Emergency personnel evacuation control system integrated with multi-source sensing technology

Abstract

The invention discloses an emergency personnel evacuation control system integrated with a multi-source sensing technology. The emergency personnel evacuation control system comprises an emergency power supply, a fire-fighting detection guide unit, a system data processing unit, a building BIM model display unit and a system decision control unit, the emergency power supply supplies power to the evacuation control system through the standby battery; the fire-fighting detection guiding unit is used for detecting the environment condition of each floor of the building and guiding the evacuation of trapped people and the rescue of firefighters; the system data processing unit is responsible for processing and analyzing a large amount of data collected from the fire-fighting detection guiding unit; the building BIM model display unit is used for visually displaying the structure and layout of a building and integrating real-time data from the fire-fighting detection guide unit; the system decision control unit makes fine decision guidance for the system according to the information acquired by the fire-fighting detection guide unit, and dynamically plans an optimal escape route; according to the invention, the optimal escape route is dynamically planned, and the broadcast system of the building is controlled to issue the evacuation instruction, so that the efficiency and safety of emergency evacuation are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of emergency evacuation, and in particular to an emergency personnel evacuation control system integrating multi-source sensing technology. Background Art

[0002] Traditional evacuation systems have some obvious deficiencies during emergency evacuation, which not only affect the evacuation efficiency, but may also aggravate casualties and property losses.

[0003] The prior art has the following defects:

[0004] 1. Lack of real-time monitoring of fire development: Traditional evacuation systems often lack the ability to monitor the development of fires in real time, which means they cannot adjust evacuation strategies based on real-time changes in fire conditions. For example, a fire may spread rapidly, and a fixed route may soon be blocked by smoke or flames, making the evacuation path no longer safe.

[0005] 2. Evacuation routes are fixed: In an emergency, the internal structure and distribution of people in a building may change, but traditional evacuation systems usually rely on fixed evacuation routes and signs, which are difficult to adapt to these changes. This may lead to inefficient evacuation, and in some cases, fixed routes may even become an obstacle to escape.

[0006] 3. Lack of effective personnel location awareness: In emergency evacuation, knowing the specific location of personnel is crucial for guiding evacuation. Traditional systems are usually unable to provide such location awareness, making evacuation guidance blind, unable to provide personalized evacuation guidance for personnel in different locations, and not conducive to rapid and accurate rescue by firefighters.

[0007] For the evacuation of emergency personnel, the patent with publication number CN 116595766 A provides an emergency evacuation route design method for leakage accidents in hazardous chemical parks, which takes into account the association between the leakage accident diffusion model and the park topology evacuation network, as well as the balance of personnel flow and constraints. However, it is highly dependent on specific hazardous chemical parks and is not suitable for all types of buildings or emergency situations. In addition, this method requires a large number of preset parameters and accurate accident simulation, which may be difficult to achieve in practical applications;

[0008] The patent with publication number CN 118609299 A proposes a comprehensive emergency system, including monitoring, fire extinguishing and explosion prevention, personnel evacuation, leakage prevention and alarm units, to provide comprehensive emergency protection for printing hazardous waste storage sites, but the complexity of the system may lead to high costs and require regular maintenance. In addition, the system may be too dependent on automated equipment and there may be a risk of technical failure in extreme cases.

[0009] In summary, the existing technology has defects such as the inability to accurately monitor the development of fire in real time, fixed evacuation routes, and lack of effective personnel location perception. Summary of the invention

[0010] In order to overcome the defects of the above-mentioned prior art, the purpose of the present invention is to provide an emergency personnel evacuation control system that integrates multi-source sensing technology. By integrating multi-source sensing technology and intelligent algorithms, dynamic planning of the optimal escape route can be achieved, and the building's broadcasting system can be controlled to issue evacuation instructions, so as to improve the efficiency and safety of emergency evacuation.

[0011] In order to achieve the above object, the technical solution adopted by the present invention is:

[0012] An emergency personnel evacuation control system integrating multi-source sensing technology, including an emergency power supply, a fire detection and guidance unit, a system data processing unit, a building BIM model display unit, and a system decision control unit;

[0013] The emergency power supply supplies power to the evacuation control system through a backup battery to ensure the normal operation of the system in an emergency;

[0014] The fire detection and guidance unit is used to detect the environmental conditions of each floor of the building and guide the evacuation of trapped persons and the rescue of firefighters when a fire occurs;

[0015] The system data processing unit is responsible for processing and analyzing a large amount of data collected from the fire detection and guidance unit, comprehensively monitoring and intelligently analyzing the internal environment of the building, and providing a scientific basis for subsequent evacuation decisions;

[0016] The building BIM model display unit is used to intuitively display the structure and layout of the building, and integrate the real-time data from the fire detection and guidance unit; the equipment in the fire detection and guidance unit, such as thermal imaging, visible light camera, millimeter wave heartbeat detection radar 1 and microphone array 3, annotates the real-time data in the BIM model display unit in real time, and provides the rescue personnel with the real-time situation of the fire scene, so as to facilitate the rescue personnel to conduct more efficient command and rescue;

[0017] The system decision control unit makes detailed decision guidance for the system through the information obtained by the fire detection and guidance unit, and uses the information obtained by the fire detection and guidance unit as data support to help the system make decisions and dynamically plan the optimal escape route; at the same time, it controls the building's broadcasting system to issue evacuation instructions, and automatically broadcasts the evacuation route in real time for the fire situation on each floor, and provides targeted instructions and guidance for the evacuation of personnel.

[0018] Preferably, the fire detection and guidance unit comprises a binocular camera 2, a microphone array 3, a millimeter-wave heartbeat detection radar 1, and an electronic guidance screen 4; wherein the binocular camera 2, the microphone array 3, and the millimeter-wave heartbeat detection radar 1 are assembled to form an integral device, and are divided into three parts, namely, upper, middle, and lower parts, and the microphone array 3, the binocular camera 2, and the millimeter-wave heartbeat detection radar 1 are arranged in sequence from top to bottom;

[0019] The system control unit 5 is integrated into a box as the middle part of the whole device, and the binocular camera 2 is installed on the front side of the periphery of the system control unit 5;

[0020] The microphone array 3 is installed at the front end of the lower part of the system control unit 5;

[0021] The millimeter wave heartbeat detection radar 1 is installed at the front end of the upper part of the system control unit 5 .

[0022] The binocular camera 2, microphone array 3, millimeter wave heartbeat detection radar 1, electronic guidance screen 4 are connected to the overall equipment through lines.

[0023] The binocular camera is a thermal imaging and visible light camera, which is used to detect the location of the fire and the specific location of trapped persons in the case of no smoke, little smoke or heavy smoke;

[0024] The microphone array 3 is used to provide auxiliary detection. When the surrounding environment cannot be seen clearly due to smoke at the fire scene, the binocular camera 2 may fail to function. The microphone array 3 detects and captures the sound of the surrounding environment to locate the specific location of the human voice source and the fire source;

[0025] Microphone array 3 is based on sound source localization technology, and the calculation formula is as follows:

[0026]

[0027] in:

[0028] x(t) is the signal received by the first microphone at time t;

[0029] y(t) is the signal received by the second microphone at time t;

[0030] τ is the time delay, which represents the relative delay between two signals.

[0031] Formula 1 is based on the time delay estimation of generalized cross-correlation (GCC) by calculating the cross-correlation function of two signals and finding the maximum value or peak in the cross-correlation function. The time delay corresponding to the peak is the time difference between the two microphones receiving the same sound signal. The time difference and the known distance between the microphones are used to calculate the distance difference between the sound source and the two microphones by the speed of sound, thereby determining the position of the sound source.

[0032] The millimeter wave heartbeat detection radar 1 is used to provide auxiliary detection in the case of excessive fire and smoke;

[0033] Millimeter heartbeat detection radar detects human heartbeats and uses electromagnetic waves in the millimeter wave frequency band to detect human vital signs. It transmits millimeter waves and receives signals reflected from the human body, and analyzes the changes in these signals to determine physiological activities such as heartbeat and breathing. It can achieve non-invasive monitoring of vital signs without contacting the human body. Confirm whether there are people and the location of trapped people through sound;

[0034] The overall device is installed externally on the wall. By assembling the binocular camera 2, microphone array 3, and millimeter-wave heartbeat detection radar 1 at the front end of the overall device, and facing the front end of the device to the corridor during installation, the device can detect images and sound sources in the building more accurately, thereby obtaining accurate and efficient detection information.

[0035] The electronic evacuation screen 4 is used to display the optimal escape route, prompt and guide the evacuation and escape of trapped personnel. The electronic evacuation screen 4 can receive the optimal escape route calculated by the system platform in real time according to the fire development situation and personnel distribution, and quickly update the display content;

[0036] It adopts high-brightness and high-contrast display technology to ensure that the escape route information can still be clearly displayed on the electronic guidance screen 4 in an environment with heavy smoke, insufficient light or obstructed vision; the electronic guidance screen 4 is connected to the above-mentioned overall detection equipment through a line, and is located next to the overall detection equipment during installation. It is also installed by hanging on the wall. When the smoke completely blocks the vision and cannot be seen clearly, the guidance screen may no longer be able to guide the trapped people to evacuate. At this time, the system will control the broadcasting system in the building to assist in rescue, and guide the trapped people to evacuate through the broadcasting system.

[0037] Preferably, the different working conditions of the binocular camera; wherein,

[0038] The binocular camera can work normally in the case of no smoke or less smoke, and can be used to detect and locate the specific location of the fire source and the specific location of the personnel, so as to facilitate emergency evacuation;

[0039] When there is heavy smoke, the binocular camera cannot work properly with the visible light camera, but can detect through thermal imaging to locate the specific location of the fire source and the specific location of the personnel, so as to facilitate emergency evacuation.

[0040] Preferably, the working principle of the millimeter wave heartbeat detection radar 1 is:

[0041] Step 1: Signal transmission and reception: The radar first transmits a millimeter wave signal, then receives and records the reflected signal;

[0042] Step 2: Relationship between phase change and displacement: By analyzing the phase change of the reflected signal, the system can detect the tiny displacement of the human body;

[0043] Step 3: Doppler effect; the Doppler effect further provides information about the speed of human movement;

[0044] Step 4: Signal processing: cleaning and converting the signal for easy analysis;

[0045] Step 5: Extract specific data about heartbeat and breathing from the processed signal to detect vital signs.

[0046] The signal transmission and reception in step 1 is that the radar system transmits millimeter wave signals, and these signals will be reflected back after encountering the human body. The radar receives these reflected signals and extracts vital sign information by analyzing the changes in the signals.

[0047] The relationship between the phase change and the displacement in step 2 is that the radar detects the tiny displacement of the target by measuring the phase change of the reflected signal. The relationship between the phase change and the displacement is expressed by the following formula:

[0048]

[0049] in:

[0050] Δφ is the phase change;

[0051] Δd is the displacement change;

[0052] λ is the wavelength of the millimeter wave.

[0053] The Doppler effect in step 3 is that when the target (such as the heart or chest) moves relative to the radar, the frequency of the reflected signal changes. This phenomenon is called the Doppler effect. The Doppler frequency shift is expressed as the following formula:

[0054]

[0055] Where: λ is the wavelength of the millimeter wave signal emitted by the radar;

[0056] v is the radial velocity of the target, which is the component of the target's velocity toward or away from the radar. In a heartbeat detection radar, this is usually the tiny movement of the chest cavity caused by the beating heart;

[0057] The signal processing in step 4 is to process the received signal through a series of digital signal processing steps, including filtering, window function processing, Fourier transform, etc., to extract vital sign information;

[0058] These processing steps are implemented by the following formula:

[0059]

[0060] in:

[0061] S(f) is the result of Fourier transform, which represents the spectrum of the signal and is used to analyze and extract vital signs information;

[0062] It is the Fourier transform, which is used to convert the time domain signal into the frequency domain signal;

[0063] w[n] is a window function, a mathematical tool used in signal processing to improve the spectral characteristics of the signal;

[0064] s[n] is the filtered signal, which comes from the millimeter wave signal reflected by the human body received by the radar receiver.

[0065] The step 5 of vital sign detection is that after signal processing, the system analyzes the spectrum S(f) of the signal, identifies the main frequency components in the signal, and identifies and quantifies vital signs, such as heart rate and respiratory rate. The frequency components of heart rate and respiratory rate are usually expressed as peaks in the spectrum, so the peaks are identified in the spectrum, and these peaks correspond to the frequencies of heart rate and respiratory rate; the heart rate is usually in the range of 1-2Hz, while the respiratory rate is in the range of 0.1-0.3Hz; finally, the frequency is quantified, and the peak detection algorithm is used to accurately measure the frequency corresponding to the peak, and these frequency values ​​are the heart rate and respiratory rate. Therefore, by analyzing the spectrum of the signal, the physiological activities of the human body can be determined, and non-invasive vital sign monitoring can be achieved.

[0066] Preferably, the dynamic planning of the optimal escape route in the system decision control unit is divided into several steps: information collection, dynamic programming algorithm, heuristic search, and real-time dynamic update and adjustment;

[0067] First, information collection is used to collect real-time data inside the building, providing the system with basic data for decision-making;

[0068] The dynamic programming algorithm then uses this information data to build an evacuation model and calculate the initial optimal route;

[0069] Then heuristic search is used to improve the efficiency and effectiveness of the dynamic programming algorithm, and heuristic search methods (such as the A* algorithm) are used to quickly find the approximate optimal solution; finally, real-time dynamic updates and adjustments ensure the continued effectiveness and adaptability of the evacuation route, and can cope with the dynamic changes of emergency situations.

[0070] The information collection collects real-time data inside the building through the fire detection and guidance unit, including the location of the fire source, smoke concentration, and the location of personnel. These data will be used to dynamically update the environmental model;

[0071] The dynamic programming algorithm calculates the optimal escape route through the CCRP algorithm; the dynamic programming algorithm solves the problem by breaking it down into smaller sub-problems that can be solved recursively and constructing the solution to the original problem by combining the solutions to the sub-problems. In escape route planning, a cost function can be defined that takes into account the distance to each node, the risk of passing each node (such as smoke density), and the difficulty of reaching the exit.

[0072] The heuristic search accelerates the path planning process through the A* algorithm, which finds the optimal path by evaluating the estimated cost (heuristic function) and the actual cost (the cost to reach the current node) from the current node to the target node.

[0073] The real-time update and adjustment means that the escape route may need to be updated in real time. The decision model can quickly respond to environmental changes and recalculate the optimal escape route.

[0074] Preferably, the dynamic programming algorithm (CCRP algorithm) in the system decision control unit is expressed as the following formula:

[0075] V(i)=min j∈predeccssors of i (C(i,j)+V(j)) (Formula 5)

[0076] in:

[0077] V(i) represents the minimum cost to reach node i;

[0078] C(i,j) is the cost from node j to node i;

[0079] predecessors of i represents all predecessor nodes that reach node i.

[0080] Preferably, the A* algorithm of the heuristic search in the system decision control unit is expressed as the following formula:

[0081] f(i)=g(i)+h(i) (Formula 6)

[0082] in:

[0083] f(i) is the total estimated cost of node i;

[0084] g(i) is the actual cost from the starting point to node i;

[0085] h(i) is the heuristic estimated cost from node i to the goal node.

[0086] The system data processing unit is responsible for receiving various sensor data from fire detection and guidance equipment, including thermal imaging and visible light cameras, millimeter wave heartbeat detection radar 1, and microphone array 3, and integrating the data into a unified format for further processing and analysis; real-time monitoring of changes in the internal environment of the building, such as the location of the fire source, smoke concentration, temperature changes, and personnel distribution; using data fusion technology to combine data from binocular cameras 2, millimeter wave heartbeat detection radar 1, and microphone array 3, and intelligently analyzing the collected data to identify potential danger areas, predict the development of fire, and assess the safety of personnel; the processed data and analysis results provide a scientific basis for the system decision control unit to help it formulate evacuation routes and rescue strategies;

[0087] The building BIM model display unit displays the structure and layout of the building in a three-dimensional visual manner, so that rescue personnel can intuitively understand the spatial relationship of the building. The building BIM model display unit integrates real-time data from the fire detection and guidance unit, associates the real-time data with the corresponding position in the BIM model, and marks the fire source location, smoke concentration, and personnel location on the BIM model in real time. Through the real-time situation displayed on the BIM model, rescue personnel can quickly understand the dynamics of the fire scene, including the direction of fire spread, safe areas and evacuation routes, so as to carry out efficient command and rescue.

[0088] Beneficial effects of the present invention:

[0089] The real-time monitoring and response of the present invention enables the system to collect key information such as the location of the fire source, smoke concentration, and personnel distribution inside the building in real time through fire detection and guidance equipment, thereby achieving a rapid response to emergency situations.

[0090] The present invention provides dynamic evacuation route planning. By utilizing multi-source sensing data, the system can dynamically adjust the evacuation route to avoid route blockage caused by the spread of fire or smoke, thereby improving evacuation efficiency.

[0091] The present invention provides intelligent guidance and instructions through the electronic evacuation screen 4 and the broadcasting system. The system can provide real-time evacuation guidance to the trapped persons, including the guidance of escape routes and the location of emergency exits, thereby improving the visibility and auditory effect of evacuation.

[0092] The system of the present invention can adapt to the complex structure of the building, provide flexible evacuation solutions, and respond quickly in emergency situations. It is suitable for crowded places such as high-rise buildings, large shopping malls, schools, hospitals, etc. By improving evacuation efficiency and safety, the system can significantly reduce casualties in emergency situations and reduce property losses.

[0093] The present invention integrates more intelligent sensors, controllers and algorithms to achieve more accurate fire warning and evacuation instructions, thereby improving the accuracy of fire prediction and personnel evacuation.

[0094] The present invention can realize remote monitoring and intelligent maintenance, view the operating status and evacuation situation of the system in real time through the cloud platform, discover and deal with potential problems in time, and reduce maintenance costs and difficulty. BRIEF DESCRIPTION OF THE DRAWINGS

[0095] Figure 1 It is a structural schematic diagram of an emergency personnel evacuation control system integrating multi-source sensing technology provided by an embodiment of the present invention.

[0096] Figure 2 It is a schematic diagram of the fire detection and guidance equipment of the present invention.

[0097] The binocular camera, the system control unit 5, the millimeter wave heartbeat detection radar 1 and the microphone array 3 are combined into a whole, and the electronic guidance screen 4 is connected to the overall detection equipment through a line. DETAILED DESCRIPTION

[0098] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0099] The embodiment of the present invention provides an emergency personnel evacuation control system integrating multi-source sensing technology, including: an emergency power supply, a fire detection and guidance unit, a system data processing unit, a building BIM model display unit, and a system decision control unit. The emergency lighting unit supplies power to the evacuation control system through a backup battery to ensure the normal operation of the system in an emergency; the fire detection and guidance unit assembles multiple detection devices into an integral device and hangs it on each floor of the building. The number of installations depends on the area of ​​each floor of the building. It is used to detect the environmental conditions of each floor of the building and guide the evacuation of trapped personnel and the rescue of firefighters when a fire occurs; the system data processing unit is responsible for processing and analyzing a large amount of data collected from the fire detection and guidance equipment, comprehensively monitoring and intelligently analyzing the internal environment of the building, and providing a scientific basis for subsequent evacuation decisions; the building BIM model display unit is used to intuitively display the structure and layout of the building, integrate real-time data from the fire detection and guidance equipment, and annotate these data in the BIM model in real time, provide rescue personnel with real-time conditions at the fire scene, and facilitate rescue personnel to conduct more efficient command and rescue; the system decision control unit uses the information obtained by the fire detection and guidance equipment to make detailed decision guidance for the system. With detection information as data support, the system is helped to make decisions and dynamically plan the optimal escape route; at the same time, the building's broadcasting system is controlled to issue evacuation instructions, and the evacuation routes are automatically broadcast in real time for the fire situation on each floor, providing targeted instructions and guidance for personnel evacuation.

[0100] This embodiment collects fire information and personnel information in the building through detection equipment such as binocular camera 2, microphone array 3, and millimeter wave heartbeat detection radar 1. The optimal escape route is planned in combination with the dynamic programming algorithm to ensure the evacuation time and personnel safety, and to shorten the evacuation time as much as possible while ensuring the safety of personnel. At the same time, the decision-making control of the system can provide intelligent guidance and instructions based on the optimal escape route of dynamic planning with the electronic evacuation screen 4 and the broadcasting system, and provide real-time evacuation guidance to trapped personnel, including escape route guidance and the location of emergency exits, to improve the visibility and auditory effect of evacuation.

[0101] In one embodiment, the fire detection and guidance unit includes a binocular camera 2, a microphone array 3, a millimeter wave heartbeat detection radar 1, and an electronic guidance screen 4; wherein,

[0102] Binocular cameras, namely thermal imaging and visible light cameras, are used to detect the location of fire and the specific location of trapped people in situations with no smoke, little smoke or heavy smoke.

[0103] Microphone array 3 is used to provide auxiliary detection in the case of excessive fire and smoke. Microphone array 3 detects and captures the sounds of the surrounding environment to locate the specific location of the human voice source and the fire source. Its principle is mainly based on sound source localization technology, and the calculation formula is as follows:

[0104]

[0105] in:

[0106] x(t) is the signal received by the first microphone at time t;

[0107] y(t) is the signal received by the second microphone at time t;

[0108] τ is the time delay, which represents the relative delay between two signals.

[0109] Formula 1 is based on the time delay estimation of generalized cross-correlation (GCC) by calculating the cross-correlation function of the two signals and finding the maximum value or peak in the cross-correlation function. The time delay corresponding to the peak is the time difference between the two microphones receiving the same sound signal. Using the time difference and the known distance between the microphones, the distance difference between the sound source and the two microphones is calculated by the speed of sound to determine the location of the sound source.

[0110] Millimeter wave heartbeat detection radar 1 is used to provide auxiliary detection in the case of fire and excessive smoke. Millimeter wave heartbeat detection radar detects human heartbeat and uses electromagnetic waves in the millimeter wave frequency band to detect human vital signs. It transmits millimeter waves and receives signals reflected from the human body, and analyzes the changes in these signals to determine physiological activities such as heartbeat and breathing. Non-invasive monitoring of vital signs can be achieved without contacting the human body. The presence of people and the location of trapped people can be confirmed by sound.

[0111] The electronic evacuation screen 4 is used to display the optimal escape route, prompt and guide the evacuation and escape of trapped personnel. The electronic evacuation screen 4 can receive the optimal escape route calculated by the system platform in real time according to the development of the fire and the distribution of personnel, and quickly update the display content. It uses high-brightness and high-contrast display technology to ensure that the escape route information is still clearly visible in an environment with heavy smoke, insufficient light or obstructed vision. In the case of excessive smoke, when the evacuation screen may not be clearly visible, the system will control the broadcasting system in the building to assist in rescue and guide the trapped personnel to evacuate and escape through the broadcasting system.

[0112] In this embodiment, the binocular cameras have different working conditions; among them,

[0113] In the case of no smoke or less smoke, the binocular camera can work normally with thermal imaging and visible light cameras to detect and locate the specific location of the fire source and the specific location of the personnel, facilitating emergency evacuation;

[0114] When there is heavy smoke, the binocular camera cannot work properly with the visible light camera. Thermal imaging can be used for detection to locate the specific location of the fire source and the specific location of the personnel, facilitating emergency evacuation.

[0115] In one embodiment, the working principle of the millimeter wave heartbeat detection radar 1 is mainly divided into the following steps: signal transmission and reception, phase change and displacement relationship, Doppler effect, signal processing, and vital sign detection; among which:

[0116] Signal transmission and reception means that the radar system transmits millimeter wave signals, which are reflected back after encountering the human body. The radar receives these reflected signals and extracts vital signs information by analyzing the changes in the signals.

[0117] The relationship between phase change and displacement is that the radar detects the tiny displacement of the target by measuring the phase change of the reflected signal. The relationship between phase change and displacement can be expressed by the following formula:

[0118]

[0119] in:

[0120] Δφ is the phase change;

[0121] Δd is the displacement change;

[0122] λ is the wavelength of the millimeter wave.

[0123] The Doppler effect is when the target (such as the heart or chest) moves relative to the radar, the frequency of the reflected signal changes. This phenomenon is called the Doppler effect. The Doppler frequency shift can be expressed as the following formula:

[0124]

[0125] in:

[0126] v is the radial velocity of the target.

[0127] Signal processing The received signal undergoes a series of digital signal processing steps, including filtering, window function processing, Fourier transform, etc., to extract vital sign information. These processing steps can be implemented by the following formula:

[0128]

[0129] in:

[0130] S(f) is the spectrum of the signal;

[0131] is the Fourier transform;

[0132] w[n] window function;

[0133] s[n] is the filtered signal.

[0134] Vital sign detection is to extract the heartbeat and breathing frequencies by analyzing the signal spectrum. The heartbeat and breathing frequencies can be obtained through spectrum analysis after Fourier transform, making it possible to achieve non-invasive detection of vital signs.

[0135] In one embodiment, the dynamic planning of the optimal escape route in the system decision control unit is mainly divided into several steps: information collection, dynamic planning algorithm, heuristic search, and real-time dynamic update and adjustment:

[0136] Information collection: Fire detection and guidance equipment collects real-time data inside the building, including the location of the fire source, smoke concentration, and personnel location. These data will be used to dynamically update the environmental model.

[0137] The dynamic programming algorithm calculates the optimal escape route through the CCRP algorithm. The dynamic programming algorithm solves the problem by breaking it down into smaller sub-problems that can be solved recursively and building the solution to the original problem by combining the solutions to the sub-problems. In escape route planning, a cost function can be defined that takes into account the distance to each node, the risk of passing each node (such as smoke density), and the difficulty of reaching the exit.

[0138] Heuristic search speeds up the path planning process through the A* algorithm. The A* algorithm finds the optimal path by evaluating the estimated cost (heuristic function) and the actual cost (cost to reach the current node) from the current node to the target node.

[0139] Real-time update and adjustment means that the escape route may need to be updated in real time. The decision model can quickly respond to environmental changes and recalculate the optimal escape route.

[0140] In this embodiment, the core of the dynamic programming algorithm in the system decision control unit can be expressed as the following formula:

[0141] V(i)=min j∈predeccssors of i (C(i,j)+V(j)) (Formula 5)

[0142] in:

[0143] V(i) represents the minimum cost to reach node i;

[0144] C(i,j) is the cost from node j to node i;

[0145] predecessors of i represent all predecessor nodes that can reach node i.

[0146] In one embodiment, the A* algorithm of the heuristic search in the system decision control unit can be expressed as the following formula:

[0147] f(i)=g(i)+h(i) (Formula 6)

[0148] in:

[0149] f(i) is the total estimated cost of node i;

[0150] g(i) is the actual cost from the starting point to node i;

[0151] h(i) is the heuristic estimated cost from node i to the goal node.

[0152] like Figure 2 As shown, the connection relationship between the binocular camera 2, the microphone array 3, the millimeter wave heartbeat detection radar 1, and the electronic guidance screen 4 is that the binocular camera 2, the microphone array 3, and the millimeter wave heartbeat detection radar 1 are assembled into a whole, and the electronic display screen is connected to the whole through a line;

[0153] The overall device formed by the binocular camera 2, the microphone array 3, and the millimeter wave heartbeat detection radar 1 is divided into three parts: upper, middle, and lower. The system control unit 5 is integrated in a box as the middle part of the overall device, and the binocular camera 2 is installed on the front side of the periphery of the system control unit 5;

[0154] Binocular camera 2 microphone array 3 millimeter wave heartbeat detection radar 1 system control unit 5 microphone array 3 is specifically installed at the front end of its lower part.

[0155] Binocular camera 2 Microphone array 3 Millimeter wave heartbeat detection radar 1 System control unit 5 Millimeter wave heartbeat detection radar 1 The specific installation position is located at the front end of its upper part.

[0156] The binocular camera 2, microphone array 3, and millimeter-wave heartbeat detection radar 1 are assembled at the front end of the overall device. During installation, the front end of the device is facing the corridor, so that the device can detect images and sound sources in the building more accurately, thereby obtaining accurate and efficient detection information.

[0157] The electronic drainage screen 4 is connected to the above-mentioned integral detection device through a line, and is located beside the integral detection device during installation, and is also installed in a manner of being hung on the wall.

Claims

1. An emergency personnel evacuation control system integrating multi-source sensing technology, characterized in that: Including emergency power supply, fire detection and guidance unit, system data processing unit, building BIM model display unit, system decision control unit; The emergency power supply supplies power to the evacuation control system through a backup battery to ensure the normal operation of the system in an emergency; The fire detection and guidance unit is used to detect the environmental conditions of each floor of the building and guide the evacuation of trapped persons and the rescue of firefighters when a fire occurs; The system data processing unit is responsible for processing and analyzing a large amount of data collected from the fire detection and guidance unit, comprehensively monitoring and intelligently analyzing the internal environment of the building, and providing a scientific basis for subsequent evacuation decisions; The building BIM model display unit is used to intuitively display the structure and layout of the building, and integrate the real-time data from the fire detection and guidance unit; the real-time data is marked in the BIM model display unit in real time, providing rescue personnel with the real-time situation of the fire scene, so as to facilitate rescue personnel to conduct more efficient command and rescue; The system decision control unit makes detailed decision guidance for the system through the information obtained by the fire detection and guidance unit, and uses the information obtained by the fire detection and guidance unit as data support to help the system make decisions and dynamically plan the optimal escape route; at the same time, it controls the building's broadcasting system to issue evacuation instructions, and automatically broadcasts the evacuation route in real time for the fire situation on each floor, and provides targeted instructions and guidance for the evacuation of personnel.

2. The emergency personnel evacuation control system integrating multi-source sensing technology according to claim 1 is characterized in that: The fire detection and guidance unit comprises a binocular camera (2), a microphone array (3), a millimeter wave heartbeat detection radar (1), and an electronic guidance screen (4); wherein the binocular camera (2), the microphone array (3), and the millimeter wave heartbeat detection radar (1) are assembled to form an integral device, and are divided into three parts: upper, middle, and lower; the microphone array (3), the binocular camera (2), and the millimeter wave heartbeat detection radar (1) are arranged in sequence from top to bottom; The system control unit (5) is integrated into a box as the middle part of the whole device, and the binocular camera (2) is installed on the front side of the periphery of the system control unit (5); The microphone array (3) is installed at the front end of the lower part of the system control unit (5); The millimeter wave heartbeat detection radar (1) is installed at the front end of the upper part of the system control unit (5). The electronic display screen is connected to the overall device through lines.

3. The emergency personnel evacuation control system integrating multi-source sensing technology according to claim 2 is characterized in that: The binocular camera is a thermal imaging and visible light camera, which is used to detect the location of the fire and the specific location of trapped persons in the case of no smoke, little smoke or heavy smoke; The microphone array (3) is used to provide auxiliary detection. When the surrounding environment cannot be seen clearly due to smoke at the fire scene, the binocular camera (2) may fail to function. The microphone array (3) detects and captures the sound of the surrounding environment to locate the specific location of the human voice source and the fire source. The microphone array (3) is based on the sound source localization technology, and the calculation formula is as follows: in: x(t) is the signal received by the first microphone at time t; y(t) is the signal received by the second microphone at time t; τ is the time delay, which represents the relative delay between two signals. Formula 1: Time delay estimation based on generalized cross-correlation calculates the cross-correlation function of two signals, and finds the maximum value or peak value in the cross-correlation function. The time delay corresponding to the peak value is the time difference between the two microphones receiving the same sound signal. The time difference and the known distance between the microphones are used to calculate the distance difference between the sound source and the two microphones by the speed of sound, thereby determining the location of the sound source. The millimeter wave heartbeat detection radar (1) is used to provide auxiliary detection in the case of excessive fire and smoke; The millimeter heartbeat detection radar detects human heartbeats and uses electromagnetic waves in the millimeter wave band to detect human vital signs. It transmits millimeter waves and receives signals reflected from the human body to achieve non-invasive monitoring of vital signs without contacting the human body. It uses sound to confirm whether there are people and the location of trapped people; The overall device is installed in the form of being hung on a wall. By assembling a binocular camera (2), a microphone array (3), and a millimeter-wave heartbeat detection radar (1) at the front end of the overall device, the front end of the device is facing the corridor during installation, so that the device can detect images and sound sources in the building more accurately, thereby obtaining accurate and efficient detection information. The electronic evacuation screen (4) is used to display the optimal escape route, prompt and guide the evacuation and escape of trapped persons; The electronic evacuation screen (4) receives the optimal escape route calculated by the system platform in real time according to the fire development and personnel distribution, and quickly updates the display content; The electronic evacuation screen (4) is connected to the above-mentioned overall detection device through a line. When installed, it is located next to the overall detection device and is also installed by hanging on the wall. When smoke completely blocks the view and makes it impossible to see clearly, the evacuation screen may no longer be able to guide the trapped people to evacuate. At this time, the system will control the broadcasting system in the building to assist in rescue and guide the trapped people to evacuate through the broadcasting system.

4. The emergency personnel evacuation control system integrating multi-source sensing technology according to claim 3 is characterized in that: Different working conditions of the binocular camera; wherein, The binocular camera can work normally in the case of no smoke or less smoke, and can be used to detect and locate the specific location of the fire source and the specific location of the personnel, so as to facilitate emergency evacuation; When there is heavy smoke, the binocular camera cannot work properly with the visible light camera, but can detect through thermal imaging to locate the specific location of the fire source and the specific location of the personnel, so as to facilitate emergency evacuation.

5. The emergency personnel evacuation control system integrating multi-source sensing technology according to claim 4 is characterized in that: The working principle of the millimeter wave heartbeat detection radar (1) is: Step 1: The radar first transmits a millimeter wave signal, then receives and records the reflected signal; Step 2: By analyzing the phase change of the reflected signal, the system can detect the tiny displacement of the human body; Step 3: The Doppler effect provides further information about the speed at which the human body is moving; Step 4: Clean and transform the signal for easy analysis; Step 5: Extract specific data about heartbeat and breathing from the processed signal to detect vital signs.

6. The emergency personnel evacuation control system integrating multi-source sensing technology according to claim 5, characterized in that: Signal transmission and reception: the radar system transmits millimeter wave signals, which are reflected back after encountering the human body. The radar receives these reflected signals and extracts vital signs information by analyzing the changes in the signals. The relationship between phase change and displacement is that the radar detects the tiny displacement of the target by measuring the phase change of the reflected signal. The relationship between phase change and displacement is expressed by the following formula: in: Δφ is the phase change; Δd is the displacement change; λ is the wavelength of the millimeter wave; The Doppler shift is expressed as follows: Where: λ is the wavelength of the millimeter wave signal emitted by the radar; v is the radial velocity of the target, which is the component of the target's velocity toward or away from the radar. In a heartbeat detection radar, this is usually the tiny movement of the chest cavity caused by the beating heart; Signal Processing The received signal is put through a series of digital signal processing steps to extract vital sign information; The processing steps are implemented by the following formula: in: S(f) is the result of Fourier transform, which represents the spectrum of the signal and is used to analyze and extract vital signs information; It is the Fourier transform, which is used to convert the time domain signal into the frequency domain signal; w[n] is a window function, which is used in the signal processing process to improve the spectral characteristics of the signal; s[n] is the filtered signal, which comes from the millimeter wave signal reflected by the human body received by the radar receiver; Vital signs detection means that after signal processing, the system analyzes the signal's spectrum S(f) and identifies the main frequency components in the signal to identify and quantify vital signs. Peaks are identified in the spectrum, and the peaks correspond to the heart and breathing frequencies. The heart rate is usually in the range of 1-2Hz, and the breathing rate is in the range of 0.1-0.3Hz. Finally, the frequency is quantified, and the peak detection algorithm is used to accurately measure the frequency corresponding to the peak. The frequency value is the heart rate and breathing rate. By analyzing the signal's spectrum, the physiological activities of the human body are determined to achieve non-invasive vital signs monitoring.

7. The emergency personnel evacuation control system integrating multi-source sensing technology according to claim 1 is characterized in that: The dynamic planning of the optimal escape route in the system decision control unit is divided into several steps: information collection, dynamic planning algorithm, heuristic search, and real-time dynamic update and adjustment; First, information collection is used to collect real-time data inside the building, providing the system with basic data for decision-making; The dynamic programming algorithm then uses this information data to build an evacuation model and calculate the initial optimal route; Then heuristic search is used to improve the efficiency and effectiveness of the dynamic programming algorithm. Heuristic search methods are used to quickly find the approximate optimal solution; Finally, real-time dynamic updates and adjustments ensure the continued effectiveness and adaptability of evacuation routes to cope with dynamic changes in emergency situations; The information collection collects real-time data inside the building through the fire detection and guidance unit, including the location of the fire source, smoke concentration, and the location of personnel. The real-time data will be used to dynamically update the environmental model; The dynamic programming algorithm calculates the optimal escape route through the CCRP algorithm; Dynamic programming algorithms solve problems by breaking them down into smaller subproblems and constructing a solution to the original problem by combining the solutions to the subproblems; In escape route planning, a cost function is defined that takes into account the distance to each node, the risk of passing each node, and the ease of reaching the exit; The heuristic search accelerates the path planning process by using the A* algorithm, which finds the optimal path by evaluating the estimated cost and actual cost from the current node to the target node; The real-time updating and adjustment means that the escape route may need to be updated in real time, and the decision model can quickly respond to environmental changes and recalculate the optimal escape route.

8. The emergency personnel evacuation control system integrating multi-source sensing technology according to claim 7 is characterized in that: The dynamic programming algorithm in the system decision control unit is expressed as the following formula: V(i)=min j∈predeccssorsofi (C(i,j)+V(j)) (Formula 5) in: V(i) represents the minimum cost to reach node i; C(i,j) is the cost from node j to node i; predecessors of i represents all predecessor nodes that reach node i. The A* algorithm of the heuristic search in the system decision control unit is expressed as the following formula: f(i)=g(i)+h(i) (Formula 6) in: f(i) is the total estimated cost of node i; g(i) is the actual cost from the starting point to node i; h(i) is the heuristic estimated cost from node i to the goal node.

9. The emergency personnel evacuation control system integrating multi-source sensing technology according to claim 1, characterized in that: The system data processing unit is responsible for receiving various sensor data from fire detection and guidance equipment, including binocular cameras (2), millimeter-wave heartbeat detection radars (1), and microphone arrays (3), and integrating the data into a unified format for further processing and analysis; real-time monitoring of changes in the internal environment of the building; using data fusion technology to combine the data from the binocular cameras (2), millimeter-wave radars, and microphone arrays (3), and intelligently analyzing the collected data to identify potential danger areas, predict the development of fire, and assess the safety of personnel; the processed data and analysis results provide a scientific basis for the system decision control unit to help it formulate evacuation routes and rescue strategies.

10. The emergency personnel evacuation control system integrating multi-source sensing technology according to claim 1, characterized in that: The building BIM model display unit displays the structure and layout of the building in a three-dimensional visual manner, so that rescue personnel can intuitively understand the spatial relationship of the building. The building BIM model display unit integrates real-time data from the fire detection and guidance unit, associates the real-time data with the corresponding position in the BIM model, and marks the fire source location, smoke concentration, and personnel location on the BIM model in real time. Through the real-time situation displayed on the BIM model, rescue personnel can quickly understand the dynamics of the fire scene, including the direction of fire spread, safe areas and evacuation routes, so as to carry out efficient command and rescue.

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