actual conditions at specific station, and path is advised
The correlation function drawn is placed in the monitoring room of station, and test run, and the real-time three-dimensional path planning of the application is reply burst thing
To the auxiliary tool of station Security Personnel after part, safety and the work efficiency at station can effectively improve.
Above-mentioned path planning server installation is AT STATION in monitoring room, and every layer of individually placed base station services in station
Device realizes the transmitting of Security Personnel's location information data.
World coordinates origin and pixel coordinate origin are corresponding in the present invention, are regarded as (lon_min, lat_min).
Embodiment 1
The real-time emergency route planing method in station of the present embodiment based on point-line-surface barrier model construction, including following step
It is rapid:
Step 1: the environmental map of station Security Personnel is established:
1-1, data acquisition: by taking certain domestic three layers of railway station as an example, one layer of predominantly ticketing hall, two stop platforms, three layers
In the scene of waiting room, three-dimensional software shows that building is shown in Fig. 1, passes through the point cloud at the collected station to be planned of laser scanner
Data are converted to 3ds format, imported into 3dmax；Draw rough profile using localspace software, to path planning
Related building and equipment mark whether pass through or uplink and downlink attribute, floor information, the building and equipment refer to electricity in advance
The paths such as terraced, artificial staircase, outbound channel, Security Personnel's escalator dedicated, auxiliary complete the storage work of cartographic information, such as portion
Point elevator, it is 10 that flag is arranged in attribute, show only downlink can not uplink, the representative only uplink that flag is 01 can not under
Row；Each floor generates a KML file, and three floor symbiosis are at three different KML files；
1-2, map datum parsing: looping through from step 1-1 three obtained KML file, and batch is read, and will be built
Subregion is carried out in object, defines enclosed type, half open and close type, two class formation unit respectively, completes map datum parsing；
The storage of 1-3, structural unit longitude and latitude elevation information: in the parsing data of step 1-2, structural unit is searched
Profile inflection point, building related with path planning and device attribute information, latitude and longitude information corresponding to the attribute information are complete
Portion is stored in map primary data matrix [,] map, the module calls data and use after convenience；
1-4, map primary data matrix [,] map is completed to map datum matrix using point-line-surface barrier building method
[lon_error, lat_error] map arrives turning for barrier model matrix [b_lon_error, b_lat_error] b_map again
Change, realize the mapping of world coordinates to pixel coordinate, matrix size is the barrier of [193,182], [189,493] and [119,142]
Hinder object model matrix, the analogue simulation figure comparison of the map primary data matrix and barrier model matrix of three floors is shown in respectively
Fig. 2, Fig. 3 and Fig. 4:
(1) from map primary data matrix [,] map information that step 1-3 is stored, the boundary value of barrier is found, and
The maximum value and minimum value for recording the warp of barrier, latitude coordinate, be denoted as respectively for lon_max, lat_max and lon_min,
lat_min；
(2) it is determined according to the difference of the difference of above-mentioned longitude maximum value and minimum value, latitude maximum value and minimum value
The scale of map datum matrix, note map datum matrix are [lon_error, lat_error] map；
Wherein lon_error=lon_max-lon_min；
Lat_error=lat_max-lat_min；
(3) using the linear scanning method of point-line-surface, diagram data carries out data extraction over the ground, is sequentially completed to each barrier
The latitude and longitude coordinates on vertex are extracted, be denoted as respectively (lon_1, lat_1), (lon_2, lat_2) ..., (lon_n, lat_n), build
Mapping relations between vertical world coordinates and pixel coordinate.Further to the processing of original latitude and longitude information, it is denoted as (b_lon_ respectively
1, b_lat_1), (b_lon_2, b_lat_2) ..., (b_lon_n, b_lat_n), by b_lon_i=k*b_lat_i+b, time
It goes through to obtain the position of all coordinate points by the line, point all on straight line is set 0, represents the region impassabitity；Region
Corresponding position pixel is 0 when can be current, obtains initial obstacle object model matrix, and map datum matrix is all switched to pixel and is sat
Mark system simultaneously carries out corresponding information storage in the initial obstacle object model matrix established；
B_lon_i=(lon_i-lon_min) * 1000000
B_lat_i=(lat_i-lat_min) * 1000000
B=b_lon_i-k*b_lat_i
Wherein i indicates the storage order on vertex, and n is the total number of storage point, 0 < i≤n；
(b_lon_i, b_lat_i), (b_lon_i+1, b_lat_i+1) are all fixed barriers in this layer of building respectively
Hinder deviation information of the longitude and latitude of the adjacent endpoint of object relative to pixel coordinate system origin, k is the slope of two neighboring endpoint line.
(4) when in use for the model refinement A* algorithm of above-mentioned building, due to the processing of variable step, lead to programme path
The problem of pixel coordinate mutated site passes through barrier, the program has carried out double solid line to pixel coordinate mutated site again
Processing obtains final barrier model matrix [b_lon_error, b_lat_error] b_ so that the path of planning is more acurrate
map。
Step 2: building for station Security Personnel location information data chain is completed
Station Security Personnel passes through hand-held or wearable device real-time update location information to respective storey base station server, base
Site server carries out exchanging for information with path planning server, to complete the Data Preparation before emergency event；
Step 3: it using the path that improvement A* algorithm is all Security Personnel calculating arrival emergency event scene and deposits
The path for the condition that meets is screened and is opened up by setting Security Personnel to the constraint condition of emergency event field position by storage
Show；
Data transmitting after 3-1, emergency burst: barrier mould constructed by path planning server storing step one
Emergency is occurring for type matrix [b_lon_error, b_lat_error] b_map, any station Security Personnel institute band client
Location information near uploading in time afterwards arrives path planning server, in test process, wherein a Security Personnel clicks upload
The position of (112.581745804,37.860034226,2) is emergency event position.
3-2, more Security Personnel's location informations upload: path planning server obtains m Security Personnel by locating base station
Location information, use and improve the accurate real-time perfoming of A* algorithm and calculate；Wherein, location information includes accurate longitude and latitude and floor
Highly, it is constructed according to the barrier that architectural scale carries out variable step；Accurate location information is converted into phase under pixel coordinate
For the relative position information of pixel coordinate origin, used for improving A* algorithm.
List < h >j=list < h >j
0 < j≤m in formula, list < lon, lat >jIt .lon is the longitude information in the combination of Security Personnel's latitude and longitude information,
List < lon, lat >jIt .lat is the latitude information in the combination of Security Personnel's latitude and longitude information, Step_size is customized
Step value.List < lon, lat >jFor the latitude and longitude information of j-th of Security Personnel, list < x >jFor j-th of Security Personnel's phase
For origin in the relative position of longitude, list < y >jFor j-th of Security Personnel relative to origin in the relative position of latitude,
List < h >jFor the actual height information of j-th of Security Personnel；X, y respectively indicates the s Security Personnel and is passing through relative to origin
Relative position on degree, latitude, h are the height of practical place floor.
In real work, simulation m=4 i.e. four Security Personnel uploads path planning server, and position coordinates are respectively
(112.581394226,37.859811784,2), (112.581372551,37.860340320,2), (112.581760254,
37.860281382,3) and (112.582001059,37.859686305,3), three story heights of the customized setting in the railway station
Degree is respectively 5.2m, 17.5m and 26.5m, and underpass distance cost is set as 10.0m, finds with a distance from emergency event scene
A nearest Security Personnel.
3-3, the multipath for improving A* algorithm calculate: path planning server is believed using the position of all Security Personnel in station
Breath and certain Security Personnel upload to the location information of the emergency event of path planning server, comprehensively consider institute's planning path
The actual conditions such as elevator up-down, underpass path and part Security Personnel's special lift are used for multiple times and improve A* algorithm,
Security Personnel is calculated to all paths at emergency event scene in real time and is stored, and in test of heuristics, has planned 4 altogether
Item is to the path of Security Personnel, wherein 2 belong to same floor, 2 belong to across floor path, has recorded the longitude and latitude of each step respectively
The data of degree, elevation information.
3-4, the realization across floor algorithm: the path that previous step is stored, by setting path distance, across number of floor levels
Constraint condition, when same floor security emergency route, which is less than any elevator of the floor, reaches the path at scene, path planning terminates；
Otherwise the coordinate of mapping relations conversion is passed through apart from nearest elevator, the accurate longitude and latitude for determining elevator in record emergency event scene
Information, search close on floor, and then using elevator as node, find the corresponding elevator outlet of next destination, switch to lower Stall
The calculating of layer carries out the comparison of total distance cost after guidance path storage, when two paths across floor are greater than place floor
Apart from when, directly export the shortest path with floor, otherwise export the path adduction across floor, path planning terminates；Screening
The most fast Security Personnel's contingency planning path in emergency event scene is reached out, passes through corresponding floor base station clothes while path exports
Device be engaged in station Security Personnel sending instruction, the emergency of completion high speed, high accuracy handles work, finally finds distance
The path of 1 nearest Security Personnel of emergency event scene, path planning server output corresponding signal notify corresponding personnel
In-situ processing is gone to, across floor routing algorithm flow chart is shown in Fig. 6.
The algorithm flow for wherein improving the specific implementation of A* algorithm, belongs to existing technology, algorithm flow chart is shown in Fig. 7, specifically
It is as follows:
(1) creates two chained lists and stores node to be detected and detection node respectively: two empty chain tables are respectively created:
Starting point is put into OPEN table by OPEN chained list and CLOSED chained list；
(2) if without node in OPEN table, then indicate that path planning fails, algorithm terminates；If there is node, (3) are gone to step；
(3) chooses the smallest node N of evaluation function F value in OPEN table, is put into CLOSED table；
(4) judges whether node N is destination node: if present node N to destination node manhatton distance for 0, then
Reach target point；If reaching destination node, path planning success goes to step (10), otherwise, does not arrive destination node also, turns step
Suddenly (5)；
(5) expanding node N: node N is currently located the adjacent cross of road ahead not in CLOSED table by selection
Crossing grid calculates its F value as connection child node；
The calculation formula of F value are as follows:
F (n)=G'(n)+H'(n) (3)
Wherein, F (n) is the evaluation function of node n, G'(n) the actual cost function that is node N, it indicates from start node
The heuristic function for being node N to the mobile expense of present node, H'(n) indicates that present node is mobile to the estimation of destination node
Expense.
(6) determines the connection child node of extension: the connection child node of extension is judged whether in OPEN table, if child node
In OPEN table, goes to step (8) and otherwise go to step (7)；
(7) OPEN table is added in the connection child node of extension by: OPEN table is added as node in the connection child node of extension
Child node, the father node pointer of the node is directed toward node N, then goes to step (2)；
(8) determines the F value of expanding node: calculating the F value that the node passes through node N, the calculation method and step of F value
(5) the F value calculating method in is identical；If more than the F value of itself, (9) are gone to step；Otherwise, go to step (2)；
(9) updates the value of value node itself of expanding node, updates the value of the node in table, goes to step (2)；
(10) finally each node extends obtained path to his father's node direction to since target point is this method
The path cooked up.
By the present invention is based on the real-time emergency route planing methods in the station of point-line-surface barrier model construction to be packaged, and
Test emulation simulated route is carried out, the route analogous diagram of two layers of the part platform of calculating is shown in Fig. 8；Final environment and data deployment
It combines, the correlation function of path planning is placed in the monitoring room of station, and test run with the actual conditions at specific station, had
Body local function module screenshot is shown in Fig. 9, and five people are come in Fig. 9: one of Security Personnel is simulation emergency event scene
Position, he goes upload location information startup program to carry out pathfinding, and strength planning in road is looked for from four people of remaining different floors
To their all route maps, eventually by comparing, path cost minimum is found, that is, nearest apart from emergency event scene
One people.The real-time three-dimensional path planning of the application is solution of emergent event later to the auxiliary tool of station Security Personnel, can
To effectively improve safety and the work efficiency at station.
Above-mentioned path planning server installation is AT STATION in monitoring room, and every layer of individually placed base station services in station
Device realizes the transmitting of Security Personnel's location information data.
A kind of real-time emergency route planing method in station based on point-line-surface barrier model construction of the invention, is not losing
Under the premise of indoor fixed obstacle location information, guarantee that algorithm calculates three-dimensional optimal road after station emergency occurs in real time
Diameter, core concept are as follows: before path planning, station monolithic architecture floor plan design is subjected to data processing in advance, is completed whole
Barrier map structuring work in a region, records the information in server so as to shorten system operation time.Simultaneously as
In view of station interior section escalator uplink and downlink and waiting room to platform part escalator can only downlink, uplink only
There are individual special circumstances of stair, therefore using attribute informations such as all uplink and downlinks of stair in barrier, is added to path cost
In to solve the problems, such as that planning path tallies with the actual situation.Emergency route planing method is suitable for railway station, market, airport etc.
In large-scale public place.
Unaccomplished matter of the present invention is well-known technique.
Claims (4)
1. a kind of real-time emergency route planing method in station based on point-line-surface barrier model construction, comprising the following steps:
Step 1: the environmental map of station Security Personnel is established:
1-1, data acquisition: by the point cloud data at the collected station to be planned of laser scanner, to related with path planning
Building and equipment mark whether pass through or uplink and downlink attribute, floor information in advance, auxiliary completes the storage work of cartographic information
Make, multiple KML files are generated according to number of floor levels；
1-2, map datum parsing: looping through from the KML file that step 1-1 is obtained, and batch is read, and will be carried out in building
Subregion defines enclosed type, half open and close type, two class formation unit respectively, completes map datum parsing；
The storage of 1-3, structural unit longitude and latitude elevation information: in the parsing data of step 1-2, the profile of structural unit is searched
Inflection point, building related with path planning and device attribute information, latitude and longitude information corresponding to the attribute information are all deposited
Storage is in map primary data matrix [,] map；
1-4, map primary data matrix [,] map to map datum matrix [lon_ is completed using point-line-surface barrier building method
Error, lat_error] map arrives the conversion of barrier model matrix [b_lon_error, b_lat_error] b_map again, and it is real
Mapping of the existing world coordinates to pixel coordinate:
(1) from map primary data matrix [,] map information that step 1-3 is stored, the boundary value of barrier is found, and record
The corresponding warp of barrier, the maximum value of latitude coordinate and minimum value, be denoted as respectively for lon_max, lat_max and lon_min,
lat_min；
(2) map is determined according to the difference of the difference of above-mentioned longitude maximum value and minimum value, latitude maximum value and minimum value
The scale of data matrix, note map datum matrix are [lon_error, lat_error] map；With point (lon_min, lat_min)
As world coordinates origin,
Wherein lon_error=lon_max-lon_min；
Lat_error=lat_max-lat_min；
Using the linear scanning method diagram data progress data extraction over the ground of point-line-surface, it is sequentially completed the warp to each barrier vertex
Latitude coordinate extracts, and establishes the mapping relations between world coordinates and pixel coordinate, further handles original latitude and longitude information,
Be denoted as respectively (b_lon_1, b_lat_1), (b_lon_2, b_lat_2) ..., (b_lon_n, b_lat_n), pass through b_lon_i
=k*b_lat_i+b, traversal obtain the position of all coordinate points by the line, point all on straight line are set 0, represents the area
Domain impassabitity；Corresponding position pixel is 0 when region can pass through, and initial obstacle object model matrix is obtained, by map datum matrix
It all switches to pixel coordinate system and carries out corresponding information storage in the initial obstacle object model matrix established；
Wherein i indicates the storage order on vertex, and n is the total number of storage point, 0 < i≤n；K is the oblique of two neighboring endpoint line
Rate, b are Linear intercept；
(3) double solid line processing is carried out to the pixel coordinate mutated site in step (2), obtains final barrier model matrix
[b_lon_error, b_lat_error] b_map completes the building of station Security Personnel environmental map；
Step 2: building for station Security Personnel location information data chain is completed
Station Security Personnel passes through hand-held or wearable device real-time update location information to respective storey base station server, base station clothes
Business device carries out exchanging for information with path planning server, to complete the Data Preparation before emergency event；
Step 3: using the path that improvement A* algorithm is all Security Personnel calculating arrival emergency event scene and storing,
By setting Security Personnel to the constraint condition of emergency event field position, the path for the condition that meets is screened and shown；
Data transmitting after 3-1, emergency burst: barrier model square constructed by path planning server storing step one
Battle array [b_lon_error, b_lat_error] b_map, any station Security Personnel institute band client after emergency occurs and
Location information near Shi Shangchuan is to path planning server；
3-2, more Security Personnel's location informations upload: path planning server obtains the position of all Security Personnel by locating base station
Confidence breath is calculated using the accurate real-time perfoming of A* algorithm is improved；Wherein, location information includes accurate longitude and latitude and story height
Degree is constructed according to the barrier that architectural scale carries out variable step；Accurate location information is converted to opposite under pixel coordinate
In the relative position information of pixel coordinate origin；
3-3, improve A* algorithm multipath calculate: path planning server using all Security Personnel in station location information with
And certain Security Personnel uploads to the location information of the emergency event of path planning server, comprehensively considers the elevator of institute's planning path
Uplink and downlink, underpass path and part Security Personnel's special lift actual conditions are used for multiple times and improve A* algorithm, count in real time
Security Personnel is calculated to all paths at emergency event scene and is stored；
3-4, the realization across floor algorithm: the path that previous step is stored, by setting path distance, across the constraint of number of floor levels
Condition, when same floor security emergency route reaches scene less than any building related with path planning of the floor and equipment
When path, path planning terminates；Otherwise record emergency event scene apart from nearest building related with path planning and is set
Standby, the longitude and latitude of accurate determination building related with path planning and equipment passes through the coordinate information of mapping relations conversion, searches
Rope closes on floor, and then using building related with path planning and equipment as node, find next destination it is corresponding with
The related building of path planning and equipment export switch to the calculating of next floor, carry out total distance after guidance path storage
The comparison of cost, when two paths across floor be greater than place floor apart from when, directly output with floor shortest path, it is no
Then path adduction of the output across floor, path planning terminate；It filters out and reaches the most fast Security Personnel's emergency in emergency event scene
Planning path is issued to station Security Personnel by corresponding floor base station server while path exports and is instructed, completes high speed
The emergency of degree, high accuracy handles work.
2. planing method according to claim 1, which is characterized in that the mapping relations between world coordinates and pixel coordinate
Are as follows:
B_lon_i=(lon_i-lon_min) * 1000000
B_lat_i=(lat_i-lat_min) * 1000000,
Wherein, (b_lon_i, b_lat_i) is that the longitude and latitude on i-th of vertex of barrier in this layer of building is sat relative to pixel
The deviation information of mark system origin.
3. planing method according to claim 1, which is characterized in that related with path planning described in step 1-1 to build
It builds object and equipment is elevator, artificial staircase, outbound channel or Security Personnel's escalator dedicated.
4. planing method according to claim 1, which is characterized in that the method is suitable for railway station, market, airport
In.
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