CN114812559A - Method and device for planning dynamic intelligent evacuation path of building - Google Patents
Method and device for planning dynamic intelligent evacuation path of building Download PDFInfo
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Abstract
The invention relates to the technical field of emergency route planning, and discloses a method and a device for planning a dynamic intelligent evacuation path of a building, wherein the method comprises the following steps: step S1: extracting a wall structure of a building; step S2: extracting coordinates of the signpost and the detector; step S3: generating an adjacency list of path nodes; step S4: correcting the path adjacency list; step S5: corresponding the coordinates of the detector with the path nodes; step S6: writing environmental information in real time; step S7: calculating the evacuation speed; step S8: planning an evacuation path and evacuation time; step S9: modifying the display state of the signboard; step S10: dynamically modifying an evacuation path: when a fire breaks out, repeating the step S6 to the step S9, and dynamically modifying the evacuation path in real time according to the environmental information of the path; the device comprises a detector, a controller and a signboard. The method for dynamically planning the escape route has the advantages of low labor cost, flexible evacuation route and high evacuation efficiency.
Description
Technical Field
The invention relates to a method and a device for planning a dynamic intelligent evacuation path of a building, belonging to the technical field of emergency route planning.
Background
At present, when a fire breaks out in a building, people are often evacuated according to the shortest evacuation route or according to the indication of a sign. When evacuation is carried out according to the shortest path, personnel cannot adjust the evacuation path in time according to the fire situation, the probability of escape is reduced due to the fact that the personnel easily enter a fire area by mistake, and path conflict can be generated between the personnel and subsequent escape personnel when the path is modified, so that the stepping accident is caused.
When evacuation is performed according to the indication of the sign board, an evacuation path planning method needs to be set for the sign board in advance. The current method usually needs to set evacuation rules for each sign board or input each evacuation path in advance, and the preset evacuation path is used according to the fire situation when a fire occurs. This not only requires a lot of manpower to plan earlier, but also cannot make full use of all escape routes when a fire occurs, and cannot dynamically modify each evacuation path, resulting in a reduction in evacuation efficiency.
Therefore, it is necessary to design a method for dynamically planning an escape route with low labor cost, flexible evacuation route and high evacuation efficiency.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a method and a device for dynamically and intelligently planning evacuation paths of buildings.
The invention discloses a method for planning a dynamic intelligent evacuation path of a building, which comprises the following steps:
step S1: extracting the wall structure of a building: rasterizing a drawing of a building, extracting an entity, a layer and coordinates corresponding to a structure of the building in the drawing, and converting the entity, the layer and the coordinates into a three-dimensional matrix form;
step S2: extracting coordinates of the signboards and the detectors: extracting the equipment codes of the signboards and the detectors from the intelligent evacuation controller, and obtaining the positions of the signboards and the detectors in the drawing corresponding to the building structure in the step S1;
step S3: generating an adjacency list of path nodes: according to the wall structure obtained in the step S1 and the signboard coordinates obtained in the step S2, each signboard is used as a path node, all path nodes are traversed, and an adjacency list of the path nodes is generated;
step S4: and (3) correcting a path adjacency list: according to the drawing imported in the step S1, correcting the path adjacency list obtained in the step S3, and converting the distances between different nodes into real distances to obtain a real path distance adjacency list;
step S5: the detector coordinates are corresponded to the path nodes: according to the detector coordinates obtained in the step S2 and the real path distance adjacency list obtained in the step S4, corresponding the detector coordinates to the path nodes;
step S6: writing the environmental information in real time: reading the readings of the detectors according to the corresponding relation between the detectors and the path nodes obtained in the step S5, and writing the environmental information which changes in real time into the intelligent evacuation controller;
step S7: calculating the evacuation speed: according to the environmental information of different paths obtained in the step S6, calculating the influence of the environmental information on the evacuation speed to obtain the evacuation speed of the path; converting the path distance adjacency list into an equivalent length adjacency list according to the path distance adjacency list obtained in the step S4;
step S8: planning evacuation path and evacuation time: according to the equivalent length adjacency list obtained in the step S7, planning a path based on the equivalent length by using a search algorithm, and planning an evacuation path from each node to a safety point and evacuation time;
step S9: and modifying the display state of the signboard: judging the evacuation direction of each node obtained in the step S8, sending the evacuation direction to the intelligent evacuation controller, and modifying the display state of the signboards;
step S10: dynamically modifying an evacuation path: when a fire occurs, the process repeats the loop from step S6 to step S9, and the evacuation route is dynamically modified in real time according to the environmental information of the route.
Preferably, the specific steps of traversing all path nodes in step S3 to generate the path node adjacency list are as follows:
step S31: calculating Manhattan distances between the current node and other nodes, and sequencing the nodes from small to large;
step S32: judging coordinates of four nodes which have shortest distances in east, south, west and north directions and are not shielded by walls, and generating adjacent nodes in the four directions;
step S33: generating manhattan distances in four directions as a path adjacency list of the current node according to the adjacent nodes obtained in the step S32;
step S34: and repeating the loop steps S31-S33 until all path nodes are traversed.
Preferably, the specific steps of corresponding the probe coordinates to the path nodes in step S5 are as follows:
step S51: traversing all the detectors, and judging whether the detectors are positioned between rectangular areas surrounded by two adjacent path nodes;
step S52: if the node is positioned between two adjacent path nodes, judging whether the node is positioned on an evacuation path;
step S53: if the probe passes the determinations of both steps S51 and S52, the probe is considered to correspond to the adjacent path node pair.
Preferably, the environment information in step S6 includes: temperature of the path, CO concentration, personnel density, visibility.
Preferably, the calculation formula of the influence of the environmental information on the evacuation speed in step S7 is specifically as follows:
(a) factor f of influence of temperature 1 (T)：
Wherein: t is s Is the current temperature; t is e1 Taking 30 ℃ for the temperature at which the human body feels uncomfortable; t is e2 Taking 60 ℃ to cause damage; t is d Taking the temperature of 120 ℃ for killing temperature; v. of max Taking 5m/s as the maximum walking speed; v. of 0 Taking 1.2m/s for normal walking speed;
(b) factor f influencing the CO concentration 2 (ρ co )
Wherein ρ is the CO volume concentration and t is the exposure time;
(c) visibility factor f 3 (K c )
Wherein K c Is the extinction coefficient (1/m);
(d) factor f of the density of persons 4 (ρ human )
Where ρ is human Representing the current person density, p path Representing the maximum person carrying capacity of the node.
Preferably, the search algorithm in step S8 adopts an a-star algorithm.
The device for the dynamic intelligent evacuation path planning method of the building comprises a detector, an intelligent evacuation controller and a sign board, wherein the detector and the sign board are arranged in an evacuation channel; the intelligent evacuation controller is installed in the fire control room.
Preferably, the detector comprises a temperature sensor, a CO sensor, a millimeter wave radar and a visibility meter.
The method and the device for dynamically and intelligently planning the evacuation path of the building have the following beneficial effects that:
(1) according to the intelligent evacuation controller, the signboards and the detectors required by the evacuation path can be automatically identified according to the imported building drawing, the equipment required to be used does not need to be manually added into the intelligent evacuation controller one by one, and the occupation of manpower resources is reduced;
(2) the invention takes the signboards as the path nodes, stores the names and the distances of the adjacent nodes corresponding to each path node in an adjacent table mode, and only needs to read the adjacent table when planning the path without traversing barriers in the whole building drawing, thereby reducing the occupation of the memory of the controller and improving the operation efficiency of the algorithm;
(3) the method not only considers the path length when planning the path, but also considers the influence of environmental information such as temperature, CO concentration, personnel density, visibility and the like on the evacuation speed, so that the path evaluation standard is richer, and the planned path has more actual reference value;
(4) after a fire disaster occurs, the method can continuously and circularly iterate, continuously read the changed environmental information, update the equivalent length of the path, output the planning result at the millisecond-level speed, and realize real-time and dynamic path planning.
Drawings
FIG. 1 is a block flow diagram of the present invention.
Fig. 2 is a block diagram of the device connections of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b):
as shown in fig. 1, the method for planning the dynamic intelligent evacuation path of the building according to the present invention includes the following steps:
step S1: extracting the wall structure of a building: and importing the CAD drawing of the building into an intelligent evacuation controller, and automatically rasterizing the drawing. According to attributes of a CAD drawing, each real building structure has corresponding entities, layers and coordinates in the drawing, the entities, the layers and the coordinates for describing the building structures are extracted according to the attributes of the drawing and converted into a three-dimensional matrix form, and the concrete steps of extracting the building structures are as follows:
step S11: reading the detector layer, the signboard layer and the wall layer information according to the layer information of the drawing;
step S12: for the detector and the sign board layer, text entities are contained, and text content and coordinates of the entities are read;
step S13: for the wall layer, the line entity is included, and the coordinates of the starting point and the end point of the entity are read;
step S14: establishing a two-dimensional all-zero matrix according to the maximum coordinate values of all lines, and setting the position of each line as 1 to represent an obstacle;
step S15: and repeating the steps S11-S14 for all floors of the building drawing, and arranging and combining the floors in the order from small to large to form a three-dimensional matrix.
Step S2: extracting coordinates of the signboards and the detectors: extracting equipment codes of the signboards and the detectors from the intelligent evacuation controller, and obtaining positions of the signboards and the detectors in the drawing corresponding to the text content of the building structure in the step S1, wherein the position information comprises entities, layers and coordinates of the signboards and the detectors in the drawing;
step S3: generating an adjacency list of path nodes: according to the wall structure obtained in step S1 and the landmark coordinates obtained in step S2, the specific steps of traversing all path nodes by using each landmark as a path node to generate an adjacency list of the path nodes, and then traversing all path nodes to generate an adjacency list of the path nodes are as follows:
step S31: generating a two-dimensional matrix with the size of (n, n) according to the number n of nodes, wherein the element values of the matrix are infinite, and traversing each node from the node No. 0;
step S32: calculating Manhattan distances between the current node and other nodes, and sequencing the nodes from small to large; namely, the difference between the horizontal and vertical coordinates of other nodes and the node equipment is calculated as the Manhattan distance.
Step S33: judging coordinates of four nodes which have shortest distances in four directions and are not shielded by walls, and generating adjacent nodes in the four directions; that is, the relative position between each node and the node is determined according to the positive and negative of the difference of the manhattan distances obtained in step S32, the nodes are classified into four categories, namely, south-east, west-north, and the nearest adjacent node which is not blocked by the wall in each category is determined.
Step S34: generating manhattan distances in four directions as a path adjacency list of the current node according to the adjacent nodes obtained in the step S33; namely, the Manhattan distance from the adjacent nodes in four directions to the node is used as the path adjacent table of the current node.
Step S35: and repeating the loop steps S32-S34 until all path nodes are traversed.
Step S4: correcting the path adjacency list: according to the drawing imported in the step S1, correcting the path adjacency list obtained in the step S3, and converting the distances between different nodes into real distances to obtain a real path distance adjacency list;
step S5: the detector coordinates are corresponded to the path nodes: according to the probe coordinates obtained in the step S2 and the real path distance adjacency table obtained in the step S4, corresponding the probe coordinates to the path nodes; the concrete steps of corresponding the detector coordinates with the path nodes are as follows:
step S51: traversing all the detectors, and judging whether the detectors are positioned between rectangular areas surrounded by two adjacent path nodes;
step S52: if the node is positioned between two adjacent path nodes, judging whether the node is positioned on an evacuation path;
step S53: if the probe passes the determinations of both steps S51 and S52, the probe is considered to correspond to the adjacent path node pair.
Step S6: writing the environmental information in real time: reading the readings of the detectors according to the corresponding relation between the detectors and the path nodes obtained in the step S5, and writing the environmental information which changes in real time into the intelligent evacuation controller;
step S7: calculating the evacuation speed: calculating the influence of the environmental information on the evacuation speed according to the environmental information of different paths obtained in the step S6 to obtain the evacuation speed of the path; and converting the path distance adjacency list into an equivalent length adjacency list according to the path distance adjacency list obtained in step S4, specifically, multiplying the standard evacuation speed by the influence factor to obtain an evacuation speed for calculation, wherein the calculation formula of the influence factor of each piece of environmental information is specifically as follows:
(a) factor f of influence of temperature 1 (T)：
Wherein: t is s Is the current temperature; t is e1 Taking 30 ℃ for the temperature at which the human body feels uncomfortable; t is e2 Taking 60 ℃ to cause damage; t is d Taking the temperature of 120 ℃ for killing temperature; v. of max Taking 5m/s as the maximum walking speed; v. of 0 Taking 1.2m/s for normal walking speed;
(b) factor f influencing the CO concentration 2 (ρ co )
Wherein ρ is the CO volume concentration and t is the exposure time;
(c) visibility factor f 3 (K c )
Wherein K c Is the extinction coefficient (1/m);
(d) factor f of the density of persons 4 (ρ human )
Where ρ is human Representing the current person density, p path Representing the maximum person carrying capacity of the node.
Step S8: planning evacuation path and evacuation time: calculating the equivalent length between each node and the adjacent node thereof and the estimated length between the adjacent node and the evacuation safe point according to the equivalent length adjacency table obtained in the step S7, and planning the evacuation path from each node to the safe point and the evacuation time by using an A-x algorithm;
step S9: and modifying the display state of the signboard: judging the evacuation direction of each node obtained in the step S8, sending the evacuation direction to the intelligent evacuation controller, and modifying the display state of the signboards;
step S10: dynamically modifying an evacuation path: when a fire occurs, the process repeats the loop from step S6 to step S9, and the evacuation route is dynamically modified in real time according to the environmental information of the route.
As shown in fig. 2, the device for planning the dynamic intelligent evacuation path of the building according to the present invention includes a detector, an intelligent evacuation controller and a signboard, wherein the detector includes a temperature sensor, a CO sensor, a millimeter wave radar and a visibility meter, the temperature sensor detects the ambient temperature in real time, the CO sensor detects the CO concentration in real time, the millimeter wave radar detects the personnel density in real time, and the visibility meter detects the path visibility in real time; the detector and the sign board are uniformly arranged in the evacuation channel; the intelligent evacuation controller is installed in the fire control room.
The invention has the beneficial effects that: the method and the device for dynamically and intelligently planning the evacuation path of the building can automatically generate the path adjacency list which can be directly used for path planning by importing the drawing of the building, and do not need any manual operation in the midway; the path adjacency list is used for storing the path, only the detector effective for path planning is considered, and each pixel of the drawing is not required to be traversed during planning, so that the occupation of resources is reduced; and (3) planning a path by using an A-x algorithm, wherein the influence of environmental information such as temperature, CO concentration, personnel density and visibility on evacuation is introduced in addition to the consideration of the path length during planning.
The invention can be widely applied to emergency route planning occasions.
Claims (8)
1. A method for planning a dynamic intelligent evacuation path of a building is characterized by comprising the following steps:
step S1: extracting the wall structure of a building: rasterizing a drawing of a building, extracting an entity, a layer and a coordinate corresponding to the structure of the building in the drawing, and converting the entity, the layer and the coordinate into a three-dimensional matrix form;
step S2: extracting coordinates of the signboards and the detectors: extracting equipment codes of the signboards and the detectors from the intelligent evacuation controller, and obtaining the positions of the signboards and the detectors in the drawing corresponding to the building structure in the step S1;
step S3: generating an adjacency list of path nodes: according to the wall structure obtained in the step S1 and the signboard coordinates obtained in the step S2, each signboard is used as a path node, all path nodes are traversed, and an adjacency list of the path nodes is generated;
step S4: and (3) correcting a path adjacency list: according to the drawing imported in the step S1, correcting the path adjacency list obtained in the step S3, and converting the distances between different nodes into real distances to obtain a real path distance adjacency list;
step S5: probe coordinates are mapped to path nodes: according to the probe coordinates obtained in the step S2 and the real path distance adjacency table obtained in the step S4, corresponding the probe coordinates to the path nodes;
step S6: writing the environmental information in real time: reading the readings of the detectors according to the corresponding relation between the detectors and the path nodes obtained in the step S5, and writing the environmental information which changes in real time into the intelligent evacuation controller;
step S7: calculating the evacuation speed: calculating the influence of the environmental information on the evacuation speed according to the environmental information of different paths obtained in the step S6 to obtain the evacuation speed of the path; converting the path distance adjacency list into an equivalent length adjacency list according to the path distance adjacency list obtained in the step S4;
step S8: planning evacuation path and evacuation time: according to the equivalent length adjacency list obtained in the step S7, planning a path based on the equivalent length by using a search algorithm, and planning an evacuation path from each node to a safety point and evacuation time;
step S9: and modifying the display state of the signboard: judging the evacuation direction of each node obtained in the step S8, sending the evacuation direction to the intelligent evacuation controller, and modifying the display state of the signboards;
step S10: dynamically modifying an evacuation path: when a fire occurs, the process repeats the loop from step S6 to step S9, and the evacuation route is dynamically modified in real time according to the environmental information of the route.
2. The method for dynamic intelligent evacuation path planning for building of claim 1, wherein the step S3 of traversing all path nodes to generate the path node adjacency list comprises the following steps:
step S31: calculating Manhattan distances between the current node and other nodes, and sequencing the nodes from small to large;
step S32: judging coordinates of four nodes which have shortest distances in east, south, west and north directions and are not shielded by walls, and generating adjacent nodes in the four directions;
step S33: generating manhattan distances in four directions as a path adjacency list of the current node according to the adjacent nodes obtained in the step S32;
step S34: and repeating the loop steps S31-S33 until all path nodes are traversed.
3. A method for dynamic intelligent evacuation path planning for buildings according to claim 1, wherein the specific steps of associating the probe coordinates with the path nodes in step S5 are as follows:
step S51: traversing all the detectors, and judging whether the detectors are positioned between rectangular areas surrounded by two adjacent path nodes;
step S52: if the node is positioned between two adjacent path nodes, judging whether the node is positioned on an evacuation path;
step S53: if the probe passes the determinations of both steps S51 and S52, the probe is considered to correspond to the adjacent path node pair.
4. The method for dynamic intelligent evacuation path planning for buildings according to claim 1, wherein the environmental information in step S6 includes: temperature of the path, CO concentration, personnel density, visibility.
5. The method for dynamic intelligent evacuation path planning for buildings according to claim 1, wherein the calculation formula of the influence of the environmental information on the evacuation speed in step S7 is specifically as follows:
(a) factor f of influence of temperature 1 (T)：
Wherein: t is a unit of s Is the current temperature; t is e1 The temperature at which the human body feels uncomfortable; t is e2 Temperature to cause injury; t is a unit of d Is the lethal temperature; v. of max The maximum walking speed; v. of 0 Normal walking speed;
(b) factor f influencing the CO concentration 2 (ρ co )
Wherein ρ is the CO volume concentration and t is the exposure time;
(c) visibility factor f 3 (K c )
Wherein K c Is the extinction coefficient (1/m);
(d) factor f of the density of persons 4 (ρ human )
Where ρ is human Representing the current person density, p path Representing the maximum person carrying capacity of the node.
6. A method for dynamic intelligent evacuation path planning for buildings according to claim 1, wherein the search algorithm in step S8 is the a-x algorithm.
7. A device for the method of dynamic intelligent evacuation path planning of buildings according to any of claims 1 to 6, characterized by comprising a detector, an intelligent evacuation controller and a sign board, wherein the detector and the sign board are installed in an evacuation channel; the intelligent evacuation controller is installed in the fire control room.
8. The apparatus for a method of dynamic intelligent evacuation path planning for a building of claim 7, wherein said detector comprises a temperature sensor, a CO sensor, a millimeter wave radar, and a visibility meter.
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