Path planning method and device, equipment and storage medium
By dividing evacuation areas and conducting risk assessments based on building maps and optimal path generation algorithms after receiving a hazardous event, the accuracy problem of underground space evacuation path planning is solved, enabling dynamic adjustment and precise evacuation.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- ZHEJIANG SUPCON INFORMATION TECH CO LTD
- Filing Date
- 2022-12-30
- Publication Date
- 2026-05-29
AI Technical Summary
In existing technologies, evacuation route planning after underground space fires or dangerous incidents lacks accuracy and is difficult to cope with actual situational changes, resulting in insufficiently precise evacuation routes.
After receiving a dangerous event, the coordinates of the dangerous area are determined based on the building map, the evacuation area is divided, and the optimal path generation algorithm is used to plan the evacuation geometric path. Combined with the risk assessment algorithm, the evacuation area is further assessed, including grid division and sensor status analysis, and the evacuation path is dynamically adjusted.
This improves the accuracy and reliability of evacuation route assessments, ensuring that evacuation routes are dynamically adjusted based on actual danger conditions, thus enhancing the precision and safety of evacuations.
Smart Images
Figure CN116295399B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of data analysis technology, and more specifically, to a path planning method, apparatus, device, and storage medium. Background Technology
[0002] The development and utilization of underground space in cities has become an inevitable trend. In recent years, various shopping malls, complexes, and public facilities have been "looking for space underground." Due to the special characteristics of underground space, which are different from ground-level buildings, such as the lack of open views, the absence of surrounding buildings and natural environment for reference, and even the inability of mobile phone navigation to pinpoint the location accurately.
[0003] When a fire or other dangerous event occurs in an underground space, disaster prevention and safety become crucial aspects of the design of underground civil buildings. Currently, most evacuation route methods primarily consider the location of entrances / exits and the location of the dangerous event, and then formulate evacuation routes based on the shortest path method.
[0004] However, this method of generating evacuation routes directly based on the shortest path method cannot take into account the actual situational evolution process, and the accuracy of the generated evacuation routes cannot be guaranteed. Summary of the Invention
[0005] The purpose of this application is to address the shortcomings of the prior art by providing a path planning method, apparatus, device, and storage medium to solve the problem of accuracy of the generated evacuation paths in the prior art.
[0006] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows:
[0007] In a first aspect, one embodiment of this application provides a path planning method, the method comprising:
[0008] If a dangerous event is detected and triggered, the coordinate data of the dangerous area of the dangerous event are determined based on the architectural drawing of the target building;
[0009] Based on the coordinate data of the dangerous area and the preset area division method, multiple evacuation areas corresponding to the dangerous event are determined;
[0010] An optimal path generation algorithm is used to determine the evacuation geometric path based on the multiple evacuation areas;
[0011] A risk assessment is performed on each target evacuation area along the evacuation geometric path to determine the assessment result of the evacuation geometric path.
[0012] Optionally, the evacuation area includes: a secondary danger zone, a relatively safe zone, and a safe zone, wherein:
[0013] The evacuation route area was identified as a secondary danger zone.
[0014] The area around the safety staircase is designated as a relatively safe area.
[0015] The outdoor area has been designated as a safe zone.
[0016] Optionally, after determining the evacuation geometric path based on the multiple evacuation areas using the optimal path generation algorithm, the method further includes:
[0017] Based on a preset grid size, each of the target evacuation areas is divided into grids;
[0018] Identify multiple target grids along the evacuation geometry;
[0019] The step of conducting risk assessments on each target evacuation area along the evacuation geometric path and determining the assessment results of the evacuation geometric path includes:
[0020] A risk assessment is performed on multiple target grids along the evacuation geometry path to determine the assessment result of the evacuation geometry path.
[0021] Optionally, the step of performing a risk assessment on multiple target grids along the evacuation geometric path and determining the assessment result of the evacuation geometric path includes:
[0022] The stability weight of each target grid is determined based on its historical stability coefficient and surrounding stability coefficient.
[0023] Based on the stability weight of each target grid, the historical stability coefficient, and the surrounding stability coefficient, a risk score is determined for each target grid.
[0024] The evaluation result of the evacuation geometry path is determined based on the risk score of each target grid.
[0025] Optionally, determining the evaluation result of the evacuation geometry path based on the risk score of each of the target grids includes:
[0026] Based on the risk score of each target grid, the risk score of the evacuation geometric path is determined;
[0027] Based on the risk score of the evacuation geometry, determine whether the evacuation geometry is suitable for evacuation.
[0028] Optionally, the risk assessment of each target evacuation area along the evacuation geometric path includes:
[0029] Collect the operating status of sensors within each of the target evacuation areas;
[0030] Risk assessments are conducted on each of the target evacuation areas based on the operational status of each sensor.
[0031] Optionally, the risk assessment of each target evacuation area based on the operating status of each of the sensors includes:
[0032] Based on the operating status of each sensor, a score for each sensor is determined;
[0033] According to the preset risk scoring rules, the risk assessment of each target evacuation area is carried out based on the scores of each sensor.
[0034] Secondly, another embodiment of this application provides a path planning apparatus, the apparatus comprising: a determining module and a generating module, wherein:
[0035] The determining module is used to determine the coordinate data of the dangerous area of the dangerous event based on the building drawing of the target building if a dangerous event is received; and to determine multiple evacuation areas corresponding to the dangerous event based on the coordinate data of the dangerous area and a preset area division method.
[0036] The generation module is used to determine the evacuation geometric path based on the multiple evacuation areas using an optimal path generation algorithm.
[0037] The determining module is specifically used to perform risk assessment on each target evacuation area on the evacuation geometric path and determine the assessment result of the evacuation geometric path.
[0038] Optionally, the evacuation area includes: a secondary danger zone, a relatively safe zone, and a safe zone, wherein: the evacuation route area is designated as the secondary danger zone; the safety staircase area is designated as the relatively safe zone; and the outdoor area is designated as the safe zone.
[0039] Optionally, the device further includes: a division module, used to divide each of the target evacuation areas into grids based on a preset grid size;
[0040] The determining module is specifically used to determine multiple target grids on the evacuation geometric path; to perform risk assessment on the multiple target grids on the evacuation geometric path; and to determine the assessment result of the evacuation geometric path.
[0041] Optionally, the determining module is specifically configured to determine the stability weight of each target grid based on the historical stability coefficient and the surrounding stability coefficient of each target grid; determine the risk score of each target grid based on the stability weight of each target grid, the historical stability coefficient and the surrounding stability coefficient; and determine the evaluation result of the evacuation geometry path based on the risk score of each target grid.
[0042] Optionally, the determining module is specifically used to determine the risk score of the evacuation geometric path based on the risk score of each of the target grids; and to determine whether the evacuation geometric path is suitable for evacuation based on the risk score of the evacuation geometric path.
[0043] Optionally, the device further includes: a data acquisition module, used to acquire the operating status of sensors in each of the target evacuation areas;
[0044] The determining module is specifically used to perform risk assessment on each of the target evacuation areas based on the operating status of each of the sensors.
[0045] Optionally, the determining module is specifically used to determine the score of each sensor based on the operating status of each sensor; and to conduct a risk assessment of each target evacuation area based on the scores of each sensor according to a preset risk scoring rule.
[0046] Thirdly, another embodiment of this application provides a path planning device, including: a processor, a storage medium, and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the path planning device is running, the processor communicates with the storage medium via the bus, and the processor executes the machine-readable instructions to perform the steps of any of the methods described in the first aspect above.
[0047] Fourthly, another embodiment of this application provides a storage medium storing a computer program, which, when executed by a processor, performs the steps of any of the methods described in the first aspect above.
[0048] The beneficial effects of this application are as follows: Using the path planning method provided in this application, after a hazardous event is triggered, multiple evacuation areas corresponding to the current hazardous event are immediately determined. Based on these multiple evacuation areas, an optimal path generation algorithm is used to determine the evacuation geometric path. Furthermore, by conducting a risk assessment of each target evacuation area along the evacuation geometric path, the assessment result of the evacuation geometric path is determined, thereby determining whether the evacuation geometric path is suitable for evacuation. Since the method for determining evacuation areas is based on different hazardous events, rather than simply generating them based on the location of hazardous areas and exit areas using the shortest path generation method, the accuracy and reference value of the assessment results are guaranteed. Attached Figure Description
[0049] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0050] Figure 1 A schematic flowchart illustrating a path planning method provided in an embodiment of this application;
[0051] Figure 2 A flowchart illustrating a path planning method provided in another embodiment of this application;
[0052] Figure 3 A flowchart illustrating a path planning method provided in another embodiment of this application;
[0053] Figure 4 This is a schematic diagram of the structure of a path planning device provided in an embodiment of this application;
[0054] Figure 5 This is a schematic diagram of the structure of a path planning device provided in another embodiment of this application;
[0055] Figure 6 This is a schematic diagram of the structure of a path planning device provided in an embodiment of this application. Detailed Implementation
[0056] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this application, but not all embodiments.
[0057] The components of the embodiments of this application described and illustrated in the accompanying drawings can be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of this application provided in the drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.
[0058] Furthermore, the flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed in order or performed simultaneously. Moreover, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.
[0059] The following explanation, using several specific application examples, illustrates a path planning method provided in the embodiments of this application.
[0060] In one possible implementation, embodiments of the present invention provide a path planning method. Figure 1A flowchart illustrating a path planning method provided in one embodiment of this application is shown below. Figure 1 As shown, the method includes:
[0061] S101: If a dangerous event is received and triggered, determine the coordinate data of the dangerous area of the dangerous event based on the building drawing of the target building.
[0062] When the target building is a multi-story building, the coordinate data of the hazardous area may include, for example, the number of floors in the restricted area, and the location coordinate data of the restricted area under the number of floors.
[0063] S102: Based on the coordinate data of the hazardous area and the preset area division method, determine multiple evacuation areas corresponding to the hazardous event.
[0064] In the embodiments of this application, the evacuation area includes: a secondary danger area, a relatively safe area, and a safe area, wherein: the evacuation passage area is determined as the secondary danger area; the safety staircase (safe access corridor) area is determined as the relatively safe area; and the outdoor area is determined as the safe area.
[0065] Evacuation zones are designated only after a dangerous event is triggered. Different dangerous events may correspond to different evacuation zones, meaning that the division of evacuation zones is based on the actual situation.
[0066] S103: The optimal path generation algorithm is used to determine the evacuation geometric path based on multiple evacuation areas.
[0067] Evacuation geometric path planning is generally based on the principle of moving from the hazardous area to the secondary hazardous area, then to the relatively safe area, and finally to the outdoor safe area. In a single hazardous event, there may be one or more evacuation assembly paths. This application does not impose any restrictions on this, and the specific path depends on the actual situation.
[0068] In the embodiments of this application, evacuation geometric path planning generally involves extracting the route coordinates of evacuation passages, the coordinates of each room door, and the center coordinates of other areas from the architectural drawings of the target building, and then using an optimal path generation algorithm to calculate the evacuation geometric path.
[0069] When determining the evacuation geometric path, if the target building is a multi-story building, the evacuation path of the floor where the dangerous event occurred is calculated first. Then, the area of the upward staircase is used as the starting point of the area of the next floor, and the path of the next floor is calculated. This process is repeated until the outdoor safe area is calculated.
[0070] S104: Conduct risk assessments on each target evacuation area along the evacuation geometric path and determine the assessment results of the evacuation geometric path.
[0071] In the embodiments of this application, when conducting risk assessments on each target evacuation area, it is not necessary to extract dangerous areas, that is, dangerous areas are no longer subject to risk assessment. Risk assessments are only conducted on secondary dangerous areas, relatively safe areas, and safe areas. After determining the risk assessment results of each target evacuation area, the assessment results of the evacuation geometric path are determined based on the risk assessment results of each target evacuation area.
[0072] Using the path planning method provided in this application, after a hazardous event is triggered, multiple evacuation areas corresponding to the current hazardous event are immediately determined. Based on these multiple evacuation areas, an optimal path generation algorithm is used to determine the evacuation geometric path. By conducting a risk assessment on each target evacuation area along the evacuation geometric path, the assessment result of the evacuation geometric path is determined, thereby determining whether the evacuation geometric path is suitable for evacuation. Since the method of determining the evacuation areas is based on different hazardous events, rather than simply generating them based on the location of the hazardous area and the exit area using the shortest path generation method, the accuracy and reference value of the assessment results are guaranteed.
[0073] Optionally, based on the above embodiments, this application embodiment may also provide a path planning method, the implementation process of which will be illustrated below with reference to the accompanying drawings. Figure 2 A flowchart illustrating a path planning method provided in another embodiment of this application is shown below. Figure 2 As shown, after S103, the method may further include:
[0074] S111: Divide the target evacuation area into grids based on the preset grid size.
[0075] In the embodiments of this application, the size of the preset grid can be, for example, 2m*2m. It should be understood that the above embodiments are only illustrative examples. The specific size of the preset grid can be flexibly adjusted according to user needs. For example, it can also be 0.5m*0.5m, or 1m*1m, or 3m*3m, etc. This application does not impose any restrictions here.
[0076] S112: Determine multiple target grids on the evacuation geometry path.
[0077] That is, the grid cells that the evacuation geometric path passes through are extracted as the target grid cells.
[0078] Correspondingly, S104 may include:
[0079] S113: Perform risk assessment on multiple target grids along the evacuation geometry path and determine the assessment results of the evacuation geometry path.
[0080] In embodiments of this application, the evaluation results of the evacuation geometric path can be determined as follows: the stability weight of each target grid is determined based on the historical stability coefficient and the surrounding stability coefficient of each target grid; the risk score of each target grid is determined based on the stability weight, historical stability coefficient and surrounding stability coefficient of each target grid; and the evaluation results of the evacuation geometric path are determined based on the risk score of each target grid.
[0081] For example, one approach is to acquire sensors within each target grid based on its geographical location, and then collect the operational status of each sensor to perform a risk assessment for each target grid. A specific assessment method could be, for example:
[0082] First, calculate the historical stability coefficient Va and the surrounding stability coefficient Vb for each target grid. The calculation method can be as follows:
[0083] Formula for calculating the mean of risk indicators: Determine the historical average stability risk index of each target grid and the average surrounding stability risk index of each target grid.
[0084] Among them, X i When calculating the historical stability coefficient Va, it represents the stability coefficient of each risk assessment within a preset historical period of the current grid; when calculating the peripheral stability coefficient Vb, it represents the stability coefficient of each grid within a preset range surrounding the current grid.
[0085] Subsequently, the calculation formula based on the standard deviation of the risk indicator is as follows: Determine the standard deviation of the historical stability risk index for each target grid, and the standard deviation of the surrounding stability risk index for each target grid.
[0086] Subsequently, the stability coefficient is determined based on the mean stability risk index and the standard deviation of the stability risk index. The formula for determining the stability coefficient is as follows:
[0087] That is, the historical stability coefficient of each target grid is determined based on the historical stability risk average and the historical stability risk average index of each target grid; and the peripheral stability coefficient of each target grid is determined based on the peripheral stability risk average and the peripheral stability risk average index of each target grid.
[0088] In some possible embodiments, the historical stability coefficient of each target grid can be determined, for example, by determining the average historical stability risk and historical stability coefficient of each target grid in each minute over the last ten minutes; the surrounding stability coefficient of each target grid can be determined, for example, by taking the target grid as the center, acquiring the eight surrounding grids and the target grid itself, and determining the average surrounding stability risk and surrounding stability coefficient of each acquired grid; it should be understood that the above embodiments are only illustrative examples, and the historical time corresponding to the specific historical stability coefficient can be ten minutes or twenty minutes, with an interval of one minute or half a minute or five minutes, which can be flexibly adjusted according to the user's needs; the number of surrounding grids including the surrounding stability coefficient can be 9, 5 or 12, which can be flexibly adjusted according to the user's needs and is not limited to the above embodiments.
[0089] In some possible embodiments, if the number of grids around the target grid does not meet the preset number of surrounding grids (e.g., 8 surrounding grids in the above embodiment), the risk values of the N grids before the target grid can be obtained along the evacuation geometry path, and solved using linear regression. The obtained value is the risk value corresponding to the target grid.
[0090] In the embodiments of this application, after determining the risk score of each target grid, the risk score of the evacuation geometric path can be determined based on the risk score of each target grid; and based on the risk score of the evacuation geometric path, it can be determined whether the evacuation geometric path is suitable for evacuation. The method for determining the stability weight of each target grid can be, for example:
[0091] When the historical stability coefficient Va <= 0.1 and the peripheral stability coefficient Vb <= 0.15, the risk score value obtained from the most recent stability coefficient assessment of the target grid is determined; when the historical stability coefficient Va > 0.1 and the peripheral stability coefficient Vb <= 0.15, the risk score value obtained from the most recent peripheral stability coefficient assessment of the target grid is taken; when the historical stability coefficient Va <= 0.1 and the peripheral stability coefficient Vb > 0.15, the risk score value obtained from the historical stability coefficient assessment has a weight of 70%, and the risk score value obtained from the peripheral stability coefficient assessment has a weight of 30%; when the historical stability coefficient Va > 0.1 and the peripheral stability coefficient Vb > 0.15, the risk score value obtained from the historical stability coefficient assessment has a weight of 60%, and the risk score value obtained from the peripheral stability coefficient assessment has a weight of 40%.
[0092] This setup ensures that the risk score of evacuation routes is not static, but rather changes continuously based on the historical stability coefficient and the surrounding stability coefficient. In other words, the risk score of evacuation routes is dynamic, thus minimizing the deviation from the actual situation.
[0093] The final assessment result for determining the evacuation geometric path can be, for example, the maximum risk score in each grid cell of the evacuation geometric path, the mean risk score in each grid cell, and the risk score of the evacuation geometric path based on a preset weight, wherein: the evacuation geometric risk score M = the maximum risk score in each grid cell of the evacuation geometric path * 0.9 + the mean risk score in each grid cell * 0.1.
[0094] When M is less than 0.5, it indicates that the evacuation geometry is suitable for evacuation; when M is greater than or equal to 0.5 and less than 1, it indicates that the evacuation geometry is suitable for evacuation in an emergency; when M is greater than 1, it indicates that the evacuation geometry is not suitable for evacuation.
[0095] Optionally, based on the above embodiments, this application embodiment may also provide a path planning method, as illustrated below with reference to the accompanying drawings, demonstrating the implementation process of risk assessment for each target evacuation area in the above method. Figure 3 A flowchart illustrating a path planning method provided in another embodiment of this application is shown below. Figure 3 As shown, the method may further include:
[0096] S121: Collect the operating status of sensors in each target evacuation area.
[0097] In embodiments of this application, the sensors may include, for example, temperature sensors, smoke sensors, fire extinguishing facility sensors, video surveillance sensors, roller shutter door sensors, access control and fire door sensors.
[0098] S122: Conduct risk assessments of each target evacuation area based on the operating status of each sensor.
[0099] In embodiments of this application, for example, the score of each sensor can be determined based on the operating status of each sensor; and a risk assessment of each target evacuation area can be performed based on the scores of each sensor according to a preset risk scoring rule.
[0100] The preset risk scoring rules can be set in a table format, for example:
[0101]
[0102]
[0103] That is, in the embodiments of this application, the risk scoring rule for the temperature sensor is as follows: if the temperature sensor alarms, the score is determined to be 1; if it does not alarm, the score is determined to be 0. The risk scoring rule for the smoke sensor is as follows: if the smoke sensor alarms, the score is determined to be 0.5; if it does not alarm, the score is determined to be 0. The risk scoring rule for the fire extinguishing facility sensor is as follows: if the fire extinguishing facility sensor is activated, the score is determined to be -0.3; if it is not activated, the score is 0. The risk scoring rule for the fire extinguishing facility sensor is as follows: if the fire extinguishing facility sensor detects smoke or fire, the score is 1; if it does not detect smoke or fire, the score is 0. The risk scoring rule for the video surveillance sensor is as follows: if the video surveillance sensor detects smoke or fire, the score is determined to be 1; if it does not detect smoke or fire, the score is determined to be 0. If a video surveillance sensor detects smoke or fire, its score is set to 1; otherwise, it is set to 0. The risk scoring rules for roller shutter door sensors are as follows: if the sensor detects the door as closed, its score is 1; if it detects it as half-open, its score is 0.5; and if it detects it as open, its score is 0. The risk scoring rules for access control and fire door sensors are as follows: if the sensor detects the door as closed, its risk score is 2; if it detects the door as offline, its risk score is 1; and if it detects the door as open, its risk score is 0.
[0104] In the embodiments of this application, when assessing the risk of each target evacuation area based on the scores of each sensor, the assessment method is as follows: the risk scores of different sensors within the same grid are accumulated, and for sensors of the same type within the same grid, the maximum risk score value is taken as the risk score of that type of sensor.
[0105] Among multiple target grids, some target grids may not have sensors. These target grids are considered blind spots in the analysis. To address the issue of blind spots, in the embodiments of this application, sample data for blind spot analysis is obtained through grid expansion. For example, the target grid that is considered a blind spot can be expanded to eight surrounding grids. Among the eight surrounding grids, at least three grids must have stability coefficients that satisfy Va <= 0.1 and Vb <= 0.15. In this case, the average value of the stability risk assessment value is taken as the risk score value of the target grid.
[0106] If, after expansion, the surrounding 8 grids do not meet the above conditions, then along the evacuation geometry path, calculate the risk scores of the N target grids preceding the target grid that belongs to the analysis blind spot, and use a linear regression equation to solve for the risk scores of the above N target grids. The solution result is the risk score of the target grid that belongs to the analysis blind spot.
[0107] The path planning method provided in this application, by refining the analysis of each region through grid division, subdivides the risk score of the region into the risk score of each target grid, and analyzes the target grid with sensor blind spots based on the surrounding environment. This enables the dynamic adjustment of the evacuation geometry path according to the evolution of the dangerous event, thereby significantly improving the accuracy of emergency evacuation in dangerous events.
[0108] The path planning device provided in this application will be explained below with reference to the accompanying drawings. This path planning device can perform the above-described... Figures 1-3 The specific implementation and beneficial effects of any path planning method are described above and will not be repeated below.
[0109] Figure 4 This is a schematic diagram of the structure of a path planning device provided in an embodiment of this application, as shown below. Figure 4 As shown, the device includes: a determining module 201 and a generating module 202, wherein:
[0110] The determination module 201 is used to determine the coordinate data of the dangerous area of the dangerous event based on the building drawing of the target building if a dangerous event is received and triggered; and to determine multiple evacuation areas corresponding to the dangerous event based on the coordinate data of the dangerous area and a preset area division method.
[0111] The generation module 202 is used to determine the evacuation geometric path based on multiple evacuation areas using an optimal path generation algorithm;
[0112] The determination module 201 is specifically used to conduct risk assessments on each target evacuation area along the evacuation geometric path and determine the assessment results of the evacuation geometric path.
[0113] Optionally, the evacuation area includes: a secondary hazardous area, a relatively safe area, and a safe area, wherein: the evacuation route area is designated as the secondary hazardous area; the safety staircase area is designated as the relatively safe area; and the outdoor area is designated as the safe area.
[0114] Optionally, based on the above embodiments, this application embodiment may also provide a path planning device, as described below with reference to the accompanying drawings. Figure 4 The implementation process of the given device is illustrated with examples. Figure 5 This is a schematic diagram of the structure of a path planning device provided in another embodiment of this application, as shown below. Figure 5As shown, the device also includes: a division module 203, used to divide each target evacuation area into grids based on a preset grid size;
[0115] The determination module 201 is specifically used to determine multiple target grids on the evacuation geometric path; to perform risk assessment on the multiple target grids on the evacuation geometric path; and to determine the assessment result of the evacuation geometric path.
[0116] Optionally, the determining module 201 is specifically used to determine the stability weight of each target grid based on the historical stability coefficient and the surrounding stability coefficient of each target grid; determine the risk score of each target grid based on the stability weight, historical stability coefficient and surrounding stability coefficient of each target grid; and determine the evaluation result of the evacuation geometric path based on the risk score of each target grid.
[0117] Optionally, the determining module 201 is specifically used to determine the risk score of the evacuation geometric path based on the risk score of each target grid; and to determine whether the evacuation geometric path is suitable for evacuation based on the risk score of the evacuation geometric path.
[0118] like Figure 5 As shown, the device also includes: a data acquisition module 204, used to acquire the operating status of sensors in each target evacuation area;
[0119] The determination module 201 is specifically used to conduct risk assessments of each target evacuation area based on the operating status of each sensor.
[0120] Optionally, the determining module 201 is specifically used to determine the score of each sensor based on the operating status of each sensor; and to conduct a risk assessment of each target evacuation area based on the scores of each sensor according to the preset risk scoring rules.
[0121] The above-described device is used to execute the method provided in the foregoing embodiments, and its implementation principle and technical effect are similar, so they will not be described again here.
[0122] These modules can be one or more integrated circuits configured to implement the above methods, such as one or more Application Specific Integrated Circuits (ASICs), one or more microprocessors, or one or more Field Programmable Gate Arrays (FPGAs). Alternatively, when a module is implemented using processing element scheduler code, the processing element can be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. Furthermore, these modules can be integrated together as a system-on-a-chip (SOC).
[0123] Figure 6 This is a schematic diagram of the structure of a path planning device provided in an embodiment of this application. The path planning device can be integrated into a terminal device or a chip of a terminal device.
[0124] like Figure 6 As shown, the path planning device includes: processor 501, bus 502 and storage medium 503.
[0125] Processor 501 is used to store programs, and processor 501 calls the programs stored in storage medium 503 to execute the above-mentioned programs. Figures 1-3 The corresponding method implementation is similar in both implementation and technical effect, and will not be described in detail here.
[0126] Optionally, this application also provides a program product, such as a storage medium storing a computer program, including a program that executes the embodiments corresponding to the above-described methods when run by a processor.
[0127] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.
[0128] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.
[0129] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in a combination of hardware and software functional units.
[0130] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
Claims
1. A path planning method, characterized in that, The methods shown include: If a dangerous event is detected and triggered, the coordinate data of the dangerous area of the dangerous event are determined based on the architectural drawing of the target building; Based on the coordinate data of the dangerous area and the preset area division method, multiple evacuation areas corresponding to the dangerous event are determined; An optimal path generation algorithm is used to determine the evacuation geometric path based on the multiple evacuation areas; A risk assessment is performed on each target evacuation area along the evacuation geometric path to determine the assessment result of the evacuation geometric path; After determining the evacuation geometric path based on the multiple evacuation areas using the optimal path generation algorithm, the method further includes: Based on a preset grid size, each of the target evacuation areas is divided into grids; Identify multiple target grids along the evacuation geometry; The step of conducting risk assessments on each target evacuation area along the evacuation geometric path and determining the assessment results of the evacuation geometric path includes: The stability weight of each target grid is determined based on its historical stability coefficient and surrounding stability coefficient. Based on the stability weight of each target grid, the historical stability coefficient, and the surrounding stability coefficient, a risk score is determined for each target grid. The evaluation result of the evacuation geometry path is determined based on the risk score of each target grid.
2. The method as described in claim 1, characterized in that, The evacuation area includes: a secondary danger zone, a relatively safe zone, and a safe zone, wherein: The evacuation route area was identified as a secondary danger zone. The area around the safety staircase is designated as a relatively safe area. The outdoor area has been designated as a safe zone.
3. The method as described in claim 1, characterized in that, The assessment result of determining the evacuation geometry path based on the risk score of each target grid includes: Based on the risk score of each target grid, the risk score of the evacuation geometric path is determined; Based on the risk score of the evacuation geometry, determine whether the evacuation geometry is suitable for evacuation.
4. The method as described in claim 1, characterized in that, The risk assessment of each target evacuation area along the evacuation geometric path includes: Collect the operating status of sensors within each of the target evacuation areas; Risk assessments are conducted on each of the target evacuation areas based on the operational status of each sensor.
5. The method as described in claim 4, characterized in that, The risk assessment of each target evacuation area based on the operating status of each sensor includes: Based on the operating status of each sensor, determine the environmental risk score collected by each sensor; According to the preset risk scoring rules, the risk assessment of each target evacuation area is carried out based on the scores of each sensor.
6. A path planning device, characterized in that, The device includes: a determining module and a generating module, wherein: The determining module is used to determine the coordinate data of the dangerous area of the dangerous event based on the building drawing of the target building if a dangerous event is received; and to determine multiple evacuation areas corresponding to the dangerous event based on the coordinate data of the dangerous area and a preset area division method. The generation module is used to determine the evacuation geometric path based on the multiple evacuation areas using an optimal path generation algorithm. The determining module is specifically used to perform risk assessment on each target evacuation area on the evacuation geometric path and determine the assessment result of the evacuation geometric path; The device further includes: a division module, used to divide each of the target evacuation areas into grids based on a preset grid size; The determining module is specifically used to determine multiple target grids on the evacuation geometric path; determine the stability weight of each target grid based on its historical stability coefficient and surrounding stability coefficient; determine the risk score of each target grid based on its stability weight, historical stability coefficient, and surrounding stability coefficient; and determine the evaluation result of the evacuation geometric path based on the risk score of each target grid.
7. A path planning device, characterized in that, The device includes a processor, a storage medium, and a bus. The storage medium stores machine-readable instructions executable by the processor. When the path planning device is running, the processor communicates with the storage medium via the bus, and the processor executes the machine-readable instructions to perform the method described in any one of claims 1-5.
8. A storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, performs the method described in any one of claims 1-5.