A method and device for planning a coal mine fire escape route

Abstract

The application provides a coal mine fire disaster avoidance route planning method and device, and relates to the technical field of coal disaster prevention.The application takes each region pre-set in a coal mine as a node, takes the roadway between the regions as an arc segment between the corresponding nodes, and obtains the weight corresponding to each arc segment to generate an undirected graph network, obtains the node corresponding to the dangerous region where the coal mine staff is currently located as a starting node, obtains the node corresponding to any region in a safe state at the current time as a terminal node, obtains the optimal path from the starting node to the terminal node based on the improved ant colony algorithm, and takes the shortest path as the planning path.The application realizes accurate and reliable path planning, improves the safety of the coal mine workers, helps them quickly find the best escape path in an emergency, and reduces the casualties and losses in accidents.

Description

Technical Field

[0001] This application relates to the field of coal mine disaster prevention technology, and in particular to a method and apparatus for planning coal mine fire evacuation routes. Background Technology

[0002] In the coal mining industry, safety is of paramount importance. Due to the unique working environment and potential risks of coal mines, accidents often result in severe casualties and property damage. Therefore, developing a patented method for generating coal mine evacuation routes is crucial to improving the safety of coal miners and effectively responding to emergencies. Currently, coal mine evacuation routes are typically determined based on experience and manual planning. This method has many shortcomings, such as incomplete consideration, susceptibility to subjective factors, and difficulty in quickly adapting to changes. Summary of the Invention

[0003] This application aims to at least partially address one of the technical problems in the related art.

[0004] Therefore, one objective of this application is to propose a planning method for coal mine fire evacuation routes, which uses S1 to treat each pre-set area in the coal mine as a node, the roadway between the areas as the arc between the corresponding nodes, and obtain the weight corresponding to each arc.

[0005] S2, generate an undirected graph network based on nodes, arcs and their corresponding weights, and initialize the undirected graph network;

[0006] S3, obtain the node corresponding to the dangerous area where the coal mine worker is currently located as the starting node, and obtain the node corresponding to any area that is currently in a safe state as the ending node.

[0007] S4, based on the start node and the end node, determine the first batch of marked nodes and the first batch of marked arc segments from the nodes and arc segments, and mark the first batch of marked nodes and the first batch of marked arc segments;

[0008] S5, expand the path of the starting node based on the unmarked nodes and unmarked arcs at the current moment, obtain the list of paths after expansion, and mark the arcs visited in this round of path expansion;

[0009] S6. Determine the optimal path in the path list based on the weight of each arc segment contained in each path in the current time.

[0010] S7, expand the optimal path based on the unmarked nodes and unmarked arcs at the current moment, update the path list based on the path obtained after the optimal path expansion, and mark the arcs visited in this round of path expansion.

[0011] S8. Repeat steps S6 to S7 until the optimal path from the starting node to the ending node is obtained, and use the shortest path as the planned path.

[0012] The second objective of this application is to propose a planning device for evacuation routes in coal mine fires.

[0013] The third objective of this application is to propose an electronic device.

[0014] The fourth objective of this application is to provide a non-transitory computer-readable storage medium.

[0015] The fifth objective of this application is to provide a computer program product.

[0016] To achieve the above objectives, the first aspect of this application proposes a method for planning coal mine fire evacuation routes, including: S1, taking each pre-set area in the coal mine as a node, taking the roadway between the areas as the arc segment between the corresponding nodes, and obtaining the weight corresponding to each arc segment;

[0017] S2, generate an undirected graph network based on nodes, arcs and their corresponding weights, and initialize the undirected graph network;

[0018] S3, obtain the node corresponding to the dangerous area where the coal mine worker is currently located as the starting node, and obtain the node corresponding to any area that is currently in a safe state as the ending node.

[0019] S4, based on the start node and the end node, determine the first batch of marked nodes and the first batch of marked arc segments from the nodes and arc segments, and mark the first batch of marked nodes and the first batch of marked arc segments;

[0020] S5, expand the path of the starting node based on the unmarked nodes and unmarked arcs at the current moment, obtain the list of paths after expansion, and mark the arcs visited in this round of path expansion;

[0021] S6. Determine the optimal path in the path list based on the weight of each arc segment contained in each path in the current time.

[0022] S7, expand the optimal path based on the unmarked nodes and unmarked arcs at the current moment, update the path list based on the path obtained after the optimal path expansion, and mark the arcs visited in this round of path expansion.

[0023] S8. Repeat steps S6 to S7 until the optimal path from the starting node to the ending node is obtained, and use the shortest path as the planned path.

[0024] According to one embodiment of this application, obtaining the weight corresponding to each arc segment includes: obtaining the tunnel height influence parameter, tunnel width influence parameter, tunnel slope influence parameter, tunnel wind speed influence parameter, and actual tunnel length corresponding to each tunnel; for each arc segment, calculating the weight corresponding to the arc segment based on the tunnel height influence parameter, tunnel width influence parameter, tunnel slope influence parameter, tunnel wind speed influence parameter, and actual tunnel length corresponding to the tunnel segment.

[0025] According to one embodiment of this application, determining the first batch of marked nodes and the first batch of marked arc segments from nodes and arc segments based on start nodes and end nodes includes: determining whether the start node and end node are nodes corresponding to blind end areas of a roadway, wherein a blind end area of ​​a roadway refers to a closed area that cannot be extended or connected to other roadways; if neither the start node nor the end node corresponds to a blind end area of ​​a roadway, then all nodes corresponding to blind end areas of a roadway are taken as the first batch of marked nodes, and arc segments that have a connection relationship with the first batch of marked nodes are taken as the first batch of marked arc segments; if the start node is a node corresponding to any blind end area of ​​a roadway, but the end node is not a node corresponding to a blind end area of ​​a roadway, then all nodes corresponding to blind end areas of a roadway, excluding the start node, are selected as the first batch of marked arc segments. The remaining nodes outside the initial point are designated as the first batch of marked nodes, and the arc segments connected to the first batch of marked nodes are designated as the first batch of marked arc segments. If the terminating node is a node corresponding to any blind end area of ​​the roadway, but the starting node is not a node corresponding to a blind end area of ​​the roadway, then the remaining nodes of all nodes corresponding to blind end areas of the roadway, excluding the terminating node, are designated as the first batch of marked nodes, and the arc segments connected to the first batch of marked nodes are designated as the first batch of marked arc segments. If both the starting node and the terminating node are nodes corresponding to blind end areas of the roadway, then the remaining nodes of all nodes corresponding to blind end areas of the roadway, excluding the terminating node and the starting node, are designated as the first batch of marked nodes, and the arc segments connected to the first batch of marked nodes are designated as the first batch of marked arc segments.

[0026] According to one embodiment of this application, determining the optimal path in the path list based on the weight of each arc segment contained in each path in the path list at the current time includes: obtaining all paths contained in the path list at the current time, and obtaining at least one arc segment contained in each path; for each path, adding the weights of all arc segments corresponding to the path to obtain the first weight sum corresponding to the path; comparing the weight sums corresponding to each path in the path list at the current time, and taking the path with the smallest first weight sum as the optimal path.

[0027] According to one embodiment of this application, the optimal path is extended based on the unmarked nodes and unmarked arcs at the current moment, and the path list is updated based on the path obtained after the extension of the optimal path, including: extending the optimal path based on the unmarked nodes and unmarked arcs at the current moment to obtain the extended path; combining the extended path with the remaining paths in the path list at the current moment other than the optimal path to obtain a path set; determining whether there is a path in the path set with the same starting node and ending node; if there is a path with the same starting node and ending node, merging the paths with the same starting node and ending node, and updating the path list based on the path merging result.

[0028] According to one embodiment of this application, paths with the same starting node and ending node are merged, and the path list is updated based on the path merging result. This includes: determining a group of paths to be merged where both the starting and ending nodes are the same, wherein the group contains at least two paths with the same starting and ending nodes; for any group of paths to be merged, summing the weights of all arc segments corresponding to each path in the group to obtain a second weight sum for each path; retaining the path with the smallest second weight sum in the group as the merging result, and deleting the remaining paths; and updating the path list based on the merging result for each group of paths to be merged.

[0029] According to one embodiment of this application, after using the shortest path as the planned path, the method further includes: sending the planned path to the mobile device corresponding to the coal mine worker.

[0030] To achieve the above objectives, a second aspect of this application proposes a planning device for coal mine fire evacuation routes, comprising: a first acquisition module, used to take each pre-set area in the coal mine as a node, take the roadway between the areas as the arc segment between the corresponding nodes, and acquire the weight corresponding to each arc segment;

[0031] The generation module is used to generate an undirected graph network based on nodes, arcs, and the weights corresponding to the arcs, and to initialize the undirected graph network.

[0032] The second acquisition module is used to acquire the node corresponding to the dangerous area where the coal mine worker is currently located as the starting node, and to acquire the node corresponding to any area that is currently in a safe state as the ending node.

[0033] The marking module is used to determine the first batch of marked nodes and the first batch of marked arc segments from nodes and arc segments based on the start node and the end node, and to mark the first batch of marked nodes and the first batch of marked arc segments.

[0034] The extension module is used to extend the path of the starting node based on the unmarked nodes and unmarked arcs at the current moment, obtain the list of paths after extension, and mark the arcs visited in this round of path extension.

[0035] The determination module is used to determine the optimal path in the path list based on the weight of each arc segment contained in each path in the path list at the current moment.

[0036] The update module is used to expand the optimal path based on the unmarked nodes and unmarked arcs at the current moment, update the path list based on the path obtained after the optimal path expansion, and mark the arcs visited in this round of path expansion.

[0037] The planning module is used to obtain the optimal path from the starting node to the ending node, and the shortest path is used as the planned path.

[0038] To achieve the above objectives, a third aspect of this application provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to implement the coal mine fire evacuation route planning method as described in the first aspect of this application.

[0039] To achieve the above objectives, a fourth aspect of this application provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to implement the coal mine fire evacuation route planning method as described in the first aspect of this application.

[0040] To achieve the above objectives, a fifth aspect of this application provides a computer program product, including a computer program that, when executed by a processor, implements the coal mine fire evacuation route planning method as described in the first aspect of this application.

[0041] This application achieves at least the following beneficial effects: By using regions as nodes and roadways as arc segments, and combining weight information, this application's embodiments can achieve accurate and reliable path planning in the generation of coal mine disaster avoidance routes, which will improve the safety of coal miners, help them quickly find the best escape route in emergency situations, and reduce casualties and losses when accidents occur. Attached Figure Description

[0042] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0043] Figure 1This is a schematic diagram illustrating an exemplary implementation of a coal mine fire evacuation route planning method according to one embodiment of this application.

[0044] Figure 2 This is a schematic diagram of an undirected graph network shown in one embodiment of this application.

[0045] Figure 3 This is a schematic diagram of the first batch of marked nodes and the first batch of marked arc segments when neither the starting node nor the ending node corresponds to the blind end area of ​​the roadway, according to one embodiment of this application.

[0046] Figure 4 This is a schematic diagram illustrating a path expansion of a starting node according to an embodiment of this application.

[0047] Figure 5 This is an overall flowchart illustrating a method for planning evacuation routes in a coal mine fire, as shown in one embodiment of this application.

[0048] Figure 6 This is a schematic diagram of a coal mine fire evacuation route planning device according to one embodiment of this application.

[0049] Figure 7 This is a schematic diagram of an electronic device according to one embodiment of this application. Detailed Implementation

[0050] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0051] Coal mine fires pose a significant safety hazard, and traditional static evacuation routes are ill-suited to address the dynamic changes in fire spread paths. Therefore, introducing coal mine fire evacuation route planning technology has become a crucial innovation in the field of coal mine safety.

[0052] Figure 1 This is a schematic diagram of an exemplary embodiment of a coal mine fire evacuation route planning method shown in this application, as follows: Figure 1 As shown, the planning method for evacuation routes in this coal mine fire includes the following steps:

[0053] S101, each pre-set area in the coal mine is taken as a node, the roadway between the areas is taken as the arc between the corresponding nodes, and the weight corresponding to each arc is obtained.

[0054] The area corresponding to the node can be set in advance, such as the blind end area of ​​the alley, the turning area where the turning point of two alleys is located, or other specific areas.

[0055] As one possible approach, the weights corresponding to each arc segment can be pre-set by experts based on experience.

[0056] As another feasible approach, factors typically affecting personnel passage within a tunnel include the tunnel's geometry, internal transport equipment, transmission devices, and wind speed under ventilation conditions. By comprehensively considering these factors, and to more accurately assess the impact of each tunnel on escape routes, avoiding the inaccuracies of determining evacuation routes based solely on experience or subjective factors, this application generates safer, more reliable evacuation routes that minimize the risk of potential danger zones. Specifically, it obtains the tunnel height, width, slope, wind speed, and actual length parameters for each tunnel. For each arc segment, based on these parameters, the weight corresponding to that arc segment is calculated. The weight calculation formula is as follows:

[0057] w ij =k h ×k w ×k p ×k v ×l ij

[0058] In the formula:

[0059] w ij This indicates the weight (w) of the arc segment corresponding to the roadway. ij ∈(0,1));

[0060] k h Indicates the influence parameter of tunnel height (k) h ∈(0,1));

[0061] k w Indicates the influence parameter of roadway width (k) w ∈(0,1));

[0062] k p Indicates the parameter affecting the roadway slope (k) p ∈(0,1));

[0063] k v Indicates the influence parameter of wind speed in the tunnel (k) v ∈(0,1));

[0064] l ijThis indicates the actual length of the tunnel.

[0065] S102, generate an undirected graph network based on nodes, arcs and their corresponding weights, and initialize the undirected graph network.

[0066] Figure 2 This is a schematic diagram of an undirected graph network shown in this application, such as... Figure 2 As shown, the network consists of 19 nodes, numbered sequentially from 1 to 19. The connecting lines (arcs) in the network are identified by the node numbers of their endpoints. The undirected graph network is initialized with a node set V, as shown by the numbers 1-19 circled in the black circle in the diagram above, where V =<v1, v2, v3, ..., v 17 v 18 v 19 >; The set of arc segments is E, containing Figure 2 The line segment between adjacent nodes, E = < e 1，7 e 1，8 e 1，9 ..., e 6，1 e 6，3 e 6， 18 e 6，19 >; The set of arc segment weights is W, containing Figure 2 The number corresponding to the middle arc segment, W = < w 1，7 w 1，8 w 1，9 ..., w 6，1 w 6，3 w 6，18 w 6，19 >.

[0067] S103, obtain the node corresponding to the dangerous area where the coal mine worker is currently located as the starting node, and obtain the node corresponding to any area that is currently in a safe state as the ending node.

[0068] By monitoring real-time data on the coal mine environment, including parameters such as gas concentration, temperature, and pressure, areas at risk can be identified at any given moment. These areas may be affected by fires, gas leaks, or other emergencies.

[0069] Similarly, by monitoring and analyzing coal mine environmental data in real time, areas that are currently in a safe state can be identified. These areas may be far from hazard sources, where there is no accumulation of combustible gas, or where other safety conditions are met.

[0070] The purpose of this application is to guide coal mine workers in dangerous areas to safe areas via the shortest escape route.

[0071] In this application, for any coal mine worker, the node corresponding to the dangerous area where the coal mine worker is currently located is taken as the starting node, and the node corresponding to any area in a safe state at the current time is taken as the ending node for that coal mine worker.

[0072] S104. Based on the start node and the end node, determine the first batch of marked nodes and the first batch of marked arc segments from the nodes and arc segments, and mark the first batch of marked nodes and the first batch of marked arc segments.

[0073] As an feasible approach, when determining the first batch of marked nodes and the first batch of marked arcs from nodes and arcs, it is first determined whether the starting node and the ending node are nodes corresponding to the blind end area of ​​the roadway. The blind end area of ​​the roadway refers to a closed area that cannot be extended or connected to other roadways.

[0074] If neither the starting node nor the ending node corresponds to a blind end area of ​​the roadway, then all nodes corresponding to blind end areas of the roadway are taken as the first batch of marked nodes, and the arc segments that are connected to the first batch of marked nodes are taken as the first batch of marked arc segments.

[0075] If the starting node is a node corresponding to any blind end area of ​​the roadway, and the ending node is not a node corresponding to a blind end area of ​​the roadway, then the remaining nodes of all nodes corresponding to blind end areas of the roadway, excluding the starting node, are taken as the first batch of marked nodes, and the arc segments that are connected to the first batch of marked nodes are taken as the first batch of marked arc segments.

[0076] If the termination node is a node corresponding to any blind end area of ​​the roadway, and the starting node is not a node corresponding to a blind end area of ​​the roadway, then the remaining nodes of all nodes corresponding to blind end areas of the roadway, excluding the termination node, are taken as the first batch of marked nodes, and the arc segments that are connected to the first batch of marked nodes are taken as the first batch of marked arc segments.

[0077] If both the starting node and the ending node are nodes corresponding to blind end areas of the roadway, then the remaining nodes among all nodes corresponding to blind end areas of the roadway, excluding the ending node and the starting node, are taken as the first batch of marked nodes, and the arc segments that are connected to the first batch of marked nodes are taken as the first batch of marked arc segments.

[0078] Blind ends of roadways typically represent higher risks and constraints. Therefore, excluding or prioritizing these areas can help select safer and more feasible paths. These nodes and arcs are marked as the first batch to reduce the amount of subsequent calculations.

[0079] Figure 3 This application illustrates a schematic diagram of the first batch of marked nodes and the first batch of marked arc segments when neither the starting node nor the ending node corresponds to a blind end area of ​​the roadway. Figure 3As shown, taking the starting node as v1 and the ending node as v5 as an example, the first batch of marked nodes are v7, v8, v9, and v1. 10 v 11 v 12 v 13 v 14 v 15 v 16 v 17 v 18 v 19 .

[0080] The arc segments that are connected to the first batch of marked nodes are shown as e in the diagram above. 1，7 e 1，8 e 1，9 e 2，10 Wait (in) Figure 3 (The text has been marked with a thick black line).

[0081] S105, expand the path of the starting node based on the unmarked nodes and unmarked arcs at the current moment, obtain the list of paths obtained after expansion, and mark the arcs visited in this round of path expansion.

[0082] Figure 4 This application illustrates a path expansion method for a starting node, as shown in the diagram. Figure 4 Taking v1 as the starting node and v5 as the ending node as an example, the path of the starting node v1 is expanded based on the unmarked nodes and unmarked arcs at the current time, resulting in a path list. The path list includes a total of 3 paths: (v1-v6), (v1-v3), and (v1-v2). Figure 4 (Marked with a dashed black line in the middle).

[0083] For the arc segment e visited during this round of path expansion 1，6 e 1，3 e 1，2 Mark it.

[0084] S106, determine the optimal path in the path list based on the weight of each arc segment contained in each path in the path list at the current moment.

[0085] Get all paths in the current path list, get at least one arc segment in each path, for each path, add up the weights of all arc segments corresponding to the path, get the first weight sum corresponding to the path, compare the weight sums of all paths in the current path list, and take the path with the smallest first weight sum as the optimal path.

[0086] It is not difficult to understand that, after calculation, the first weight sum of the path (v1-v6) is 14; the first weight sum of the path (v1-v3) is 9; and the first weight sum of the path (v1-v2) is 7.

[0087] Since the first weight sum of (v1-v2) is the smallest, (v1-v2) is taken as the optimal path in the current path list.

[0088] S107, expand the optimal path based on the unmarked nodes and unmarked arcs at the current moment, update the path list based on the path obtained after the optimal path expansion, and mark the arcs visited in this round of path expansion.

[0089] Based on the unmarked nodes and unmarked arcs at the current moment, the optimal path (v1-v2) is expanded to obtain the expanded paths (v1-v2-v3) and (v1-v2-v4). Then, arc e is... 2，3 e 2，4 Mark it.

[0090] The expanded path is combined with the remaining paths in the current path list excluding the optimal path to obtain a path set. The path set includes (v1-v2-v3), (v1-v2-v4), (v1-v6), and (v1-v3).

[0091] Determine if there exists a path in the path set that has the same starting node and ending node.

[0092] If paths with the same starting and ending nodes exist, they are merged, and the path list is updated based on the merge result. It is determined that (v1-v2-v3) and (v1-v3) have the same starting and ending nodes, therefore (v1-v2-v3) and (v1-v3) need to be merged.

[0093] When merging paths with the same starting and ending nodes, it is necessary to determine the path groups to be merged, where the starting and ending nodes are the same. Each path group must contain at least two paths with the same starting and ending nodes (in this example, there is only one group, (v1-v2-v3) and (v1-v3). When there are enough nodes, multiple groups may appear, which will not be elaborated here). For any path group to be merged, the weights of all arc segments corresponding to each path in the path group are added together to obtain the second weight sum for each path to be merged. The calculation shows that the second weight sum for the path (v1-v2-v3) is 17, while the second weight sum for the path (v1-v3) is 9.

[0094] The path to be merged with the second-lowest weight and the smallest weight (v1-v3) in the path group to be merged is retained as the merging result, and the remaining paths to be merged (v1-v2-v3) are deleted.

[0095] The path list is updated based on the merging result (v1-v3) corresponding to each path group to be merged. After the update, the path list still contains (v1-v2-v4), (v1-v6), and (v1-v3).

[0096] S108. Repeat steps S106 to S107 until the optimal path from the starting node to the ending node is obtained. Use this shortest path as the planned path.

[0097] Since the terminal node v5 has not yet been reached, the optimal path in the path list needs to be determined based on the weight of each arc segment contained in each path at the current moment. The calculated weights are: (v1-v2-v4) = 22, (v1-v6) = 14, and (v1-v3) = 9.

[0098] The optimal path at this point is (v1-v3). Expanding (v1-v3) yields the expanded paths (v1-v3-v6) and (v1-v3-v4). Then, the arc segment e... 3，6 e 3，4 Mark it.

[0099] At this point, determine whether there exists a path among the four paths (v1-v3-v6) and (v1-v3-v4) and the remaining paths (v1-v2-v4) and (v1-v6) excluding the optimal path, where both the starting node and the ending node are the same.

[0100] It was found that the starting and ending nodes of (v1-v3-v6) and (v1-v6) are the same, that is, (v1-v3-v6) and (v1-v6) form a path group to be merged. The weight sum of (v1-v3-v6) is 11, while the weight sum of (v1-v6) is 14. Therefore, (v1-v6) with the higher weight sum is deleted.

[0101] It was found that the starting and ending nodes of (v1-v3-v4) and (v1-v2-v4) are the same, that is, (v1-v3-v4) and (v1-v2-v4) form a path group to be merged. The weight sum of (v1-v3-v4) is 20, while the weight sum of (v1-v2-v4) is 22. Therefore, (v1-v2-v4) with the higher weight sum is deleted.

[0102] That is, after expansion and merging, the path list contains (v1-v3-v6) and (v1-v3-v4). Since the sum of the weights of (v1-v3-v6) is lower than that of (v1-v3-v4), (v1-v3-v6) is expanded as the optimal path, resulting in (v1-v3-v6-v5). At this point, it is discovered that the terminal node v5 has been reached. To prevent the remaining paths in the path list from generating the shortest path after expansion, (v1-v3-v4) also needs to be expanded, resulting in (v1-v3-v4-v5).

[0103] Since the sum of weights for (v1-v3-v6-v5) is 20, while the sum of weights for (v1-v3-v4-v5) is 26, the path with the lower sum of weights, (v1-v3-v6-v5), is chosen as the planning path.

[0104] This application embodiment uses regions as nodes and roadways as arc segments, combined with weight information, to achieve accurate and reliable path planning in the generation of coal mine disaster avoidance routes. This will improve the safety of coal miners, help them quickly find the best escape route in emergency situations, and reduce casualties and losses when accidents occur.

[0105] Furthermore, after obtaining the planned route, the planned route is sent to the mobile devices corresponding to the coal mine workers, so that the calculated disaster avoidance route information can be transmitted to the miners in a timely manner, providing them with clear escape guidance.

[0106] Figure 5 This application presents an overall flowchart of a method for planning evacuation routes in coal mine fires, as shown in the diagram. Figure 5 As shown, the planning method for evacuation routes in this coal mine fire includes the following steps:

[0107] S501, each pre-set area in the coal mine is taken as a node, the roadway between the areas is taken as the arc between the corresponding nodes, and the weight corresponding to each arc is obtained.

[0108] S502, an undirected graph network is generated based on the node, the arc segment, and the weight corresponding to the arc segment, and the undirected graph network is initialized.

[0109] S503: Obtain the node corresponding to the dangerous area where the coal mine worker is currently located as the starting node, and obtain the node corresponding to any area that is currently in a safe state as the ending node.

[0110] S504, based on the starting node and the ending node, determine the first batch of marked nodes and the first batch of marked arc segments from the nodes and the arc segments, and mark the first batch of marked nodes and the first batch of marked arc segments.

[0111] S505, based on the unmarked nodes and unmarked arcs at the current moment, perform path expansion on the starting node, obtain the path list after expansion, and mark the arcs visited in this round of path expansion.

[0112] S506, obtain all paths contained in the path list at the current time, and obtain at least one arc segment contained in each path.

[0113] S507: For each path, sum the weights of all arc segments corresponding to that path to obtain the first weight sum corresponding to that path.

[0114] S508, compare the weights of all paths in the path list at the current time, and select the path with the smallest first weight sum as the optimal path.

[0115] S509, based on the unmarked nodes and unmarked arcs at the current moment, the optimal path is extended to obtain the extended path, and the arcs visited during this round of path extension are marked.

[0116] S510, combine the extended path with the remaining paths in the path list at the current time, excluding the optimal path, to obtain a path set.

[0117] S511, Determine if there exists a path in the path set that has the same starting node and ending node.

[0118] S512, if there are paths with the same starting node and ending node, then merge the paths with the same starting node and ending node, and update the path list based on the path merging result.

[0119] S513, repeat S506~S512 until the optimal path from the starting node to the ending node is obtained, and use the shortest path as the planned path.

[0120] This application embodiment uses regions as nodes and roadways as arc segments, combined with weight information, to achieve accurate and reliable path planning in the generation of coal mine disaster avoidance routes. This will improve the safety of coal miners, help them quickly find the best escape route in emergency situations, and reduce casualties and losses when accidents occur.

[0121] Figure 6 This application shows a schematic diagram of a planning device for a coal mine fire evacuation route, as illustrated in the diagram. Figure 6 As shown, the coal mine fire evacuation route planning device 600 includes:

[0122] The first acquisition module 601 is used to take each pre-set area in the coal mine as a node, take the roadway between the areas as the arc between the corresponding nodes, and acquire the weight corresponding to each arc.

[0123] The generation module 602 is used to generate an undirected graph network based on nodes, arcs and the weights corresponding to the arcs, and to initialize the undirected graph network.

[0124] The second acquisition module 603 is used to acquire the node corresponding to the dangerous area where the coal mine worker is currently located as the starting node, and to acquire the node corresponding to any area that is currently in a safe state as the ending node.

[0125] The marking module 604 is used to determine the first batch of marked nodes and the first batch of marked arc segments from nodes and arc segments based on the start node and the end node, and to mark the first batch of marked nodes and the first batch of marked arc segments.

[0126] The extension module 605 is used to extend the path of the starting node based on the unmarked nodes and unmarked arcs at the current time, obtain the list of paths after extension, and mark the arcs visited in this round of path extension.

[0127] The determination module 606 is used to determine the optimal path in the path list based on the weight of each arc segment contained in each path in the path list at the current time.

[0128] The update module 607 is used to expand the optimal path based on the unmarked nodes and unmarked arcs at the current moment, update the path list based on the path obtained after the optimal path expansion, and mark the arcs visited during this round of path expansion.

[0129] Planning module 608 is used to obtain the optimal path from the starting node to the ending node, and use the shortest path as the planned path.

[0130] This device uses regions as nodes and roadways as arcs, combined with weight information, to achieve accurate and reliable path planning in the generation of coal mine disaster avoidance routes. This will improve the safety of coal miners, help them quickly find the best escape route in emergency situations, and reduce casualties and losses when accidents occur.

[0131] To implement the above embodiments, this application also proposes an electronic device 700, such as... Figure 7 As shown, the electronic device 700 includes a processor 701 and a memory 702 communicatively connected to the processor. The memory 702 stores instructions that can be executed by at least one processor. The instructions are executed by at least one processor 701 to implement the coal mine fire evacuation route planning method as shown in the above embodiment.

[0132] To implement the above embodiments, this application also proposes a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a computer to implement the coal mine fire evacuation route planning method as shown in the above embodiments.

[0133] To implement the above embodiments, this application also proposes a computer program product, including a computer program that, when executed by a processor, implements a method for planning coal mine fire evacuation routes as shown in the above embodiments.

[0134] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0135] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0136] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0137] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A method for planning evacuation routes in coal mine fires, characterized in that, include: S1, each pre-defined area in the coal mine is taken as a node, and the roadways between areas are taken as arc segments between corresponding nodes. The weight corresponding to each arc segment is obtained. Obtaining the weight corresponding to each arc segment includes: obtaining the roadway height influence parameter, roadway width influence parameter, roadway slope influence parameter, roadway wind speed influence parameter, and actual roadway length corresponding to each roadway; for each arc segment, the weight corresponding to the arc segment is calculated based on the roadway height influence parameter, roadway width influence parameter, roadway slope influence parameter, roadway wind speed influence parameter, and actual roadway length of the roadway corresponding to the arc segment. S2, Generate an undirected graph network based on the node, the arc segment, and the weight corresponding to the arc segment, and initialize the undirected graph network; S3, obtain the node corresponding to the dangerous area where the coal mine worker is currently located as the starting node, and obtain the node corresponding to any area that is currently in a safe state as the ending node. S4, based on the starting node and the ending node, determine the first batch of marked nodes and the first batch of marked arc segments from the nodes and the arc segments, and mark the first batch of marked nodes and the first batch of marked arc segments; S5, based on the unmarked nodes and unmarked arcs at the current moment, perform path expansion on the starting node, obtain the path list after expansion, and mark the arcs visited in this round of path expansion; S6, obtain all paths contained in the path list at the current time, and obtain at least one arc segment contained in each path; for each path, add up the weights of all arc segments corresponding to the path to obtain the first weight sum corresponding to the path; compare the weight sums corresponding to all paths in the path list at the current time, and take the path with the smallest first weight sum as the optimal path. S7. Based on the unmarked nodes and unmarked arcs at the current moment, the optimal path is expanded to obtain the expanded path, and the arcs visited during this round of path expansion are marked; the expanded path is combined with the remaining paths in the path list at the current moment other than the optimal path to obtain a path set; it is determined whether there is a path in the path set with the same starting node and ending node; if there is a path with the same starting node and ending node, a path group to be merged with the same starting node and ending node is determined, wherein the path group to be merged contains at least two paths to be merged with the same starting node and ending node; for any path group to be merged, the weights of all arcs corresponding to each path to be merged in the path group to be merged are added to obtain the second weight sum corresponding to each path to be merged; the path to be merged with the smallest second weight sum in the path group to be merged is retained as the merging result, and the remaining paths to be merged are deleted; the path list is updated based on the merging result corresponding to each path group to be merged. S8. Repeat steps S6 to S7 until the optimal path from the starting node to the ending node is obtained, and use this optimal path as the planned path.

2. The method of claim 1, wherein, The step of determining the first batch of marked nodes and the first batch of marked arc segments from the nodes and the arc segments based on the starting node and the ending node includes: Determine whether the starting node and the ending node are nodes corresponding to the blind end area of ​​the roadway, wherein the blind end area of ​​the roadway refers to a closed area that cannot be extended or connected to other roadways; If neither the starting node nor the ending node corresponds to the blind end area of ​​the roadway, then all nodes corresponding to the blind end area of ​​the roadway are taken as the first batch of marked nodes, and the arc segments that are connected to the first batch of marked nodes are taken as the first batch of marked arc segments. If the starting node is a node corresponding to any blind end area of ​​the alleyway, and the ending node is not a node corresponding to a blind end area of ​​the alleyway, then the remaining nodes of all nodes corresponding to blind end areas except the starting node are taken as the first batch of marked nodes, and the arc segments that have a connection relationship with the first batch of marked nodes are taken as the first batch of marked arc segments. If the termination node is a node corresponding to any blind end area of ​​the roadway, and the starting node is not a node corresponding to a blind end area of ​​the roadway, then the remaining nodes of all nodes corresponding to blind end areas of the roadway, excluding the termination node, are taken as the first batch of marked nodes, and the arc segments that have a connection relationship with the first batch of marked nodes are taken as the first batch of marked arc segments. If both the starting node and the ending node are nodes corresponding to blind end areas of the alleyway, then the remaining nodes among all nodes corresponding to blind end areas of the alleyway, excluding the ending node and the starting node, are taken as the first batch of marked nodes, and the arc segments that have a connection relationship with the first batch of marked nodes are taken as the first batch of marked arc segments.

3. The method according to claim 1 or 2, characterized in that, After using the optimal path as the planned path, the process also includes: The planned route is sent to the mobile devices of the coal mine workers.

4. A coal mine fire evacuation route planning device, characterized by, include: The first acquisition module is used to take each pre-set area in the coal mine as a node, the roadway between the areas as the arc segment between the corresponding nodes, and acquire the weight corresponding to each arc segment. The acquisition of the weight corresponding to each arc segment includes: acquiring the roadway height influence parameter, roadway width influence parameter, roadway slope influence parameter, roadway wind speed influence parameter, and actual roadway length corresponding to each roadway; for each arc segment, the weight corresponding to the arc segment is calculated based on the roadway height influence parameter, roadway width influence parameter, roadway slope influence parameter, roadway wind speed influence parameter, and actual roadway length of the roadway corresponding to the arc segment. A generation module is used to generate an undirected graph network based on the nodes, the arcs, and the weights corresponding to the arcs, and to initialize the undirected graph network. The second acquisition module is used to acquire the node corresponding to the dangerous area where the coal mine worker is currently located as the starting node, and to acquire the node corresponding to any area that is currently in a safe state as the ending node. A marking module is used to determine the first batch of marked nodes and the first batch of marked arc segments from the nodes and the arc segments based on the start node and the end node, and to mark the first batch of marked nodes and the first batch of marked arc segments; An extension module is used to extend the path of the starting node based on the unmarked nodes and unmarked arcs at the current moment, obtain a list of paths after extension, and mark the arcs visited in this round of path extension. The determination module is used to obtain all paths contained in the path list at the current time, and obtain at least one arc segment contained in each path; for each path, the weights of all arc segments corresponding to the path are added together to obtain the first weight sum corresponding to the path; the weight sums corresponding to all paths in the path list at the current time are compared, and the path with the smallest first weight sum is taken as the optimal path. An update module is used to expand the optimal path based on the unmarked nodes and unmarked arcs at the current moment, obtain the expanded path, and mark the arcs visited during this round of path expansion; combine the expanded path with the remaining paths in the path list at the current moment other than the optimal path to obtain a path set; determine whether there is a path in the path set with the same starting node and ending node; if there is a path with the same starting node and ending node, determine a group of paths to be merged with the same starting node and ending node, wherein the group of paths to be merged contains at least two paths with the same starting node and ending node; for any group of paths to be merged, add the weights of all arcs corresponding to each path to be merged in the group to obtain the second weight sum corresponding to each path to be merged; retain the path with the smallest second weight sum in the group of paths to be merged as the merging result, and delete the remaining paths to be merged; update the path list based on the merging result corresponding to each group of paths to be merged. The planning module is used to obtain the optimal path from the starting node to the ending node, and use this optimal path as the planned path.

5. An electronic device, comprising: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-3.

6. A non-transitory computer readable storage medium having stored thereon computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-3.

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