阅读说明：本技术 建筑物楼层内人员导航方法、多层建筑内人员导航方法、系统 (Method for navigating people in building floor, method and system for navigating people in multi-floor building ) 是由 陈一洲 彭华 李琪 于 2020-11-19 设计创作，主要内容包括：本发明公开了一种建筑物楼层内人员导航方法、多层建筑内人员导航方法、系统,其人员导航方法综合考虑了人员位置信息和疏散出口信息,以整体逃逸时间最短条件为求解目标进行迭代求解,最终获得最佳疏散路径。上述导航方法可使得疏散路径的规划更科学,一旦紧急情况发生,能够快速的根据目前的人员分布情况确定最佳的疏散路径；同时确保每个个体人员都能够单独观察到自己的疏散路径,使得逃生效率更高。(The invention discloses a method for navigating people in a building floor, a method for navigating people in a multi-floor building and a system. The navigation method can enable the evacuation path to be planned more scientifically, and once an emergency occurs, the optimal evacuation path can be determined quickly according to the current personnel distribution condition; meanwhile, each individual person can independently observe the evacuation path of the person, so that the escape efficiency is higher.)

1. A method for navigating people in floors of a building is characterized by comprising the following operation steps:

step S100: collecting personnel position information and evacuation exit position information in a building;

step S200: determining an initial number of people mean boundary A according to the number distribution of all people in the building, so that the number of people on two sides of the number of people mean boundary A is equal or the difference of the number of people on two sides is smaller than a preset number of people;

step S300: determining an initial close distance boundary B according to the evacuation outlet position information of the building, so that the distances from the evacuation outlets on two sides of the close distance boundary B to the close distance boundary B are equal or the distance difference is smaller than a preset distance value; setting an initial factor balance line C between the initial mean dividing line A and the initial close distance dividing line B, the initial factor balance line C being sandwiched between the mean dividing line A and the close distance dividing line B;

step S400: taking an initial factor balance line C as a reference line, and dividing all personnel positioned at two sides of the initial factor balance line C into a set M and a set N respectively; directing people within the collection to evacuate outlets on the same side of the initial balance line C as the collection;

step S500: calculating the time for evacuating the people in the set M and the set N to the corresponding evacuation outlets as Tm and Tn respectively, and calculating the integral evacuation time difference, wherein delta t is | Tm-Tn |;

step S600: judging whether the current integral evacuation time difference delta t is smaller than a time difference threshold value or not, if so, determining that the current set M and the current set N are optimal distribution sets, and an evacuation path corresponding to the current personnel is an optimal evacuation path, and skipping to the step S800 for execution; if not, the current set M and the current set N are determined to be non-optimal distribution sets, and the evacuation path of the current personnel is not the optimal evacuation path, and then the step S700 is executed;

step S700: if Tm is greater than Tn +. DELTA.t, selecting one person nearest to the initial factor balance line C from the set M to be classified into the set N, and adjusting the corresponding evacuation outlet of the person to the evacuation outlet corresponding to the person in the original set N, so as to update the persons in the set M and the set N; if Tn is greater than Tm plus Delta t, selecting one person closest to the initial factor balance line C from the set N to be classified into the set M, and adjusting the corresponding evacuation outlet of the person to the evacuation outlet corresponding to the person in the original set M, so as to update the persons in the set M and the set N; then returning to the step S500;

and S800, storing the evacuation paths of the persons corresponding to the set M and the set N as evacuation bases.

2. The method according to claim 1, wherein in step S100, the position information of the person in the building is collected every preset time period; when detecting that the person position information changes, performing the operations of step S100 to step S800.

3. The method according to claim 1, wherein in step S300, when the two lines of the average number of people dividing line a and the close distance dividing line B are parallel, the distance middle line of the average number of people dividing line a and the close distance dividing line B is taken as an initial factor balance line C; and when the two lines of the mean number of people dividing line A and the close distance dividing line B are not parallel, taking the extension line of the angular bisector of the two line included angles of the mean number of people dividing line A and the close distance dividing line B as an initial factor balance line C.

4. The method of claim 1, further comprising the following operations after step S800;

step S900: after the optimal distribution set and the optimal evacuation path are determined, the server sends the evacuation path information of each person to the handheld equipment of the person;

step S1000: the handheld device receives the data of the optimal evacuation path; wherein the optimal evacuation path comprises an optimal evacuation exit position, a current location position and a building floor structure diagram.

5. The method of claim 1, wherein there are two evacuation outlets.

6. A method for navigating personnel in a multi-story building is characterized in that the evacuation path of the personnel on the story is determined layer by layer from the bottom to the top of the building according to a shortest path strategy and is taken as a preselected optimal evacuation path; then, the evacuation strategy which is most suitable for the current floor is verified again layer by layer from the top layer to the lower layer of the building; determining the optimal evacuation path for the floor personnel according to the floor personnel navigation method according to any one of claims 1-5 for the current floor if the current floor meets the verification condition.

7. A navigation system, comprising a positioning device, a server and a handheld device, wherein the navigation method is adopted in any one of claims 1-6, wherein the positioning device is used for collecting the position information of people in a building; the server is used for determining the navigation path of the person; the handheld device is used for receiving the information of the evacuation path of the personnel and displaying the information of the evacuation path to the personnel of the handheld device.

8. The navigation system of claim 7, the positioning device being a positioning device embedded in the handheld device, such as a GPS positioning device or a beidou positioning device; the handheld device is used for connecting with the server and periodically sending the personnel position information to the server.

9. A navigation system as claimed in claim 7, the location means being a people sensing device mounted within the building, such as a face recognition device or an infrared detection device.

10. The navigation system of claim 7, wherein the handheld device is a mobile terminal, a smart watch; preferably, the server is configured to implement a navigation method to process and send an evacuation signal after monitoring a disaster; the handheld device is used for receiving the evacuation signal sent by the server, sending an alarm and displaying information of an evacuation path after receiving the evacuation signal;

the information of the evacuation path comprises a building floor structure diagram, the current position of people, an evacuation exit and an evacuation path.

Technical Field

The invention relates to a navigation technology, in particular to a method for navigating personnel in a building floor, a method for navigating personnel in a multi-floor building and a system thereof when disasters such as fire disasters occur.

Background

In recent years, with the rapid development of social economy, various large public activities gathering a large number of people are increasing, and in some public building places with intensive people, due to unreasonable building design and short emergency management, when various emergency accidents occur and people need to be evacuated urgently, crowds and blockage of evacuated people are easily caused, and even serious trample accidents of the people occur.

Research shows that in the prior art, many path evacuation modes design and plan paths by taking distances and analyzed path node obstacles as main reference factors (for example, the following technical scheme related to a navigation method in personnel evacuation); however, from the perspective of decision makers or overall safety, when people are evacuated in a building with a fire, the evacuation route is planned in the shortest way or only with reference to the distance and the obstacles, which often cannot ensure the overall evacuation safety of most people in the building. Research finds that the shortest path planning method is not necessarily the optimal evacuation path planning method. For example, referring to fig. 1, in the simple scenario of fig. 1, people in the conference room can only concentrate on the left channel for evacuation after coming out according to the principle of shortest path, and the right channel is not used by people. Thus, although the evacuation distance is shortest, the overall evacuation time is not shortest. If a part of people are allocated to evacuate by using the right channel, the overall evacuation time is shortened, and the evacuation process is safer.

For another example, prior art 1(CN201010119606.9) discloses a technical solution of a navigation method and device in people evacuation; the main implementation scheme comprises: acquiring a navigation vector path from each grid to an exit in the architectural drawing; obtaining a grid corresponding to the position of the evacuation object in the architectural drawing, and instructing the evacuation object to update the position of the evacuation object according to a navigation vector path of the grid; and judging whether all the evacuation objects finish evacuation or not, and if so, ending the process. The navigation method proposed by the above prior art 1 is based on meshing of a building map, approximates the navigation for evacuees as the navigation for a mesh, and can automatically guide evacuation in a building by providing a navigation vector path for each evacuation object. However, the path planning method related to the prior art 1 is still an implementation scheme based on distance and path obstacle analysis, and also has some technical defects; the method is only an evacuation path for recommending each person, the path planning is more to teach how to avoid the obstacle and design the shortest walking path around the obstacle, the processing mode obviously cannot realize the calculation of the whole escape time, the method is more to consider the individual paths, and the number of people in the whole escape evacuation path in the building and the distribution rule are not taken as main reference factors, so that although part of people escape faster, a plurality of people still escape after delay, the whole escape time is prolonged, and the whole evacuation safety is influenced. Secondly, the escape evacuation time of the whole personnel cannot be simulated, and the optimal escape design scheme is customized.

In the prior art 2, "research on evacuation guidance direction optimization algorithm under non-uniform distribution condition of people," science of safety and production in china ", vol.7, vol.8" discloses a scheme for minimizing total evacuation time of people, wherein initial people distribution is planned according to the principle of shortest path or is random, so that iteration time is uncertain, even the iteration time is too long, design of initial escape people is unreasonable, planning efficiency is finally affected, and safety of disaster escape is seriously affected.

Prior art 3(CN201721446305.0) discloses an intelligent evacuation guidance system based on people distribution, which senses the location of people and gives an evacuation instruction (provides evacuation guidance for individuals). The defects are as follows: the indicating units are fixed on seats or the ground, so that people are likely to be crowded and difficult to observe during evacuation, and the indicating units are determined according to the initial random distribution of people, so that the indicating marks need to have functions of indicating multiple directions to adapt to different evacuation scenes, and the indicating units have high requirements on the design, wiring, maintenance and the like of the whole building and are high in cost.

In summary, how to overcome the above-mentioned defects in the prior art is a technical problem that needs to be solved urgently by those skilled in the art.

Disclosure of Invention

In view of the above problems, the present invention provides a method for navigating people in a building floor, which considers the distribution information and exit information of people at the same time, and performs iterative solution by using the shortest overall escape time as a solution target (i.e., the overall evacuation time difference is smaller than the time difference threshold value), so as to finally obtain the optimal evacuation path.

The invention provides a method for navigating personnel in a building floor, which comprises the following operation steps:

step S100: collecting personnel position information and evacuation exit position information in a building;

step S200: determining an initial number of people mean boundary A according to the number distribution of all people in the building, so that the number of people on two sides of the number of people mean boundary A is equal or the difference of the number of people on two sides is smaller than a preset number of people;

step S300: determining an initial close distance boundary B according to the evacuation outlet position information of the building, so that the distances from the evacuation outlets on two sides of the close distance boundary B to the close distance boundary B are equal or the distance difference is smaller than a preset distance value; setting an initial factor balance line C between the initial mean dividing line A and the initial close distance dividing line B, the initial factor balance line C being sandwiched between the mean dividing line A and the close distance dividing line B;

step S400: taking an initial factor balance line C as a reference line, and respectively taking all personnel positioned at two sides of the initial factor balance line C as a set M and a set N; directing people within the collection to evacuate outlets on the same side of the initial balance line C as the collection;

step S500: calculating the time for evacuating the people in the set M and the set N to the corresponding evacuation outlets as Tm and Tn respectively, and calculating the integral evacuation time difference delta t as | Tm-Tn |;

step S600: judging whether the current integral evacuation time difference delta t is smaller than a time difference threshold value or not, if so, determining that the current set M and the current set N are optimal distribution sets, and an evacuation path corresponding to the current personnel is an optimal evacuation path, and skipping to the step S800 for execution; if not, the current set M and the current set N are determined to be non-optimal distribution sets, and the evacuation path of the current personnel is not the optimal evacuation path, and then the step S700 is executed;

step S700: at the moment, the integral evacuation time difference Deltat is greater than or equal to the time difference threshold, if Tm is judged to be greater than Tn + Deltat, a person closest to the initial factor balance line C is selected from the set M and is classified into the set N, and the corresponding evacuation outlet of the person is adjusted to the evacuation outlet corresponding to the person in the original set N, so that the persons in the set M and the set N are gathered; if Tn is greater than Tm plus Deltat, selecting one person closest to the initial factor balance line C from the set N to be classified into the set M, adjusting the corresponding evacuation outlet of the person to the evacuation outlet corresponding to the person in the original set M, updating the persons in the set M and the set N, and then returning to the step S500;

and S800, storing the evacuation paths of the persons corresponding to the set M and the set N as evacuation bases.

Further, in step S100, the position information of the person in the building is collected every preset time period; when detecting that the person position information changes, performing the operations of step S100 to step S800.

Further, in step S300, when the two lines of the number average dividing line a and the distance close dividing line B are parallel, the distance middle line of the number average dividing line a and the distance close dividing line B is taken as the initial factor balance line C; and when the two lines of the mean number of people dividing line A and the close distance dividing line B are not parallel, taking the extension line of the angular bisector of the two line included angles of the mean number of people dividing line A and the close distance dividing line B as an initial factor balance line C.

Further, the following operations are also included after step S800;

step S900: after the optimal distribution set and the optimal evacuation path are determined, the server sends the evacuation path information of each person to the handheld equipment of the person;

step S1000: the handheld device receives the data of the optimal evacuation path; wherein the optimal evacuation path comprises an optimal evacuation exit position, a current location position and a building floor structure diagram.

Further, the evacuation outlets are two.

The invention also provides a method for navigating the personnel in the multi-storey building, which comprises the steps of determining the evacuation path of the personnel on the storey layer by layer from the bottom layer of the building to the secondary top layer according to the shortest path strategy and taking the evacuation path as the pre-selected optimal evacuation path; then, the evacuation strategy which is most suitable for the current floor is verified again layer by layer from the top layer to the lower layer of the building; and if the current floor meets the verification condition, determining the optimal evacuation path of the people on the floor according to the floor people navigation method for the current floor.

The invention also provides a navigation system which comprises a positioning device, a server and handheld equipment, and the navigation method is adopted, wherein the positioning device is used for acquiring the position information of personnel in the building; the server is used for determining the navigation path of the person; the handheld device is used for receiving the information of the evacuation path of the personnel and displaying the information of the evacuation path to the personnel of the handheld device.

Further, the positioning device is a positioning device embedded in the handheld device, such as: a GPS positioning device or a Beidou positioning device; the handheld device is used for connecting with the server and periodically sending the personnel position information to the server.

Further, the positioning device is a person sensing device installed in the building, such as: face recognition devices or infrared detection devices.

Furthermore, the handheld device is a mobile terminal and an intelligent watch; preferably, the server is configured to implement a navigation method to process and send an evacuation signal after monitoring a disaster; the handheld device is used for receiving the evacuation signal sent by the server, sending an alarm and displaying information of an evacuation path after receiving the evacuation signal; the information of the evacuation path comprises a building floor structure diagram, the current position of people, an evacuation exit and an evacuation path.

Compared with the prior art, the invention has the following technical effects: because the personnel position information and the evacuation exit information are considered at the same time, the evacuation path is more scientifically planned, and once an emergency occurs, the optimal evacuation path can be rapidly determined according to the current personnel distribution condition; each individual person can independently observe the evacuation path of the individual person, so that the escape efficiency is higher.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings needed in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope of the present invention, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 shows a schematic effect diagram of a prior art people evacuation navigation according to the rule of shortest path;

FIG. 2 is a flow chart of a method for navigating people in a building according to an embodiment of the present invention;

FIG. 3 is a flow chart of a method for navigating people in a building according to a second embodiment of the present invention;

fig. 4 is an evacuation schematic diagram of a planar bidirectional evacuation channel to which the method for navigating people in a building according to an embodiment of the present invention is applied;

fig. 5 is a schematic diagram illustrating an evacuation of a bidirectional passageway of a three-dimensional building by using the in-building personnel navigation method according to the second embodiment of the present invention;

fig. 6 is a schematic structural diagram of a system for people evacuation navigation in a building according to an embodiment of the present invention.

Reference numbers: a building personnel evacuation navigation system 10; a positioning device 100; a server 200; a handheld device 300; an outlet 1; and an outlet 2.

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. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.

Example one

Referring to fig. 2, an embodiment of the present invention provides a method for navigating people in a floor of a building, including the following operation steps:

step S100: firstly, directly or indirectly acquiring personnel position information and evacuation exit position information in a building by a server; in specific implementation, the server can directly acquire the acquired personnel position information and evacuation exit position information through the server; the server can indirectly acquire the personnel position information and the evacuation exit position information through acquisition equipment such as a positioning device;

step S200: the server determines an initial number of people mean boundary A according to the number distribution of all people in the building, so that the number of people on two sides of the number of people mean boundary A is equal or the number difference of the people on two sides is smaller than a preset number of people;

step S300: the server determines an initial close distance boundary B according to the evacuation exit position information of the building, so that the distances from the evacuation exits on two sides of the close distance boundary B to the close distance boundary B are equal or the distance difference is smaller than a preset distance value; setting an initial factor balance line C between an initial people number mean value boundary A and an initial distance close boundary B, wherein the initial factor balance line C is sandwiched between the people number mean value boundary A and the distance close boundary B;

step S400: the server respectively takes the initial factor balance line C as a datum line and takes all the personnel positioned at the two sides of the initial factor balance line C as a set M and a set N; directing people within the collection to evacuate outlets on the same side of the initial balance line C as the collection; at the moment, the personnel have handheld equipment in hands, and can obtain the guide instruction of the server through the handheld equipment;

step S500: the server calculates the time for people in the set M and the set N to evacuate to the corresponding evacuation outlets as Tm and Tn respectively, and calculates the integral evacuation time difference delta t as | Tm-Tn |;

step S600: the server judges whether the current integral evacuation time difference delta t is smaller than a time difference threshold value, if so, the current set M and the current set N are determined as the optimal distribution set, the evacuation path corresponding to the current personnel is the optimal evacuation path, and the step S800 is skipped to execute; if not, the current set M and the current set N are determined to be non-optimal distribution sets, and the evacuation path of the current personnel is not the optimal evacuation path, and then the step S700 is executed;

step S700: the server continues to adjust and analyze the evacuation path at this time, the overall evacuation time difference Δ t is greater than or equal to the time difference threshold value at this time, and if Tm > Tn +/Δ t is judged, a person closest to the initial factor balance line C is selected from the set M and is classified into the set N, so that the corresponding evacuation outlet of the person is adjusted to the evacuation outlet (two evacuation outlets in the embodiment) corresponding to the person in the original set N, and the updated set M and the updated set N are determined; if Tn is greater than Tm plus Delta t, selecting one person closest to the initial factor balance line C from the set N to be classified into the set M, adjusting the corresponding evacuation outlet of the person to the evacuation outlet corresponding to the person in the original set M, and determining that the updated set M and the updated set N return to the step S500 to continue to execute corresponding operations;

and step S800, the server stores the evacuation paths of the personnel corresponding to the set M and the set N as evacuation bases.

The embodiment of the invention provides a method for navigating people in a building floor, wherein an evacuation path calculation method relates to the following scheme: the server divides all personnel positioned at two sides of the initial factor balance line C into a set M and a set N respectively by taking the initial factor balance line C as a datum line; then, respectively sending navigation instructions to handheld devices held by the personnel corresponding to the set M and the set N, and guiding and determining evacuation path information of each personnel; wherein the set M is personnel on one side of the initial factor balance line C, and the navigation instruction guides the personnel in the set M to evacuate to an evacuation outlet on the side; the set N is personnel on the other side of the initial factor balance line, and the navigation instruction guides the personnel in the set N to evacuate to an evacuation outlet on the same side as the position of the set N;

then the server calculates the time for evacuating the people in the set M and the set N to the corresponding evacuation outlets as Tm and Tn respectively, and calculates the overall evacuation time difference Deltat, | Tm-Tn | (in the initial state, the overall evacuation time difference Deltat is calculated for the first time and is actually the initial overall evacuation time difference Deltat, however, the overall evacuation time difference Deltat is continuously updated in the subsequent iterative solving process); then judging whether the current integral evacuation time difference delta t is smaller than a time difference threshold value or not, if so, determining that the current set M and the current set N are optimal distribution sets, and an evacuation path corresponding to the current personnel is an optimal evacuation path, and skipping to the step S800 for execution (determining that the shortest condition of the integral escape time is met at this moment); if not, determining that the current set M and the current set N are non-optimal distribution sets, determining that the evacuation path of the current person is not the optimal evacuation path, selecting a person closest to the initial factor balance line C to re-plan the set to which the current person belongs to obtain an updated set M and an updated set N, then entering step S500 to continue calculating the time of corresponding evacuation outlets for the updated set M and the updated set N, simultaneously calculating the updated overall evacuation time difference Deltat, and continuing to judge the relation between the overall evacuation time difference Deltat and the time difference threshold value until the condition that the overall escape time is shortest is met, and skipping to execute step S800; namely, the steps S500, S600 and S700 are repeated for a plurality of times until the updated evacuation routes of the persons corresponding to the set M and the set N are determined, and after the condition that the current overall evacuation time difference delta t is smaller than the time difference threshold value is met, the step S800 is executed. And step S800, the server stores the evacuation paths of the personnel corresponding to the set M and the set N as evacuation bases, so that the main flow of the navigation processing is completed.

By analyzing the above steps, in the method for navigating people in a building floor according to the first embodiment of the present invention, the initial factor balance line C is used as a reference, the initial number of people used at each evacuation exit is assigned one by one, the evacuation path is determined, and the overall evacuation time difference between the corresponding evacuation exits at two sides is calculated (the above evacuation path and the overall evacuation time difference are actually preliminarily designed based on the overall time-use shortest policy principle, where the overall evacuation time difference Δ t is determined to satisfy the overall escape time shortest condition when the overall evacuation time difference Δ t is smaller than the time difference threshold); if the shortest condition of the whole escape time is met, the current set M and the set N are determined as the optimal distribution set, and meanwhile, the evacuation paths of the people corresponding to the current set M and the set N are determined as the optimal evacuation paths; if the shortest overall escape time condition is not met, the system needs to adjust and update the personnel corresponding to the sets on the two sides of the initial factor balance line, the subsequent verification needs to be repeated, the evacuation path is continuously verified and calculated in a dynamic verification manner until the updated set meets the shortest overall escape time condition, the updated set is determined to be the optimal distribution set, and at the moment, the updated evacuation path is the optimal evacuation path.

When specifically adjusting the persons in the sets at the two sides of the initial factor balance line, if Tm is larger than Tn +. DELTA.t, selecting one person closest to the initial factor balance line C from the set M to be classified into the set N, so that the corresponding evacuation outlet of the person is adjusted to the evacuation outlet corresponding to the person in the original set N, and the updated set M and set N are determined; if Tn is larger than Tm plus Delta t, selecting one person closest to the initial factor balance line C from the set N to be classified into the set M, adjusting the corresponding evacuation outlet of the person to the evacuation outlet corresponding to the person in the original set M, and determining the updated set M and the updated set N;

in the above operation steps, the initial factor balance line is designed by referring to two factors of the number of people and the distance, so as to determine a set M and a set N; however, when the method for navigating the people in the building is executed, whether the evacuation path meets the shortest overall escape time condition needs to be continuously verified on the basis of the initial evacuation path, if the evacuation path does not meet the shortest overall escape time condition, the people in the set M and the set N are allocated and adjusted one by one according to the specific distribution characteristics of the two sets, the set M and the set N are continuously updated through multiple checking calculation, and finally the updated set M and the updated set N meet the shortest overall escape time condition in the checking calculation process at a certain time, so that the updated evacuation path is determined to be the best evacuation path; therefore, the evacuation path calculation method realizes the overall time-consuming shortest strategy principle and the people number balance, considers two factors of space evacuation distance balance to design the evacuation path, determines the optimal path planning scheme through continuous checking and calculation iteration, ensures that all the personnel in the whole building realize scientific distribution on the overall time-consuming, and ensures the safety and timely evacuation of the personnel. In the method for navigating people in the floors of the building, according to the embodiment of the invention, when the two evacuation exits are navigated, in an extreme case, if the time for all people to walk through the evacuation exit on one side (for example, all people walk through the evacuation exit on the left side) according to the shortest path principle is still less than the overall evacuation time of any one evacuation path in the floor navigation method adopted in the embodiment, it is indicated that all people walk through the evacuation exit on the left side to be the optimal evacuation path, and people do not need to be assigned to use the evacuation passage on the right side. In this case, the application method of the embodiment of the present invention is not necessary, and therefore, before the staff allocation is performed, it is necessary to verify whether the present invention is properly applied in the current situation, and to adopt the optimal path output by the embodiment of the present invention after the present invention is properly determined. For the situation of the personnel navigation method in the building floor which is not suitable for the embodiment of the invention, the description is not repeated in the application.

Example two

Referring to fig. 3, a second embodiment of the present invention provides a method for navigating people in a floor of a building, the main processing manner of the method is the same as that of the method for navigating people in a floor of a building in the first embodiment, the main operations include steps S100 to S800, and also refer to fig. 3 with respect to the steps S100 to S800; moreover, the second embodiment of the invention relates to a method for navigating people in a building floor, which is specifically implemented, and also relates to the technical schemes of dynamic acquisition monitoring, reasonable division of an initial factor balance line C and the like;

when step S100 is executed, the second method for navigating people in a floor of a building according to the embodiment of the present invention needs to acquire position information of people in the building in real time; the personnel position information of all personnel is required to be updated and collected every preset time period; when the position information of the detected person changes, executing the operations from step S100 to step S800; analysis shows that the evacuation path planning of the people in the floor of the building according to the second embodiment dynamically changes with specific situations, the evacuation path planning continuously collects the position information of the people in the building, monitors the position information according to a preset time period, and can continuously update an optimized planning strategy; for example, when it is found that there is a new change in the distribution of people after the initial planning of the route is performed and evacuated for a preset period of time, the operations from step S100 to step S800 need to be performed again on the basis (it is necessary to acquire the position information of people again, to repartition the people mean boundary a and the boundary B with a close distance, to replan people who adjust the set M and the set N, etc.), instead of simply performing the operations from step S500 to step S800. However, after the collection is completed, the updated planned path, the number of the distribution people of the updated set M and the updated set N, needs to be continuously iterated and checked in a new preset time period, and at this time, the steps from S500 to S800 need to be sequentially executed, so that the updated set M and the updated set N meeting the condition of the shortest overall escape time are solved, and the updated evacuation path is determined to be the optimal evacuation path.

In the technical scheme of the second embodiment of the invention: in order to make the number of initially distributed personnel close to the final distribution, the overall escape time shortest condition is promoted to be met, and therefore an initial factor balance line is designed; the initial factor balance line has important significance for subsequent personnel navigation path planning; in step S300, when two lines, i.e., the mean dividing line a and the close dividing line B, are parallel, the mean dividing line a and the middle line between the two lines are taken as the initial factor balance line C; when the mean line A of the people number and the two lines separated from the similar line B are not parallel, the extension line of the angle bisector of the mean line A of the people number and the angle bisector of the two lines separated from the similar line B is taken as an initial factor balance line C. In the specific technical scheme of the embodiment of the invention, the dividing line of the mean number of people is a straight line, and similarly, the dividing line with similar distances is also a straight line, but the two straight lines are parallel in some cases, and certainly, are not parallel in some cases. And when the number of people is parallel, taking the number average boundary and the distance intermediate line from the similar boundary as initial factor balance lines, and considering the obtained initial factor balance lines as balance and neutralizing the two reference factors so as to perform subsequent checking operation. Of course, the research finds that when the two lines are not parallel, the mean boundary line of the number of people and the extension line of the angle bisector of the included angle between the two lines away from the similar boundary line can be taken as the initial factor balance line, in this case, the calculated initial factor balance line is also considered as the balance and the two reference factors, so that the position of the most reasonable initial factor balance line C is determined.

In a specific technical solution of the second embodiment of the present invention, after step S800, the following operations are further included; step S900: after the optimal distribution set and the optimal evacuation path are determined, the server sends the evacuation path information of each person to the handheld device of the person (namely, the server sends the data of the optimal evacuation path of the person corresponding to the storage set M to the handheld device held by the person corresponding to the set M; step S1000: the handheld device receives data of the optimal evacuation path; the data of the optimal evacuation path reflects the following information: including the best evacuation exit location, current location, building floor map, etc.

In general. The time from the exit of each room to the location of the evacuation exit will be related to two main factors, one being the evacuation distance, i.e. the distance of the persons to be evacuated using the current evacuation channel from the exit of this evacuation channel. Another factor is the number of people, the queuing time is long when the number of people is large, and the evacuation time is longer. Based on these two main influencing factors, the planning method of this embodiment sets such an initial partitioning manner, as shown in fig. 4:

the headcount is first calculated, and a line is drawn according to the median of the headcounts (e.g., the left vertical line in FIG. 4, abbreviated as the headcount mean boundary A), where the headcounts are equal or nearly equal on both sides of the line. Then, the evacuation distance is calculated, a line is drawn again in the middle value of the evacuation distance, the evacuation distances on the two sides of the line are equal and the dividing line of the mean number of people is different, and a line which enables the distances on the two sides of the line to be equal cannot be found, and at this time, a line which enables the evacuation distance difference to be the shortest is selected (for example, a vertical line on the right side of fig. 5, the line is coincident with the right side wall of the office, which is called a distance-close dividing line B for. Then, a line (e.g., the vertical line in the middle of fig. 4, referred to as the initial factor balance line C) is drawn at a position in the middle of the two lines, and the person on the left side of the line (the factor balance line) is initially assigned to the evacuation outlet on the left side (i.e., outlet 1 in fig. 3), and the person on the right side of the line (the factor balance line) is initially assigned to the evacuation outlet on the right side (i.e., outlet 2 in fig. 3). Such an initial allocation method is close to the purpose of making Tm equal to Tn (i.e., the above is only an ideal state, and Tm > Tn +. Δ t is an optimal condition to be considered as an optimal planning scheme). And continuously checking calculation is needed after initial distribution, if Tm is greater than Tn, a person closest to the factor balance line is selected at the Tm and distributed to the Tn (namely, the distance from the close boundary line is not changed, the mean value boundary line of the finely adjusted persons moves towards the left side, the number of persons walking to the evacuation outlet at the left side after moving is reduced, and Tm is correspondingly reduced), and then checking calculation is carried out until the optimal solving condition is met.

It should be noted that, the first embodiment and the second embodiment of the present invention provide a method for navigating people in floors of a building, and the main application scenarios are single floor, two evacuation exits, and the method is mainly directed to the evacuation mode treatment of the single floor, and of course, if the method is a multi-floor building, any floor of the multi-floor building can be evacuated according to the method; for example, if the current building is a 5-storey building, the 2 nd storey may be selected to be treated in the evacuation manner according to the above embodiment, whereas the 3 rd storey is treated in the shortest path principle, thereby determining the evacuation path of people within the entire building storey.

EXAMPLE III

The personnel navigation method in the multi-story building provided by the third embodiment of the invention can be suitable for the multi-story building. When planning two evacuation exit routes on the left and right in a multi-storey building, the comprehensive evacuation route needs to be processed according to the shortest route principle and the method for navigating the people in the building storey in the first embodiment.

For example, referring to fig. 5 (fig. 5 is a plan view of a building having a 5-story composite three-dimensional structure), for example, the building structure is divided into 5 stories, each story has the same structure, 8 rooms are provided in each story, and a staircase (evacuation exit) is provided on each of the left and right sides of each story. The manner of staff allocation for this case is as follows: the method comprises the steps of dividing according to the principle of the shortest path (note that at the moment, some personnel planning paths in the bottom floor can even be randomly distributed), calculating from the bottom floor, enabling one part of people to walk on the left stairs according to the principle of the shortest path, and enabling the other part of people to walk on the right stairs according to the principle of the shortest path. The above layers are pre-divided according to the principle (i.e. starting from the bottom layer, the layers are divided according to the shortest path principle), and at the same time, the actual planning strategy of the current floor is determined again from the top layer of the building (at this time, it is determined from the top layer of the building, from top to bottom, layer by layer whether the current floor should adopt the personnel navigation method in the building floor in the first embodiment). In this case, two factors are also taken into account, one being the number of people and the other being the evacuation distance. For example, when the total number of people in the whole building is 560, a path is planned in advance from the bottom layer to the second top layer according to the principle of the shortest path, the number of people walking on the left side and the right side of the 1-4 layers is 270 people and 190 people respectively, and the number of people walking on the 5 th layer is 100; then, judging whether the current layer is suitable for adopting the navigation method of the first embodiment layer by layer from the 5 th layer from top to bottom; at this time, three situations exist, wherein one situation is that people on the 5 th floor all walk on the left side, and certainly, people on the 1-4 th floor still escape according to the principle of the shortest path, and at this time, the use time of all people on the left side walking in the building is still less than that of people on the right side walking in the 1-4 th floor, and at this time, the description shows that the use time of the people on the left side walking in the whole building is still greater than that of the people on the right side walking in the whole building, and the description shows that the use time of the whole building is not the shortest at this time, so that the 5 th floor is not; therefore, people on the 5 th floor should walk to the left, and then continue to downwards judge whether the people on the 4 th floor are suitable for the method for navigating the people in the building floor in the embodiment, and the subsequent processes are not repeated.

The second situation is that people on the 5 th floor walk on the right side, and certainly, the people on the 1-4 th floor escape according to the shortest path principle, and the use time of all people on the right side walking in the building is still less than that of people on the left side walking in the 1-4 th floor, and the use time of the people on the right side walking in the whole building is also more than that of people on the left side walking in the building, so that the situation that the use time of the whole building is not the shortest is described, and therefore, the 5 th floor is not suitable for the building floor people navigation method with left and right side distribution; therefore, people on the 5 th floor should walk to the right side and then continue to downwards judge whether the people on the 4 th floor are suitable for the method for navigating the people in the building floor in the embodiment, and the subsequent process is not repeated. In summary, both the first case and the second case are extreme cases, and it can be determined that the 5 th layer is not suitable for the navigation method in the first embodiment;

in case III, the 1-4 layers still distribute escaped according to the principle of the shortest path, and the 5 th layer calculates a time according to the left side of all walks and a time according to the right side of all walks, and the time is comprehensively processed and analyzed; calculating to find that the time consumption of all people walking to the left side in the building is greater than that of people walking to the right side in the 1-4 floors, and calculating to obtain the time consumption of all people walking to the right side in the building is greater than that of people walking to the left side in the 1-4 floors; at this time, the current situation that the 5 th floor all walks on one side cannot meet the principle that the overall use time is shortest, so that the way that the 5 th floor all walks on one side is not suitable in the case of the third situation, and at this time, the 5 th floor should adopt the method for navigating the people in the building floor, which is explained in the first embodiment of the present invention. (in this case, only the layer 5 executes the shortest strategy for the whole, and the steps S100 to S1000 in the second embodiment are executed in sequence); during specific operation, a people mean boundary A is drawn in the 5 th floor, so that the number of people walking on the left side and the right side is approximately 280 people (for example, 10 people at the left evacuation exit and 90 people at the right evacuation exit of the people mean boundary), a distance close boundary B is drawn, a middle line (namely, a balance factor line for short) is drawn between the people mean boundary and the distance close boundary, the middle line is used as a basis for initial distribution of people, an initial planned path is finally solved, then the optimal planned path of the 5 th floor is continuously solved and updated to meet the condition of shortest overall escape time, and finally the optimal planned path scheme of the people in the whole building is determined.

It should be added that, in case one, when the above-mentioned floor 4 is analyzed by applying the method for navigating people in the building floor in this embodiment, two extreme time periods are also calculated, that is, when the whole time period for evacuating people on the left side of the floor 4 is calculated, and when the whole time period for evacuating people on the right side of the floor 4 is calculated, the comprehensive processing analysis is performed; at this time, it has been explained that the 5 th floor walks the left evacuation exit without ignoring the 5 th floor personnel; when calculating that the time spent by all people walking to the left side in the building (certainly, people walking to the left side at the 4 th layer at the moment) is larger than the time spent by people walking to the right side in the rest of people, calculating that the time spent by all people walking to the right side in the building (certainly, people walking to the right side at the 4 th layer at the moment) is larger than the time spent by people walking to the left side in the rest of people; at this time, it is not appropriate to explain the case that all the current floors 4 are one-sided, and at this time, the floor 4 should adopt the method for navigating people in the building floors as set forth in the first embodiment of the present invention (at this time, the policy of allocating the floor 4 according to the shortest path should be modified, so as to determine to use the allocation policy of the first embodiment). On the contrary, if the calculation shows that the use time of all people walking to the left in the building (of course, the people walking to the left at the 4 th floor all) is still less than that of the people walking to the right in the rest of the people, the right strategy is shown when the people walking to the left at the 4 th floor select, and the strategy scheme of single-side evacuation is continuously executed at the 4 th floor.

Example four

Referring to fig. 6, a fourth embodiment of the present invention further provides an evacuation navigation system 10 for people in a building, which includes a positioning device 100, a server 200 and a handheld device 300, and adopts the navigation methods in the first embodiment and the third embodiment;

wherein: the positioning device 100 is used for acquiring the position information of the person in the building, that is, performing the positioning operation of step S100 in the first embodiment; the server 200 is configured to perform iterative computation and solving operation of an optimal evacuation path, and determine a navigation path of a person, that is, perform the evacuation navigation operations of steps S200 to S500 in the first embodiment;

the handheld device 300 is configured to receive information of an evacuation path of a person, and show the information of the evacuation path to the person of the handheld device, that is, receive data of an optimal evacuation path in step 600 in the first embodiment to form a navigation path (or an evacuation path);

in order to enable the persons in the building to know their evacuation path in the event of an emergency, the persons in the building may be provided with handheld devices;

after monitoring the occurrence of a disaster, the server performs the navigation method processing of the above steps 100 to S800 and transmits an evacuation signal (the evacuation signal can be analyzed to information about an evacuation path); then the handheld device receives an evacuation signal sent by the server, sends an alarm and displays information of an evacuation path after receiving the evacuation signal; of course, the information of the evacuation path specifically includes various information such as a building floor structure diagram, a current position of a person, an evacuation exit, an evacuation path and the like, and the information can be displayed and processed through the handheld device; therefore, the individual personnel can be conveniently evacuated in an emergency, compared with the prior art, the evacuation path obtained by the navigation method adopted by the embodiment of the invention can be directly observed by the personnel, and the sight blocking caused by personnel crowding or fire smoke when a fixed evacuation indication is set in a building is avoided, so that the navigation method adopted by the embodiment of the invention improves the escape efficiency.

In a specific embodiment, the positioning device may be a positioning device embedded in a handheld device, such as a GPS positioning device or a beidou positioning device (or an embedded positioning module) embedded in a handheld device of a person; the handheld device is connected with the server and periodically sends the personnel position information. Or in a specific embodiment, the positioning device may also be a person sensing device installed in a building, for example, other person position collecting devices such as a face recognition device or an infrared detection device widely distributed in the building, and the positioning device in this form can directly collect the positions of the persons in the building and send the position information to the server, and this collection mode is more convenient and direct.

In a specific embodiment, the handheld device may be any one of a mobile terminal, a smart watch, a tablet computer, and other digital electrical devices; the handheld device receives the evacuation signal sent by the server, sends an alarm and displays the information of the evacuation path after receiving the evacuation signal, so that the instantaneity of personnel evacuation is greatly improved, and the evacuation efficiency is guaranteed.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention.