CN113347571B

CN113347571B - Evacuation navigation method and device based on Bluetooth positioning and computer equipment

Info

Publication number: CN113347571B
Application number: CN202110680379.5A
Authority: CN
Inventors: 詹娅莉
Original assignee: Hunan Huibo Electronics Technology Co ltd
Current assignee: Hunan Huibo Electronics Technology Co ltd
Priority date: 2021-01-25
Filing date: 2021-06-18
Publication date: 2022-04-29
Anticipated expiration: 2041-06-18
Also published as: CN112911514A; CN113347571A

Abstract

The application relates to an evacuation navigation method and device based on Bluetooth positioning, computer equipment and a storage medium. The method comprises the following steps: receiving Bluetooth data sent by at least one lamp Bluetooth device in a current scene; acquiring equipment attribute information preset by each lamp Bluetooth equipment; determining the current position according to the Bluetooth data and the equipment attribute information; and acquiring an evacuation path generated according to a scene map corresponding to the current scene and the current position, and performing evacuation navigation based on the evacuation path. By adopting the method, the crowd evacuation effect can be improved.

Description

Evacuation navigation method and device based on Bluetooth positioning and computer equipment

Technical Field

The present application relates to the field of computer technologies, and in particular, to an evacuation navigation method and apparatus based on bluetooth positioning, a computer device, and a storage medium.

Background

With the continuous promotion of the urbanization process, large buildings with high floors are more and more, and when dangerous situations such as fire, collapse and the like occur in the large buildings, the large buildings are generally guided and indicated by emergency lamps, safety indication marks and the like installed in the large buildings so as to realize evacuation navigation.

However, the emergency lamp and the safety indication mark are used for guiding and indicating, people blindly search for the safety exit for evacuation, the position of the people and the evacuation route condition cannot be accurately determined, and the crowd evacuation effect is limited.

Disclosure of Invention

In view of the above, there is a need to provide an evacuation navigation method, apparatus, computer device and storage medium based on bluetooth positioning, which can improve the evacuation effect of people.

An evacuation navigation method based on Bluetooth positioning, the method comprising:

receiving Bluetooth data sent by at least one lamp Bluetooth device in a current scene;

acquiring equipment attribute information preset by each lamp Bluetooth equipment;

determining the current position according to the Bluetooth data and the equipment attribute information;

and acquiring an evacuation path generated according to a scene map corresponding to the current scene and the current position, and performing evacuation navigation based on the evacuation path.

In one embodiment, determining the current location based on the bluetooth data and the device address information comprises: extracting a target device identification from the Bluetooth data; determining target address information of the target lamp Bluetooth device corresponding to the target device identification according to the device attribute information; and determining the current position according to the target address information and the signal intensity corresponding to the Bluetooth data.

In one embodiment, before acquiring device attribute information preset by each luminaire bluetooth device, the method further includes: determining equipment address information and equipment identification of each lamp Bluetooth equipment in the current scene; and associating the equipment address information with the equipment identification to obtain equipment attribute information corresponding to each lamp Bluetooth equipment.

In one embodiment, the evacuation path is obtained by the step of generating an evacuation path, the step of generating an evacuation path comprising: acquiring a scene map corresponding to a current scene and dangerous case data in the current scene; obtaining an evacuation risk map of the current scene according to the scene map and the dangerous case data; and generating an evacuation path according to the evacuation risk map and the current position.

In one embodiment, obtaining an evacuation risk map of a current scene according to a scene map and dangerous case data comprises: carrying out evacuation risk analysis based on the dangerous case data to obtain evacuation risk information corresponding to the dangerous case data; constructing map risk elements according to evacuation risk information; and fusing the map risk elements into a scene map to obtain the evacuation risk map of the current scene.

In one embodiment, generating an evacuation path from an evacuation risk map and a current location comprises: determining each evacuation exit in an evacuation risk map; determining a target evacuation outlet from the evacuation outlets according to the current position and the evacuation risk map; an evacuation path is generated based on the current location and the target evacuation egress.

In one embodiment, the method for bluetooth positioning based evacuation navigation further comprises: acquiring rescue information of a current scene; determining a rescue path and a rescue equipment position from the rescue information; and according to the rescue path and the position of the rescue equipment, updating the path of the evacuation path, and performing evacuation navigation based on the updated evacuation path.

An evacuation navigation device based on bluetooth positioning, the device comprising:

the Bluetooth data receiving module is used for receiving Bluetooth data sent by at least one lamp Bluetooth device in the current scene;

the device information acquisition module is used for acquiring device attribute information preset by each lamp Bluetooth device;

the positioning processing module is used for determining the current position according to the Bluetooth data and the equipment attribute information;

and the evacuation navigation module is used for acquiring an evacuation path generated according to the scene map corresponding to the current scene and the current position and carrying out evacuation navigation based on the evacuation path.

A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:

A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:

According to the evacuation navigation method, the evacuation navigation device, the computer equipment and the storage medium based on the Bluetooth positioning, the positioning is carried out according to the Bluetooth data sent by at least one lamp Bluetooth equipment in the current scene and the equipment attribute information preset by each lamp Bluetooth equipment, the equipment attribute information of the lamp Bluetooth equipment in the current scene can be effectively utilized for positioning, the accurate current position is obtained, the evacuation navigation is carried out based on the scene map corresponding to the current scene and the evacuation route generated by the current position, the position and the evacuation route condition can be accurately determined, the crowds can be avoided from being blocked, and the crowd evacuation effect is improved.

Drawings

Fig. 1 is an application environment diagram of an evacuation navigation method based on bluetooth positioning in one embodiment;

fig. 2 is a schematic flowchart of an evacuation navigation method based on bluetooth positioning according to an embodiment;

fig. 3 is a schematic flow chart of evacuation path generation according to an embodiment;

fig. 4 is an application environment diagram of the evacuation navigation method based on bluetooth positioning in another embodiment;

FIG. 5 is a schematic diagram of signal arrival times in one embodiment;

FIG. 6 is a schematic diagram of angle of arrival ranging in one embodiment;

fig. 7 is a block diagram of an evacuation navigation device based on bluetooth positioning in one embodiment;

FIG. 8 is a diagram illustrating an internal structure of a computer device according to an embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The evacuation navigation method based on Bluetooth positioning provided by the application can be applied to the application environment shown in FIG. 1. The terminal 106 communicates with the server 108 through a network, and the terminal 106 also communicates with various lamps 102, such as a lamp bluetooth device 104 arranged in an emergency lamp or a lighting lamp, through bluetooth. In a current scene, a plurality of lamp bluetooth devices 104 continuously broadcast and send bluetooth data, after receiving the bluetooth data sent by at least one lamp bluetooth device 104, a terminal 106 performs positioning according to the received bluetooth data and device attribute information preset by each lamp bluetooth device 104 to obtain a current position of the terminal 106, and the terminal 106 performs evacuation navigation based on a scene map corresponding to the current scene and an evacuation path generated by the current position. The lamp bluetooth device 104 may perform bluetooth communication with bluetooth devices provided in various lamps 102; the terminal 106 may be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, and portable wearable devices, and the server 108 may be implemented by a stand-alone server or a server cluster composed of a plurality of servers.

In one embodiment, as shown in fig. 2, there is provided an evacuation navigation method based on bluetooth positioning, which is illustrated by applying the method to the terminal 106 in fig. 1, and includes the following steps:

step 202, receiving bluetooth data sent by at least one luminaire bluetooth device in the current scene.

The current scene refers to a scene where the terminal is currently located, and may specifically be different buildings, floors, rooms, and the like. The lamp is a general name of various lamp devices such as a lighting tool and an emergency tool, the lighting tool can comprise a lamp for providing illumination such as a ceiling lamp, a desk lamp, a wall lamp and a floor lamp, and the emergency tool can comprise a fire-fighting emergency lighting lamp and a fire-fighting emergency sign lamp. The emergency lighting lamp can be started when a power supply for normal lighting fails to provide emergency lighting, and the emergency lighting is lighting for evacuating people, ensuring safety or continuing working under the condition that a normal lighting system fails to provide normal lighting due to the power supply; the emergency sign lamp can be used for providing lamps with safe evacuation and guiding indication during emergency, and specifically can indicate various emergency indication information such as a safe exit, an evacuation direction and the like, so that people can be evacuated and the safety can be guaranteed. The lamp Bluetooth equipment is Bluetooth equipment arranged in various lamps and can broadcast Bluetooth data. Bluetooth is a radio technology that supports short-range communication (typically within 10 m) of devices, enabling wireless information exchange between a multitude of devices including mobile phones, wireless headsets, notebook computers, related peripherals, etc. Bluetooth is a small-range wireless connection technology, and can realize convenient, quick, flexible, safe, low-cost and low-power-consumption data communication and voice communication among devices. The bluetooth data is the bluetooth signal that lamps and lanterns bluetooth equipment sent outward, can carry information in the bluetooth data, if can carry the equipment sign of lamps and lanterns bluetooth equipment to the receiver that receives bluetooth data can confirm the source of bluetooth data. In specific application, the bluetooth data may be a wireless bluetooth beacon, the bluetooth beacon is an external device of the terminal, and the working principle of the bluetooth beacon is to send a Unique ID of the bluetooth beacon, such as a globally Unique Identifier UUID (Universally Unique Identifier), to the surroundings through bluetooth low energy, and application software on the terminal may scan and analyze the ID, and finally, information push based on an indoor location is achieved. The Bluetooth beacon does not have the function of collecting data, does not steal the identity information of a user of the terminal, and can realize the functions of positioning the terminal and pushing information.

Specifically, in each lamp in the current scene, a lamp bluetooth device is arranged, one lamp may be correspondingly provided with one lamp bluetooth device, and one lamp may also be correspondingly provided with a plurality of lamp bluetooth devices. The lamp Bluetooth device can send Bluetooth data to the outside in real time or periodically, and the terminal can receive the Bluetooth data sent by the lamp Bluetooth device when being close to the lamp.

And step 204, acquiring equipment attribute information preset by each lamp Bluetooth equipment.

The device attribute information is attribute information of the lamp bluetooth device, and may specifically include, but is not limited to, a model, an identifier, a bluetooth data transmission cycle, a location of the lamp bluetooth device, and the like. The device attribute information may be set when the lamp is installed or the lamp bluetooth device is installed, for example, the location of the lamp bluetooth device is determined according to the installation location of the lamp. The equipment attribute information can be prestored in the server, and when the terminal receives the Bluetooth data for positioning, the terminal can request the equipment attribute information preset by each lamp Bluetooth equipment in the current scene from the server.

Specifically, after receiving bluetooth data sent by the bluetooth lamp devices, the terminal acquires device attribute information preset by each bluetooth lamp device in a current scene. During specific implementation, the terminal can send an attribute information acquisition request to the server to request the server to feed back the device attribute information of each lamp bluetooth device in the current scene. For example, the bluetooth data may carry a server address, and the terminal extracts the server address from the bluetooth data, sends an attribute information acquisition request to the server through the server address, and receives device attribute information sent by the server.

In step 206, the current location is determined based on the bluetooth data and the device attribute information.

The current position is a position of the terminal in a current scene, and may specifically include a coordinate position in the current scene. For example, the current position may include three-dimensional coordinates, so that the current position of the terminal is reflected by the three-dimensional coordinates; the current position can comprise two-dimensional coordinates and information of buildings and floors, the buildings where the terminals are located and the floors where the terminals are located can be determined by combining the information of the buildings and the information of the floors, and then the specific positions of the terminals in the floors can be determined according to the two-dimensional coordinates.

Specifically, the terminal performs positioning according to the obtained bluetooth data and the device attribute information, and determines the current position of the terminal. In specific application, the terminal can determine the lamp Bluetooth device corresponding to the Bluetooth data, and obtain the position of the lamp Bluetooth device by inquiring the device attribute information, so as to obtain the current position of the terminal. When the number of the Bluetooth data is multiple, the positioning can be carried out through a trilateration method, and the current position of the terminal is obtained.

And 208, acquiring an evacuation path generated according to the scene map corresponding to the current scene and the current position, and performing evacuation navigation based on the evacuation path.

The scene map is a map of a current scene, describes a spatial position condition in the current scene, and specifically can describe an entrance position, a spatial division, a channel route and the like of the current scene. The evacuation path is generated according to the current position and the scene map, the current position is taken as a starting point, the evacuation destination is taken as a terminal point, for example, an indication route taking a scene exit as a terminal point, the evacuation path can carry out evacuation navigation on the crowd, and therefore the user corresponding to the indication terminal is effectively evacuated.

Specifically, the terminal acquires an evacuation path generated according to a scene map corresponding to a current scene and a current position, the evacuation path may be acquired by the terminal from the server, for example, after the terminal determines the current position according to bluetooth data and device attribute information, the terminal sends the current position to the server, so that the server generates the evacuation path according to the scene map corresponding to the current scene and the current position, and sends the evacuation path to the terminal, and the terminal performs evacuation navigation based on the evacuation path. In addition, the evacuation path may also be generated by the terminal, for example, after the terminal determines the current position, the terminal may send a scene map acquisition request to the server to request the server to acquire a scene map corresponding to the current scene, and after the terminal receives the scene map sent by the server, the terminal generates the evacuation path according to the scene map and the current position, and performs evacuation navigation based on the acquired evacuation path. In a specific implementation, the evacuation path may be a moving route marked in the scene map, and specifically, a starting point, an intermediate route, a terminal point, a current position, and the like of the evacuation path may be marked, so that the user can visually check to perform evacuation.

According to the evacuation navigation method based on Bluetooth positioning, positioning is carried out according to Bluetooth data sent by at least one lamp Bluetooth device in the current scene and device attribute information preset by each lamp Bluetooth device, the device attribute information of the lamp Bluetooth devices in the current scene can be effectively utilized for positioning, an accurate current position is obtained, evacuation navigation is carried out based on a scene map corresponding to the current scene and an evacuation route generated by the current position, the position and evacuation route conditions can be accurately determined, crowds can be avoided from being blocked, and the crowd evacuation effect is improved.

The target equipment identification refers to the identification of the lamp Bluetooth equipment correspondingly sent by the Bluetooth data received by the terminal. The method includes the steps that a plurality of lamp Bluetooth devices are arranged in a current scene, when a user carries a terminal to move in the current scene, the terminal can receive Bluetooth data sent by the lamp Bluetooth devices within a certain range, such as a range of 10-20 meters, and the terminal is located in the range of the lamp Bluetooth devices corresponding to the received Bluetooth data. The target address information refers to the position information of the lamp Bluetooth equipment, which is sent by the terminal corresponding to the Bluetooth data.

Specifically, when the terminal determines the current position, the terminal extracts the target device identifier from the bluetooth data, and according to the target device identifier, the transmission source of the bluetooth data can be determined, that is, the corresponding target lamp bluetooth device is determined. The device attribute information includes attribute information of each lamp bluetooth device in the current scene, and specifically includes address information of each lamp bluetooth device in the current scene. And the terminal determines the target address information of the target lamp Bluetooth device corresponding to the target device identification according to the device attribute information. For example, the device attribute information may include a correspondence between a device identifier and address information, and the terminal may match the target device identifier with the device identifier in the device attribute information, and determine the address information corresponding to the device identifier that is consistent with the matching as the target address information of the target lamp bluetooth device corresponding to the target device identifier. And obtaining the target address information, and determining the current position by the terminal based on the target address information and the signal intensity corresponding to the Bluetooth data. Different signal strengths correspond to different distances, and generally, the closer the terminal is to the lamp Bluetooth device, the stronger the signal strength of the received Bluetooth data is; otherwise, the received signal strength is weaker. According to the signal intensity of the Bluetooth data, the distance between the terminal and the target lamp Bluetooth device can be determined, and the current position of the terminal can be determined based on the distance and the target address information, for example, positioning can be realized based on a path loss model, which is also called trilateration.

In the embodiment, according to the target device identification extracted from the bluetooth data, the target address information of the corresponding target lamp bluetooth device is inquired from the device attribute information, and the current position is determined by combining the signal intensity corresponding to the bluetooth data, so that accurate indoor positioning can be realized based on bluetooth, and the accurate current position of the terminal is obtained, thereby ensuring the accuracy of an evacuation path and improving the evacuation navigation effect.

The device address information represents the position of the lamp bluetooth device, and specifically may include coordinate information of the lamp bluetooth device. The device identification is identity information capable of uniquely identifying the lamp Bluetooth device, such as the number and name of the lamp Bluetooth device.

Specifically, before acquiring device attribute information preset by each lamp bluetooth device, a server or a terminal may determine device address information and a device identifier of each lamp bluetooth device in a current scene, where the device address information may be determined according to an installation position of a lamp to which the lamp bluetooth device corresponds, and the device identifier may be obtained by naming or numbering the lamp bluetooth devices. And associating the equipment address information and the equipment identification respectively corresponding to each lamp Bluetooth equipment to obtain the equipment attribute information corresponding to each lamp Bluetooth equipment. Specifically, the device address information corresponding to each lamp bluetooth device and the device identifier can be associated, a corresponding relationship between the device address information and the device identifier is established, and the device attribute information corresponding to the lamp bluetooth device is obtained, so that the device address information corresponding to the lamp bluetooth device can be obtained by querying the device attribute information according to the device identifier.

In this embodiment, the device address information and the device identifier corresponding to each bluetooth device for the lamp in the current scene are associated to obtain the device attribute information corresponding to each bluetooth device for the lamp, so that the device address information corresponding to the bluetooth device for the lamp can be obtained by querying the device attribute information according to the device identifier.

In one embodiment, the evacuation path is obtained by the step of generating an evacuation path, as shown in fig. 3, the step of generating an evacuation path comprises:

step 302, a scene map corresponding to the current scene and dangerous case data in the current scene are obtained.

The dangerous situation data is information of a dangerous situation occurring in a current scene, for example, when a fire disaster occurs in the current scene, the dangerous situation data is fire information, such as video data of a fire scene shot by monitoring equipment in the current scene, temperature data sensed by a temperature sensor, smoke sensing results sensed by a smoke sensor, and the like. The danger existing in the current scene can be reflected through the dangerous case data so as to evacuate people.

Specifically, the terminal acquires a scene map corresponding to the current scene and dangerous case data in the current scene. In specific implementation, the scene map and the dangerous case data can be issued by the server, and specifically, the scene map and the dangerous case data can be sent to the terminal when the server monitors that the current scene sends the dangerous case. In addition, the scene map of the current scene is relatively fixed, and can be acquired by the terminal when being positioned and stored locally, for example, when the current position of the terminal belongs to the range of the current scene, the scene map of the current scene is stored, and when detecting that the terminal is not in the range of the current scene, the terminal deletes the locally stored scene map. And the dangerous case data in the current scene can be pushed to the terminal by the server in real time or periodically when the dangerous case occurs in the current scene. In another application, the evacuation path is generated by the server, so that the scene map and the dangerous case data of the current scene can be directly acquired by the server, and the evacuation path is generated and processed without being transmitted to the terminal.

In a specific application, the evacuation path is processed by the server, namely the server plans the evacuation path according to the scene map of the current scene and the monitored dangerous case data to obtain the evacuation path and sends the evacuation path to the terminal in real time or at regular time. At this time, the server may also send the dangerous case data to the terminal, so that when the terminal and the server are disconnected from the network, if the network is disconnected due to a fire occurring in the current scene, the terminal may plan the evacuation path locally according to the dangerous case data sent by the server.

And step 304, obtaining an evacuation risk map of the current scene according to the scene map and the dangerous case data.

The evacuation risk map is a map obtained by superimposing dangerous case data in a scene map, and can accurately reflect various dangerous or risk areas in the current scene, such as a fire burning area and a safety area of the current scene, so that the evacuation path can be planned according to the safety area. Specifically, the terminal or the server performs fusion and superposition according to the obtained scene map and the dangerous case data to obtain the evacuation risk map of the current scene. Specifically, the dangerous case represented in the dangerous case data can be mapped into a scene map, for example, a dangerous area where fire is burnt and an unburnt safe area can be marked in the scene map.

And step 306, generating an evacuation path according to the evacuation risk map and the current position.

And after the evacuation risk map is obtained, planning an evacuation path based on the evacuation risk map and the current position to obtain the evacuation path. For example, the terminal or the server may determine a safe exit in the current scene according to the evacuation risk map, determine the safe exit as an end point of the evacuation path plan, determine the current position as a start point of the evacuation path plan, and plan the evacuation path based on the dangerous area and the safe area in the evacuation risk map to obtain the evacuation path.

In the embodiment, an evacuation path is planned according to the evacuation risk map of the current scene obtained from the scene map and the dangerous case data and the determined current position of the terminal to generate the evacuation path, and the dangerous case data of the current scene is taken into consideration in the evacuation path planning in time so as to plan the evacuation path based on the real-time dangerous area and the safe area of the current scene, so that the safe evacuation path can be obtained, and the effect of evacuation navigation is ensured.

In one embodiment, the obtaining of the evacuation risk map of the current scene according to the scene map and the dangerous case data comprises: carrying out evacuation risk analysis based on the dangerous case data to obtain evacuation risk information corresponding to the dangerous case data; constructing map risk elements according to evacuation risk information; and fusing the map risk elements into a scene map to obtain the evacuation risk map of the current scene.

The evacuation risk information is information describing the evacuation risk of the dangerous case, which is obtained by analyzing the evacuation risk of the dangerous case data. For example, the evacuation risk information may be information describing a fire behavior, a wind direction, a category, a level, and the like of a fire after performing evacuation risk analysis on the monitored video data of the fire scene. Different evacuation risk information needs to be evacuated by adopting different evacuation means. The map risk element is an element for constructing a map, and specifically may include a graphic, a text, and the like describing a risk. For example, for a fire scene, the map risk elements may include map risk elements for a fire area, a safety area, a wind direction, a fire, and so on.

Specifically, after the scene map and the dangerous case data are obtained, the terminal or the server performs evacuation risk analysis based on the dangerous case data, so that evacuation risk information corresponding to the dangerous case data is obtained. For example, the fire analysis can be performed on the monitoring video data of the fire scene to obtain the evacuation risk information of the fire. And constructing map risk elements according to the obtained evacuation risk information, such as constructing a graph of the fire hazard area. And fusing the map risk elements into a scene map to obtain the evacuation risk map of the current scene. Specifically, various map risk elements can be superimposed into the scene map one by one, so that the dangerous case situation is visually marked in the scene map, and the evacuation risk map of the current scene is obtained.

In the embodiment, the map risk elements are constructed through the evacuation risk information obtained by analyzing the evacuation risk of the dangerous case data, and the constructed map risk elements are fused into the scene map, so that the dangerous case situation is visually marked in the scene map, the evacuation risk map of the current scene is obtained, the planning accuracy of the evacuation path can be ensured, and the evacuation navigation effect can be ensured.

The evacuation exit may be a safe exit in the current scene, and the evacuation exit may be a destination of the evacuation path plan. The target evacuation exit is selected from all the safe exits by combining the current position and the evacuation risk map, such as the safe exit closest to the specific current position or the safe exit with the shortest distance to the current position.

Specifically, the terminal or the server determines each evacuation exit in the evacuation risk map, and screens each evacuation exit by combining the current position and the evacuation risk map to obtain a target evacuation exit. In a specific implementation, the evacuation exit which is closest to the current position and marked as the safe area in the evacuation risk map can be determined as the target evacuation exit. In addition, the evacuation risk map can be predicted, for example, the evacuation risk map of a fire scene can be predicted, the spread of the fire can be predicted according to the fire intensity and the wind direction of fire burning and the flammability of objects in the current scene, and a target evacuation exit can be determined from the evacuation exits according to the prediction result. And planning the evacuation path by taking the target evacuation outlet as the end point of the evacuation path planning and the current position as the starting point of the evacuation path planning, and obtaining the evacuation path by combining the dangerous area and the safe area in the evacuation risk map.

In the embodiment, the target evacuation exits are determined from the evacuation exits according to the current position and the evacuation risk map, so that the safety of the target evacuation exits is ensured, the safety of evacuation paths is ensured, and the evacuation navigation effect is improved.

In one embodiment, the method for bluetooth location based evacuation navigation further comprises: acquiring rescue information of a current scene; determining a rescue path and a rescue equipment position from the rescue information; and according to the rescue path and the position of the rescue equipment, updating the path of the evacuation path, and performing evacuation navigation based on the updated evacuation path.

The rescue information is information for performing rescue processing aiming at the dangerous case of the current scene from the outside, such as information for performing fire extinguishing and rescue on a fire disaster occurring in the current scene by a fire fighter. The rescue path provides a rescue helping moving route for the rescue workers entering the current scene, and the rescue equipment is the position of the rescue facility provided by the rescue workers. For example, the rescue path may be a moving route in a current scene when a fire fighter carries out a fire scene to provide rescue assistance, and the rescue equipment position may be an installation position of various rescue equipment such as a fire truck, a life jacket, an escape mat, and the like.

Specifically, when the rescue for the dangerous case of the current scene is started externally, the terminal may obtain the rescue information of the current scene, and specifically, the server may send the rescue information of the current scene to the terminal. The terminal determines a rescue path and a rescue equipment position from the rescue information, and a user corresponding to the terminal can obtain rescue help on the rescue path and the rescue equipment position. After the terminal determines the rescue path and the position of the rescue equipment, the terminal updates the path of the evacuation path according to the rescue path and the position of the rescue equipment, and performs evacuation navigation based on the updated evacuation path. In specific application, rescue workers move based on a rescue path to provide rescue help, and users corresponding to the terminals can move to the rescue path to receive the rescue help of the rescue workers; the user corresponding to the terminal can also move to the rescue equipment to obtain rescue help of the rescue equipment.

In the embodiment, the evacuation path is updated through the rescue path and the position of the rescue equipment, so that the help of external rescue can be quickly searched when external rescue exists, and the evacuation navigation effect is further improved.

In an embodiment, an evacuation navigation method based on bluetooth positioning is provided, and a scene applied to the evacuation navigation method based on bluetooth positioning is shown in fig. 4, specifically, in a cluttered environment, such as a subway, a mall, an airport, a library, a stadium, an underground garage, a goods warehouse, and the like, a bluetooth transmitting module is built in each lamp, the bluetooth module periodically transmits a wireless bluetooth beacon, the transmitted bluetooth beacon includes a globally unique identifier (UUID), and the controller can acquire the bluetooth unique identifier corresponding to each lamp by being in wired connection with the lamp. The controller binds the position information of the lamp with the Bluetooth unique identifier (UUID) of each lamp, and stores the position information and the data information of the Bluetooth identifier in a data center through a network cloud. The terminal of the user, such as the mobile phone of the user, can receive the Bluetooth beacon when passing by the lamp, the effective distance is 10-20m, and the mobile phone can receive the Bluetooth beacons of a plurality of lamps at the same time. The mobile phone can analyze UUID numbers in the Bluetooth beacons, access the data center through 4G or 5G wireless signals, acquire address information bound by the UUIDs, calculate the strength of the Bluetooth beacons received by the lamp, analyze and position the current position information of the mobile phone, and accordingly achieve accurate positioning information of indoor mobile phone users.

Furthermore, various indoor positioning technologies can be adopted, and address information and Bluetooth beacon strength bound by the UUID are utilized to position the mobile phone. The indoor positioning technology can comprise an Ultra Wide Band (UWB) indoor positioning technology, and the Ultra Wide Band (UWB) wireless positioning technology is a hotspot and a first choice of the future wireless indoor positioning technology due to the advantages of low power consumption, good multipath resistance effect, high safety, low system complexity, capability of providing very accurate positioning accuracy and the like. UWB technology is a technology with weak transmitting powerThe transmission rate is remarkable (the upper limit reaches over 1000 Mbps), the penetration capability is relatively excellent, the space capacity is sufficient, and the method is based on a wireless technology under the condition of extremely narrow pulse and has no carrier wave. By these advantages, the indoor positioning is performed in a very dripping manner, and a good effect is achieved. The UWB positioning system has the positioning accuracy reaching centimeter level, has the advantages of high accuracy, high dynamic, high capacity, low power consumption and the like, and is mainly used in the industries such as coal mine, chemical industry, electric energy, hospital, nursing home, tunnel, manufacturing industry, official inspection and judicial treatment. As another example, Radio Frequency Identification (RFID) technology, which utilizes the principle of electromagnetic induction to wirelessly excite a short-range wireless tag to read information. Rfid distances range from a few centimeters to tens of meters. Typical applications of RFID for personnel location come from the extension of personnel attendance systems, compared with UWB location technology, RFIDIs mainly used for identifying whether personnel exist in a certain area, cannot track in real time and is definiteThere is no standard network architecture for bit applications. Therefore, it is not suitable for use in inspection of large-sized equipment, confirmation of personal safety, and the like.

The ZigBee indoor positioning means that positioning is completed in an area in a room in an indoor environment, and the intelligent convergent-divergent system can realize accurate indoor positioning in an ad hoc network mode by means of the built-in ZigBee module of an inherent evacuation indicating lamp distribution point. Indoor positioning skills can be reasonably selected according to the precision requirement of indoor positioning scheme projects. Regarding different scene of answering, to accomplish accurate indoor location, the requirement selects the location skill of multidimension form, and the principle that one-dimensional location used is just range finding uses, can fix a position the X linear coordinate of lamps and lanterns. And the X and Y plane coordinates of the evacuation indicator lamp can be positioned according to the two-dimensional positioning requirement, so that the position and the behavior track of the positioning target label can be accurately known. The device is often used in large space, and can accurately determine the position of personnel and materials. The three-dimensional positioning needs to position the X, Y and Z three-dimensional coordinates of the evacuation indicator lamp, so that the position information of the positioning target on the plane can be completed, the position information of the positioning target on the height can be monitored, and the three-dimensional positioning method is commonly used in three-dimensional buildings.

The reflection type distance measurement method adopted by the ultrasonic indoor positioning technology is the most commonly adopted method for ultrasonic positioning. The system consists of a main range finder and a plurality of electronic tags, wherein the main range finder is generally arranged on the mobile robot body, and each electronic tag is fixed and is arranged at a fixed position in an indoor space. The positioning process is as follows: the upper computer sends signals with the same frequency to each electronic tag, and the electronic tags receive the signals and then reflect the signals to be transmitted to the main range finder, so that the distance between each electronic tag and the main range finder can be determined, and positioning coordinates are obtained. The intelligent gateway and the intelligent terminal equipment are connected through a Zigbee protocol, ZigBee modules are arranged at two ends, all the intelligent terminal equipment are matched to the intelligent gateway, then the gateway is connected with wifi or is connected with the mobile phone APP by using mobile phone flow, when the terminal equipment is controlled, the instruction is sent out by the mobile phone APP, the instruction is immediately uploaded to the server, the server transmits the instruction to the gateway, after the gateway receives the instruction, the instruction is transmitted to the terminal equipment through the ZigBee communication protocol, the terminal equipment can perform related operation after receiving the instruction, on the contrary, when the state of the terminal equipment is required to be known, the terminal equipment transmits state information to the gateway through the ZigBee communication protocol, the gateway uploads the server again, and the mobile phone APP is retransmitted to the server, so that the working state of each terminal device can be seen on the mobile phone APP, and accurate indoor positioning can be realized in the same way.

The specific positioning principle of the bluetooth indoor positioning technology is based on RSSI (Received Signal Strength Indication) Signal Strength positioning, firstly, a bluetooth Beacon is laid in an area, Beacon transmits signals, bluetooth equipment receives and feeds back the signals, and when the equipment enters the range, the distance between the bluetooth equipment in the system is estimated. By this technique, the positioning system can achieve a meter level of accuracy in determining the location of a particular device. In specific implementation, the corresponding indoor positioning technology can be selected according to actual needs to perform indoor positioning processing on the terminal.

In this embodiment, based on the inertial navigation technology and the wireless communication technology, the personnel location is realized when there is no public network and no GPS (Global Positioning System) network. Because the inertial navigation positioning mode is autonomous positioning, the investment cost of the infrastructure of the Internet of things (for example, ZigBee and ibeacon need to deploy a large amount of equipment to ensure the accurate positioning) can be greatly reduced, and the accurate positioning and route planning functions are provided for users by completely depending on a pure inertial navigation algorithm. The algorithm of inertial navigation can be used indoors together with ZigBee and ibeacon, so that the precision is higher, but the use amount of ZigBee and ibeacon is greatly less than that of a scheme for positioning by using ZigBee and ibeacon. In indoor positioning, the scheme of inertial navigation has higher cost performance than ZigBee and ibeacon, the positioning precision of inertial navigation is better, the investment cost of infrastructure of the Internet of things is low, the maintenance is simple and convenient, and the factors can enable the path of inertial navigation in indoor positioning to be wider and wider. The ZigBee indoor positioning scheme is characterized in that networking is formed between a plurality of blind nodes to be positioned and a reference node with a known direction and a gateway, and all tiny blind nodes are coordinated and communicated with each other to complete all positioning. ZigBee is an emerging short-interval low-speed wireless network technology, the sensors only need little energy, data are transmitted from one node to another node through radio waves in a connecting method, the ZigBee is used as a communication system with low power consumption and low cost, and the ZigBee has very high operating efficiency. However, the ZigBee signal transmission is greatly influenced by multipath effect and movement, the positioning accuracy depends on the physical quality of a channel, the signal source density, the environment and the accuracy of an algorithm, the cost for forming positioning software is high, and the space is greatly improved.

Specifically, as for the signal arrival time, as shown in fig. 5, the measured point (tag) transmits a signal to reach more than 3 reference node receivers (base stations), the distance between the transmitting point and the receiving point is obtained by measuring the time taken to reach different receivers, then a circle is made with the receiver as the center of the circle and the measured distance as the radius, and the intersection point of 3 circles is the position of the measured point. However, the reference node and the measured point are required to keep strict time synchronization, and most application occasions cannot meet the requirement. In the implementation process of the method, the distance information between the positioning tag and each base station needs to be measured, so that the positioning tag needs to communicate with each base station back and forth, and the power consumption of the positioning tag is high. The positioning method has the advantage that high positioning accuracy can be kept inside and outside a positioning area (inside and outside an area enclosed by base stations). The method only needs to keep synchronization between the reference nodes, does not require strict time synchronization between the reference nodes and the measured point, and relatively simplifies the system, so the method is most widely applied to a positioning system. TDOA (Time Difference of Arrival) positioning, i.e., hyperbolic positioning, requires the use of 4 positioning base stations in two-dimensional positioning. By measuring the distance difference between the tag and each two base stations, if the distance difference is equal to a constant value, a hyperbola can be drawn, and the intersection point of the curves can determine the coordinates of the tag. In the implementation process of the method, the tag only needs to broadcast the UWB signal once, so that the power consumption of the tag and the tag concurrency number are facilitated. For the Arrival Angle of the signal, as shown in fig. 6, AOA (Angle-of-Arrival ranging) refers to calculating the specific location of the node by measuring the size of an included Angle between the propagation direction of the signal and the horizontal plane of the positioning node when the wireless signal transmitted by the anchor node arrives at the positioning node, and an Angle sensor or a receiving array is required, and the Arrival Angle value of the signal transmitted by other adjacent anchor nodes within the communication radius must be measured accurately to ensure that the positioning accuracy meets the system requirement. The algorithm is limited in practical application due to high requirements on hardware and susceptibility to external environment. For the Received Signal Strength, RSS (Received Signal Strength ) means that the Received Signal Strength of a wireless Signal sent by an anchor node at a positioning node is measured as a positioning characteristic quantity, and the position of a target node is positioned by using an acquired RSS value. The method is characterized in that positioning (called trilateration) is achieved based on a path loss model and coordinate information of a positioning node is obtained according to a fingerprint identification algorithm (called pattern matching).

When fire alarm information occurs, the data center can also accurately push the fire alarm information to a mobile phone of a user, so that the user can be guided to be effectively evacuated, and meanwhile, people flow data statistics, fire rescue and the like can be realized according to positioning information. Specifically, on one hand, the server may send the scene map to the terminal, so that the terminal performs evacuation navigation according to the scene map corresponding to the current scene and the evacuation path generated by the current location, or send the scene map corresponding to the current scene and the evacuation path generated by the current location to the terminal for evacuation navigation.

On the other hand, for rescue workers, rescue navigation can be achieved based on Bluetooth positioning. The rescue system comprises a positioning terminal, an individual soldier terminal, a receiving terminal, a field monitoring platform and a remote monitoring platform. Wherein, the location terminal is worn in user's foot also can be built-in safety helmet, and the volume is less, and the battery energy supply. The internal main device comprises a ZigBee communication protocol module, an acceleration sensor, a gyro sensor, a temperature sensor and a wireless data transmission and sending module. The acceleration sensor is mainly used for calculating displacement and height, and the gyro sensor is mainly used for calculating direction and attitude. Various related parameters are resolved into coordinates and then transmitted to the data terminal through the ZigBee. The main equipment of the individual terminal is an 'ad hoc network sending module' which is mainly used for receiving data sent by the positioning terminal through a ZigBee protocol and sending positioning coordinates to a receiving terminal of a back-field monitor through a wireless narrowband ad hoc network module. The data transmitted from the back-field monitoring terminal can be received through the wireless narrowband ad hoc network module, real-time voice talkback can be carried out among the individual soldier terminals, and the wireless narrowband ad hoc network module has a voice MESH function and can be used for relaying each other. The main equipment of the receiving terminal is an ad hoc network receiving module which corresponds to an ad hoc network sending module in the individual soldier terminal and is mainly used for receiving and sending various important data and voice data transmitted by the module and storing and analyzing the data. A three-prevention smart phone with an ARM chip and an Android system is arranged in a rescue individual terminal, 400-480 Mhz data transmission is supported, Bluetooth data transparent transmission is supported, and ZigBee communication is supported. The system has the functions of receiving, processing and forwarding various data (positioning data is one of the data). The rescue receiving terminal is mainly provided with a wireless receiving module, the wireless receiving module corresponds to a wireless sending module in the data terminal, and the wireless receiving module is mainly used for receiving, storing and analyzing various important data transmitted by the sending module. The on-site monitoring platform can be a three-dimensional monitoring platform, the positions of the personnel are calculated by combining related mathematical models and three-dimensional graphs according to the personnel position related parameters transmitted by the wireless receiving terminal, and the positions, walking tracks and postures of the personnel are displayed in the three-dimensional monitoring service platform, so that the on-site condition is subjected to statistical analysis in real time. The remote monitoring platform has a 4G/5G function, and realizes interconnection and intercommunication between the on-site monitoring platform and the remote monitoring platform of the fire department by adopting a VPN (Virtual Private Network) technology, and the on-site monitoring platform transmits the collected related information to the remote monitoring platform corresponding to the fire department in time, so that the on-site individual combat condition is remotely checked, and the command and the scheduling are convenient. In specific application, the system can be used for on-site plan management, has a three-dimensional graph function, and can manage escape routes of people in a unit of a counterweight; displaying the force deployment of field fire-fighting vehicles, social vehicles, command vehicles and the like for management; for the fire condition, the fire-fighting water bag arrangement management, the simulated water cannon fire extinguishing, the fire condition display, the field personnel arrangement prevention and the like can be displayed. When modeling is carried out, a professional database is not needed, a modular house type rapid modeling method is adopted, and simple external and internal structure models of various buildings can be rapidly built at any time and any place; the building model can be positioned to the area through a satellite map and quickly outlined for modeling; the building plan can be imported to carry out a rapid modeling function; the DXF format is supported to facilitate the conversion and use of the building CAD drawing; modeling is carried out according to the sampling track.

In the embodiment, the product (rescue terminal) has a visual track function, and rescue terminal personnel can see the track of the rescue terminal personnel and the comforters in distress. The radar detection function is built in, team members can detect in a short distance, and rescue finding of buried team members is facilitated. The navigation type rescue function is realized, the track of the people in distress can be checked by the search and rescue terminal, the whole voice broadcasting process is realized, and the search and rescue terminal can follow the track of the people in distress to search. The distribution of personnel in the building can be checked at the first time, and meanwhile, each personnel can compile basic information (names and departments) of related firefighters in real time, so that the general command site scheduling and regulation and control are facilitated. Personnel three-dimensional location and orbit simulation can realize accurate location and highlight marking to the fire fighter in the building model according to the three-dimensional parameter that the positioning terminal that personnel wore transmitted back, and the back command system of being convenient for masters rescue first line developments in real time. Simultaneously, realize personnel's walking orbit real time kinematic simulation in the building according to the three-dimensional parameter that personnel's positioning device transmitted back, the orbit of every fire fighter's walking adopts a colour expression, the position of the real time monitoring fire fighter of being convenient for to many extremely dangerous areas, can indicate the fire fighter to make and take precautions against, accomplish the on-the-spot high-efficient risk prevention and control of rescue. In the process of searching, the handheld terminal can be used for voice broadcasting to guide the walking direction of the search and rescue personnel, and navigation type search and rescue is realized. The system is provided with a three-dimensional construction and display module, and can realize three-dimensional modeling on a specific structure in a short time. Meanwhile, the functions of zooming, translating and rotating and positioning can be realized on the building three-dimensional model at the display terminal, so that the visual roaming browsing of different parts (outer walls, internal structures, channels, equipment and the like) of the building is realized.

When the fire rescue is carried out specifically, the fire fighter can realize real-time positioning (height and direction), action track presentation and real-time voice talkback for the fire rescue. The method specifically realizes accurate positioning and highlighting marking of the fire fighters in the building model according to the three-dimensional parameters transmitted back by the positioning terminal worn by the firefighters, and facilitates a rear command system to master first-line rescue dynamics in real time. Meanwhile, real-time dynamic simulation of the walking track of the fire fighter is realized in the building according to the three-dimensional parameters transmitted back by the fire positioning equipment, the walking track of each fire fighter is represented by one color, the position of the fire fighter can be monitored in real time conveniently, the fire fighter can be prompted to take precautions for many extremely dangerous areas, efficient risk prevention and control of a rescue site are realized, a command terminal can carry out voice talkback with the rescue personnel in the front scene in real time, the command person can master the latest condition in the fire scene in real time conveniently, the rapid modeling of a rapid adjustment and accurate judgment combat scheme is carried out, the three-dimensional visual presentation system is provided with a three-dimensional construction and display module, and three-dimensional modeling can be realized for a specific structure in a short time. Meanwhile, the functions of zooming, translating and rotating and positioning can be realized on the building three-dimensional model at the display terminal, so that the visual roaming browsing of different parts (outer walls, internal structures, channels, equipment and the like) of the building is realized.

And the one-click track pushing can be realized to achieve the navigation type quick and accurate search and rescue. Once a fire fighter in a fire scene is in danger and needs to be rescued, the command monitoring end can transmit the walking history track and the current coordinate of the soldier in danger to the handheld rescue individual terminal of the search and rescue personnel, the search and rescue personnel can quickly find the soldier in danger along the track and the coordinate of the soldier in danger, and in the searching process, the handheld rescue individual terminal can conduct voice broadcasting to guide the walking direction of the search and rescue personnel and achieve navigation type search and rescue.

And the automatic alarm function and the alarm release or the alarm of the static posture for the preset time and the release after walking can be realized. Specifically, after the firefighter is successfully positioned, the system starts to monitor the dynamics of the firefighter in real time, when the firefighter is in a static or lying posture for more than 30 seconds (the time can be customized and adjusted), the system automatically alarms, and after the firefighter recovers the walking or running state, the system randomly relieves the alarm, thereby playing a role in calling for help. The alarm information and the alarm relieving information can be transmitted to a terminal system on the spot through a ZigBee communication protocol, so that the alarm information and the alarm relieving information can be synchronized to a corresponding fire-fighting remote monitoring system.

Meanwhile, a convenient and rapid relay mode can be expanded and applied to an underground space, specifically, after the underground space, particularly various wall surfaces and equipment are blocked, communication signals are attenuated rapidly, in order to recover the signal capability, weak signals can be enhanced and then forwarded by adding a relay terminal, so that the purpose of signal relay is achieved, generally, the distance of each plane of the underground space is 150 meters, and the relay terminal (capable of receiving the communication protocol of ZigBee) is suggested to be placed at an upper layer and a lower layer at intervals, so that the signals can be enhanced and recovered.

In addition, the map, the on-site fire-fighting facilities and the fire-fighting equipment can be matched for dynamic display, and the dynamic state can be pushed to a back command center in real time. Specifically, the system has a map function, can search a fire scene place for map matching, places the three-dimensional model in an adaptive map area, arranges corresponding ignition points, fire trucks and other elements, and visually and dynamically displays the scene rescue state. The field monitoring platform has a 3G/4G function, a public network local area network is built by adopting a VPN technology, interconnection and intercommunication between the field monitoring platform and a remote monitoring platform of a fire department are realized, the field monitoring platform transmits the collected related information to the remote monitoring platform corresponding to the fire department in time, and a command center can directly know the field geographic position, the fire situation, the rescue force deployment and other related conditions in time, so that the field individual combat condition can be remotely checked, and the command and the dispatching are convenient.

It should be understood that although the various steps in the flow charts of fig. 2-3 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-3 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps.

In one embodiment, as shown in fig. 7, there is provided a bluetooth location based evacuation navigation device 700, comprising: bluetooth data receiving module 702, device information acquisition module 704, location processing module 706 and evacuation navigation module 708, wherein:

a bluetooth data receiving module 702, configured to receive bluetooth data sent by at least one luminaire bluetooth device in a current scene;

the device information acquiring module 704 is used for acquiring device attribute information preset by each lamp bluetooth device;

a positioning processing module 706, configured to determine a current position according to the bluetooth data and the device attribute information;

the evacuation navigation module 708 is configured to obtain an evacuation path generated according to a scene map corresponding to the current scene and the current position, and perform evacuation navigation based on the evacuation path.

In one embodiment, the location processing module 706 includes a target identification determination module, a target address determination module, and a location determination module; wherein: the target identification determining module is used for extracting a target device identification from the Bluetooth data; the target address determining module is used for determining target address information of the target lamp Bluetooth device corresponding to the target device identification according to the device attribute information; and the position determining module is used for determining the current position according to the target address information and the signal intensity corresponding to the Bluetooth data.

In one embodiment, the system further comprises a device information acquisition module and a device information association module; wherein: the device information acquisition module is used for determining the device address information and the device identification of each lamp Bluetooth device in the current scene; and the equipment information association module is used for associating the equipment address information with the equipment identifier to obtain the equipment attribute information corresponding to each lamp Bluetooth equipment.

In one embodiment, the system further comprises a scene data acquisition module, a risk map construction module and a path generation module; wherein: the scene data acquisition module is used for acquiring a scene map corresponding to the current scene and dangerous case data in the current scene; the risk map building module is used for obtaining an evacuation risk map of the current scene according to the scene map and the dangerous case data; and the route generation module is used for generating an evacuation route according to the evacuation risk map and the current position.

In one embodiment, the risk map construction module comprises a risk analysis module, a risk element construction module and a map fusion module; wherein: the risk analysis module is used for carrying out evacuation risk analysis based on the dangerous case data to obtain evacuation risk information corresponding to the dangerous case data; the risk element construction module is used for constructing map risk elements according to the evacuation risk information; and the map fusion module is used for fusing the map risk elements into the scene map to obtain the evacuation risk map of the current scene.

In one embodiment, the path generation module includes an evacuation egress determination module, a target egress determination module, and an evacuation path planning module; wherein: the evacuation exit determining module is used for determining each evacuation exit in the evacuation risk map; the target exit determining module is used for determining a target evacuation exit from the evacuation exits according to the current position and the evacuation risk map; and the evacuation path planning module is used for generating an evacuation path based on the current position and the target evacuation outlet.

In one embodiment, the system further comprises a rescue information acquisition module, a rescue information analysis module and a path updating module; wherein: the rescue information acquisition module is used for acquiring rescue information of the current scene; the rescue information analysis module is used for determining a rescue path and a rescue equipment position from the rescue information; and the route updating module is used for updating the route of the evacuation route according to the rescue route and the position of the rescue equipment and performing evacuation navigation based on the updated evacuation route.

For the specific definition of the bluetooth positioning based evacuation navigation device, reference may be made to the above definition of the bluetooth positioning based evacuation navigation method, which is not described herein again. The modules in the bluetooth positioning-based evacuation navigation device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 8. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a bluetooth location based evacuation navigation method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.

Those skilled in the art will appreciate that the architecture shown in fig. 8 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:

In one embodiment, the processor, when executing the computer program, further performs the steps of: extracting a target device identification from the Bluetooth data; determining target address information of the target lamp Bluetooth device corresponding to the target device identification according to the device attribute information; and determining the current position according to the target address information and the signal intensity corresponding to the Bluetooth data.

In one embodiment, the processor, when executing the computer program, further performs the steps of: determining equipment address information and equipment identification of each lamp Bluetooth equipment in the current scene; and associating the equipment address information with the equipment identification to obtain equipment attribute information corresponding to each lamp Bluetooth equipment.

In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring a scene map corresponding to a current scene and dangerous case data in the current scene; obtaining an evacuation risk map of the current scene according to the scene map and the dangerous case data; and generating an evacuation path according to the evacuation risk map and the current position.

In one embodiment, the processor, when executing the computer program, further performs the steps of: carrying out evacuation risk analysis based on the dangerous case data to obtain evacuation risk information corresponding to the dangerous case data; constructing map risk elements according to evacuation risk information; and fusing the map risk elements into a scene map to obtain the evacuation risk map of the current scene.

In one embodiment, the processor, when executing the computer program, further performs the steps of: determining each evacuation exit in an evacuation risk map; determining a target evacuation outlet from the evacuation outlets according to the current position and the evacuation risk map; an evacuation path is generated based on the current location and the target evacuation egress.

In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring rescue information of a current scene; determining a rescue path and a rescue equipment position from the rescue information; and according to the rescue path and the position of the rescue equipment, updating the path of the evacuation path, and performing evacuation navigation based on the updated evacuation path.

In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:

In one embodiment, the computer program when executed by the processor further performs the steps of: extracting a target device identification from the Bluetooth data; determining target address information of the target lamp Bluetooth device corresponding to the target device identification according to the device attribute information; and determining the current position according to the target address information and the signal intensity corresponding to the Bluetooth data.

In one embodiment, the computer program when executed by the processor further performs the steps of: determining equipment address information and equipment identification of each lamp Bluetooth equipment in the current scene; and associating the equipment address information with the equipment identification to obtain equipment attribute information corresponding to each lamp Bluetooth equipment.

In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring a scene map corresponding to a current scene and dangerous case data in the current scene; obtaining an evacuation risk map of the current scene according to the scene map and the dangerous case data; and generating an evacuation path according to the evacuation risk map and the current position.

In one embodiment, the computer program when executed by the processor further performs the steps of: carrying out evacuation risk analysis based on the dangerous case data to obtain evacuation risk information corresponding to the dangerous case data; constructing map risk elements according to evacuation risk information; and fusing the map risk elements into a scene map to obtain the evacuation risk map of the current scene.

In one embodiment, the computer program when executed by the processor further performs the steps of: determining each evacuation exit in an evacuation risk map; determining a target evacuation outlet from the evacuation outlets according to the current position and the evacuation risk map; an evacuation path is generated based on the current location and the target evacuation egress.

In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring rescue information of a current scene; determining a rescue path and a rescue equipment position from the rescue information; and according to the rescue path and the position of the rescue equipment, updating the path of the evacuation path, and performing evacuation navigation based on the updated evacuation path.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. An evacuation navigation method based on Bluetooth positioning is applied to a terminal, and the method comprises the following steps:

when the network connection between the terminal and the server is successful, receiving a scene map corresponding to the current scene, dangerous case data in the current scene and an evacuation path which are sent by the server, and carrying out evacuation navigation based on the evacuation path; the evacuation path is generated by the server according to the scene map, the dangerous situation data and the current position;

when the network connection between the terminal and the server is disconnected, generating an evacuation path at a local end according to the scene map, the dangerous case data and the current position, and performing evacuation navigation based on the evacuation path generated at the local end;

acquiring rescue information of the current scene; determining a rescue path and a rescue equipment position from the rescue information; according to the rescue path and the position of the rescue equipment, updating the evacuation path, and performing evacuation navigation based on the updated evacuation path;

the evacuation path is obtained by the step of generating an evacuation path, which comprises the steps of: acquiring a scene map corresponding to the current scene and dangerous case data in the current scene; carrying out evacuation risk analysis based on the dangerous case data to obtain evacuation risk information corresponding to the dangerous case data; constructing map risk elements according to the evacuation risk information; fusing the map risk elements into the scene map to obtain an evacuation risk map of the current scene; determining each evacuation egress in the evacuation risk map; determining a target evacuation outlet from each of the evacuation outlets according to the current location and the evacuation risk map; generating an evacuation path based on the current location and the target evacuation egress.

2. The method of claim 1, wherein determining the current location based on the bluetooth data and the device attribute information comprises:

extracting a target device identification from the Bluetooth data;

determining target address information of the target lamp Bluetooth device corresponding to the target device identification according to the device attribute information;

and determining the current position according to the target address information and the signal intensity corresponding to the Bluetooth data.

3. The method according to claim 1, before the obtaining of the device attribute information preset by each luminaire bluetooth device, further comprising:

determining equipment address information and equipment identification of each lamp Bluetooth equipment in the current scene;

and associating the equipment address information with the equipment identification to obtain equipment attribute information corresponding to each lamp Bluetooth equipment.

4. An evacuation navigation device based on Bluetooth positioning, which is applied to a terminal, the device comprises:

the evacuation navigation module is used for receiving a scene map corresponding to the current scene, dangerous case data and an evacuation path in the current scene, which are sent by the server, and performing evacuation navigation based on the evacuation path when the network connection between the terminal and the server is successful; the evacuation path is generated by the server according to the scene map, the dangerous situation data and the current position; when the network connection between the terminal and the server is disconnected, generating an evacuation path at a local end according to the scene map, the dangerous case data and the current position, and performing evacuation navigation based on the evacuation path generated at the local end; acquiring rescue information of the current scene; determining a rescue path and a rescue equipment position from the rescue information; according to the rescue path and the position of the rescue equipment, updating the evacuation path, and performing evacuation navigation based on the updated evacuation path;

the scene data acquisition module is used for acquiring a scene map corresponding to the current scene and dangerous case data in the current scene;

the risk analysis module is used for carrying out evacuation risk analysis based on the dangerous case data to obtain evacuation risk information corresponding to the dangerous case data;

the risk element construction module is used for constructing map risk elements according to the evacuation risk information;

the map fusion module is used for fusing the map risk elements into the scene map to obtain an evacuation risk map of the current scene;

an evacuation exit determining module, configured to determine each evacuation exit in the evacuation risk map;

the target exit determining module is used for determining a target evacuation exit from the evacuation exits according to the current position and the evacuation risk map;

and the evacuation path planning module is used for generating an evacuation path based on the current position and the target evacuation outlet.

5. The apparatus of claim 4, wherein the location processing module comprises:

the target identification determining module is used for extracting a target device identification from the Bluetooth data;

the target address determining module is used for determining target address information of the target lamp Bluetooth device corresponding to the target device identification according to the device attribute information;

and the position determining module is used for determining the current position according to the target address information and the signal intensity corresponding to the Bluetooth data.

6. The apparatus of claim 4, further comprising:

the device information acquisition module is used for determining the device address information and the device identification of each lamp Bluetooth device in the current scene;

and the equipment information association module is used for associating the equipment address information with the equipment identification to obtain the equipment attribute information corresponding to each lamp Bluetooth equipment.

7. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor when executing the computer program implements the steps of:

8. The computer device of claim 7, wherein the processor, when executing the computer program, further performs the steps of:

extracting a target device identification from the Bluetooth data;

9. The computer device of claim 7, wherein the processor, when executing the computer program, further performs the steps of:

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 3.