Earthquake early warning terminal civil air defense shelter positioning system, method, device and medium

Abstract

The present invention discloses an earthquake early warning terminal civil air defense refuge positioning system, method, device and medium. It comprises: a map data management module, which is used to obtain the coordinates of personnel positions, and based on marking the coordinates of personnel positions in the indoor map, send the indoor map with the personnel position marks to the path planning module; the path planning module is used to use the coordinates of personnel positions in the indoor map as the starting node and the coordinates of the refuge site as the target node, extract key information from the indoor map, determine the intermediate nodes according to the key information, and calculate each node based on the path planning algorithm to generate an evacuation route. The map data management module can be used to grasp the position of personnel, provide a basis for subsequent evacuation planning, and the path planning module is used to plan with the actual position of personnel as the starting point and the refuge site as the end point, so that the evacuation route is more targeted. By extracting key information from the indoor map, an evacuation route that is more in line with the actual situation can be generated, thereby improving the evacuation efficiency.

Description

Technical Field

[0001] The present invention relates to the field of earthquake detection, and in particular to an earthquake early warning terminal civil air defense refuge positioning system, method, equipment and medium. Background Art

[0002] When major natural disasters such as earthquakes occur, quickly and safely evacuating people to shelters is the key to ensuring life safety. However, existing earthquake emergency measures have many shortcomings in terms of evacuation and positioning.

[0003] Traditional earthquake emergency plans often lack accurate modeling of indoor environments and real-time tracking of personnel locations. In indoor environments, due to the complex structure of buildings and diverse passages, people are easily lost in panic and find it difficult to quickly find the best path to the shelter. Most existing path planning systems only consider the outdoor environment, and do not take into account the special layout of the interior, such as the layout structure of each area, the width of the passage, and traffic restrictions. As a result, the generated evacuation routes may not conform to the actual situation, affecting evacuation efficiency. Summary of the invention

[0004] The present invention provides an earthquake early warning terminal civil air defense refuge positioning system, method, equipment and medium, which can realize real-time and accurate tracking of the positions of indoor personnel when an earthquake occurs, and fully consider key information such as indoor layout to generate accurate and effective evacuation routes, providing personnel with timely and accurate evacuation guidance.

[0005] According to one aspect of the present invention, there is provided an earthquake early warning terminal civil air defense refuge positioning system, the system comprising: a map data management module, and a path planning module connected to the map data management module.

[0006] A map data management module is used to obtain the coordinates of the personnel location, mark the coordinates of the personnel location in the indoor map, and send the indoor map with the personnel location mark to the path planning module; The path planning module is used to use the coordinates of the personnel location in the indoor map as the starting node and the coordinates of the shelter as the target node, and to extract key information from the indoor map, determine the intermediate nodes based on the key information, and calculate each node based on the path planning algorithm to generate an evacuation route. The key information includes the layout structure of each indoor area, the width of the passage, the access restrictions of different areas, and the coordinates of the shelter.

[0007] Optionally, the system also includes: a navigation module connected to the path planning module; the path planning module is also used to send the evacuation route to the navigation module; the navigation module is used to visualize the evacuation route.

[0008] Optionally, the system further includes: an information interaction module connected to the map data management module; the information interaction module is used to receive road congestion information fed back by users and send the road congestion information to the map data management module.

[0009] Optionally, the system further includes: an obstacle detection module connected to the map data management module, specifically including: an obstacle detection module, configured to detect obstacle information through a sensor and send the detected obstacle information to the map data management module.

[0010] Optionally, the map data management module is also used to update the indoor map according to the road congestion information and obstacle information, and send the updated indoor map to the path planning module; the path planning module is also used to re-plan the evacuation route based on the updated indoor map.

[0011] Optionally, the system also includes: a positioning module connected to the map data management module; the positioning module is used to obtain the evacuation positioning instructions input by the user based on the earthquake warning, and obtain the personnel location coordinates of the current user by using the trilateral measurement method based on the evacuation positioning instructions, and send the personnel location coordinates to the map data management module.

[0012] Optionally, the path planning algorithm is the Dijkstra algorithm, and the evacuation route calculation process includes a distance update phase, a node selection phase, and a path backtracking phase; The distance update phase formula is: ; in, Represents the distance from the starting node to the nodes in the indoor map The current shortest distance estimate of Represents a slave node To Node The weight of the edge, Indicates the distance from the starting node to the nodes in the indoor map The current shortest distance estimate of ; The formula for the node selection phase is: ; in, represents the set of unvisited nodes, Indicates the next visited node to be selected in each iteration, which is a set of nodes that have never been visited. Selected from is the set of unvisited nodes Any node in Represents the distance from the starting node to the nodes in the indoor map The current shortest distance estimate of ; The formula for the path backtracking phase is: ; in, represents the planned path from the start node to the target node, is a node sequence, arranged in order from the start node to the target node. represents the starting node, represents the target node, Representation Node The predecessor node.

[0013] According to another aspect of the present invention, a method for locating civil air defense shelters at earthquake early warning terminals is provided, the method comprising: Obtaining the personnel location coordinates through the map data management module, marking the personnel location coordinates in the indoor map, and sending the indoor map with the personnel location marks to the path planning module; The path planning module extracts key information from the indoor map, determines the evacuation target and constraints, and generates an evacuation route based on the key information, evacuation target and constraints based on the path planning algorithm. The key information includes the layout structure of each indoor area, the width of the passage, the access restrictions of different areas, and the coordinates of the shelter.

[0014] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the earthquake early warning terminal civil air defense refuge positioning method described in any embodiment of the present invention.

[0015] According to another aspect of the present invention, a computer-readable storage medium is provided, which stores computer instructions, and the computer instructions are used to enable a processor to implement an earthquake early warning terminal civil air defense refuge positioning method described in any embodiment of the present invention when executed.

[0016] The technical solution of the embodiment of the present invention can accurately grasp the indoor location of personnel in real time through the map data management module, providing a basis for subsequent evacuation planning. By marking the location of personnel and sending it to the path planning module, the timely transmission and sharing of location information is ensured. The path planning module uses the actual location of personnel as the starting point and the shelter as the end point for planning, making the evacuation route more targeted and practical. By extracting key information from the indoor map, an evacuation route that is more in line with the actual situation can be generated, thereby improving evacuation efficiency and safety and ensuring the safety of personnel to the greatest extent.

[0017] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 This is a schematic diagram of the structure of an earthquake early warning terminal civil air defense and refuge positioning system provided according to Embodiment 1 of the present invention; Figure 2 It is a structural schematic diagram of another earthquake early warning terminal civil air defense refuge positioning system provided according to the first embodiment of the present invention; Figure 3 This is a flow chart of a method for locating civil air defense shelters of an earthquake early warning terminal according to Embodiment 3 of the present invention; Figure 4 It is a structural schematic diagram of an electronic device for implementing an earthquake early warning terminal civil air defense refuge positioning method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0021] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices. Embodiment 1

[0022] Figure 1 A structural schematic diagram of an earthquake early warning terminal civil air defense refuge positioning system is provided for the first embodiment of the present invention. The system includes: a map data management module, and a path planning module connected to the map data management module.

[0023] Optionally, a map data management module is used to obtain the coordinates of the personnel location, based on marking the personnel location coordinates in the indoor map, and sending the indoor map with the personnel location marks to the path planning module; the path planning module is used to use the personnel location coordinates in the indoor map as the starting node and the shelter coordinates as the target node, and extract key information from the indoor map, determine the intermediate nodes based on the key information, and calculate each node based on the path planning algorithm to generate an evacuation route, wherein the key information includes the layout structure of each indoor area, the width information of the passage, the access restrictions of different areas, and the coordinates of the shelter.

[0024] Among them, the indoor map is an electronic presentation of the internal space layout of the building, covering various areas in the building, such as the distribution of rooms, corridors, stairs, etc., the width of the passages and other detailed information. As the data basis for the operation of the map data management module and the path planning module, it provides a reference for determining the location of personnel and planning evacuation routes. The coordinates of the shelter refer to the coordinate information of the location of the safe shelter area in the current building. In the path planning module, it is the target node and the coordinates of the terminal position to be reached by the evacuation of personnel, guiding the planning direction of the entire evacuation route.

[0025] Specifically, the map data management module is used to obtain the coordinates of the personnel's location and mark the coordinates on the indoor map, so as to clarify the specific location of the personnel indoors and provide basic data support for subsequent path planning. The path planning module is used to plan the evacuation route for personnel from their current location to the shelter. The path planning module will first determine the starting node and the target node, and then extract key information such as regional layout, channel width, and regional access restrictions from the indoor map to determine the intermediate nodes, which are the key passing points on the evacuation route. Finally, it relies on the path planning algorithm for calculation and analysis to generate a reasonable evacuation route for personnel to evacuate.

[0026] Optionally, the path planning algorithm is the Dijkstra algorithm, and the evacuation route calculation process includes a distance update phase, a node selection phase, and a path backtracking phase; The distance update phase formula is: ; in, Indicates the distance from the starting node to the nodes in the indoor map The current shortest distance estimate of Represents a slave node To Node The weight of the edge, Represents the distance from the starting node to the nodes in the indoor map The current shortest distance estimate of ; The formula for the node selection phase is: ; in, represents the set of unvisited nodes, Indicates the next visited node to be selected in each iteration, which is a set of nodes that have never been visited. Selected from is the set of unvisited nodes Any node in Represents the distance from the starting node to the nodes in the indoor map The current shortest distance estimate of ; The formula for the path backtracking phase is: ; in, represents the planned path from the start node to the target node, is a node sequence, arranged in order from the start node to the target node. represents the starting node, represents the target node, Representation Node The predecessor node.

[0027] It should be noted that when the Dijkstra algorithm is used to calculate the evacuation route, the distance update stage is the critical first step. Its core purpose is to continuously update the shortest distance estimate from the starting node, that is, the node corresponding to the location of the personnel to other nodes in the indoor map. The indoor map is a network composed of many nodes, such as channel intersections, key locations, etc., and the edges connecting these nodes. In the early stages of the calculation, it is only known that the distance from the starting node to itself is 0, and the distance to other nodes is temporarily set to a larger value. As the algorithm progresses, when a new and shorter path is found to reach a certain node, the shortest distance estimate can be further updated according to the formula. When the Dijkstra algorithm is used for indoor personnel evacuation path planning, it is assumed that Represents the current shortest distance estimate from the person's starting position to the node in the indoor map, Represents a slave node To Node The weight of the edge can be determined according to the actual situation. For example, if the channel length is considered as the main factor, It's the channel The actual length of the channel; if the width of the channel is also considered, a coefficient can be comprehensively evaluated to represent the weight. To Node When the path may be better, update The formula is: ; in, Represents the distance from the starting node to the nodes in the indoor map The current shortest distance estimate of Represents a slave node To Node The weight of the edge, Represents the distance from the starting node to the nodes in the indoor map The current shortest distance estimate of . This formula means comparing the current record from the starting node to the node The shortest distance and passing nodes Then to the node The distance (i.e. , if the latter is smaller, update to a smaller value.

[0028] Specifically, after completing the initial update of the distance, the node selection phase will begin. In this phase, the node that is most worth visiting is selected from the set of nodes that have not been visited yet, that is, the node that is most likely to find a shorter evacuation path through it. Because it is impossible to visit all nodes at once, a reasonable order is needed to gradually explore the entire indoor map network and find the shortest path to the target node. is the set of unvisited nodes. In each iteration, the next node to be visited is selected. The formula is: ; in, represents the set of unvisited nodes, Indicates the next visited node to be selected in each iteration, which is a set of nodes that have never been visited. Selected from is the set of unvisited nodes Any node in Represents the distance from the starting node to the nodes in the indoor map The current shortest distance estimate of . This formula represents the value from the set All nodes in Select a node in , so that The value of is the smallest, that is, the unvisited node with the shortest distance to the starting node is selected for access.

[0029] Furthermore, when the target node is finally determined to be reachable through the previous distance update and node selection phases, the path backtracking phase begins. The task of this phase is to infer the specific evacuation route from the starting node to the target node based on the previously recorded connection relationship and the shortest distance between the nodes, that is, to clarify which nodes the personnel must pass through in order to reach the shelter as quickly and safely as possible. Representation Node The predecessor node (used to record the path). Then, we construct the node from the starting node by backtracking. To the target node Path from the target node Start, Path The construction formula is: ; in, represents the planned path from the start node to the target node, is a node sequence, arranged in order from the start node to the target node. represents the starting node, represents the target node, Representation Node The predecessor node of the target node. Start by continuously adding the predecessor nodes of the current node to the path Until backtracking to the starting node , thus obtaining the complete shortest escape path from to .

[0030] In addition, if we want to consider more complex situations, such as considering both the path length and the flow of people in the channel to determine the weight , assuming that the channel The length is , the flow of people is , the weight formula can be defined as ,in and It is a coefficient determined based on actual conditions and is used to balance the impact of length and passenger flow on path selection.

[0031] Figure 2 A schematic diagram of the structure of an earthquake early warning terminal civil air defense shelter positioning system is provided for the first embodiment of the present invention. Figure 2 The system also includes: a navigation module connected to the path planning module; an information interaction module, an obstacle detection module and a positioning module connected to the map data management module.

[0032] Optionally, the system also includes: a navigation module connected to the path planning module; the path planning module is also used to send the evacuation route to the navigation module; the navigation module is used to visualize the evacuation route.

[0033] Among them, after the navigation module receives the evacuation route data from the path planning module, it will first parse and process these data based on its own graphics rendering function. The navigation module will correspond each node to a specific location point in the visualization interface. For example, according to the coordinate system of the indoor map, the node coordinates are converted into pixel coordinates on the screen. Then, according to the connection order of the nodes, each path segment is displayed by drawing lines, etc., such as using straight segments to represent straight passages, and using curved segments to represent turning passages, etc., so as to present the complete shape of the evacuation route. At the same time, the navigation module will also combine some visualization elements to enhance the display effect. For example, different colors are used to distinguish different types of areas, such as red for dangerous areas, green for safe evacuation passages, etc., or flashing, bolding, etc. are used to highlight the current location of the personnel and the key nodes to be visited next, so that users can clearly and intuitively see the entire evacuation route and their own location and direction of travel, so as to move quickly and accurately toward the shelter according to the navigation prompts, so as to successfully complete the evacuation in emergency situations such as earthquakes. In summary, through the coordinated cooperation of the path planning module and the navigation module, from generating evacuation routes to visual display, clear and intuitive guidance is provided for people in emergency scenarios such as earthquakes, helping them to reach shelters more efficiently.

[0034] Optionally, the system further includes: an information interaction module connected to the map data management module; the information interaction module is used to receive road congestion information fed back by users and send the road congestion information to the map data management module.

[0035] Among them, the information interaction module has a corresponding input interface or interactive interface for users to input relevant information. For example, a special feedback entrance is set on the terminal device, which is presented in the form of a text input box, voice input, etc. If it is in the form of a text input box, the user can manually enter a specific description of the road congestion, such as "In the XX channel, the ceiling fell due to an earthquake, and the road is no longer passable." The information interaction module will recognize the text content and convert it into structured data that the system can process, such as code segments that mark the coordinates of the location of the blocked road, the cause of the blockage, and other key information. If it is a voice input method, the built-in voice recognition technology of the information interaction module will play a role, first converting the user's voice command into text content, and then processing it according to the above-mentioned text input conversion process, and finally extracting effective road congestion information and incorporating it into the system for subsequent operations.

[0036] Furthermore, after the information interaction module successfully obtains and organizes the road congestion information fed back by the user, it will send the road congestion information to the map data management module. After receiving the message, the map data management module will extract the key information according to its own data parsing rules and integrate it into the existing map data system, such as making special marks at the corresponding blocked road locations on the indoor map. At the same time, this congestion factor will be considered in subsequent path planning and other operations, and a more reasonable evacuation route will be replanned to better cope with the impact caused by road congestion, ensuring that people can still evacuate to shelters safely and efficiently in emergency situations. In summary, the information interaction module plays a bridge role in collecting user feedback and transmitting key information in the entire system. By cooperating with the map data management module, the system can be adjusted in time according to actual conditions, improving the practicality and reliability of the system in dealing with emergencies such as earthquakes.

[0037] Optionally, the system further includes: an obstacle detection module connected to the map data management module, specifically including: an obstacle detection module, configured to detect obstacle information through a sensor and send the detected obstacle information to the map data management module.

[0038] Among them, the obstacle detection module can realize effective detection of obstacle information through various types of sensors. For example, the laser radar sensor senses the surrounding environment by emitting laser beams and receiving reflected laser signals. When the laser beam encounters an obstacle, it will be reflected. The laser radar can calculate the distance, orientation and other data of the obstacle relative to the sensor based on the time difference, angle and other information between the emission and reception of the laser. For example, in an indoor environment, the laser radar continuously rotates and scans. Once the laser beam encounters obstacles such as fallen building components and piled up debris, it can accurately determine the position coordinates of these obstacles in the indoor map coordinate system and their approximate size range and other information. The ultrasonic sensor can emit ultrasonic pulses. When the ultrasonic wave encounters an obstacle, it will be reflected back. By measuring the time from the emission to the reception of the ultrasonic wave, combined with the propagation speed of the ultrasonic wave in the air, the distance between the obstacle and the sensor can be calculated. Multiple ultrasonic sensors can be distributed in different positions, jointly covering a certain detection area, obtaining the distance information of surrounding obstacles, and then inferring the existence of obstacles and their approximate distribution.

[0039] Furthermore, after collecting the obstacle information detected by each sensor, the obstacle detection module will send the obstacle information to the map data management module. After receiving this data, the map data management module will mark the obstacles at the corresponding positions on the indoor map, so that the map can reflect the actual traffic conditions of the indoor environment in real time, and in the subsequent operations such as marking the coordinates of personnel positions and path planning, these obstacle factors are fully considered to avoid planning inaccessible routes, thereby ensuring that personnel can be evacuated to shelters safely and efficiently in emergency situations. In summary, the obstacle detection module uses a variety of sensors for detection and cooperates with the map data management module, so that the entire system can grasp the dynamic changes of the indoor environment in a timely manner and better serve the evacuation of personnel in emergency scenarios such as earthquakes.

[0040] Optionally, the map data management module is also used to update the indoor map according to the road congestion information and obstacle information, and send the updated indoor map to the path planning module; the path planning module is also used to re-plan the evacuation route based on the updated indoor map.

[0041] Among them, after receiving the road congestion information and obstacle information, the map data management module will first conduct detailed sorting and integration. For road congestion information, the map data management module will analyze where the congestion occurs in the indoor map, clarify the scope of the congestion, such as whether it is a local congestion or a complete blockage of the entire channel, and the key factors such as the cause of the congestion. For obstacle information, it is necessary to determine the specific coordinate position of each obstacle in the indoor map, and analyze its size, shape characteristics, etc.

[0042] Furthermore, the map data management module will update the marking content of the indoor map based on the results of the above integrated analysis. For the blocked part of the road, a specific mark will be used to mark the corresponding channel position, such as a striking red line or a cross icon to indicate that the place is no longer accessible, so that users can clearly distinguish the blocked area at a glance. For the location of the obstacle, the corresponding graphics will be drawn at the corresponding coordinates of the map according to its actual shape and approximate proportion, such as using a rectangle to represent a large fallen building component and a circle to mark small scattered debris, so that the indoor map can intuitively present the newly added various types of traffic obstacles. In addition, in addition to the visual mark update, the relevant attributes of the indoor map need to be adjusted accordingly. For example, the channel where the road is blocked is marked as impassable in the attribute, and these areas will be automatically avoided when the subsequent path planning module searches for feasible routes. For the channels around the area where there are obstacles, the traffic weight of the channel will be reasonably adjusted according to factors such as the density of the obstacles and the size of the impact on traffic, so that those relatively unobstructed channels with less obstacles have more advantages in path planning, and guide the planning of a smoother evacuation route that avoids complex obstacles.

[0043] Specifically, after receiving the updated indoor map, the path planning module will first re-evaluate the accessibility of each node. Since the map has been updated, if some channels that were previously intermediate nodes have road congestion or new obstacles, the accessibility of these nodes will change, and the originally feasible passage paths may now be inaccessible. For example, if the channel node that originally connected two key areas becomes unreachable due to road congestion, the path planning module will remove it from the optional path node set, re-sort out other accessible nodes and their connection relationships, and prepare for the construction of a new evacuation route. The path planning module will adjust the corresponding path planning strategy according to the road congestion marked in the updated map and the new traffic restrictions brought about by the distribution of obstacles. For example, for those channels that have added more obstacles or become narrow, the "cost" of passing through will be appropriately increased when calculating the path cost, such as the estimated time required to pass through will be longer, the difficulty of passing will increase, etc., so that when using the path planning algorithm for calculation, it is more inclined to choose relatively unobstructed and less obstructed channels to construct evacuation routes, and try to avoid those areas that are difficult to move forward due to congestion or obstacles.

[0044] Optionally, the system also includes: a positioning module connected to the map data management module; the positioning module is used to obtain the evacuation positioning instructions input by the user based on the earthquake warning, and obtain the personnel location coordinates of the current user by using the trilateral measurement method based on the evacuation positioning instructions, and send the personnel location coordinates to the map data management module.

[0045] Among them, the positioning module is equipped with a user interaction interface or an interface for receiving instructions, which is convenient for users to input shelter positioning instructions. For example, specific operation buttons or text input boxes and other interactive elements are set on the terminal device. If it is in the form of an operation button, the user presses the corresponding button marked as "get shelter positioning", and the positioning module can receive the corresponding electrical signal, identify it and convert it into a shelter positioning instruction that the system can process.

[0046] Specifically, the trilateration method mainly relies on multiple reference points of known locations and the distance relationship between them and the user's location to determine the coordinates of the target location. In this system, the specific steps are as follows: First, the system pre-arranges multiple positioning base stations in the indoor environment. These can be base stations based on Bluetooth, Wi-Fi, ultra-wideband and other technologies. The location coordinates of the base stations are known and entered into the system in advance. They are equivalent to the known reference points in the trilateration method. When the user enters the shelter positioning command, the positioning module will drive these positioning base stations to send signals to the user's location at the same time. Then, the terminal device carried by the user will measure the relevant parameters of the signals received from each base station, which can be signal strength, signal propagation time, etc.

[0047] For example, taking the signal propagation time as an example, the distance between the user and each base station can be calculated based on the time it takes for the signal to start from the base station and be received by the user terminal, combined with the propagation speed of the signal in the indoor environment. After obtaining the distance values ​​between the user and three or more base stations, the mathematical principle of trilateral measurement can be used to calculate the user's location coordinates. In a two-dimensional plane, assuming that the coordinates of the three base stations are (x1, y1), (x2, y2), and (x3, y3), and their distances to the user are d1, d2, and d3, respectively, by constructing the corresponding set of equations, after a series of mathematical operations, the user's two-dimensional coordinates (x, y) in the indoor map coordinate system can be obtained; if it is in a three-dimensional space, four or more base stations are required, and the same set of equations is constructed based on the corresponding spatial distance calculation formula to solve the user's three-dimensional coordinates (x, y, z), so as to accurately obtain the current user's personal location coordinates.

[0048] The technical solution of the embodiment of the present invention can accurately grasp the indoor location of personnel in real time through the map data management module, providing a basis for subsequent evacuation planning. By marking the location of personnel and sending it to the path planning module, the timely transmission and sharing of location information is ensured. The path planning module uses the actual location of personnel as the starting point and the shelter as the end point for planning, making the evacuation route more targeted and practical. By extracting key information from the indoor map, an evacuation route that is more in line with the actual situation can be generated, thereby improving evacuation efficiency and safety and ensuring the safety of personnel to the greatest extent.

[0049] Embodiment 2 Figure 3 A flowchart of a method for locating civil air defense shelters by an earthquake early warning terminal is provided for the second embodiment of the present invention. This embodiment is applicable to scenarios where civil air defense shelters are required when an earthquake occurs. Figure 3 As shown, the method includes: S310, obtaining the personnel location coordinates through the map data management module, marking the personnel location coordinates in the indoor map, and sending the indoor map with the personnel location marks to the path planning module.

[0050] S320. Extract key information from the indoor map through the path planning module, determine the evacuation target and constraints, and generate an evacuation route based on the key information, evacuation target and constraints based on the path planning algorithm, wherein the key information includes the layout structure of each indoor area, the width of the passage, the access restrictions of different areas, and the coordinates of the shelter.

[0051] Specifically, the map data management module is used to obtain the coordinates of the personnel's location and mark the coordinates on the indoor map, so as to clarify the specific location of the personnel indoors and provide basic data support for subsequent path planning. The path planning module is used to plan the evacuation route for personnel from their current location to the shelter. The path planning module will first determine the starting node and the target node, and then extract key information such as regional layout, channel width, and regional access restrictions from the indoor map to determine the intermediate nodes, which are the key passing points on the evacuation route. Finally, it relies on the path planning algorithm for calculation and analysis to generate a reasonable evacuation route for personnel to evacuate.

[0052] The technical solution of the embodiment of the present invention can accurately grasp the indoor location of personnel in real time through the map data management module, providing a basis for subsequent evacuation planning. By marking the location of personnel and sending it to the path planning module, the timely transmission and sharing of location information is ensured. The path planning module uses the actual location of personnel as the starting point and the shelter as the end point for planning, making the evacuation route more targeted and practical. By extracting key information from the indoor map, an evacuation route that is more in line with the actual situation can be generated, thereby improving evacuation efficiency and safety and ensuring the safety of personnel to the greatest extent.

[0053] Embodiment 3 Figure 4 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0054] like Figure 4As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0055] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0056] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a method for locating human air defense shelters for earthquake early warning terminals.

[0057] In some embodiments, a method for locating civil air defense shelters for earthquake early warning terminals may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method for locating civil air defense shelters for earthquake early warning terminals described above may be executed. Alternatively, in other embodiments, the processor 11 may be configured to execute a method for locating civil air defense shelters for earthquake early warning terminals in any other appropriate manner (e.g., by means of firmware).

[0058] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0059] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0060] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0061] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0062] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0063] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0064] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0065] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An earthquake early warning terminal civil air defense refuge positioning system, characterized in that: include: A map data management module, and a path planning module connected to the map data management module; The map data management module is used to obtain the coordinates of the personnel location, mark the coordinates of the personnel location in the indoor map, and send the indoor map with the personnel location mark to the path planning module; The path planning module is used to use the coordinates of the personnel location in the indoor map as the starting node and the coordinates of the shelter as the target node, and extract key information from the indoor map, determine the intermediate nodes based on the key information, and calculate each node based on the path planning algorithm to generate an evacuation route, wherein the key information includes the layout structure of each indoor area, the width of the passage, the access restrictions of different areas and the coordinates of the shelter.

2. The system according to claim 1, characterized in that The system further comprises: a navigation module connected to the path planning module; The path planning module is further used to send the evacuation route to the navigation module; The navigation module is used to visualize the evacuation route.

3. The system according to claim 1, characterized in that The system further comprises: an information interaction module connected to the map data management module; The information interaction module is used to receive the road congestion information fed back by the user and send the road congestion information to the map data management module.

4. The system according to claim 3, characterized in that The system further includes: an obstacle detection module connected to the map data management module, specifically including: The obstacle detection module is used to detect obstacle information through sensors and send the detected obstacle information to the map data management module.

5. The system according to claim 4, characterized in that The map data management module is further used to update the indoor map according to the road congestion information and the obstacle information, and send the updated indoor map to the path planning module; The path planning module is also used to re-plan the evacuation route based on the updated indoor map.

6. The system according to claim 1, characterized in that The system further comprises: a positioning module connected to the map data management module; The positioning module is used to obtain the evacuation positioning instruction input by the user based on the earthquake early warning, and obtain the personnel position coordinates of the current user by using the trilateration method based on the evacuation positioning instruction, and send the personnel position coordinates to the map data management module.

7. The system according to claim 1, characterized in that The path planning algorithm is the Dijkstra algorithm, and the evacuation route calculation process includes a distance update phase, a node selection phase, and a path backtracking phase; The distance update phase formula is: ; in, Represents the distance from the starting node to the nodes in the indoor map The current shortest distance estimate of Represents a slave node To Node The weight of the edge, Represents the distance from the starting node to the nodes in the indoor map The current shortest distance estimate of ; The node selection phase formula is: ; in, represents the set of unvisited nodes, Indicates the next visited node to be selected in each iteration, which is a set of nodes that have never been visited. Selected from is the set of unvisited nodes Any node in Represents the distance from the starting node to the nodes in the indoor map The current shortest distance estimate of ; The path backtracking phase formula is: ; in, represents the planned path from the start node to the target node, is a node sequence, arranged in order from the start node to the target node. represents the starting node, represents the target node, Representation Node The predecessor node.

8. A method for locating civil air defense shelters at earthquake early warning terminals, characterized in that: The method is applied to an earthquake early warning terminal civil air defense evacuation positioning system as claimed in any one of claims 1 to 7, comprising: Obtaining the personnel location coordinates through the map data management module, marking the personnel location coordinates in the indoor map, and sending the indoor map with the personnel location marks to the path planning module; The path planning module extracts key information from the indoor map, determines the evacuation target and constraints, and generates an evacuation route based on the key information, evacuation target and constraints based on the path planning algorithm. The key information includes the layout structure of each indoor area, the width of the passage, the access restrictions of different areas and the coordinates of the shelter.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, wherein the computer program is executed by the at least one processor so as to enable the at least one processor to perform the method of claim 8 .

10. A computer storage medium, characterized in that: The computer storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method described in claim 8 when the instructions are executed.

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