CN115474172A - Indoor dense people stream group pedestrian population evacuation method combined with UWB acquisition - Google Patents
Indoor dense people stream group pedestrian population evacuation method combined with UWB acquisition Download PDFInfo
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Abstract
The invention provides an indoor dense people stream group pedestrian population evacuation method combined with UWB acquisition, which comprises the following steps: constructing a global environment model in a tested room, and performing benchmarking with actual coordinates in the tested room; forming different pedestrian groups by indoor pedestrians according to the relationship of relativity and sparseness; the method comprises the following steps that a UWB terminal is worn on each indoor pedestrian, and real-time data acquisition is carried out on the moving track of each pedestrian in different groups of pedestrian groups in the indoor environment through a UWB base station; calculating to obtain a movement income value of an individual pedestrian, and selecting the minimum movement income value as a target position; and counting the next target position of each pedestrian in the group of pedestrian groups to obtain the overall movement trend of the group of pedestrian groups, classifying the pedestrian groups with consistent movement trend into one class, and dividing the whole group into different regions according to the movement trend for guidance. The invention solves the problem that the existing pedestrian evacuation method cannot accurately describe the group pedestrian group evacuation process.
Description
Technical Field
The invention belongs to the technical field of crowd evacuation, and particularly relates to an indoor dense crowd group pedestrian crowd evacuation method combining UWB acquisition.
Background
Accidents caused by the accumulation of dense people in enclosed spaces have been on the rise in recent years, and the sudden, high-density and high-energy are the root causes of these accidents. The crowd evacuation process under the emergency condition of the closed space is oriented, the diffusion behavior characteristics of the dense crowd are analyzed, and the generation mechanism and the evolution rule of the crowd trampling phenomenon in the closed space are revealed to be important problems in the evacuation method research. At present, the research on dense pedestrian evacuation method mainly depends on data simulation, and an efficient and applicable important precondition of the evacuation method is constructed to obtain a real and reliable data source. Because large-scale crowd evacuation experiment organization is difficult to organize, and simultaneously, the evacuation tracks of individual pedestrians are difficult to accurately capture, video identification is a common technical means, but only qualitative analysis can be carried out, and quantitative analysis cannot be carried out. Therefore, most data sources for researching the evacuation method at present only depend on pure data simulation or macroscopically rough analysis on the existing video data, and the analysis result is often larger than the actual deviation and weak in generalization capability, so that the accuracy and reliability of the evacuation method are influenced.
The accuracy of the front-end data acquisition on the pedestrian motion track capture is an important precondition guarantee for the evacuation method analysis. At present, the pedestrian movement track information of indoor pedestrian stream evacuation model collection at home and abroad is mainly extracted by image recognition after being acquired by video monitoring, and the video monitoring collection has certain limitation in the pedestrian movement track collection process and is mainly embodied as follows: 1. the method has the advantages that 360-degree dead-angle-free continuous tracking of people is difficult to achieve in indoor video monitoring, and especially when indoor shelters are met, blind areas can appear in videos. Therefore, when data analysis is carried out, the motion track points of the pedestrians are discontinuous, and difficulty is brought to the subsequent individual pedestrian data analysis; 2. the pedestrian data acquired by video image processing is difficult to carry out coordinate quantification, and generally only macroscopic trend analysis can be carried out, and microscopic quantification analysis cannot be carried out; 3. at present, video identification processing usually converts a video into an image, and then identifies the image by using an image identification technology, so that the processing causes high resource overhead cost, and real-time processing of data is difficult to achieve.
The evacuation model is mainly divided into a macroscopic model and a microscopic model, the macroscopic model is simple in structure, pedestrian behaviors are described qualitatively by mainly utilizing the fluid mechanics principle, and people are considered as a whole to be researched. The microscopic model is used for describing individual characteristics of pedestrians, focuses on researching the mutual influence of individual behaviors in a population, and analyzes the process that the individual behaviors dynamically change along with the change of the surrounding environment. The mainstream evacuation model is mostly a microscopic model, such as a cellular automaton, a social force model, and the like. At present, intensive crowd evacuation research usually considers interaction between pedestrians more, but ignores that most of crowds are gathered and grouped in the form of relatives and disputes (such as friends, colleagues, families and the like) to form different pedestrian groups for evacuation when the crowds move for evacuation.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the indoor intensive pedestrian population evacuation method for the crowd group combined with UWB acquisition, and solves the problem that the existing pedestrian evacuation method cannot accurately describe the crowd evacuation process of the crowd group.
In order to achieve the purpose, the invention adopts the technical scheme that:
the scheme provides an indoor dense people stream group pedestrian population evacuation method combined with UWB acquisition, which comprises the following steps:
s1, constructing a global environment model in a tested room, and performing benchmarking according to the global environment model and actual coordinates in the tested room;
s2, forming different pedestrian groups of indoor pedestrians according to the relation of closeness and sparseness;
s3, wearing a UWB terminal on each indoor pedestrian, carrying out real-time data acquisition on the moving track of each pedestrian in different groups of pedestrian groups in the indoor environment through a UWB base station, and displaying the real-time moving track of the pedestrian in the global environment model after benchmarking;
s4, acquiring moving coordinate information of the pedestrian according to the data acquired in real time, calculating on a cellular automaton to obtain a moving profit value of the individual pedestrian, and selecting the minimum moving profit value as a target position;
s5, counting the next target position of each pedestrian in the group of pedestrian groups, analyzing to obtain the overall movement trend of the group of pedestrian groups, classifying the pedestrian groups with consistent movement trend into one class, and dividing the whole group into different areas for guidance according to the movement trend;
and S6, judging whether group pedestrian groups exist in the room, if so, returning to the step S4, and otherwise, finishing the evacuation of the indoor dense pedestrian group pedestrian groups.
Further, the step S1 includes the steps of:
s101, forming a global environment model according to a drawing in a tested room;
and S102, performing benchmarking on the actual coordinates in the room to be measured and the coordinates in the global environment model.
Still further, the step S4 includes the steps of:
s401, acquiring real-time positions and time marks of individuals in pedestrian streams of each indoor group by using UWB front-end data acquisition equipment according to data acquired in real time, and calculating to obtain the moving speed of each pedestrian;
s402, uniformly dividing a two-dimensional evacuation space into a plurality of grids by using the cellular automaton, obtaining movement profit values of 9 adjacent cells by using the cellular automaton and the moving speed of each pedestrian, and taking the cell grid position with the minimum movement profit value of the individual pedestrian as the next target position of the pedestrian, wherein one grid represents one pedestrian.
Still further, the expression of the mobile benefit value is as follows:
wherein, the first and the second end of the pipe are connected with each other,
represents the value of the mobile profit for the individual pedestrian,
、
、
、
and
each represents a weight coefficient of each factor, and
for adjusting the weight coefficient of each factor, 0 ≦C 1 ≤1，0≤C 2 ≤1，0≤C 3 ≤1，0≤C 4 ≤1，0≤C 5 ≤1，
Indicating any grid location where the cell is located,
indicating distance gain, the smaller the value is, theA(i, j) The closer to the outlet the more closely,
is shown in
Within H × H grid of centers and pedestrians: (i, j) The ratio of the number of people belonging to the same group of pedestrian population to the total number of people,
is shown in
The ratio of the total number of pedestrians to the total number of grids in the H multiplied by H grid range is used as the center,
to represent
Distance outlet
Position of exit with minimum medium congestionE m The direction is towards the benefit,
is shown in
The average moving speed of all pedestrians in the central H multiplied by H grid range is calculated by a tail-cutting average value in order to avoid disturbance generated by extreme data,
represents a cell
Whether the position is occupied by an obstacle or a pedestrian, if soM ij Is 1000, otherwiseM ij Is a group of a number of 0 s,
represent
To the outlet E n The maximum grid distance is the distance between the grids,
to represent
To the outlet E n The shortest distance between the grids is determined,
to represent
To the nearest outlet in the straight line distance from itE r H represents an adjustable parameter,
represent
To the outlet E 1 The maximum grid distance is the distance between the grids,
to represent
To the outlet E 1 The shortest grid distance.
Still further, the step S5 includes the steps of:
s501, according to the minimum movement income value of each pedestrian in the group pedestrian population, counting the next target position of each pedestrian in the group pedestrian population, and analyzing to obtain the overall movement trend of the group pedestrian population;
s502, obtaining the moving trend of the pedestrian groups in other groups by using the method in the step S501;
s503, grouping the pedestrian population statistics with consistent movement trend into one class, dividing the whole population into different regions according to the movement trend for guiding, and guiding by using a large screen and sound.
The invention has the beneficial effects that:
(1) The invention adopts UWB technology to realize real-time accurate positioning of indoor pedestrians and construct global environment model technology, and establishes an experimental environment specially prepared for evacuation of indoor dense crowd, the experimental environment can acquire all moving tracks of each pedestrian participating in the experiment in real time, and accurately calculate important parameters such as moving distance and speed of the pedestrian, rather than deducing the parameters by a formula, thus greatly improving the accuracy and reliability of original data; meanwhile, the UWB technology collects the movement data of each pedestrian within the range of second level, thus providing an important technical guarantee means for verifying and correcting the evacuation method.
(2) According to the characteristic that pedestrians can form pedestrian group movement according to the degree of affinity and sparseness in the evacuation process, the dense pedestrian evacuation process is characterized by adopting the grouping idea, the optimal target position of the individual pedestrians and the movement trend track of the group pedestrian group are obtained through calculation of the movement profit value by combining the cellular automaton model, the group with the consistent movement trend is classified and evacuated, the evacuation strategy for the group of the pedestrians formed according to the affinity and sparseness relation in the evacuation process of the pedestrians is established, and the group evacuation behavior is more accurately characterized.
(3) The invention adopts a partition customization method to carry out evacuation guidance on indoor intensive pedestrians, large screen displays and loudspeakers are arranged at indoor exit positions and different areas, the moving trend of each group of pedestrian population is calculated according to UWB technology and an evacuation model, the information and the evacuation direction of the group of pedestrians with the consistent moving trend are displayed on the large screen display closest to the group of pedestrians, and meanwhile, the loudspeakers at the nearby positions of the group are used for carrying out sound prompt, so that the evacuation guidance information acquired by the groups with different moving trends is different, the pertinence is stronger, and the evacuation efficiency of the intensive pedestrians is greatly improved.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.
The invention provides an indoor evacuation experimental base constructed by using an ultra-wideband UWB data acquisition technology, wherein UWB is a wireless carrier communication technology, is suitable for indoor wireless positioning, can perform centimeter-level high-precision personnel positioning in real time, and solves the problem that video image identification is difficult to quantitatively track and process in real time. Then, the invention combines the UWB data acquisition technology, effectively describes the dense crowd evacuation process through the crowd representation of the pedestrian group, and solves the problem that the crowd evacuation process cannot be accurately described by the existing pedestrian evacuation method. Meanwhile, all experimental data can be stored to form a pedestrian evacuation feature database, so that data guarantee can be provided for correction and verification of subsequent evacuation models, reliable and real pedestrian evacuation feature databases can be provided for other researchers, and different evacuation models and methods can be established according to the database, as shown in fig. 1, Y in fig. 1 represents yes, N in fig. 1 represents no, the invention provides an indoor dense pedestrian stream group pedestrian group evacuation method combining UWB acquisition, and the implementation method comprises the following steps:
s1, constructing a global environment model in a tested room, and performing benchmarking according to the global environment model and actual coordinates in the tested room, wherein the method comprises the following steps:
s101, forming a global environment model according to drawings in a tested room;
and S102, matching the actual coordinates in the room to be measured with the coordinates in the global environment model.
In this embodiment, the global environment model is formed by importing the indoor actual map paper or CAD drawing into a computer. In order to make the global environment model consistent with the actual coordinates, the actual coordinates and the coordinates in the simulated global environment model need to be aligned, and the main content of the aligned coordinates has 2 aspects, namely, a uniform coordinate origin is specified; secondly, the scaling of the model coordinates is set.
S2, forming different pedestrian groups of indoor pedestrians according to the relation of closeness and sparseness;
in this embodiment, indoor pedestrians are grouped into pedestrian groups with different scales according to different affinity relationships (such as friends, colleagues, families, etc.), and 1 person belongs to a special group. When the pedestrians are evacuated initially, different groups of pedestrian groups are formed according to certain intimacy, such as family relationship, co-worker relationship, subordinate relationship and the like, the shapes of the groups are changed during evacuation, but the size of the groups is usually kept in an initial state until the pedestrians are evacuated to an exit.
S3, wearing a UWB terminal on each indoor pedestrian, carrying out real-time data acquisition on the moving track of each pedestrian in different groups of pedestrian groups in the indoor environment through a UWB base station, and displaying the real-time moving track of the pedestrian in the global environment model after benchmarking;
in the embodiment, the accurate collection of the action track coordinate of each pedestrian is an important precondition for realizing and verifying the indoor pedestrian group evacuation method, and in order to more accurately capture the coordinate position of the pedestrian, the UWB technology is used at the front end of the experimental base to track each person in real time. At present, UWB is the technology with the highest indoor positioning accuracy, a pedestrian wears UWB terminal equipment on the hand, one UWB terminal equipment and one pedestrian can be in one-to-one correspondence, and the correspondence can be recorded, so that the step S5 guides the use of the evacuated crowd. The UWB base station group can complete position updating within a second level, meanwhile, each UWB base station can transmit data to a rear-end switch, a computer exchanges data with the switches through a local area network to obtain the specific coordinate position of each pedestrian, and the pedestrians are displayed on a global environment model according to the coordinates.
S4, acquiring moving coordinate information of the pedestrian according to the data acquired in real time, calculating a moving profit value of the individual pedestrian on a cellular automaton, and selecting the minimum moving profit value as a target position, wherein the implementation method comprises the following steps:
s401, acquiring real-time positions and time marks of individuals in pedestrian streams of each indoor group by using UWB front-end data acquisition equipment according to data acquired in real time, and calculating to obtain the moving speed of each pedestrian;
s402, uniformly dividing a two-dimensional evacuation space into a plurality of grids by using the cellular automaton, obtaining movement profit values of 9 adjacent cells by using the cellular automaton and the moving speed of each pedestrian, and taking the cell grid position with the minimum movement profit value of the individual pedestrian as the next target position of the pedestrian, wherein one grid represents one pedestrian.
In the embodiment, the real-time position and the time scale of the individual in each indoor group pedestrian stream can be acquired through the UWB front-end data acquisition equipment, and the corresponding moving speed is calculated on the basis, so that the acquired position and speed information is directly acquired in real time, the average deviation of the position information is within the range of +/-20 cm, and the method is more direct and accurate compared with other evacuation methods which derive the pedestrian speed through a video analysis formula.
In this embodiment, a two-dimensional evacuation space is uniformly divided into a plurality of grids by a Moore type cellular automaton, and one grid represents one cell (pedestrian) and has a size of 0.5m × 0.5m. Each pedestrian can only move into the adjacent 9 cell grids (including its own position) at a time. And calculating the moving profit values of 9 adjacent cells (including self positions) by using a Moore cellular automaton according to the moving profit values, and taking the cell grid position with the minimum moving profit value as the next target position of the pedestrian.
In this embodiment, the mobile profit valueR ij The formula is as follows: and the pedestrian selects the cellular grid with the minimum movement profit value as the next movement target position.
Wherein, the first and the second end of the pipe are connected with each other,
wherein the content of the first and second substances,
represents a value of a mobile profit for an individual pedestrian,
、
、
、
and
each represents a weight coefficient of each factor, and
for adjusting the weight coefficient of each factor, 0 ≦C 1 ≤1，0≤C 2 ≤1，0≤C 3 ≤1，0≤C 4 ≤1，0≤C 5 ≤1，
Indicating any grid location where the cell is located,
represents the distance gain, the smaller the value representsA(i, j) The closer to the outlet the more closely,
is shown in
Within H × H grid of centers and pedestrians: (i, j) The ratio of the number of people belonging to the same group of pedestrian population to the total number of people,
is shown in
The ratio of the total number of pedestrians to the total number of grids within the H multiplied by H grid range is used as the center,
represent
Distance from the outlet
Position of exit with minimum medium congestionE m The direction is towards the benefit,
is shown in
Is the average moving speed of all pedestrians in the range of the central H multiplied by H grid, in order to avoid the disturbance generated by the extreme data, the average moving speed is calculated by the tail-cutting average value,
indicating a cell
Whether the position is occupied by an obstacle or a pedestrian, if soM ij Is 1000, otherwiseM ij Is a non-volatile organic compound (I) with a value of 0,
to represent
To the outlet E n The maximum grid distance is the distance between the grids,
to represent
To the outlet E n The shortest distance of the grid is the shortest,
to represent
To the nearest outlet in the straight line thereofE r H represents an adjustable parameter,
to represent
To the outlet E 1 The maximum grid distance is the distance between the grids,
to represent
To the outlet E 1 The shortest grid distance.
In this embodiment, the pedestrian will select the minimum movement profit value through the above calculationR ij As the target position for the next step. If there are multiple grid positionsR ij If the values are the same, one grid position is randomly selected as the next target position with equal probability, and if a plurality of pedestrians compete for the same target position at the same time, the collision capacity of the pedestrians needs to be consideredFSolving the problem of competition, impact capabilityFThe pedestrian collision preventing system is mainly determined by the physical condition of the pedestrian and the size of the group of the pedestrian, wherein the physical condition comprises factors such as age, sex, height, weight and the like, and the size of the group of the pedestrian mainly refers to the total number of people of the group and the collision capabilityFThe larger the chance of acquiring the target position, the more the pedestrian who fails the competition can select the grid with the second smallest moving profit value as the target position of the next step, and wait on site if the target position is already occupied by other pedestrians or obstacles.
S5, counting the next target position of each pedestrian in the group of pedestrian groups, analyzing to obtain the overall movement trend of the group of pedestrian groups, counting the pedestrian groups with consistent movement trends into one class, and dividing the whole group into different areas for guidance according to the movement trend, wherein the implementation method comprises the following steps:
s501, according to the minimum movement income value of each pedestrian in the group pedestrian population, counting the next target position of each pedestrian in the group pedestrian population, and analyzing to obtain the overall movement trend of the group pedestrian population;
s502, obtaining the moving trend of the pedestrian groups in other groups by using the method in the step S501;
s503, grouping the pedestrian population statistics with consistent movement trend into one class, dividing the whole population into different regions according to the movement trend for guiding, and guiding by using a large screen and sound.
In this embodiment, the target position of each individual in the pedestrian group is counted, the overall optimal movement trend of the group is analyzed, and meanwhile, the movement trends of other groups can be obtained by using a similar method. The pedestrian groups with consistent moving trends (mainly according to whether the same exit is used as a judgment basis or not) are classified into a group for large-screen prompt and voice guidance, the larger number of the pedestrian groups has the weight of preferentially selecting the exits, the pedestrian groups with inconsistent moving trends are subjected to regional guidance, and the pedestrian groups with the same exits are selected for regional unified guidance.
In the embodiment, a plurality of large screen prompting devices and loudspeakers are installed on barriers and walls of an indoor experimental site in different areas, the current optimal evacuation direction is displayed on the large screens of the areas to which the groups belong in a striking arrow mode by obtaining pedestrian group information with consistent movement trend directions, meanwhile, the numbers of the pedestrian groups and the information of pedestrians, such as names and the like, are displayed on the large screens of the corresponding areas in a rolling mode, and the loudspeakers prompt the optimal evacuation paths of the pedestrians, so that dense crowds can be guided and evacuated according to the regional customization mode in the movement direction, the evacuation guiding prompts seen by the pedestrian groups in different movement directions are different, the pertinence is stronger, and the evacuation efficiency can be greatly improved.
And S6, judging whether group pedestrian groups exist in the room, if so, returning to the step S4, and otherwise, finishing the evacuation of the indoor dense pedestrian group pedestrian groups.
Through the design, the invention solves the problem that the existing pedestrian evacuation method cannot accurately describe the group pedestrian population evacuation process.
Claims (5)
1. An indoor dense people group pedestrian population evacuation method combined with UWB acquisition is characterized by comprising the following steps:
s1, constructing a global environment model in a tested room, and performing benchmarking according to the global environment model and actual coordinates in the tested room;
s2, forming different pedestrian groups by indoor pedestrians according to the relation of relativity and phobicity;
s3, wearing a UWB terminal on each indoor pedestrian, carrying out real-time data acquisition on the moving track of each pedestrian in different groups of pedestrian groups in the indoor environment through a UWB base station, and displaying the real-time moving track of the pedestrian in the global environment model after benchmarking;
s4, acquiring moving coordinate information of the pedestrian according to the data acquired in real time, calculating on a cellular automaton to obtain a moving profit value of the individual pedestrian, and selecting the minimum moving profit value as a target position;
s5, counting the next target position of each pedestrian in the group of pedestrian groups, analyzing to obtain the overall movement trend of the group of pedestrian groups, classifying the pedestrian groups with consistent movement trend into one class, and dividing the whole group into different areas for guidance according to the movement trend;
and S6, judging whether group pedestrian groups exist indoors or not, if so, returning to the step S4, and otherwise, finishing the evacuation of the indoor dense pedestrian group pedestrian groups.
2. The indoor dense crowd pedestrian population evacuation method combined with UWB acquisition according to claim 1, wherein S1 comprises the steps of:
s101, forming a global environment model according to drawings in a tested room;
and S102, performing benchmarking on the actual coordinates in the room to be detected and the coordinates in the global environment model.
3. The method for pedestrian population evacuation in an indoor dense people stream group combined with UWB acquisition according to claim 2, wherein the method comprises the following steps of obtaining moving coordinate information of pedestrians according to data acquired in real time, calculating a moving profit value of an individual pedestrian on a cellular automaton, and selecting a minimum moving profit value as a target position:
s401, acquiring real-time positions and time marks of individuals in pedestrian streams of each indoor group by using UWB front-end data acquisition equipment according to data acquired in real time, and calculating to obtain the moving speed of each pedestrian;
s402, uniformly dividing a two-dimensional evacuation space into a plurality of grids by using the cellular automaton, obtaining movement profit values of 9 adjacent cells by using the cellular automaton and the moving speed of each pedestrian, and taking the cell grid position with the minimum movement profit value of the individual pedestrian as the next target position of the pedestrian, wherein one grid represents one pedestrian.
4. The method for pedestrian population evacuation in an indoor dense crowd group combined with UWB collection according to claim 3, wherein the expression of the mobile benefit value of individual pedestrians is as follows:
wherein, the first and the second end of the pipe are connected with each other,
represents the value of the mobile profit for the individual pedestrian,
、
、
、
and
each represents a weight coefficient of each factor, an
For adjusting the weight coefficient of each factor, 0 ≦C 1 ≤1，0≤C 2 ≤1，0≤C 3 ≤1，0≤C 4 ≤1，0≤C 5 ≤1，
Indicates a cellular stationAt any one of the grid positions of (a),
indicating distance gain, the smaller the value is, theA(i, j) The closer to the outlet the more closely,
is shown in
Within H × H grid of centers and pedestrians: (i, j) The ratio of the number of people belonging to a group of pedestrian groups to the total number of people,
is shown in
The ratio of the total number of pedestrians to the total number of grids within the H multiplied by H grid range is used as the center,
to represent
Distance from the outlet
Position of exit with minimum medium congestionE m In the direction of the benefit, the gain,
is shown in
The average moving speed of all pedestrians in the central H multiplied by H grid range is calculated by a tail-cutting average value in order to avoid disturbance generated by extreme data,
represents a cell
Whether the position is occupied by an obstacle or a pedestrian, if soM ij Is 1000, otherwiseM ij Is a group of a number of 0 s,
to represent
To the outlet E n The maximum grid distance is the distance between the grids,
to represent
To the outlet E n The shortest distance between the grids is determined,
to represent
To the nearest outlet in the straight line thereofE r H represents an adjustable parameter,
to represent
To the outlet E 1 The maximum grid distance is the distance between the grids,
to represent
To the outlet E 1 The shortest grid distance.
5. The indoor dense crowd pedestrian population evacuation method combined with UWB acquisition according to claim 4, wherein the S5 comprises the steps of:
s501, according to the minimum movement income value of each pedestrian in the group pedestrian population, counting the next target position of each pedestrian in the group pedestrian population, and analyzing to obtain the overall movement trend of the group pedestrian population;
s502, obtaining the moving trend of the pedestrian groups in other groups by using the method in the step S501;
s503, grouping the pedestrian group statistics with consistent moving trend into a class, dividing the whole group into different areas according to the moving trend for guiding, and guiding by using a large screen and sound.
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