Digital signage, computing terminal and mobile terminal

Abstract

The invention relates to a digital signage, a computing terminal and a mobile terminal. The digital signage is in communication connection with the guiding module, the digital signage is controlled by the guiding module and displays and changes the image indication direction, the guiding module determines the passable grade of a channel according to the received road safety index, corresponding marks are added into the digital signage, and the guiding module displays the passable grade of the channel according to the corresponding marks. Therefore, the digital signage can display a virtual arrow in the direction in which trapped people can move forward, and can also display a danger mark that the trapped people cannot move forward. The guiding module can display a plurality of evacuation routes in the form of digital signage according to the road safety index provided by the computing terminal and the current position of the trapped person. According to the invention, evacuation routes can be planned according to actual demands of trapped persons, so that differentiated visual guidance is provided for different trapped persons.

Description

[0001] The original basis of this divisional application is the patent application with application number (202311491326.4), application date 2023.11.10, and invention name “An intelligent guidance system and method combined with digital signage”. Technical Field

[0002] The present invention relates to the technical field of accident emergency processing, and in particular to a digital signage, a computing terminal and a mobile terminal. Background Art

[0003] In recent years, various disasters that are difficult to predict and control have occurred frequently, especially production accidents in industrial factories, which often cause significant casualties and property losses. Production accidents in industrial factories are also accompanied by various secondary disasters. The complex intertwined relationships between accidents make production accidents highly sudden, destructive, complex and uncertain. Rapid and effective emergency evacuation guidance for industrial factories has attracted more and more attention from countries around the world and academia. How to provide orderly evacuation guidance plans for people within the scope of the accident to prevent and reduce casualties caused by the accident is a technical problem that large-scale industrial factories urgently need to solve.

[0004] There are many emergency evacuation schemes for evacuating people in an emergency in the prior art. For example, Chinese patent application CN112100299A discloses a visualization method for emergency warning of sudden toxic gas leakage. The method first completes the collection of meteorological wind field data, chemical plant data, road network data and geographical data, and pre-processes the collected data. A streaming database is established for wind field data. Through the Gaussian smoke puff model, the toxic gas diffusion range after a sudden toxic gas leakage accident in a chemical plant is predicted, and then the evacuation path planning of all citizens in the disaster area is calculated according to the prediction results of the toxic gas diffusion range, and finally a fusion view of the visualization of the geographical situation around the accident, the visualization of the wind field, the visualization of the prediction results of the toxic gas diffusion range, and the visualization of the evacuation path planning is output in real time. This patent can help the urban emergency management department make reasonable emergency decisions more efficiently in the specific scenario of sudden toxic gas leakage disaster, and reduce the life safety threats to citizens. However, the defect of this patent is that it is not suitable for indoor evacuation of factory workshops. Production accidents in industrial factories are often accompanied by secondary disasters, such as dust explosions. The collection of meteorological wind field data, industrial factory data, road network data and geographic data alone cannot effectively and comprehensively monitor accidents in industrial factories, resulting in the planned evacuation routes being unsuitable for guiding the evacuation of trapped persons. In addition, the patent does not consider how to provide humane guidance, and the trapped persons are under great psychological pressure, making stampedes more likely to occur.

[0005] The existing emergency evacuation solutions mainly have the following problems:

[0006] First, there is a lack of real-time information during the emergency evacuation of personnel. The trapped personnel within the scope of the accident are in a state of high tension or fear, which affects their objective judgment of the accident situation. Most people tend to evacuate to the same channel under the influence of the herd mentality, causing channel congestion. At the same time, the unorganized guided evacuation causes an uneven distribution of safe exits, delaying the evacuation time. In particular, in the existing emergency evacuation plan, the trapped personnel are planned to rely on preset fixed emergency exits and established routes to escape. Due to the high uncertainty of production accidents in industrial factories, unexpected accidents may occur at the emergency exits, such as collapse. It is not safe enough for the trapped personnel to evacuate according to the established route, and it will also cause the trapped personnel to be highly nervous, and then make the trapped personnel rely on their own memory to go to the exit, which is very likely to cause confusion, crowding and trampling.

[0007] Second, the existing emergency evacuation lacks a comprehensive planning scheme that combines macro and micro aspects. On a macro level, it only focuses on the collective evacuation of large numbers of people, but lacks humane guidance for evacuation; on a micro level, it focuses on the evacuation of small groups of people in indoor environments, but lacks macro-level safe exits and evacuation route allocation. As a result, the existing technology usually only considers one or several influencing factors and lacks practical applicability.

[0008] For example, the macro emergency evacuation planning scheme: Chinese patent application CN105740514A discloses a large-scale crowd evacuation computer simulation system and method thereof, wherein the system includes an evacuation scene model building unit, which is used to extract the characteristics of the evacuation scene and obtain a three-dimensional model of the evacuation scene; an evacuation scene global path planning unit, which is used to perform global path planning for the evacuation scene according to the three-dimensional model of the evacuation scene, and calculate the global path of all entrances and exits in the evacuation scene; a crowd activity generation unit, which is used to group the crowd according to the characteristics of the evacuation scene, the relationship between individuals, and the individual position information, and obtain a number of groups; a crowd simulation unit, which is used to screen the leader of each group and calculate the real-time speed of the individual according to the improved social force model; during the simulation process, the moving direction of each group is determined by the leader, and the movement speed of the individual is adjusted in real time to maintain the consistency of each group's movement, so as to realize the behavioral simulation of the evacuated crowd. Starting from the macro collective evacuation, the patent plans the collective evacuation plan according to the moving direction and speed of each group of the crowd. However, the patent lacks microscopic small-scale crowd evacuation planning. If some trapped persons leave the crowd for evacuation, it will cause confusion in the overall evacuation plan. Moreover, the evacuation method for trapped persons after leaving the crowd should have the characteristics of personalized evacuation, which is different from collective evacuation. Further consideration should be given to the planning of safe exits and the allocation of evacuation routes to avoid congestion on evacuation routes.

[0009] In addition, on the one hand, there are differences in understanding among those skilled in the art; on the other hand, the applicant studied a large number of documents and patents when making the present invention, but due to space limitations, not all details and contents are listed in detail. However, this does not mean that the present invention does not have the characteristics of these prior arts. On the contrary, the present invention already has all the characteristics of the prior art, and the applicant reserves the right to add relevant prior art to the background technology. Summary of the invention

[0010] The planning of existing emergency evacuation plans lacks humane considerations for trapped persons. The trapped persons within the scope of the accident are always in a state of high tension or fear, which affects their judgment of the accident situation. The nervous state of the trapped persons makes it impossible for them to find the correct safe exit through the broadcast prompts in the factory or the sign-type evacuation routes set up on each road (that is, the routes in the pre-evacuation drill presented in the form of pictures of three-dimensional top views). Therefore, how to provide evacuation route planning for different trapped persons in a fast, concise and personalized manner is a problem to be solved by the present invention.

[0011] In the prior art, emergency information is mainly detected by a pre-set detection device and a corresponding emergency evacuation plan is generated, and the generated emergency evacuation plan is released based on a fixed prompt device set in the evacuation area. For example, CN104539918A discloses an emergency evacuation method for pushing guidance information based on location information, which includes: uniquely encoding a number of information source detectors, and publishing emergency emergency information to clustered personnel in the monitoring area according to the collected detection information containing the location information corresponding to the code; pushing guidance information to clustered personnel in different monitoring areas in real time; if the evacuation channel is found to have a congestion trend, readjust and send it; for the long-term stagnant personnel monitored in the monitoring area, continue to pay attention and send guidance information; check the evacuation site, and rescue the rescue personnel in need of rescue in the evacuation site. This technical solution can realize personnel monitoring in the evacuation scene, real-time evacuation guidance information push based on location information, information feedback and evacuation guidance information update by deploying information source detectors to detect information source equipment. However, the unified emergency evacuation plan generated by the information source detector in this technical solution can only be sent through a hardware publishing device pre-set in the monitoring area, and it is impossible to adaptively adjust the emergency evacuation routes of people with different evacuation needs through a mobile terminal capable of displaying three-dimensional virtual scenes.

[0012] In view of the shortcomings of the prior art, the present invention provides an intelligent guidance system combined with digital signage, including a sensing terminal and a computing terminal in a digital twin factory. The sensing terminal is used to collect evacuation data in the digital twin factory and send it to the computing terminal. The system also includes a guidance module. The guidance module establishes a connection with several digital signages and controls the change of their display content. The computing terminal evaluates the road safety index related to the evacuation route based on the evacuation data sent by the sensing terminal and plans several evacuation routes. The guidance module displays several evacuation routes in the form of digital signage according to the road safety index provided by the computing terminal and the current location of the trapped person. The present invention aims to provide an intelligent system that can quickly and efficiently guide the crowd in an emergency. The system is based on virtual reality technology, uses intelligent algorithms and sensing terminals to obtain relevant environment and crowd information, and thus gives the optimal route for guidance. The present invention displays a variety of guidance route information through digital signage in virtual scenes, guides the crowd to evacuate quickly to improve evacuation efficiency and safety, or guides the crowd to a specific destination to avoid congestion. The prior art attempts to achieve dynamic evacuation guidance of trapped people by processing and generating evacuation paths in the cloud and directly accessing the Internet through mobile terminals. For example, CN111832811A discloses an intelligent fire evacuation method based on digital twins, which collects fire parameters in a building through an Internet of Things information collection system and uploads them to a cloud server; the indoor personnel positioning system is used to collect the position of indoor personnel and transmit it to the cloud server. The cloud server is equipped with a processed BIM model and an evacuation path optimization algorithm. The evacuation path optimization algorithm can obtain the optimal evacuation path for personnel based on real-time fire information, personnel location information and indoor layout. This method can realize dynamic visualization of three-dimensional evacuation guidance for trapped personnel in a building according to the development trend of the fire and the real-time location of the personnel. The trapped personnel access the Internet by using a smart phone mobile smart device to watch the dynamic evacuation path on the web application side, thereby obtaining dynamic evacuation guidance. This technical solution mainly realizes the terminalization of the dynamic evacuation path, which is equivalent to the route planning in the map navigation program. Compared with the above-mentioned prior art, the technical problem to be solved by the above-mentioned distinguishing technical features of the present invention is how to realize the visualization guidance of evacuation routes under different evacuation requirements. The guidance module of the present invention can display several evacuation routes in the form of digital signs according to the road safety index provided by the calculation terminal and the current location of the trapped personnel. The present invention can plan evacuation routes according to the actual needs of the trapped persons, thereby providing differentiated visual guidance for different trapped persons. The combination of the above-mentioned prior arts can only generate a cloud-based evacuation path based on location information, which cannot directly realize intuitive visual guidance of the evacuation route.

[0013] According to a preferred embodiment, the system also includes a mobile terminal capable of displaying a three-dimensional virtual scene. The guidance module guides the evacuation route by superimposing the evacuation route in the form of a virtual digital signboard in the field of vision observed by the trapped person through the mobile terminal. The present invention superimposes the information of the three-dimensional virtual scene in the real factory scene through the guidance module, and provides real-time guidance of the evacuation route in the form of a digital signboard, and integrates the virtual digital signboard with the scene of the real world, so as to provide convenient evacuation route guidance, and indicate the correct position of the evacuation route in an intuitive identification manner, thereby improving the evacuation efficiency. The above-mentioned existing patent CN104539918A does not involve real-time visual guidance of the evacuation route. The evacuation route generated by cloud computing requires the trapped person to preload the corresponding evacuation route through the smart phone terminal in the form of Internet access, and then the trapped person needs to compare the actual scene with the actual content displayed by the mobile terminal to obtain the next direction of travel, which significantly increases the difficulty of evacuation in a complex indoor environment. It can be seen from this that the embodiment of the present invention is to solve the technical problem of inaccurate navigation positioning in indoor restricted environments such as factories, resulting in untimely evacuation. Specifically, the mobile terminal of the present invention is a display terminal that can move with the trapped persons and display three-dimensional virtual scenes. In the process of guiding the evacuation route by superimposing the evacuation route in the form of a virtual digital sign in the field of vision observed by the trapped persons through the mobile terminal, the mobile terminal can adjust the specific evacuation route information according to the road safety index related to the evacuation route in the actual factory scene, so as to achieve real-time updating of the evacuation route information following the changes in the field of vision of the trapped persons, thereby achieving the effect of continuous display of the evacuation route information in the actual factory scene, which is convenient for the trapped persons to respond to the changes in the evacuation route information in time, thereby significantly improving the efficiency of the evacuation of the trapped persons.

[0014] According to a preferred embodiment, the mobile terminal obtains the current position of the trapped person and sends it to the computing terminal. The computing terminal evaluates the evacuation data based on the risk analysis model with the current position as the basic unit and obtains the road safety index. The above-mentioned existing patent CN111832811A only involves the evaluation of evacuation data by a fixed indoor positioning system deployed in a building. The construction process of the digital twin model for fire evacuation formed in this technical solution mainly relies on the monitoring of relevant parameters by fixed sensor equipment, and the dynamic update process of its road safety index is also limited to the fire parameter information within a specific range collected by the above-mentioned fixed sensor equipment. However, the actual coverage of fire accidents is not static, especially the spread of mobile disasters such as thick smoke. Therefore, this embodiment of the present invention is relative to the above-mentioned prior art. The technical problem of how to adjust the safe evacuation route in time according to the changes in the fire. The present invention updates and adjusts the evacuation route model of fire accidents in real time by combining the dynamic positions of personnel, thereby providing trapped personnel with a more accurate reference for changes in fire coverage, helping trapped personnel to intuitively understand the spread of fire conditions, smoke conditions and other environments, and improving evacuation efficiency and evacuation success rate through reasonable evacuation route adjustments. The present invention calculates crowd-related information and road safety indexes through evacuation data acquired by the sensing terminal, so that several planned evacuation routes can achieve the optimal evacuation effect and meet the requirements of trapped personnel for route accuracy and evacuation efficiency. The present invention globally optimizes the risks that may exist in the evacuation route through the road safety index, and adopts local optimization when the evacuation route is congested or the evacuation route is not suitable for passage, thereby improving the evacuation efficiency of trapped personnel and ensuring the life safety of trapped personnel.

[0015] According to a preferred embodiment, the computing terminal provides a personalized evacuation route to the guidance module based on at least one evacuation demand of the trapped persons for evacuation. Preferably, the evacuation demand refers to the tools or protective items required for the trapped persons to reach the safe exit. Taking the guided evacuation method of the above-mentioned prior art CN111832811A as an example, multiple trapped persons are located in the same position, and the evacuation paths generated according to the indoor fire parameter information of the building and the indoor personnel information are exactly the same. If the indoor smoke is thick or even toxic gas is released due to the fire, the trapped persons are in urgent need of protective items, otherwise the success rate of escape will be significantly reduced. At this time, the priority goal of the trapped persons with protective items is to evacuate as soon as possible. The evacuation needs of the two are significantly different and cannot be solved by a single evacuation path planning method. Compared with the above-mentioned prior art, the technical problem to be solved by this embodiment of the present invention is how to plan an evacuation route according to the evacuation needs of the trapped persons. The road safety index calculated by the present invention is not only used for planning evacuation routes, but also can be used to judge the evacuation needs of trapped persons. In the case where there is a shortcut to the safe exit near the trapped person, but the shortcut is inaccessible to the trapped person due to the presence of harmful gases, the computing terminal determines that the trapped person needs to take a gas mask based on the evacuation needs, thereby facilitating the escape of the trapped person. Therefore, the computing terminal plans an auxiliary evacuation route to the gas mask placement point, and after the trapped person takes the gas mask, updates several evacuation routes to guide the trapped person to the safe exit through the shortcut.

[0016] According to a preferred embodiment, the system also includes several display units connected to the guidance module and arranged at the road nodes of the digital twin factory. Preferably, in the case where the evacuation demand is a mobile terminal, the computing terminal assists the trapped person in obtaining the mobile terminal by displaying the location of the spare mobile terminal on the display unit through the guidance module. The evacuation guidance methods involved in the above-mentioned prior art are all uniformly regulated and issued. When the trapped person does not carry any mobile terminal, for example, most factories prohibit employees from carrying any mobile terminals at work. The trapped persons in the actual factory environment cannot accurately know the location of the spare rescue equipment used for evacuation instructions, which causes the trapped persons to easily lose their specific evacuation directions due to limited vision when a disaster occurs. Therefore, the technical problem to be solved by this embodiment of the present invention is how to enable the trapped persons to obtain the evacuation indication device as soon as possible. The present invention can guide the trapped persons to take the mobile terminal first when the trapped persons do not carry the mobile terminal, so that the trapped persons can resume contact with the computing terminal, thereby facilitating the computing terminal to coordinate the planning of the evacuation route and ensure the life safety of the trapped persons.

[0017] According to a preferred embodiment, when the trapped person carries a mobile terminal, the computing terminal calculates at least two evacuation routes based on the current position of the mobile terminal carried by the trapped person. The at least two evacuation routes include a first evacuation route and a second evacuation route. Preferably, the first evacuation route is the shortest evacuation route that avoids all dangerous areas. The second evacuation route is an evacuation route that requires the trapped person to carry protective items.

[0018] According to a preferred embodiment, the computing terminal determines the evacuation needs of the trapped persons to reach the safety exit through the second evacuation route. In the case where the evacuation needs of the trapped persons are not met, the computing terminal calculates the auxiliary evacuation route for the trapped persons to take the protective items based on the storage location of the protective items and the current location of the trapped persons. The above-mentioned prior art usually uses the distance or the safety level of the passing area as the planning index of the evacuation route, but this evacuation route planning method is not necessarily the most reasonable evacuation route guidance method. For example, when the interior of the factory is covered by toxic gases or thick smoke, the above two methods cannot provide the safest evacuation route selection. Therefore, the technical problem to be solved by this embodiment of the present invention is how to adjust the subsequent evacuation route in time according to the environmental changes on the original evacuation route. The present invention plans a number of evacuation routes, and the plan reflects the evacuation needs of the trapped persons through the evacuation route, so that the computing terminal can include the evacuation demand in the scope of overall planning. When there is an escape shortcut near the trapped persons but the shortcut is filled with toxic gases, the computing terminal can carry out intelligent and personalized evacuation route planning, first guiding the trapped persons to take nearby protective items and then reach the safe exit through the shortcut, thereby improving the evacuation efficiency and humane considerations of the evacuation.

[0019] According to a preferred embodiment, the computing terminal obtains the locations of several safety measures set on several evacuation routes, so that when the trapped persons are close to the safety measures along the evacuation routes, the several safety measures are marked on the evacuation routes, thereby guiding the trapped persons to obtain tools or protective items during the evacuation process. Under the premise of not delaying the evacuation progress of the trapped persons, the computing terminal of the present invention can mark the rescue materials that the trapped persons can quickly take during the evacuation process, such as first aid drugs such as adrenaline. In the case that the trapped persons are injured and need to be treated urgently, the trapped persons can quickly take the corresponding first aid drugs for short-term analgesia or disinfection to continue evacuation.

[0020] The present invention also relates to an intelligent guidance method combined with digital signage, the method comprising: collecting evacuation data in a digital twin factory; evaluating a road safety index related to the evacuation route based on the evacuation data and planning a number of evacuation routes; and displaying the several evacuation routes in the form of digital signage according to the road safety index and the current location of the trapped persons.

[0021] According to a preferred embodiment, the method further comprises: superimposing the evacuation route in the form of a virtual digital sign in the field of vision observed by the trapped persons through the mobile terminal to guide the evacuation route. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a simplified topological diagram of an intelligent guidance system combined with a digital signage according to a preferred embodiment of the present invention;

[0023] Figure 2 This is a simplified usage scenario schematic diagram of a mobile terminal according to a preferred embodiment of the present invention;

[0024] Figure 3 It is a simplified usage scenario schematic diagram of a mobile robot according to a preferred embodiment of the present invention.

[0025] Reference numerals list

[0026] 100: sensing terminal; 200: computing terminal; 300: guiding module; 400: display unit; 500: mobile terminal; 600: digital signage; 700: node robot; 800: drone. DETAILED DESCRIPTION

[0027] The following is a detailed description with reference to the accompanying drawings.

[0028] First, the technical names in the present invention are explained.

[0029] Digital twin factory: A digital twin factory is an industrial application that uses sensors, three-dimensional technology, and data collection and monitoring systems to move the factory into a virtual space to achieve resource allocation and intelligent production. The digital twin factory can restore the real production scene of the factory 1:1. It restores the factory equipment through three-dimensional technology and accesses various data of the factory to truly reflect the production actions in the factory. The factory that has completed the digital twin is equipped with complex and diverse connected device sensors and PLC programmable logic controllers, which can obtain management data generated by the internal control links of the factory and data generated by IoT sensors such as thermometers and hygrometers and robotic arms, thereby improving the collaborative execution of the factory.

[0030] Three-dimensional virtual scene: A real factory constructed by three-dimensional technology, which includes the mapping of factory equipment or other real objects in the three-dimensional virtual scene, and the mapping method also includes the physical, spatial relationships and production attributes of factory equipment or other real objects.

[0031] Perception terminal 100: includes various sensors in a real factory, such as cameras, infrared sensors, etc. The perception terminal 100 can obtain relevant information in a crowd or factory in real time, thereby providing data support for the digital twin factory. The perception terminal 100 is discretely distributed in the factory to obtain relevant data within the detection range. In the present invention, the perception terminal 100 can also be loaded by a drone 800 or a mobile robot, thereby forming a mobile perception terminal 100.

[0032] The computing terminal 200 is a dedicated integrated chip, CPU, server, etc. capable of running the intelligent guidance system combined with the digital signage 600 of the present invention.

[0033] Road safety index: A quantitative value of the degree of danger or safe passage of a road calculated from the data in the digital twin factory.

[0034] Mobile terminal 500: a smart device carried by the trapped person, such as a smart phone, smart glasses (AR glasses or virtual 3D glasses, etc.), a smart watch, etc. In the present invention, it particularly refers to AR glasses or virtual 3D glasses that can superimpose the virtual digital signage 600 with the real scene and display it in the field of vision of the trapped person.

[0035] Crowd-related information: Crowd density on the evacuation route (number of people / unit area).

[0036] Display unit 400: a display screen etc. provided at each node of the road.

[0037] Digital signage 600: Display information related to the evacuation route. In the present invention, the digital signage 600 can be displayed on the physical display unit 400 or in a three-dimensional virtual scene to display information related to the evacuation route to the trapped persons.

[0038] Example 1

[0039] The present invention provides an intelligent guidance system and method, and in particular provides an intelligent evacuation guidance system and method under production accidents.

[0040] In the event of a production accident inside a factory, it is necessary to quickly evacuate the trapped personnel in the factory. For example, there are often warehouses with several kinds of hazardous chemicals inside the factory. In the event of a production accident in the factory that causes the leakage of hazardous chemicals, it is necessary to evacuate the trapped personnel at different locations in the factory separately. Among the trapped personnel in the factory, there are transportation personnel or production workshop personnel located in different locations. Due to the different matters that each person needs to handle in the factory, the starting points for their evacuation are also different. As a result, if the trapped personnel evacuate according to the route in the pre-evacuation drill, there will be complex personnel flow and congestion at the key nodes of a certain road. Especially after a production accident occurs in the factory, it will also be accompanied by secondary disasters. The above-mentioned secondary disasters include fires and explosions caused by the ignition of flammable and explosive materials, or toxic gas leakage caused by pipeline damage, collapse of the workshop roof, and the spread of radioactive substances that threaten the lives of personnel, etc. The trapped personnel cannot predict the impact of the production accident and secondary disasters on the route in the pre-evacuation drill. Some sections of the road may collapse or be filled with harmful gases, making them inaccessible. If trapped personnel only rely on their memory of the factory evacuation route to choose the corresponding evacuation route, it is easy to cause congestion on the evacuation route or be blocked by uncertain secondary disasters, thus endangering their lives.

[0041] Moreover, after a production accident occurs in a factory, the planning of the existing emergency evacuation plan lacks humane consideration for the trapped personnel. The trapped personnel within the scope of the accident are always in a state of high tension or fear, which affects their judgment of the accident situation. The nervous state of the trapped personnel makes it impossible for them to find the correct safe exit through the factory broadcast prompts or the signboard evacuation routes set up on each road (that is, the routes in the pre-evacuation drill presented in the form of pictures of a three-dimensional top view). In particular, the herd mentality of most people will also lead to the fact that most people do not evacuate according to the planned route, causing large-scale channel congestion. Unorganized guided evacuation causes uneven distribution of safe exits and delays evacuation time. Existing emergency evacuations often rely on preset fixed emergency exits and established routes for escape. Due to the high degree of uncertainty in factory production accidents, if an accident occurs at the emergency exit, such as collapse, evacuation and escape along the established route is not safe enough, and will also cause high tension among the trapped personnel, which will make the trapped personnel rely on their own memory to go to the exit, which is very likely to cause confusion, crowding and trampling. Therefore, how to provide evacuation route planning for different trapped persons in a fast, concise and personalized manner is a problem to be solved by the present invention.

[0042] In view of the above problems, the present invention relates to a virtual scene intelligent guidance system and method thereof, aiming to provide an intelligent system capable of guiding crowds quickly and efficiently in emergency situations. The system is based on virtual reality technology, and uses intelligent algorithms and a sensing terminal 100 to obtain relevant environment and crowd information, thereby providing an optimal route for guidance. The present invention displays a variety of guidance route information through a digital sign 600 in a virtual scene, guiding the crowd to evacuate quickly to improve evacuation efficiency and safety, or guiding the crowd to a specific destination to avoid congestion.

[0043] In this embodiment, the intelligent guidance system provided by the present invention may be an intelligent evacuation guidance system and method under production accidents. In the field of accident evacuation guidance in production plants, the intelligent guidance system of the present invention can collect accident data in the scene and perform calculation and analysis on the collected accident data, thereby realizing digital analysis and processing of factory accident evacuation guidance.

[0044] like Figure 1 As shown, an intelligent guidance system provided by this embodiment includes a perception terminal 100, a computing terminal 200 and a guidance module 300. The perception terminal 100 collects data in the scene. The computing terminal 200 receives the data collected by the perception terminal 100 and performs computational analysis on the data collected by the perception terminal 100. After completing the computational analysis, the computing terminal 200 sends the result of the computational analysis to the guidance module 300. The guidance module 300 performs corresponding guidance in response to the computational analysis result of the computing terminal 200. The computing terminal 200 establishes data connections with the guidance module 300 and at least one perception terminal 100 respectively. The data connection method can be radio communication, optical communication, WIFI communication, etc. Preferably, the computing terminal 200 can be connected to more than two perception terminals 100 at the same time.

[0045] According to a preferred embodiment, the guidance module 300 establishes a connection with several digital signboards 600 and controls the change of the display content thereof. The computing terminal 200 provides personalized guidance to the trapped persons based on the evacuation data sent by the sensing terminal 100 and based on the current position of the mobile terminal 500 carried by the trapped persons. The computing terminal 200 is provided with a three-dimensional database corresponding to the two-dimensional map layout of the factory. When the sensing terminal 100 sends the evacuation data to the computing terminal 200, the computing terminal 200 determines several evacuation routes in the factory and sends the several evacuation routes to the guidance module 300. The above-mentioned evacuation data can be the concentration of the leaked material in the air after the production accident occurs in the scene, the oxygen content in each evacuation channel, the temperature change, the collapse of the building, and other safety data related to the evacuation guidance. The computing terminal 200 calculates the road safety index based on the evacuation data.

[0046] Specifically, the mobile terminal 500 carried by the trapped person sends the current position to the computing terminal 200. The computing terminal 200 uses the risk analysis model to evaluate the evacuation data based on the current position and obtains the road safety index. The above-mentioned risk analysis model can be a Monte Carlo model. The computing terminal 200 calculates the ranking P of the path length from the current position of the trapped person to all safe exits. The computing terminal 200 determines the range of each dangerous source based on the evacuation data. The computing terminal 200 calculates the degree of danger of several adjacent dangerous sources according to the ranking P. The above-mentioned degree of danger can be the radiation range and lethality of the dangerous source. The computing terminal 200 evaluates the road safety index of each evacuation route according to the time t required for the trapped person to complete each path calculated based on the average speed of the trapped person, the congestion of all safe exits after t time, the number and distance of adjacent safe exits, and the safety measures on the evacuation path. The computing terminal 200 sends the road safety index to the guidance module 300. The guidance module 300 controls several digital signs 600 on the evacuation route to change their image indication directions based on the evacuation route with the highest road safety index, so as to guide the trapped persons to move forward along the direction of the digital signs 600. The above-mentioned image indication method means that the digital signs 600 only show how to move forward in the form of arrows or icons, without specifically showing the overall route, so as to reduce data transmission and avoid overly complex routes affecting the judgment of the trapped persons.

[0047] Preferably, the computing terminal 200 evaluates the road safety index of each safety exit based on the Monte Carlo model. The evaluation factors of the road safety index of each safety exit evaluated by the computing terminal 200 include the rate of change A of the number of trapped persons, the level of safety measures B, the congestion C, and the distance D from the source of danger. The rate of change A of the number of trapped persons changes over time. The computing terminal 200 determines the rate of change A of the number of trapped persons by image recognition or positioning of the mobile terminal 500. The formula for calculating the safety measures level B by the computing terminal 200 is: safety measures level B = path length / number of safety measures. The formula for calculating the congestion C by the computing terminal 200 is: distance between evacuation routes / number of evacuation routes. The computing terminal 200 also evaluates the passability level of each evacuation route. The passability level refers to the danger level of trapped persons passing through a certain passage in the digital twin factory. The computing terminal 200 evaluates the passability level of the evacuation route by obtaining the gas concentration, collapse conditions, temperature and humidity at various locations on the evacuation route. When the gas concentration exceeds the human acceptance threshold or the collapse is serious or the temperature is too high, the computing terminal 200 determines that the passability level of the evacuation route is 3, indicating that it is not passable. When the gas concentration exceeds the human acceptance threshold, but the trapped person carries protective tools, the computing terminal 200 determines that the passability level of the evacuation route is 2, indicating that it is selectively passable. When the gas concentration does not exceed the human acceptance threshold, the computing terminal 200 determines that the passability level of the evacuation route is 1, indicating that it is passable.

[0048] Therefore, the formula for calculating the road safety index by the computing terminal 200 is: Road safety index = safety measure level B×(congestion situation C / trapped persons number change rate A)×distance from danger source D×travability level.

[0049] As mentioned above, the road safety index may specifically refer to an evaluation value of a Monte Carlo model.

[0050] Preferably, the computing terminal 200 uses the road safety index as an input parameter of the payoff function of the game theory, and synchronizes the crowd-related information as an input parameter of the payoff function of the game theory. The computing terminal 200 obtains the Bayesian Nash equilibrium point according to the value of the payoff function in the game theory, and determines several evacuation routes based on the value of the equilibrium point. The guidance module 300 adds the corresponding logo to the digital sign 600 based on the determined passability level of the passage. At this time, the digital sign 600 not only displays a virtual arrow in the direction in which the trapped person can move forward, but also displays a danger sign that the trapped person cannot move forward, so as to prevent the trapped person from briefly going to the area to take a certain protective equipment or safety measure when observing that it is in a dangerous passage.

[0051] The present invention calculates crowd-related information and road safety index through the evacuation data obtained by the sensing terminal 100, so that the planned evacuation routes can achieve the optimal evacuation effect and meet the requirements of the trapped persons for route accuracy and evacuation efficiency. The present invention globally optimizes the risks that may exist in the evacuation route through the road safety index, and adopts local optimization when the evacuation route is congested or the evacuation route is not suitable for passage, thereby improving the evacuation efficiency of the trapped persons and ensuring the life safety of the trapped persons.

[0052] Preferably, the computing terminal 200 provides a personalized evacuation route to the guidance module 300 based on at least one evacuation requirement for the trapped person to evacuate. The above evacuation requirement refers to the tools or items required for the trapped person to reach the safe exit. In one embodiment, the evacuation requirement can specifically be a mobile terminal 500 connected to the computing terminal 200. The computing terminal 200 assists the trapped person in obtaining the mobile terminal 500 for further evacuation by displaying the location of the spare mobile terminal 500 held on the current floor on the display unit 400 of each node of the road through the guidance module 300. The display unit 400 displays the route to pick up the mobile terminal 500 to guide the trapped person who has lost the mobile terminal 500 to obtain the relevant tools. The guidance module 300 displays the correct forward direction of the evacuation route in the form of a digital sign 600, and displays the logo of taking the spare mobile terminal 500 through a logo different from the correct forward direction of the evacuation route. For example, the trapped person does not carry the mobile terminal 500. The guidance module 300 displays the direction in which the trapped persons need to evacuate in the form of a virtual arrow on a digital sign 600 through the physical display unit 400, and displays a virtual double arrow in combination with the icon of the mobile terminal 500 to prompt the trapped persons to take the mobile terminal 500 in this direction, so that the trapped persons can obtain the mobile terminal 500 and restore the connection with the computing terminal 200.

[0053] In another embodiment, the evacuation requirement can also specifically be a gas mask. Since the factory has completed the digital twin, the computing terminal 200 can directly obtain the location where the factory gas masks are stored from the relevant database. In the case where the trapped person carries the mobile terminal 500 and the computing terminal 200 calculates several evacuation routes required by the trapped person, the computing terminal 200 also provides a personalized evacuation plan based on at least one evacuation requirement of the trapped person. For example, the computing terminal 200 calculates at least two evacuation routes based on the current position of the mobile terminal 500 carried by the trapped person, namely the first evacuation route and the second evacuation route. The first evacuation route is the shortest evacuation route that avoids all dangerous areas. The second evacuation route is a passage that needs to pass through a certain passage filled with harmful gases, where the passability level can be 3. However, the second evacuation route requires a short travel time, which saves a lot of travel distance compared to the absolutely safe first evacuation route. On the basis of the above, the computing terminal 200 determines that the evacuation requirement (i.e., the necessary condition) for the trapped person to reach the safe exit through the second evacuation route is that the trapped person carries a gas mask. The computing terminal 200 determines whether the trapped person is wearing a gas mask through image recognition. In the case that the trapped person does not carry a gas mask, the computing terminal 200 calculates an auxiliary evacuation route for the trapped person to reach the location and pick up the gas mask based on the location where the gas mask is stored and the current location of the trapped person. As mentioned above, after the trapped person takes the gas mask, the passability level of the passage filled with harmful gases is adjusted to 2. As a result, the computing terminal 200 can update several evacuation routes according to the updated road safety index.

[0054] Preferably, the computing terminal 200 transmits the auxiliary evacuation route to the guidance module 300, so that the guidance module 300 transmits images to the mobile terminal 500 or the display unit 400 through the digital sign 600 to guide the trapped persons to the location. The guidance module 300 selects the safest evacuation route and issues guidance instructions or guidance warnings to each display unit 400 to achieve guidance and predictive evacuation of the people in the scene. The guidance module 300 displays the selected evacuation route on the display unit 400 or the mobile terminal 500 in the form of a digital sign 600. The guidance module 300 prompts the trapped persons to take the gas mask along this direction by displaying a virtual double arrow combined with the icon of the gas mask, and the guidance module 300 identifies the danger mark (such as the poisonous gas mark) of a certain passage to indicate that the passage requires a gas mask to pass.

[0055] The present invention displays the evacuation route after a factory accident and the related digital signage 600 information in a virtual scene through the display unit 400, so that the person being guided can obtain the relevant information of the evacuation route in real time.

[0056] The road safety index calculated by the present invention is not only used for planning evacuation routes, but can also be used to determine the evacuation needs of trapped persons. When there is a shortcut to a safe exit near the trapped person, but the shortcut is inaccessible to the trapped person due to the presence of harmful gases, the computing terminal 200 determines that the trapped person needs to take a gas mask based on the evacuation needs, thereby facilitating the escape of the trapped person. Thus, the computing terminal 200 plans an auxiliary evacuation route to the gas mask placement point, and after the trapped person takes the gas mask, updates several evacuation routes to guide the trapped person to the safe exit through the shortcut.

[0057] Preferably, the computing terminal 200 guides the trapped person to obtain supplies based on the positions of several safety measures set on several evacuation routes when the trapped person approaches the position of the safety measures along the evacuation routes. The safety measures can be various emergency medicines. Under the premise of not delaying the evacuation progress of the trapped person, the computing terminal 200 can mark several safety measures on the evacuation routes to guide the trapped person to obtain corresponding supplies during the evacuation process.

[0058] In the present invention, several evacuation routes are displayed in the form of digital signboards 600. The auxiliary evacuation routes and safety measures signs planned by the computing terminal 200 are also displayed in the form of digital signboards 600. The digital signboards 600 can be displayed on the display units 400 of various nodes inside the factory. Preferably, the digital signboards 600 can also be displayed on the mobile terminals 500 of the trapped persons.

[0059] Specifically, in the present invention, the mobile terminal 500 can also be AR glasses or VR head-mounted display devices or MR head-mounted display devices. VR head-mounted display devices or MR head-mounted display devices can be integrated in a protective helmet to protect the head of the trapped person. For example, the Vision Pro head-mounted display device. The above-mentioned protective helmet can be a safety helmet that protects the top of the head. The above-mentioned protective helmet can also be a full helmet style (Formula racing helmet) or a three-quarter or even half helmet style (rally racing helmet). The mobile terminal 500 can be integrated into the goggles of the protective helmet to provide protection and virtual guidance. The trapped person wears the mobile terminal 500 to superimpose the information of the three-dimensional virtual scene in the real factory scene, so as to provide real-time guidance of the evacuation route. The guidance module 300 combines the virtual digital signage 600 with the scene of the real world by superimposing the various information of the evacuation route in the real factory scene of the trapped person in the form of a digital signage 600, thereby providing convenient evacuation route guidance. For example, the trapped person wears an AR glasses-type mobile terminal 500. The guidance module 300 superimposes each icon on the real factory scene observed by the trapped person through the mobile terminal 500. The guidance module 300 performs image recognition, spatial modeling, and positioning of the mobile terminal 500, such as Figure 2As shown, when the trapped person observes the passage that cannot be passed, a special no-entry sign is displayed to indicate that the passage cannot be entered, and various arrow signs are used to indicate the correct evacuation route. The guidance module 300 directly projects the evacuation route in the form of a digital sign 600 (which can be a virtual arrow and various virtual prohibition signs) in the field of vision of the trapped person, and suspends it in the real factory environment. When the trapped person arrives at the road intersection, the correct direction of the evacuation route is indicated in an intuitive way. In the process of the trapped person evacuating along the evacuation route, the guidance module 300 also marks the placement of each safety measure or gas mask through the mobile terminal 500, and marks the passage or room that cannot be entered. The mark can be a mark that identifies the source of danger in the room or identifies the items stored in the room, including a flame mark, a poisonous gas mark, a drug mark, etc. The present invention indicates whether the room or passage is passable or whether there are materials that help the trapped person escape through the direct display of a virtual image, and improves the evacuation efficiency by directly superimposing the virtual image on the real field of vision of the trapped person. The trapped person carrying the mobile terminal 500 can obtain the information of the relevant evacuation route through the mobile terminal 500 and escape along the evacuation route. The trapped person who does not carry the mobile terminal 500 can obtain the relevant information of the evacuation route or obtain the placement location of the spare mobile terminal 500 through the display unit 400 set at each node of the road. The present invention calculates the road safety index based on the geographical location of the trapped person obtained by the mobile terminal 500 and the evacuation data collected by the sensing terminal 100, and displays multiple evacuation routes in the form of digital signs 600. By combining the factory evacuation route in the virtual scene with the digital sign 600 information related to the evacuation route, the person being guided can obtain the relevant information of the route in real time, thereby improving the escape efficiency of the trapped person.

[0060] For factories that have completed digital twins, after a production accident occurs in the factory, the evacuation of trapped personnel can be guided by displaying the evacuation route on a large display screen. However, the existing intelligent evacuation guidance system does not humanely consider the needs of trapped personnel. For example, the existing intelligent evacuation guidance system often displays the evacuation route of the floor in a two-dimensional plane on the display screen. However, after being frightened, the trapped personnel lack sufficient time and patience to view and memorize the evacuation route. In the above situation, the trapped personnel often evacuate themselves along the evacuation route they are familiar with, which not only causes congestion on the evacuation route, but also easily threatens the lives of the trapped personnel. In this regard, the present invention displays the evacuation route in the form of a digital sign 600, and intuitively displays the route that the trapped personnel should evacuate through signs such as arrows or prohibitions, and displays dangerous equipment that cannot be approached with corresponding digital signs 600. For another example, when the existing intelligent evacuation guidance system detects that the load level of the evacuation route has reached the upper limit (that is, the evacuation route is congested due to excessive entry of trapped persons), it will directly change the evacuation route and guide the subsequent trapped persons to a direction different from the previous evacuation route. Due to the herd effect and herd mentality of the crowd, the subsequently guided trapped persons will not move along the changed evacuation route guided by the display screen, but will continue to move forward following the crowd on the previous evacuation route, thereby causing further congestion on the evacuation route and seriously affecting the evacuation efficiency. In response to this, the present invention directly displays the information of the evacuation route change through the digital sign 600, and shows the trapped persons the reason for updating the evacuation route by marking a congestion icon at the intersection ahead, thereby facilitating the trapped persons to quickly make correct evacuation judgments and improving the evacuation efficiency.

[0061] Example 2

[0062] This embodiment is a further supplement to the above embodiment, and the repeated contents will not be repeated here.

[0063] Since production accidents in factories can also lead to various secondary disasters (such as workshop fires, building or stair collapse, radioactive material leakage, etc.), the evacuation route needs to consider more influencing factors. The guidance system in the prior art cannot adjust the evacuation route in time according to the real-time channel collapse or pollutant diffusion. More importantly, the relevant servers in the prior art cannot monitor the collapse or pollutants in the factory channels in real time, and update the two-dimensional data and three-dimensional data of the building in real time, which may lead to a planned evacuation route including invalid information that cannot achieve safe evacuation or cause crowd congestion. In this regard, the present invention monitors the situation in the factory through a mobile robot, and displays the real-time situation of each evacuation route through a digital sign 600 in a virtual scene, so that trapped people can evacuate quickly.

[0064] Preferably, the mobile robot can be equipped with several sensing terminals 100. Figure 3 As shown, the mobile robot includes a node robot 700 and a drone 800. The node robot 700 can monitor the collapse of the channel and the pollutant situation at each node of the channel. Due to the lack of corresponding monitoring equipment or related monitoring equipment inside the factory, it is easy to be damaged after production accidents and secondary disasters. The node robot 700 can go to the nodes of each channel for monitoring. The node robot 700 is, for example, a patrol car or a robot dog or a drone that can move by itself. The node robot 700 is equipped with an image acquisition unit, a pollutant concentration detection unit, and an oxygen concentration detection unit (i.e., various sensing terminals 100) for detecting the collapse of the channel and the pollutant situation of each node. The computing terminal 200 plans the evacuation route of the trapped personnel based on the real-time detection data obtained by the node robot 700. Preferably, the computing terminal 200 also dispatches the node robot 700 to the nodes of each evacuation route based on the planned evacuation route for evacuation guidance. When the trapped personnel arrive at the node through the evacuation route, the node robot 700 can send a prompt message to guide the trapped personnel to quickly go to the correct route. For example, when the trapped persons arrive at a node with multiple exits, the node robot 700 acts as a roadblock to block the dangerous exits, and guides the trapped persons to the safe exits by means of indicator lights or voice reminders. The computing terminal 200 dispatches several node robots 700 to block the dangerous exits, and the node robot 700 serves as a fixed detection point to detect the safety of the node. When the node robot 700 detects a dangerous change in the node, the node robot 700 sends an early warning message to the computing terminal 200 so that the computing terminal 200 updates the evacuation route to avoid the node. The above-mentioned dangerous changes refer to changes such as a decrease in the oxygen concentration in the channel, an increase in the concentration of other harmful gases, or a collapse of the channel, which may pose a life-threatening risk to the trapped persons.

[0065] The technical solution of the present invention can use the node robot 700 to detect each channel node in the factory, especially to identify the channel collapse caused by production accidents and secondary disasters. The node robot 700 can obtain accident information corresponding to the conditions of each building in the factory in real time. The accident information includes channel change information represented by a state marker that can be recognized by the computing terminal 200. The above-mentioned state markers can be the flashing indicator lights of each monitoring device in the channel, channel obstacles and cross-sections. The node robot 700 detects obstacles in the channel to identify the channel collapse. The above-mentioned obstacles include positive obstacles and negative obstacles. Positive obstacles indicate that the channel is blocked by an object, making it difficult to pass. Negative obstacles indicate that the channel has a cross-section or collapse at this location and cannot be passed. Based on the autonomous exploration of the channel at the node by the node robot 700, the computing terminal 200 avoids changes in the internal structure of the building caused by the disaster, thereby planning the safest evacuation route. The present invention obtains the changes in the channel structure caused by the disaster through the node robot 700 to avoid the situation where the trapped persons are unable to pass through when moving along the evacuation route, thereby avoiding delays in the evacuation of the trapped persons.

[0066] Preferably, the drone 800 can be used as a mobile unit to guide the trapped persons to move quickly or to search and rescue the remaining persons. The computing terminal 200 dispatches the drone 800 to set off along the evacuation route, and in the case of encountering trapped persons, the drone 800 guides the trapped persons to move quickly. The drone 800 guiding the trapped persons to move quickly can reduce the time for the trapped persons to observe the display unit 400 or judge the current position, and the drone 800 is used to quickly guide the evacuation route. The guidance module 300 can combine the digital sign 600 with the drone 800 in a virtual scene, thereby providing a mobile digital sign 600 for the trapped persons to observe. Preferably, the guidance module 300 displays the evacuation route to the trapped persons by projecting the digital sign 600 onto the drone 800 in the real scene. At this time, the trapped persons have not only the drone 800 in the real environment as a guide in their field of vision, but also the digital sign 600 combined with the drone 800 in the virtual scene as a guide. The trapped persons can synchronously follow the drone 800 for evacuation, and can also observe the digital signage 600 related to the evacuation route, thereby improving the evacuation efficiency and alleviating the tension of the trapped persons.

[0067] The drone 800 can also conduct dispersed search and rescue of personnel at each node of the evacuation route, thereby guiding the trapped personnel who have moved incorrectly to the correct evacuation route. Preferably, the computing terminal 200 plans several rescue routes with each node of the evacuation route as the starting point. The computing terminal 200 dispatches several drones 800 to search and rescue the trapped personnel along the rescue route. Since there may be people with a weak sense of space among the trapped personnel, in the process of moving along the complex evacuation route, it is possible to advance to a fork in the road, resulting in deviation from the evacuation route predetermined by the computing terminal 200. In particular, for the trapped personnel who are lost in the mobile terminal 500 during the escape process, although they can be evacuated under the prompt of the display unit 400 in the factory, there is a possibility of deviating from the safe route. In this regard, the drone 800 can perform divergent rescue work along each safe node.

[0068] Specifically, the node robot 700 collects image information in the actual scene. The computing terminal 200 dispatches the node robot 700 to detect several nodes according to a preset collection cycle to form a channel node situation associated with time. The computing terminal 200 plans several evacuation routes based on the channel node situation. The computing terminal 200 sends several evacuation routes to the guidance module 300, and the guidance module 300 selectively sends several evacuation routes to the display unit 400. The computing terminal 200 also plans several evacuation routes starting from the current position based on the current position of the trapped person. The guidance module 300 sends several evacuation routes planned based on the current position of the trapped person to the mobile terminal 500 of the trapped person. The present invention relates to an intelligent evacuation guidance system combined with a digital signboard 600 under a factory leakage accident. The present invention determines the current position of the trapped person through the mobile terminal 500, automatically creates multiple evacuation routes, and displays the load, distance, safety and other information of each evacuation route in the form of a digital signboard 600. For trapped persons who do not carry the mobile terminal 500, they can choose the corresponding evacuation route to escape through the display unit 400 set at each node of the road. The present invention uses a digital sign 600 to provide a variety of evacuation routes with accompanying information to provide assistance for evacuation guidance after a factory leakage accident. The evacuation data collected by the sensing terminal 100 is processed and analyzed in real time by the computing terminal 200, and the required multiple evacuation routes are given by an intelligent algorithm, and the necessary information such as the safety of the evacuation route, the distance from the terminal, and the load level are given at the same time. As in the above embodiment, the computing terminal 200 of the present invention calculates the evacuation route based on the load level of each channel and the risk analysis model. The load level is the congestion of each channel, so that the road safety index of several evacuation routes can be calculated. The guidance module 300 displays necessary information to the trapped persons in the form of a digital sign 600, so that it is convenient for the trapped persons to judge their own environment, which can effectively relieve the tension of the trapped persons.

[0069] Preferably, when the channel node situation collected by the node robot 700 changes, in response to the indication information of adjusting the collection cycle sent by the computing terminal 200, the node robot 700 shortens the collection cycle at the node. When the channel node situation changes, it indicates that a dangerous situation occurs at the channel node, including an increase in pollutant concentration, channel collapse, etc. The safety level of the node is low, and the subsequent impact of the accident is continuing. Therefore, it is necessary to shorten the collection cycle of the node to provide more channel node situations for the computing terminal 200. The node is not included in the scope of evacuation route planning as an evacuation abandoned node. The computing terminal 200 sends an indication information of adjusting the collection cycle, and when the collection cycle tends to zero, the node robot 700 is dispatched to another node for detection. The computing terminal 200 establishes a temporary network system based on a number of node robots 700 distributed in the scene, so as to obtain the situation of each channel node in the scene in real time. The computing terminal 200 constructs a scene evacuation orientation map based on the nodes where the channel node situation has not changed, thereby effectively planning an evacuation route with a high degree of safety. The above channel node conditions can be acquired by various sensors or image acquisition units carried by the node robot 700. The present invention flexibly deploys the node robot 700 to different areas to detect channel node conditions based on the channel node conditions, thereby reducing the collection of a large amount of invalid data in the early stage of rescue and reducing the data processing capacity of the computing terminal 200.

[0070] Preferably, the computing terminal 200 dispatches the drone 800 to each safe node for guidance and search and rescue based on the constructed scene evacuation orientation map. The computing terminal 200 dispatches the drone 800 to the node where the channel node situation has not changed to guide and instruct when a trapped person is detected. The drone 800 collects images, and the computing terminal 200 identifies the human body contour in the image to determine whether there is a trapped person. The computing terminal 200 plans several rescue routes based on the node arrived by the drone 800 as the starting point to control the drone 800 to continuously search for trapped persons who deviate from the correct evacuation route. Due to the subsequent continuous influence of the production accident, the channel node situation is constantly changing, and the computing terminal 200 gives several evacuation routes based on the changes in the channel node situation, and dispatches the drone 800 for guidance according to the evacuation route. In the present invention, the drone 800 is dispatched by the computing terminal 200 based on the detection situation of the node robot 700, and the drone 800 has a corresponding detection task different from the node robot 700, thereby reducing invalid and unnecessary data transmission.

[0071] Preferably, the computing terminal 200 controls the drone 800 to take different rescue decisions based on the human body contour obtained by the drone 800. When the drone 800 performs rapid search and rescue work, the images collected by the drone 800 are sent to the computing terminal 200 in a non-high-definition manner. The computing terminal 200 obtains the human body contour that may exist in the image through image recognition. This image recognition is a low-precision recognition method, thereby reducing the amount of calculation of the computing terminal 200 and improving the calculation speed. When the human body contour is recognized, the computing terminal 200 sends a request for high-definition image transmission to the drone 800 to specifically identify the situation of the trapped person. The present invention saves time for rescue decision-making by reducing the transmission of image data. Since the data carrying capacity is limited after the production accident occurs, the present invention sends high-definition data based on the high-definition image demand of the computing terminal 200, which can reduce the amount of network data transmission and also reduce the power consumption of the drone 800.

[0072] Preferably, when the computing terminal 200 obtains high-definition image data, the computing terminal 200 identifies the situation of the trapped person to provide a corresponding rescue decision. When the computing terminal 200 detects that the trapped person is a group of people who lack the ability to act independently, the computing terminal 200 dispatches a node robot 700 with carrying capacity for collaborative rescue. The node robot 700 with carrying capacity can be a larger inspection vehicle. In the case where the trapped person has weaker mobility, the trapped person can go to the safe exit through the node robot 700 with carrying capacity. In the case where the trapped person completely loses the ability to act, the node robot 700 with carrying capacity is used as an auxiliary rescue device for auxiliary transportation. The node robot 700 detects changes in the environment around the trapped person, thereby issuing an early warning to the rescuer when the environment changes adversely, and improving the rescue level of the trapped person. The computing terminal 200 sends the location information, rescue level, etc. of the trapped person to the rescuer. The guidance module 300 displays the route to the trapped person in the form of a digital sign 600 in the mobile terminal 500 of the rescuer. The guidance module 300 also identifies the room where the emergency supplies are stored in the form of a virtual icon of a digital sign 600 in the mobile terminal 500 of the rescuer, so that the rescuer can replenish medicines or supplies on the way to the location of the trapped person. After the rescuer arrives at the location of the trapped person, the rescuer can place the trapped person on the node robot 700 with carrying capacity to quickly move to the safe exit.

[0073] When the computing terminal 200 detects that the trapped person is a group of people with autonomous action ability, the computing terminal 200 sends a fast guidance evacuation strategy to the drone 800 to assist the trapped person to reach a relatively safe area first and wait for rescue. The guidance module 300 marks a relatively safe area in the form of a digital sign 600, and guides the trapped person to reach a relatively safe area first and wait for rescue. In the case where the surrounding road safety index changes, the guidance module 300 issues an early warning to the trapped person through the digital sign 600 to carry out the next step of evacuation guidance. The above-mentioned group of people who lack the ability to act autonomously are, for example, slow-moving children, the elderly, or people who faint and lose their ability to act due to inhaling a large amount of toxic gas. The above-mentioned group of people with autonomous action ability are, for example, adults with autonomous consciousness or people who have the ability to escape but have lost their escape direction due to panic or thick smoke. The present invention performs collaborative evacuation through a node robot 700 and a drone 800. The node robot 700 serves as a detection unit that obtains relevant data of each node in the scene, and assists the computing terminal 200 in planning several evacuation routes. Several evacuation routes have corresponding digital signs 600 so that trapped persons can choose the safest evacuation route. The drone 800, as a rapid search and rescue unit, searches and guides along the planned evacuation route, and performs branched rapid search and rescue along the nodes. When the drone 800 detects trapped persons, the computing terminal 200 dispatches the node robot 700 to assist in rescue, including environmental monitoring and transportation of trapped persons. Therefore, the present invention effectively reduces casualties in the evacuation of trapped persons and formulates the best evacuation and rescue plan.

[0074] Throughout the text, the features referred to as “preferably” are merely optional and should not be understood as having to be set. Therefore, the applicant reserves the right to abandon or delete the relevant preferred features at any time.

[0075] It should be noted that the above-mentioned specific embodiments are exemplary, and those skilled in the art can come up with various solutions inspired by the disclosure of the present invention, and these solutions also belong to the disclosure scope of the present invention and fall within the protection scope of the present invention. Those skilled in the art should understand that the present invention specification and its drawings are illustrative and do not constitute a limitation on the claims. The scope of protection of the present invention is defined by the claims and their equivalents. The present invention specification contains multiple inventive concepts, such as "preferably", "according to a preferred embodiment" or "optionally", which means that the corresponding paragraph discloses an independent concept, and the applicant reserves the right to file a divisional application based on each inventive concept.

Claims

1. A digital signage, characterized in that: is communicatively connected with the guidance module (300), The digital signage (600) is controlled by the guidance module (300) to display and change images to indicate directions. The guidance module (300) determines the passability level of the passage according to the received road safety index, and adds corresponding signs to a number of digital signboards (600), so that the digital signboards (600) display virtual arrows indicating the direction in which the trapped person can move forward, and can also display danger signs indicating that the trapped person cannot move forward.

2. The digital signage according to claim 1, characterized in that: When the trapped person wears a VR head mounted display device or an MR head mounted display device as a mobile terminal (500), The guiding module (300) superimposes each icon on the real factory scene observed by the trapped personnel through the mobile terminal (500) to form a virtual digital signboard (600). The guidance module (300) uses image recognition, spatial modeling, and positioning of the mobile terminal (500) to display a no-entry sign on the mobile terminal (500) to indicate that the passage is inaccessible, and uses various arrow signs to indicate the correct evacuation route.

3. A computing terminal, characterized in that: The computing terminal (200) is configured to: Evaluate the road safety index of each emergency exit based on the Monte Carlo model; The evaluation factors of the road safety index of each safety exit evaluated by the computing terminal (200) include the change rate A of the number of trapped persons, the level B of safety measures, the congestion situation C and the distance D from the danger source; The formula for calculating the road safety index is: Road safety index = safety measure level B × (congestion C / change rate of number of trapped people A) × distance from danger source D × passability level; The guidance module (300) determines the passability level of the passage according to the road safety index sent by the computing terminal (200), and adds corresponding identifications to a number of digital signboards (600), so that the digital signboards (600) display virtual arrows indicating the direction in which the trapped person can move forward, and can also display danger identification indicating that the trapped person cannot move forward.

4. The computing terminal according to claim 3, characterized in that: The computing terminal (200) provides a personalized evacuation route to the guidance module (300) based on at least one evacuation requirement of the trapped persons; In the case where the trapped person carries a mobile terminal (500) and the computing terminal (200) calculates the first evacuation route and the second evacuation route required by the trapped person, the computing terminal (200) determines that the necessary evacuation requirement for the trapped person to reach the safety exit via the second evacuation route is that the trapped person carries a gas mask, and determines whether the trapped person is wearing the gas mask through image recognition sent by the mobile terminal (500); In the case where the trapped person does not carry a gas mask, the computing terminal (200) calculates an auxiliary evacuation route for the trapped person to reach the gas mask storage location and pick up the gas mask based on the gas mask storage location and the trapped person's current location.

5. The computing terminal according to claim 3 or 4, characterized in that: When the computing terminal (200) communicates with the node robot (700), The computing terminal (200) dispatches the node robot (700) to the nodes of each evacuation route based on the planned evacuation route to provide evacuation guidance; When the trapped persons arrive at the node via the evacuation route, the node robot (700) issues a prompt message to guide the trapped persons to quickly go to the correct route.

6. The computing terminal according to any one of claims 3 to 5, characterized in that: The computing terminal (200) dispatches a node robot (700) to detect a plurality of nodes according to a preset collection cycle to form a channel node situation associated with time; the computing terminal (200) plans a plurality of evacuation routes based on the channel node situation.

7. A mobile terminal, characterized in that: The mobile terminal (500) is communicatively connected to the guidance module (300); when the mobile terminal (500) is a VR head mounted display device or an MR head mounted display device, the digital signage (600) is displayed on the mobile terminal (500) of the trapped person. The guidance module (300) determines the passability level of the passage according to the received road safety index, and adds a corresponding icon to a virtual digital sign (600) superimposed on the real factory scene observed by the trapped person, so that the digital sign (600) displays a virtual arrow in the direction in which the trapped person can move forward, and can also display a danger sign that the trapped person cannot move forward.

8. The mobile terminal according to claim 7, characterized in that: The guidance module (300) uses image recognition, spatial modeling, and positioning of the mobile terminal (500) to display a no-entry sign on the mobile terminal (500) to indicate that the passage is inaccessible, and uses various arrow signs to indicate the correct evacuation route.

9. The mobile terminal according to claim 7 or 8, characterized in that: During the evacuation of trapped persons along the evacuation route, the guiding module (300) marks the placement of various safety measures or gas masks through the mobile terminal (500), and marks inaccessible passages or rooms.

10. The mobile terminal according to any one of claims 7 to 9, characterized in that: The guidance module (300) displays the route to the trapped person in the form of a digital sign (600) in the mobile terminal (500) of the rescuer; The guidance module (300) identifies the room where the emergency supplies are stored in the form of a virtual icon of a digital sign (600) in the mobile terminal (500) of the rescuer, so that the rescuer can replenish medicines or supplies on the way to the location of the trapped person.

Images