An emergency method and system based on door lock bluetooth cooperation

Abstract

The application discloses an emergency method and system based on door lock Bluetooth cooperation, and the method comprises the following steps: detecting a floor network fault according to the listening result of a machine dog to a door lock multicast communication state, triggering machine dog autonomous task allocation or platform scheduling allocation, and determining floors responsible for by each machine dog; according to the event that the machine dog arrives at a specified floor, sequentially establishing a Bluetooth communication link between adjacent door locks according to a preset evacuation path, and realizing door lock relay alarm message transmission through the IP forwarding function of the machine dog; according to the relay alarm message transmitted by the door lock in the Bluetooth link, each door lock sounds an alarm whistle at a planned time point, and synchronously reports personnel statistical information; according to the door lock fault condition detected by the machine dog, a leading skip or autonomous identification mode is adopted to update an emergency pointing link. By using the embodiment of the application, the intelligent level and rescue efficiency of building emergency response can be improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of intelligent door locks, and particularly relates to an emergency method and system based on door lock Bluetooth cooperation. BACKGROUND

[0002] In the emergency evacuation scene of modern buildings, the traditional fire alarm system highly depends on the preset local area network inside the building. Once a fire, earthquake or other disaster causes damage to the network equipment on the floor or the line is interrupted, the entire alarm system will be paralyzed and unable to effectively transmit alarm information and guide personnel evacuation. In the prior art, a single wireless communication method (such as Wi-Fi) has insufficient reliability in a complex disaster environment, and an independent door lock alarm cannot form a cooperative early warning chain, resulting in limited transmission range and low efficiency of emergency instructions. At the same time, the lack of disaster personnel position and quantity statistical information makes it difficult for rescue forces to quickly grasp the on-site situation, affecting the accuracy and timeliness of rescue decisions. SUMMARY

[0003] The purpose of the present application is to provide an emergency method and system based on door lock Bluetooth cooperation to solve the problems in the prior art and improve the intelligent level and rescue efficiency of building emergency response.

[0004] One embodiment of the present application provides an emergency method based on door lock Bluetooth cooperation, which comprises the following steps:

[0005] Network failure detection and task allocation: according to the listening result of the dog to the door lock multicast communication state, detecting the floor network failure, triggering the autonomous task allocation of the dog or the platform scheduling allocation, and determining the floor responsible for each dog;

[0006] Bluetooth communication auxiliary establishment: according to the event of the dog arriving at the specified floor, establishing a Bluetooth communication link between adjacent door locks in turn according to the preset evacuation path, and realizing the relay alarm message transmission between door locks through the IP forwarding function of the dog;

[0007] Relay alarm and personnel statistics: according to the relay alarm message transmitted by the door lock in the Bluetooth link, each door lock sounds the alarm at the planned time point and synchronously reports the personnel statistical information, and the dog aggregates and calculates the floor personnel state;

[0008] Fault handling and link updating: according to the door lock fault condition detected by the dog, the emergency pointing link is updated by using the leading skip or autonomous identification method to ensure the integrity of the alarm link.

[0009] Optionally, the network failure detection and task allocation comprises:

[0010] Multicast state listening: according to the result of the dog joining the multicast group of each floor evacuation path, continuously listening to the door lock multicast message;

[0011] Network failure judgment: according to the result that the robot dog does not receive any door lock multicast message in a set time, it is judged that network failure occurs in the floor;

[0012] Autonomous task allocation: according to the condition that the number of network failure floors does not exceed the number of robot dogs, the robot dog claims to be responsible for a specific floor through mobile network broadcast;

[0013] Platform scheduling allocation: according to the condition that the number of network failure floors exceeds the number of robot dogs, the platform calculates the priority of each floor and schedules the allocation of robot dogs.

[0014] Optionally, the Bluetooth communication auxiliary establishment includes:

[0015] Path query and movement: according to the evacuation path information stored locally by the robot dog, the moving path is planned and reached between the first pair of door locks;

[0016] Bluetooth link establishment: according to the result that the robot dog establishes Bluetooth PAN connection with the adjacent two door locks respectively, an independent Bluetooth physical link is formed;

[0017] IP subnet construction: according to the operation of the robot dog running DHCP service to allocate IP address for the door lock and starting IP forwarding, a unified IP subnet is constructed;

[0018] Message start delivery: according to the result that the robot dog sends emergency pointing start message to the first door lock, the door-to-door relay alarm process is triggered.

[0019] Optionally, the relay alarm and personnel statistics include:

[0020] Personnel data statistics: according to the result of daily detection by sensors of each door lock, the number of entering personnel, the number of leaving personnel and the number of staying personnel in the associated room are counted;

[0021] Relay message delivery: according to the operation of the current alarm door lock sending relay alarm message to the next hop door lock through the robot dog, the personnel statistics data and alarm planning time are delivered, and at the same time, the robot dog confirms the completion of the interaction by listening to the relay alarm message of the current alarm door lock and the response message of the next hop door lock, and moves to the subsequent door lock to relay;

[0022] Robot dog data summary: according to the result of the robot dog listening to and analyzing each door lock relay alarm message, the number of leaving personnel and the number of staying personnel in all rooms are updated in real time;

[0023] Evacuation state judgment: according to the comparison result of the number of evacuation personnel reported by the door lock closest to the evacuation exit and the robot dog summary data, it is judged whether a new round of emergency pointing needs to be started.

[0024] Optionally, the fault processing and link updating comprises:

[0025] Fault detection identification: according to the result that the robot dog cannot establish a Bluetooth connection with the next hop lock or does not receive a response message, the lock failure is identified;

[0026] Master skip processing: according to the master processing mode of the robot dog, the target address field in the alarm message is modified, and communication is established directly with the subsequent normal lock of the failed lock;

[0027] Autonomous identification processing: according to the result that the subsequent normal lock receives an unexpected alarm message, the previous failed lock is autonomously identified and the local emergency pointing link is updated;

[0028] Link information synchronization: according to the result of transferring the updated emergency pointing link information between the locks, the link information of all the locks is synchronized.

[0029] Optionally, the method further comprises a multi-floor cooperative scheduling mechanism:

[0030] Priority calculation: according to the data of the fire fighting system and the property management system connected by the platform, the emergency, importance, evacuation risk, timeliness and resource allocation factors are comprehensively considered to calculate the priority of each floor;

[0031] Dynamic scheduling execution: according to the periodically updated priority calculation result, the robot dog is dynamically scheduled across floors;

[0032] Task completion judgment: according to the result that the robot dog detects that all the personnel on the floor have been evacuated or the passage has been empty for a long time, it is determined that the stage task is completed;

[0033] Resource reallocation: according to the task completion state and the new priority order, the robot dog is reallocated to a floor with higher priority.

[0034] Another embodiment of the application provides an emergency system based on door lock Bluetooth cooperation, which comprises:

[0035] A detection module for network fault detection and task allocation: according to the listening result of the robot dog to the multicast communication state of the lock, the network fault of the floor is detected, the robot dog is autonomously allocated or the platform is scheduled to allocate, and the floor responsible for each robot dog is determined;

[0036] An establishment module for auxiliary Bluetooth communication establishment: according to the event that the robot dog arrives at a specified floor, Bluetooth communication links are established between adjacent locks in sequence according to the preset evacuation path, and the relay alarm message transmission between the locks is realized through the IP forwarding function of the robot dog;

[0037] The alarm module is used for relay alarm and personnel statistics: according to the relay alarm message transmitted by the door lock in the Bluetooth link, each door lock sounds an alarm at a planned time point, and synchronously reports personnel statistics information, which is collected and calculated by the robot dog to obtain the floor personnel state;

[0038] The processing module is used for fault processing and link updating: according to the door lock fault condition detected by the robot dog, the emergency pointing link is updated by using a leading skip or autonomous identification mode, so as to ensure the integrity of the alarm link.

[0039] Another embodiment of the present application provides a storage medium, which stores a computer program, wherein the computer program is configured to execute the method described in any one of the above embodiments when running.

[0040] Another embodiment of the present application provides an electronic device, which comprises a memory and a processor, the memory stores a computer program, and the processor is configured to execute the computer program to execute the method described in any one of the above embodiments.

[0041] Compared with the prior art, the emergency method based on the door lock Bluetooth cooperation provided by the present application detects the floor network fault according to the listening result of the robot dog on the multicast communication state of the door lock, triggers the autonomous task allocation of the robot dog or the platform scheduling allocation, and determines the floor responsible for each robot dog; according to the event that the robot dog arrives at the specified floor, the Bluetooth communication link between adjacent door locks is established in sequence according to the preset evacuation path, the relay alarm message transmission between the door locks is realized through the IP forwarding function of the robot dog; according to the relay alarm message transmitted by the door lock in the Bluetooth link, each door lock sounds an alarm at a planned time point, and synchronously reports personnel statistics information; according to the door lock fault condition detected by the robot dog, the emergency pointing link is updated by using a leading skip or autonomous identification mode, so as to improve the intelligent level and rescue efficiency of the building emergency response. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 The hardware structure block diagram of the computer terminal of the emergency method based on the door lock Bluetooth cooperation provided by the embodiment of the present application is provided;

[0043] Figure 2 The flowchart of the emergency method based on the door lock Bluetooth cooperation provided by the embodiment of the present application is provided;

[0044] Figure 3 The structure diagram of the emergency system based on the door lock Bluetooth cooperation provided by the embodiment of the present application is provided. DETAILED DESCRIPTION

[0045] The embodiments described below with reference to the drawings are exemplary and are used only to explain the present application, and cannot be explained as a limitation of the present application.

[0046] In places such as hotels, commercial office buildings, apartments, etc., there are multiple rooms on each floor, and emergency evacuation lamps are installed in the corridors, which can be used for personnel evacuation indication when emergency events (such as fire, earthquake, etc.) occur. However, the emergency evacuation lamp only provides visual indication, which is single in mode, and there is a situation that personnel do not pay attention in time during emergency evacuation, and it is also unable to effectively indicate for the visually impaired or visually impaired personnel and other visually impaired groups.

[0047] The embodiment of the present application first provides an emergency method based on door lock Bluetooth cooperation, which can be applied to electronic devices such as computer terminals, specifically, common computers, etc.

[0048] The following will be described in detail by taking the running on the computer terminal as an example. Figure 1 A hardware structure block diagram of a computer terminal of an emergency method based on door lock Bluetooth cooperation provided by the embodiment of the present application is shown in the figure. Figure 1 As shown in the figure, the computer device includes a processor, a memory and a network interface connected through a system bus, wherein the memory can include a non-volatile storage medium and an internal memory.

[0049] The non-volatile storage medium can store an operating system and a computer program. The computer program includes program instructions, which when executed, can make the processor execute any kind of emergency method based on door lock Bluetooth cooperation.

[0050] The processor is used to provide computing and control capabilities to support the operation of the entire computer device.

[0051] The internal memory provides an environment for the running of the computer program in the non-volatile storage medium, which when executed by the processor, can make the processor execute any kind of emergency method based on door lock Bluetooth cooperation.

[0052] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art can understand that Figure 1 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or less components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0053] It should be appreciated that the processor can be a central processing unit (CPU), and can also be other general-purpose processors, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0054] Referring to Figure 2 Embodiments of the present application provide an emergency method based on door lock Bluetooth cooperation, which can include the following steps:

[0055] S201, network failure detection and task allocation: according to the listening result of the door lock multicast communication state of the robot dog, the network failure of the floor is detected, the autonomous task allocation of the robot dog or the platform scheduling allocation is triggered, and the floor responsible for each robot dog is determined; specifically, the network failure detection and task allocation includes:

[0056] Multicast state listening: according to the result of the robot dog joining each floor evacuation path multicast group, the door lock multicast message is continuously listened to;

[0057] Network failure judgment: according to the result that the robot dog does not receive any door lock multicast message of a certain floor within a set time, it is judged that the network failure occurs in the floor;

[0058] Autonomous task allocation: according to the condition that the number of network failure floors does not exceed the number of robot dogs, the robot dog claims to be responsible for a specific floor through mobile network broadcast;

[0059] Platform scheduling allocation: according to the condition that the number of network failure floors exceeds the number of robot dogs, the platform calculates the priority of each floor and performs robot dog scheduling allocation.

[0060] S202, Bluetooth communication auxiliary establishment: according to the event that the robot dog arrives at the specified floor, the Bluetooth communication link between adjacent door locks is established in turn according to the preset evacuation path, and the door lock intercommunication of the alarm message is realized through the IP forwarding function of the robot dog; specifically, the Bluetooth communication auxiliary establishment includes:

[0061] Path query and movement: according to the evacuation path information stored locally by the robot dog, the moving path is planned and the first pair of door locks is reached;

[0062] Bluetooth link establishment: according to the results of the machine dog and the two adjacent door locks respectively establishing Bluetooth PAN connection, an independent Bluetooth physical link is formed;

[0063] IP subnet construction: according to the operation of the machine dog running DHCP service to allocate IP address for the door lock and start IP forwarding, a unified IP subnet is constructed;

[0064] Message start delivery: according to the result of the machine dog sending emergency pointing start message to the first door lock, the indirect force alarm process between door locks is triggered.

[0065] S203, relay alarm and personnel statistics: according to the relay alarm message transmitted by the door lock in the Bluetooth link, each door lock sounds the alarm at the planned time point, and synchronously reports the personnel statistics information, which is summarized and calculated by the machine dog; Specifically, the relay alarm and personnel statistics include:

[0066] Personnel data statistics: according to the results of each door lock detected by the sensor daily, the number of entering personnel, the number of leaving personnel and the number of staying personnel in the associated room are counted;

[0067] Relay message delivery: according to the operation of the current alarm door lock sending relay alarm message to the next hop door lock through the machine dog, the personnel statistics data and alarm planning time are delivered, and at the same time, the machine dog confirms the completion of the interaction by listening to the relay alarm message of the current alarm door lock and the response message of the next hop door lock, and moves to the subsequent door lock for relay;

[0068] Machine dog data summary: according to the results of the machine dog listening to and analyzing the relay alarm message of each door lock, the number of leaving personnel and the number of staying personnel in all rooms are updated in real time;

[0069] Evacuation state judgment: according to the comparison result of the number of evacuation personnel reported by the door lock closest to the evacuation exit and the machine dog summary data, it is judged whether a new round of emergency pointing needs to be started.

[0070] S204, fault handling and link update: according to the fault condition of the door lock detected by the machine dog, the emergency pointing link is updated by using the leading hop or self-identification method to ensure the integrity of the alarm link. Specifically, the fault handling and link update include:

[0071] Fault detection and identification: according to the results that the machine dog cannot establish Bluetooth connection with the next hop door lock or does not receive the response message, the door lock fault is identified;

[0072] Leading hop processing: according to the leading processing mode of the machine dog, the target address field in the alarm message is modified, and communication is established directly with the subsequent normal door lock of the fault door lock;

[0073] Autonomous identification processing: according to the result of subsequent normal door lock receiving unexpected alarm message, autonomous identification of previous failure door lock and update local emergency pointing link;

[0074] Link information synchronization: according to the result of transmission between door locks according to the updated emergency pointing link information, realize the link information synchronization of all door locks.

[0075] Further, the method further comprises a multi-floor cooperative scheduling mechanism:

[0076] Priority calculation: according to the data of the platform connected fire fighting system and property management system, the emergency, importance, evacuation risk, timeliness and resource allocation factors are comprehensively considered to calculate the priority of each floor;

[0077] Dynamic scheduling execution: according to the periodically updated priority calculation result, the robot dog is dynamically scheduled across floors;

[0078] Task completion judgment: according to the result of robot dog detecting that all personnel on the floor are evacuated or the passage is long time empty, the stage task completion is judged;

[0079] Resource reallocation: according to the task completion state and the new priority order, the robot dog is reallocated to the floor with higher priority.

[0080] In practical application, for hotels, commercial office buildings, apartments and other places, each room installs intelligent door lock, which communicates through connecting building WiFi network, and cooperates to sound alarm, plays the role of emergency evacuation direction in emergency situation, and can be used as a supplement to emergency evacuation lamp evacuation mode. However, if the floor WiFi network fails, the door locks cannot communicate with each other. The scheme uses robot dog as mobile Bluetooth gateway to assist door lock to realize Bluetooth connection and message transmission through robot dog relay, and realizes emergency pointing.

[0081] I. Technical scheme:

[0082] (I) Core idea:

[0083] The scheme proposes an emergency evacuation auxiliary system based on robot dog as mobile Bluetooth gateway, which is used to maintain the network communication between intelligent door locks through Bluetooth communication when the building WiFi network fails, so as to realize the function of door lock cooperative and sequential sound alarm, and complete the emergency evacuation direction.

[0084] Preset condition:

[0085] The smart door lock (equipped with a camera and an infrared sensor that can be used for personnel detection, equipped with a WiFi module to support WiFi network communication, and equipped with a Bluetooth module to support Bluetooth communication) is installed in each room on each floor of the building. The smart door lock is uniformly connected to the building WiFi wireless network and is centrally managed through a door lock management platform. All door locks are synchronized in time through NTP service. The distance between some door locks is greater than 10 meters, and after the floor WiFi network fails, some door locks cannot directly communicate through Bluetooth.

[0086] To realize emergency evacuation, one or more evacuation paths (Pk) are planned for each floor in advance. The door locks on each path are virtually numbered in order (Pk_Am, m=1, 2, 3, 4, 5,..., q) to form an emergency pointing ring link. Each door lock is sequentially sounded and cyclically alarmed, and for personnel, sound pointing can be achieved to assist personnel evacuation.

[0087] The administrator completes path planning configuration in the door lock management platform. The platform automatically assigns a multicast address (used for normal multicast communication of door locks in the path) to each evacuation path and generates an evacuation path information table containing path number, emergency pointing ring link door lock member list, actual door lock ID list, and multicast address, which is used to organize multicast communication and cooperative linkage between door locks. The platform synchronously issues the evacuation path information of each door lock to the door lock in advance.

[0088] One or more mobile robot dogs are pre-installed, each of which is equipped with a Bluetooth gateway module. The robot dog is configured as a PAN Network Access Point (NAP), i.e., a miniature Bluetooth gateway. The robot dog has completed Bluetooth pairing with all door locks in advance, and all door locks are configured as PANU (PAN User) clients. The robot dog supports WiFi and 4G / 5G mobile network communication. When the building floor WiFi network is normal, the robot dog communicates through the WiFi network, and when the floor WiFi network fails, the robot dog communicates through the mobile network.

[0089] The robot dog itself is also equipped with a camera or infrared sensor to sense personnel in the channel and pre-stores the floor evacuation path map and door lock position information issued by the platform, so that it can autonomously plan the shortest moving path and provide Bluetooth communication relay assistance for the specified floor when the WiFi network fails.

[0090] Core process:

[0091] 1. Robot dog starts door lock Bluetooth communication assistance:

[0092] If the number of robot dogs is less than the number of floors, the robot dogs can be uniformly arranged on one floor of the building on standby.

[0093] The door lock cooperative emergency pointing ring link member door lock is connected to the building WiFi network under normal circumstances, and the link pointing starts from the door lock farthest from the evacuation port, and the door lock sends the emergency pointing message and alarm in turn. That is, the door lock sends a multicast message to inform the next hop door lock to relay, and the robot dog can detect the multicast message of the door lock if the floor network is normal.

[0094] If the robot dog does not detect any door lock multicast message on a floor, it is determined that the floor network is faulty, and the robot dog's door lock Bluetooth communication auxiliary process is triggered. Any robot dog sends a "Bluetooth communication auxiliary task synchronization message" to the door lock management platform and other robot dogs through the backup 4G / 5G mobile network communication mode, which contains the robot dog responsible for the floor information, indicating that it will be responsible for the Bluetooth communication auxiliary task of the floor. Other robot dogs do not need to care about the floor, but listen to whether other floor networks are faulty and perform similar active task collection and broadcast operations.

[0095] The robot dog that has claimed responsibility for a floor communicates with the elevator control system and takes the elevator to the floor; if the elevator is out of service, the robot dog can also use the stair climbing method.

[0096] 2. Single floor door lock Bluetooth communication auxiliary:

[0097] The robot dog queries the locally saved evacuation path information of the floor and performs door lock Bluetooth communication auxiliary.

[0098] Taking a single evacuation path Pk as an example, the robot dog's door lock Bluetooth communication auxiliary process is divided into two cases: all door locks are normal and some door locks are faulty.

[0099] (1) All door locks are normal:

[0100] ① Door lock counts the number of personnel in and out:

[0101] Daily (not only during emergency pointing), each door lock detects the number of personnel in and out of its room through the door lock camera (or other sensors such as infrared sensors) and calculates the number of personnel entering, leaving, and staying in the associated room.

[0102] ② The door lock closest to the evacuation port counts the number of evacuation personnel:

[0103] In addition to counting the number of personnel in and out of the room, the door lock closest to the evacuation port also counts the number of personnel who leave the evacuation passage (i.e. walk in the direction of the evacuation port) through the door lock camera (or infrared sensor) during the sound emergency pointing process, obtaining the number of evacuation personnel.

[0104] ③ Robot dog initiates Bluetooth communication auxiliary:

[0105] After the robot dog queries the locally saved Pk evacuation path information and the door lock position map, it first runs between Pk_A1 and Pk_A2. The robot dog establishes a Bluetooth connection with the two door locks respectively, that is, two PAN connections are established on two independent Bluetooth physical links. Due to the star topology limitation of Bluetooth itself, Pk_A1 and Pk_A2 cannot directly communicate, and all communication must be relayed through the robot dog, that is, a virtual network routing function is created on the robot dog to link the two independent Bluetooth connections established by Pk_A1 and Pk_A2; when starting the PAN-NAP service, the robot dog also runs the DHCP service and allocates IP addresses (in the same network segment) to the two door locks; the robot dog opens the IP forwarding function to realize IP packet forwarding between Pk_A1 and Pk_A2. Through the above-mentioned manner, the three form a unified IP subnet to realize IP network communication (the Bluetooth connection is a two-layer network) among the three, and the robot dog can also listen to the forwarded IP packets. The following process is as follows:

[0106] Firstly, the robot dog sends an "emergency pointing start message" IP packet to Pk_A1 through the Bluetooth connection, notifying Pk_A1 to start the emergency pointing.

[0107] Next, Pk_A1 locally queries the evacuation path information and confirms that the next hop is Pk_A2, so it needs to send a "relay alarm message" IP packet to Pk_A2, which contains the source IP address (Pk_A1), the destination IP address (Pk_A2), the current alarm door lock (Pk_A1), the next hop alarm door lock (Pk_A2), the associated room departure personnel number, and the associated room resident personnel number. Pk_A1 forwards the message to Pk_A2 through the robot dog and synchronously performs the whistle alarm.

[0108] The robot dog listens to and analyzes the message and finds that it is a relay alarm message and needs to be forwarded to Pk_A2 (the destination IP address is Pk_A2). The robot dog first records the room departure personnel statistics and the room resident personnel statistics, and then forwards the message to Pk_A2, that is, forwards the "relay alarm message" IP packet to Pk_A2 through the Bluetooth connection.

[0109] Pk_A2 receives and analyzes the message and sends a response message (also an IP packet, the destination IP address is Pk_A1) to Pk_A1. Similarly, the robot dog listens to and analyzes the message and forwards the message to Pk_A1.

[0110] As described above, Pk_A1 and Pk_A2 realize IP network communication through the Bluetooth connection establishment of the robot dog and the IP message forwarding function of the robot dog, and complete the relay alarm. The robot dog also confirms that the two door locks have completed message interaction by listening to the "relay alarm message" sent by Pk_A1 and the response message of Pk_A2.

[0111] IV. The robot dog assists the Bluetooth communication of the intermediate door lock in turn:

[0112] The robot dog confirms that Pk_A1 and Pk_A2 have completed message interaction by listening, and then runs between Pk_A2 and Pk_A3.

[0113] Similarly, the robot dog and Pk_A2 and Pk_A3 establish an IP subnet through Bluetooth connection and the IP message forwarding function of the robot dog.

[0114] Pk_A2 needs to send the "relay alarm message" IP packet to Pk_A3 through Bluetooth via the robot dog, which contains the source IP address (Pk_A2), the destination IP address (Pk_A3), the current alarm door lock (Pk_A2), the next hop alarm door lock (Pk_A3), the associated room departure personnel number, and the associated room resident personnel number. Pk_A2 sends the message to the robot dog and simultaneously performs a siren alarm.

[0115] The robot dog listens to and parses the message, records the Pk_A2 associated room departure personnel number and the Pk_A2 associated room resident personnel number, and calculates the total room (at this time, Pk_A1+Pk_A2 associated room) departure personnel statistics and the total room resident personnel statistics; then forwards the message to Pk_A3.

[0116] Pk_A3 receives and parses the message, and then sends a response message (also an IP packet, with the destination IP address being Pk_A2) to Pk_A2. Similarly, the robot dog listens to and parses the message, and forwards the message to Pk_A2.

[0117] The robot dog listens and confirms that Pk_A2 and Pk_A3 have completed message interaction, and then runs between Pk_A3 and Pk_A4 to continue the relay, and so on.

[0118] V. Processing of the door lock Pk_Aq closest to the evacuation exit:

[0119] The robot dog finally arrives near the door lock Pk_Aq closest to the evacuation exit.

[0120] The door lock Pk_Aq sends a "relay alarm message" IP packet to the robot dog through Bluetooth and performs a siren alarm. In addition to the source IP address (Pk_Aq), the destination IP address (Pk_A1), the current alarm door lock (Pk_Aq), the next hop alarm door lock (Pk_A1), the associated room departure personnel number, and the associated room resident personnel number, the message also includes the evacuation personnel number.

[0121] The robot dog confirms that Pk_Aq is the closest door lock to the evacuation exit, updates the calculation of the total room departure personnel statistics and the total room resident personnel statistics, and then determines whether the total room resident personnel statistics is 0 (indicating that all personnel have left the room) and the evacuation personnel number is not less than the total room departure personnel statistics (indicating that all personnel have evacuated the floor). If so, it is confirmed that the door lock does not need to perform another round of emergency pointing; otherwise, it does.

[0122] ⑥ The robot dog starts a new round of Bluetooth communication assistance:

[0123] If the robot dog confirms that the door lock needs to perform another round of emergency pointing, it runs back to the vicinity of Pk_A1, re-establishes Bluetooth connection, establishes an IP subnet, forwards messages to Pk_A1, receives response messages, and restarts door lock emergency pointing relay.

[0124] ⑦ The robot dog completes the Bluetooth communication assistance:

[0125] When any of the following conditions is met, it can be considered that the robot dog has completed the door lock Bluetooth communication assistance for the evacuation path it is responsible for: 1) After receiving the Pk_Aq message, if the total room resident personnel statistics is updated to 0 and the evacuation personnel number is not less than the total room departure personnel statistics; 2) While assisting the door lock Bluetooth communication at each floor, the robot dog itself detects no personnel in the corridor within a set time length (e.g. 5 minutes) through its own camera or sensor (this condition is added to consider that if there is no one in the corridor for a long time, the robot dog can prioritize performing communication assistance tasks for other evacuation paths or floors). If the robot dog has completed the door lock Bluetooth communication assistance for all evacuation paths in the floor, it can be considered that it has completed the task for the floor.

[0126] At this time, the robot dog can broadcast a "Bluetooth communication assistance task completion message" to the platform and other robot dogs, and re-enter the listening state. If it finds other network failure floors, it can actively perform new tasks. If the number of network failure floors is greater than the number of robot dogs, the platform can also assign higher priority new floor tasks to the robot dogs.

[0127] (2) Door lock failure:

[0128] The current alarm lock (such as Pk_An) sends a "relay alarm message" to the next hop lock through the robot dog, and the target IP address is the next hop lock. Assuming that the next hop lock fails (such as Pk_A(n+1)), that is, the robot dog cannot connect to the next hop lock through Bluetooth, or can connect but does not receive a reply response message, it is determined that the next hop lock fails.

[0129] Next, there are two processing methods to realize relay:

[0130] ① The first processing method: the robot dog leads the processing to skip the failed lock:

[0131] The robot dog removes the failed lock Pk_A(n+1) from the emergency pointing link information it saves (next time if it wants to start a new round of emergency pointing, it can directly skip the failed lock), and then establishes a Bluetooth connection with the next hop lock Pk_A(n+2) of the failed lock, and forwards the "relay alarm message" of the previous alarm lock Pk_An to the next hop Pk_A(n+2) of the failed lock through Bluetooth, but the target IP address field in the message is modified from the original failed lock Pk_A(n+1) to the next hop Pk_A(n+2) of the failed lock (because the IP addresses of the locks are all assigned by the robot dog, and it saves the IP addresses of the locks; the target IP address is used for message routing), and the next hop alarm lock field is also modified from the original failed lock Pk_A(n+1) to the next hop Pk_A(n+2) of the failed lock.

[0132] The next hop Pk_A(n+2) of the failed lock finds that the next hop in the message is itself, and then replies to the response message of the previous alarm lock Pk_An through the robot dog, and also alarms by sounding the horn. The next hop lock Pk_A(n+2) of the failed lock compares the current alarm lock field information Pk_An in the message with the saved emergency pointing link information, and can confirm that the lock between the current alarm lock and itself (that is, Pk_A(n+1)) has failed, so it updates the local emergency pointing link information synchronously and removes the failed lock Pk_A(n+1). The robot dog confirms that the previous alarm lock Pk_An and the next hop Pk_A(n+2) of the failed lock complete the message interaction, and continues to run to the next lock for relay.

[0133] If the next hop door lock Pk_A(n+2) of the preceding door lock is also faulty (i.e., the robot dog cannot connect to the door lock through Bluetooth, or can connect but does not receive a reply response message thereof), the robot dog also removes the door lock Pk_A(n+2) from the emergency pointing link information, establishes a Bluetooth connection with the next next hop door lock Pk_A(n+3), and forwards the "relay alarm message" of the preceding alarm door lock Pk_An, in which the target IP address field and the next hop alarm door lock field are modified to the next next hop door lock Pk_A(n+3). The next next hop door lock Pk_A(n+3) replies to the response message through the robot dog, and alarms by sounding a whistle, and also synchronously updates the local emergency pointing link. In this way, a plurality of faulty door locks are continuously skipped.

[0134] ② The second processing mode: the nearest normal door lock after the faulty door lock identifies the fault and updates the link information:

[0135] The robot dog removes the faulty door lock Pk_A(n+1) from the emergency pointing link information stored by the robot dog, establishes a Bluetooth connection with the next hop door lock Pk_A(n+2) of the faulty door lock, forwards the "relay alarm message" of the preceding alarm door lock to the next hop Pk_A(n+2) of the faulty door lock through Bluetooth, in which the target IP address field is modified from the original faulty door lock Pk_A(n+1) to the next hop Pk_A(n+2) of the faulty door lock (so that the robot dog can normally forward the message to Pk_A(n+2)), but the next hop alarm door lock field is not modified and is still the original faulty door lock Pk_A(n+1) (for the convenience of Pk_A(n+2) judging the received message).

[0136] The next hop Pk_A(n+2) of the faulty door lock finds that the next hop alarm door lock field in the message is not itself, and according to the comparison of the saved emergency pointing link information, finds that it is the previous hop Pk_A(n+1), but the message is received by itself, so it is clear that the previous hop Pk_A(n+1) is faulty. The next hop Pk_A(n+2) of the faulty door lock updates the local emergency pointing link information, removes the faulty door lock; replies to the response message to the preceding alarm door lock Pk_An through the robot dog; and alarms by sounding a whistle. The robot dog confirms that the message interaction between the previous hop Pk_An and the next hop Pk_A(n+2) of the faulty door lock is completed, and continues to run to the subsequent door lock for relay.

[0137] The next hop of the faulty door lock also attaches the updated emergency pointing link when sending the "relay alarm message" to the next hop door lock.

[0138] Similarly, the door lock closest to the dispersing port will also attach the latest emergency pointing link when it sends the "relay alarm message" to the robot dog, so that the robot dog can bring it back to the first door lock, which will follow the new emergency pointing link for alarm processing and skip the faulty door lock (if any), and pass it to the next normal door lock.

[0139] In this way, the emergency pointing link information of the faulty door lock can be synchronized in all door locks.

[0140] In the aforementioned process, if Pk_A(n+2) also fails, similarly, the robot dog establishes a Bluetooth connection with its next-hop door lock Pk_A(n+3) to forward messages. Pk_A(n+3) also performs corresponding operations, identifies two consecutive door lock failures, updates the emergency pointing link information, performs the siren alarm, and also synchronizes the emergency pointing link information of the faulty door lock in all door locks through the robot dog. If there are more subsequent consecutive door lock failures, the process is repeated.

[0141] 3. Multi-floor door lock Bluetooth communication assistance:

[0142] As mentioned earlier, after the emergency occurs, the robot dog determines whether the floor network is faulty by listening to the door lock multicast message. If there is a fault, one of the robot dogs is responsible for a floor.

[0143] At this time, the door lock management platform also synchronously listens to the multicast message, and when the number of network fault floors <= the number of robot dogs is found, the robot dog responds autonomously, selects the responsible floor in order, the platform does not intervene, but records the relationship between the robot dog and the responsible floor; If the platform finds that the number of network fault floors > the number of robot dogs, the platform intervenes, calculates the priority of the door lock Bluetooth communication coordination assistance of each network fault floor, and schedules the robot dog, i.e. if the priority of the newly added floor is higher than the priority of the floor that the robot dog is assisting in communication, the latter robot dog will immediately go to the newly added floor after completing at least one round of communication assistance for the floor it is responsible for. If not, it will not be processed first, but the time point of the floor failure (i.e. the time point when the platform discovers the network failure) will be recorded for subsequent floor priority update calculations.

[0144] The above floor priority calculation can consider multiple influencing factors and weights, and be updated periodically to support robot dog scheduling.

[0145] (II) Complete technical implementation process:

[0146] Preconditions:

[0147] Hotels, commercial office buildings, apartments and other places, each floor has multiple rooms, are installed intelligent door locks (equipped with cameras and infrared sensors can be used for personnel detection, equipped with WiFi module to support WiFi network communication, equipped with Bluetooth module to support Bluetooth communication), unified access to building WiFi wireless network, through the door lock management platform to achieve centralized management. All door locks through NTP service to achieve time synchronization. The distance between door locks is far, such as some distance is greater than 10 meters, after the floor WiFi network fails, some door locks cannot directly communicate through Bluetooth.

[0148] Each floor is planned to have 1- multiple emergency evacuation paths, and each door lock is only associated with 1 evacuation path. The evacuation path is denoted as Pk (k = 1, 2, 3, etc.). For a designated evacuation path Pk, the door locks associated with it are sequentially numbered in the order of the floor evacuation path direction, denoted as Pk_Am (m = 1, 2, 3, 4, 5,..., q), and the farther away from the floor evacuation port, the smaller m. Generally, according to the emergency pointing ring link (Pk_A1->Pk_A2->...->Pk_Aq->Pk_A1->...), each door lock is sequentially whistled and circularly alarmed, and for personnel, it can realize sound pointing and assist personnel evacuation.

[0149] The reasonable planning of the evacuation path is completed by the administrator in advance, and the information of each evacuation path, including the evacuation path number (Pk) and the door lock member (Pk_Am), is configured through the door lock management platform. The platform automatically assigns a multicast address Gk (k = 1, 2, 3, etc., Gk corresponds to Pk one by one) for each evacuation path for multicast communication of each door lock. The platform records the "evacuation path information table" according to the configuration, and each record contains: evacuation path number (Pk), emergency pointing ring link door lock member list (Pk_A1, Pk_A2,..., Pk_Aq), door lock ID list (corresponding to emergency pointing ring link door lock member list one by one), multicast address (Gk). The platform synchronously issues the corresponding evacuation path information to each door lock in advance.

[0150] Pre-set 1- multiple robot dogs (ideally one robot dog is allocated independently for each floor), if the number of floors > robot dog number, then the platform will calculate the priority of each WiFi network failure floor in the future, and schedule the robot dog according to the priority.

[0151] Each robot dog is configured with a Bluetooth gateway module, and the robot dog is configured as a PAN-NAP, that is, a miniature Bluetooth gateway. The robot dog and each door lock on each floor have completed Bluetooth pairing in advance, and all door locks are configured as PANU clients. In addition to Bluetooth communication, the robot dog also supports WiFi network communication (access to building WiFi network) and 4G / 5G mobile network communication (backup when the building WiFi network cannot be accessed). Each robot dog is also configured with a camera or infrared sensor for detecting whether there is a person in the passage. Each robot dog pre-stores the platform-pushed information of each floor and each evacuation path information, and the position map of each door lock, and moves according to the shortest path planning.

[0152] Core process:

[0153] 1. Robot dog starts door lock Bluetooth communication auxiliary:

[0154] If the number of robot dogs >= the number of floors, then at least one robot dog can be assigned to each floor on standby. If the number of robot dogs < the number of floors, then the robot dogs can be uniformly arranged on one floor of the building on standby. This scheme is described below.

[0155] When a sudden event occurs, the administrator clicks the "enable door lock cooperative emergency pointing" button on the door lock management platform, and the platform unicast sends a "door lock cooperative emergency pointing start message" to each door lock, containing message type (door lock cooperative emergency pointing start message), belonging to evacuation path (Pk), door lock virtual number (Pk_Am), emergency pointing ring link door lock list (Pk_A1, Pk_A2,..., Pk_Aq), alarm time interval length (Δt, such as 5 seconds), multicast address (Gk) and the like.

[0156] After each door lock receives the unicast message, it sends an IGMP member join message to the floor WiFi gateway to join the multicast group Gk. Under normal circumstances, the member door locks of the emergency pointing ring link start from the door lock farthest from the evacuation port (Pk_A1) and successively relay, that is, multicast send the emergency pointing message and sound the alarm.

[0157] The platform unicast sends a "door lock Bluetooth communication auxiliary preparation message" to all robot dogs, containing message type (door lock Bluetooth communication auxiliary preparation message), multicast address list (G1, G2, G3, etc.). All robot dogs join the multicast groups (G1, G2, G3, etc.) corresponding to all evacuation paths and listen to the messages of each door lock. If the floor WiFi network is normal, the door locks corresponding to each evacuation path will successively multicast send the emergency pointing multicast message and sound the alarm, and the robot dog can detect the multicast message of the door lock; if the robot dog does not detect the multicast message of any door lock on the floor, it is judged that the network of the floor is faulty, triggering the door lock Bluetooth communication auxiliary process of the robot dog.

[0158] Any robot dog broadcasts a "Bluetooth communication auxiliary task synchronization message" to the door lock management platform and other robot dogs through the backup 4G / 5G mobile network communication mode, which contains the message type (Bluetooth communication auxiliary task synchronization message), robot dog ID, and responsible floor ID, and informs the door lock management platform and other robot dogs to be responsible for the Bluetooth communication auxiliary of the floor. After receiving the message, the other robot dogs do not need to pay attention to the floor any more, and can continue to listen to other door lock multicast messages, that is, they can be responsible for the task execution of other newly added network fault floors in the future.

[0159] The robot dog that has claimed to be responsible for a floor communicates with the elevator control system to take the elevator to the floor. If the elevator is out of service, the robot dog can also use the stair climbing method.

[0160] 2. Single-floor door lock Bluetooth communication auxiliary:

[0161] The robot dog queries the locally saved evacuation path information of the floor to perform door lock Bluetooth communication auxiliary.

[0162] Taking a single evacuation path Pk as an example (containing door lock members Pk_A1->Pk_A2->...->Pk_Aq), the door lock Bluetooth communication auxiliary process of the robot dog is described below, which is divided into two cases: all door locks are normal and some door locks are faulty.

[0163] (1) All door locks are normal (all door locks can communicate through Bluetooth and sound alarm):

[0164] ① Door lock counts the number of personnel entering and leaving:

[0165] In daily life (not only in emergency situations), each door lock detects the number of personnel entering and leaving its room through the door lock camera (or other sensors such as infrared sensors), that is, when the lock is successfully opened from outside to inside, the camera is used to detect the number of personnel entering the room (associated room entry personnel number); when the lock is successfully opened from inside to outside, the camera is also used to detect the number of personnel leaving the room (associated room exit personnel number). The associated room resident personnel number = associated room entry personnel number - associated room exit personnel number.

[0166] ② The door lock Pk_Aq closest to the evacuation exit counts the number of evacuation personnel:

[0167] In addition to counting the number of personnel entering and leaving the room, the door lock Pk_Aq closest to the evacuation exit also counts the number of personnel passing through Pk_Aq and leaving the evacuation passage during the sound emergency pointing process of the door lock, that is, the number of evacuation personnel = the number of personnel leaving the evacuation passage - the number of personnel entering the evacuation passage.

[0168] ③ Robot dog initiates Bluetooth communication auxiliary:

[0169] The robot dog queries the locally saved Pk evacuation path information and the door lock position map, and first runs between Pk_A1 and Pk_A2. The robot dog establishes a Bluetooth connection with the two door locks, that is, two PAN connections are established on two independent Bluetooth physical links. Due to the star topology limitation of Bluetooth itself, Pk_A1 and Pk_A2 cannot directly communicate, and all communication must be relayed through the robot dog, that is, a virtual network routing function is created on the robot dog to link the two independent Bluetooth connections established by Pk_A1 and Pk_A2; the robot dog also runs the DHCP service when starting the PAN-NAP service, and allocates IP addresses to the two door locks; the robot dog opens the IP forwarding function to realize IP packet forwarding between Pk_A1 and Pk_A2. Through the above-mentioned manner, the three form a unified IP subnet, realize IP network communication (the Bluetooth connection is a two-layer network) among the three, and the robot dog can also listen to the forwarded IP packets. The following process is as follows:

[0170] Firstly, the robot dog sends an "emergency pointing start message" IP packet to Pk_A1 through the Bluetooth connection, which contains a source IP address (the robot dog), a destination IP address (Pk_A1), a message type (door lock cooperative emergency pointing start message), a message timestamp, etc., to inform Pk_A1 to start emergency pointing.

[0171] Then, Pk_A1 locally queries the evacuation path information and confirms that the next hop is Pk_A2, so it needs to send a "relay alarm message" IP packet to Pk_A2, which contains a source IP address (Pk_A1), a destination IP address (Pk_A2), a message type (relay alarm message), a current alarm door lock (Pk_A1), a current alarm door lock planned alarm time point (this is NOW, indicating synchronous immediate horn alarm, the specific value will be the same as the message timestamp), a next hop alarm door lock (Pk_A2), an associated room leaving personnel count, an associated room resident personnel count, a message timestamp, etc. Pk_A1 forwards the message to Pk_A2 through the robot dog and synchronously performs horn alarm.

[0172] The robot dog listens to and analyzes the message, finds that it is a relay alarm message, and needs to be forwarded to Pk_A2 (the destination IP address is Pk_A2). The robot dog first records the room leaving personnel count and the room resident personnel count; then forwards the message to Pk_A2, that is, forwards the "relay alarm message" IP packet to Pk_A2 through the Bluetooth connection.

[0173] Pk_A2 receives and analyzes the message, and sends a response message (also an IP packet, the destination IP address is Pk_A1) to Pk_A1. Similarly, the robot dog listens to and analyzes the message, and forwards the message to Pk_A1.

[0174] As described above, Pk_A1 and Pk_A2 realize IP network communication and complete relay alarm through the Bluetooth connection establishment of the robot dog and the IP message forwarding function of the robot dog. The robot dog also confirms that the two door locks have completed message interaction by listening to the "relay alarm message" sent by Pk_A1 and the response message of Pk_A2.

[0175] ④ The robot dog successively assists the Bluetooth communication of the intermediate door locks (from door lock Pk_Ak to door lock Pk_A(k+1), k = 2, 3,..., q-1):

[0176] The robot dog confirms that Pk_A1 and Pk_A2 have completed message interaction by listening, and then runs between Pk_A2 and Pk_A3.

[0177] Similarly, the robot dog and Pk_A2 and Pk_A3 establish an IP subnet through Bluetooth connection and the IP message forwarding function of the robot dog.

[0178] Pk_A2 needs to send the "relay alarm message" IP packet to Pk_A3 through Bluetooth via the robot dog, which contains the source IP address (Pk_A2), the destination IP address (Pk_A3), the message type (relay alarm message), the current alarm door lock (Pk_A2), the current alarm door lock planned alarm time point (the planned alarm time point of the previous hop door lock Pk_A1 + alarm time interval length, if the time point calculation is less than the current time point, the planned alarm time point is corrected to NOW, indicating immediate synchronous siren alarm), the next hop alarm door lock (Pk_A3), the associated room number of people leaving, the associated room number of people staying, the message timestamp, etc. Pk_A2 sends the message to the robot dog and performs siren alarm at the planned time point.

[0179] The robot dog listens to and analyzes the message, records the associated room number of people leaving and the associated room number of people staying of Pk_A2, and calculates the total number of people leaving and the total number of people staying in all rooms (at this time, it is the associated rooms of Pk_A1 and Pk_A2); then forwards the message to Pk_A3.

[0180] Pk_A3 receives and analyzes the message, and then sends a response message (also an IP packet, the destination IP address is Pk_A2) to Pk_A2. Similarly, the robot dog listens to and analyzes the message, and forwards the message to Pk_A2.

[0181] The robot dog listens to and confirms that Pk_A2 and Pk_A3 have completed message interaction, and then runs between Pk_A3 and Pk_A4 to continue the relay, and so on.

[0182] ⑤ The processing of the door lock Pk_Aq closest to the evacuation exit:

[0183] The robot dog finally comes to the door lock Pk_Aq closest to the evacuation exit.

[0184] The door lock Pk_Aq sends a "relay alarm message" IP packet to the robot dog through Bluetooth, and performs a siren alarm at the planned alarm time point. In addition to the source IP address (Pk_Aq), the destination IP address (Pk_A1), the message type, the current alarm door lock (Pk_Aq), the current alarm door lock planned alarm time point, the next hop alarm door lock (Pk_A1), the associated room number of people leaving, the associated room number of people staying, the message timestamp, etc., the message also includes the number of evacuated personnel.

[0185] The robot dog confirms that Pk_Aq is the door lock closest to the evacuation exit, and updates the statistics of all room leaving personnel and all room staying personnel. Then the robot dog judges whether the all room staying personnel statistics is 0, if not 0 (it means that there are still people in the room who have not left the room, but it is also possible that they have left after the door lock sends the message), for safety reasons, the door lock needs to perform another round of emergency pointing; if it is 0, further judge whether the number of evacuated personnel is less than the all room leaving personnel statistics, if the former is less than the latter (it means that personnel may still be behind the passage, or they may return to the room and not evacuate the floor), the door lock also needs to perform another round of emergency pointing, otherwise it does not need to.

[0186] ⑥ The robot dog starts a new round of Bluetooth communication assistance:

[0187] If the robot dog confirms that the door lock needs to perform another round of emergency pointing, it will run back to Pk_A1, re-establish Bluetooth connection, establish an IP subnet, forward messages to Pk_A1, receive response messages, and restart the door lock emergency pointing relay.

[0188] Pk_A1 sends a "relay alarm message" to Pk_A2 through the robot dog, and performs a siren alarm at the planned time point. The subsequent process is as described above.

[0189] ⑦ The robot dog completes the Bluetooth communication assistance:

[0190] When any of the following conditions is met, it can be considered that the robot dog has completed the door lock Bluetooth communication assistance for the evacuation path it is responsible for: 1) After receiving the Pk_Aq message, if the all room staying personnel statistics is updated to 0, and the number of evacuated personnel is not less than the all room leaving personnel statistics; 2) While assisting the door lock Bluetooth communication at each floor, the robot dog itself detects no personnel in the passage within a set time length (such as 5 minutes). If the robot dog has completed the door lock Bluetooth communication assistance for all evacuation paths in the floor, it can be considered that it has completed the task in the floor.

[0191] At this time, the robot dog can broadcast a "Bluetooth communication auxiliary task completion message" to the platform and other robot dogs, containing the message type (Bluetooth communication auxiliary task completion message), robot dog ID, and responsible floor ID.

[0192] The robot dog can continue to be in a listening state, and if it finds other network failure floors, it can actively perform new tasks. If the number of network failure floors > the number of robot dogs, the platform can also assign higher priority new floor tasks to the robot dogs.

[0193] (2) Door lock failure (the door lock cannot pass through Bluetooth communication or can connect Bluetooth but cannot sound the whistle):

[0194] After the current alarm door lock (such as Pk_An) sends a "relay alarm message" to the next hop door lock through the robot dog (the target IP address is the next hop door lock), suppose the next hop door lock fails (such as Pk_A(n+1)), that is, the robot dog cannot connect to the next hop door lock through Bluetooth, or can connect but does not receive a reply response message, then it is determined that the next hop door lock has failed.

[0195] Next, there are two processing methods (one can be selected in advance) to implement relay:

[0196] ① The first processing method: the robot dog leads the processing to skip the failed door lock:

[0197] The robot dog removes the failed door lock Pk_A(n+1) from its saved emergency pointing link information (next time if you want to start a new round of emergency pointing, you can directly skip this failed door lock), and then establishes a Bluetooth connection with the next hop door lock Pk_A(n+2) of the failed door lock, and forwards the "relay alarm message" of the aforementioned alarm door lock Pk_An to the next hop Pk_A(n+2) of the failed door lock through Bluetooth, but the target IP address field in the message is modified from the original failed door lock Pk_A(n+1) to the next hop Pk_A(n+2) of the failed door lock (because the door lock IP addresses are all assigned by the robot dog, and it saves the IP of each door lock; the target IP address is used for message routing), and the next hop alarm door lock field is also modified from the original failed door lock Pk_A(n+1) to the next hop Pk_A(n+2) of the failed door lock.

[0198] The next hop Pk_A(n+2) of the fault door lock discovers that the next hop in the message is itself, and then the robot dog replies to the preceding alarm door lock Pk_An with a response message and emits a warning sound. The next hop door lock Pk_A(n+2) of the fault door lock compares the current alarm door lock field information Pk_An in the message with the saved emergency pointing link information, and confirms that the door lock (i.e., Pk_A(n+1)) between the current alarm door lock and itself has failed. Therefore, the local emergency pointing link information is updated synchronously, and the fault door lock Pk_A(n+1) is removed. The robot dog confirms that the previous hop Pk_An and the next hop Pk_A(n+2) of the fault door lock complete the message interaction, and continues to run to the subsequent door lock for relay.

[0199] In the foregoing, if the next hop door lock Pk_A(n+2) of the fault door lock also fails (i.e., the robot dog cannot connect to the door lock through Bluetooth, or can connect but does not receive a reply response message thereof), the robot dog also removes the door lock Pk_A(n+2) from the emergency pointing link information, and then establishes a Bluetooth connection with the next next hop door lock Pk_A(n+3), and forwards the preceding alarm door lock Pk_An "relay alarm message", in which the target IP address field and the next hop alarm door lock field are modified to the next next hop door lock Pk_A(n+3). The next next hop door lock Pk_A(n+3) replies to the response message through the robot dog, emits a warning sound, and synchronously updates the local emergency pointing link. In this way, multiple fault door locks can be continuously skipped.

[0200] ② The second processing mode: the nearest normal door lock after the fault door lock identifies the fault and updates the link information:

[0201] The robot dog removes the fault door lock Pk_A(n+1) from the saved emergency pointing link information, establishes a Bluetooth connection with the next hop door lock Pk_A(n+2) of the fault door lock, forwards the preceding alarm door lock "relay alarm message" to the next hop Pk_A(n+2) of the fault door lock through Bluetooth, modifies the target IP address field from the original fault door lock Pk_A(n+1) to the next hop Pk_A(n+2) of the fault door lock (so that the robot dog can normally forward the message to Pk_A(n+2)), but does not modify the next hop alarm door lock field, which is still the original fault door lock Pk_A(n+1) (for the convenience of Pk_A(n+2) judging the subsequent received message; if there are multiple consecutive fault door locks, the field is still the original fault door lock Pk_A(n+1)).

[0202] The next hop Pk_A(n+2) of the fault door lock discovers that the next hop alarm door lock field in the next hop discovery message is not itself, and according to the comparison of the saved emergency pointing link information, it is found that it is the previous hop Pk_A(n+1), but the message is received by itself, so the previous hop Pk_A(n+1) is determined to be faulty. The next hop Pk_A(n+2) of the fault door lock updates the local emergency pointing link information and removes the fault door lock; the robot dog replies to the response message to the aforementioned alarm door lock Pk_An; and performs a siren alarm. The robot dog confirms that the message interaction between the previous hop Pk_An and the next hop Pk_A(n+2) of the fault door lock is completed, and continues to run to the subsequent door lock for relay.

[0203] The next hop of the fault door lock also attaches the updated emergency pointing link when sending the "relay alarm message" to its next hop door lock.

[0204] By analogy, the door lock closest to the evacuation port also attaches the latest emergency pointing link when sending the "relay alarm message" to the robot dog, which is brought back to the first door lock. The first door lock performs alarm processing and skips the fault door lock (if any) according to the new emergency pointing link, and passes it to the next normal door lock.

[0205] Through the above method, the emergency pointing link information of the fault door lock is removed, and synchronization can be achieved in all door locks.

[0206] In the foregoing process, if Pk_A(n+2) is also faulty, similarly, the robot dog establishes a Bluetooth connection with its next hop door lock Pk_A(n+3) to perform message forwarding. Pk_A(n+3) also performs corresponding operations, identifies two consecutive door lock faults, updates the emergency pointing link information, performs a siren alarm, and also synchronizes the emergency pointing link information of the removed fault door lock in all door locks through the robot dog. If there are more subsequent consecutive door lock faults, the same method is used.

[0207] 3. Multi-floor door lock Bluetooth communication assistance:

[0208] As mentioned earlier, after the emergency occurs, the robot dog determines whether the floor network is faulty by listening to the door lock multicast message. If there is a fault, one of the robot dogs is responsible for a floor.

[0209] At this time, the door lock management platform also synchronously listens to the multicast message, and when the number of network fault floors <= the number of robot dogs is found, the robot dog autonomously responds, and the responsible floor is selected in order. The platform does not intervene, but records the relationship between the robot dog and the responsible floor; if the platform finds that the number of network fault floors > the number of robot dogs, the platform intervenes, calculates the priority of the door lock Bluetooth communication coordination assistance of each network fault floor, and schedules the robot dog, that is, if the priority of the newly added floor is higher than that of the floor where the robot dog is assisting communication, the robot dog corresponding to the latter will go to the newly added floor after completing at least one round of communication assistance of the floor it is responsible for. If not, it will not be processed first, but the time point of the floor failure (i.e. the time point when the platform discovers the network failure) will be recorded for subsequent floor priority update calculation. The process is as follows:

[0210] The door lock management platform discovers that the number of network fault floors > the number of robot dogs by listening to the door lock multicast message, then it calculates the priority of the door lock Bluetooth communication assistance of each floor (including floors with robot dog assistance communication and newly added network fault floors). The calculation formula is: P = w1*E + w2*I + w3*R + w4*T + w5*F, where each letter has the following meaning:

[0211] (1) P represents the priority value of the floor. The larger the value, the higher the priority.

[0212] (2) w1, w2, w3, w4, and w5 are weight coefficients of each influencing factor, and w1 + w2 + w3 + w4 + w5 = 1. The weight coefficients can be adjusted according to the actual scene configuration. The following values are examples.

[0213] (3) E represents the urgency. The platform obtains data by interfacing with the fire fighting system to determine the urgency, such as manual triggering of fire alarm by personnel in the floor, taking the value of 1.0; detection of people in the passage by security camera, taking the value of 0.6; smoke sensor alarm, taking the value of 0.4; otherwise, taking the value of 0.2.

[0214] (4) I represents the importance. The platform obtains the number of companies, employees or residents in the floor by interfacing with the hotel management system or apartment management system to determine the importance, such as the number of companies, employees or residents in the floor ranking in the top 30% of all floors, taking the value of 1.0; ranking in 30%-70%, taking the value of 0.6; ranking in 70%-100%, taking the value of 0.2.

[0215] (5) R represents the evacuation risk. The higher the floor, the longer the evacuation time and the greater the risk, so the higher the priority. The top 30% of all floors take the value of 1.0; the middle 30%-70% take the value of 0.6; the lowest 30% take the value of 0.2.

[0216] (6) T represents timeliness, the longer the duration of the floor WiFi network failure and the absence of the communication assistance of the robotic dog, the higher the priority. T = (current time point - failure occurrence time point) / maximum tolerance time length, and if the maximum tolerance time is exceeded, it is also 1.0. The maximum tolerance time length is set to 20 minutes.

[0217] (7) F represents whether there is a robotic dog for communication assistance, and if not, the value is 1; if yes, the value is 0. The initial value is 0.

[0218] (8) According to the importance of each influencing factor, the values of w1, w2, w3, w4, and w5 can be considered as 0.4, 0.2, 0.1, 0.1, and 0.2.

[0219] After the platform calculates the priority of each floor, for the newly discovered network failure floor, the priority is compared with the priority of the floor assisted by the existing robotic dog in communication. If the former priority is lower, it is temporarily not processed; if the former priority is higher than at least one of the latter priorities, the platform notifies the robotic dog corresponding to the floor with the lowest priority to perform communication assistance in the new floor after completing at least one round of communication assistance in the responsible floor.

[0220] The platform periodically (e.g., every 15 minutes) calculates the priority of all network failure floors, and based on the new results, the scheduling task allocation is re-performed. If a robotic dog completes the Bluetooth communication assistance in a certain floor, the platform can also assign the task (if any) in the floor with the highest priority without robotic dog assistance to the robotic dog in advance.

[0221] II. Advantages

[0222] 1. When the building WiFi network fails, the robotic dog acts as a mobile Bluetooth gateway to assist the door lock in communication and relay siren alarm, thereby achieving emergency evacuation effect.

[0223] 2. When the door lock fails, it can automatically detect the failed door lock and exclude it from the emergency alarm chain, and directly let the next normal door lock take over the alarm, ensuring the integrity of the sound guidance link.

[0224] 3. When the number of WiFi network failure floors <= the number of robotic dogs, the robotic dogs adopt a decentralized autonomous response mode, and the door lock management platform only listens, improving the response efficiency of Bluetooth communication assistance task execution; when the number of WiFi network failure floors > the number of robotic dogs, the door lock management platform intervenes and schedules the robotic dogs based on floor priority calculation, improving the rationality and efficiency of door lock Bluetooth communication assistance task execution across multiple floors.

[0225] III. Protection points

[0226] 1、In the single floor door lock Bluetooth communication auxiliary, the robot dog establishes a connection between the current alarm door lock and the next hop door lock through Bluetooth according to the emergency pointing ring link information, and realizes IP network communication among the three by using the virtual network routing and IP forwarding functions of the robot dog, so that the current alarm door lock can send the "relay alarm message" IP packet to the next hop door lock through the Bluetooth connection via the robot dog, and sound the alarm at the planned alarm time point. After the robot dog listens to the "relay alarm message" sent by the current alarm door lock and the reply message of the next hop door lock, it moves to the next hop and the next next hop door lock to continue the relay, realizing the relay of the Bluetooth communication auxiliary.

[0227] 2、In the single floor door lock Bluetooth communication auxiliary, each door lock sends the "relay alarm message" to the robot dog, which will contain the associated room entering personnel number and the associated room resident personnel number. The robot dog is used to update the calculation of all room leaving personnel statistics and all room resident personnel statistics. When the robot dog reaches the door lock closest to the evacuation exit, the latter sends a message containing the evacuation personnel number. The robot dog judges according to the three data that if the all room resident personnel statistics is 0 and the evacuation personnel number is not less than the all room leaving personnel statistics, it is confirmed that a new round of emergency pointing is not needed, otherwise it is needed. If needed, the robot dog runs between Pk_A1 and Pk_A2 to restart the Bluetooth communication auxiliary.

[0228] 3、In the single floor door lock Bluetooth communication auxiliary, if there is a door lock failure, there are two processing methods to realize the skip of the failed door lock, so that the alarm can continue. The first processing method is that the robot dog leads the processing of skipping the failed door lock, that is, after the robot dog detects the failed door lock, it actively modifies the destination IP address of the communication packet and skips the failed door lock to establish connection and communication with the subsequent normal door lock. The second processing method is that the nearest normal door lock after the failed door lock identifies the failed door lock and updates the link information, that is, the subsequent normal door lock identifies the previous failed door lock after receiving the unexpected packet and updates the emergency pointing link information, and then synchronizes the updated link information among the subsequent door locks through the robot dog.

[0229] It can be seen that according to the listening result of the robot dog to the multicast communication state of the door lock, the floor network failure is detected, the robot dog is triggered for self-task allocation or platform scheduling allocation, and the floor responsible for each robot dog is determined; according to the event that the robot dog reaches the specified floor, the Bluetooth communication link is established between adjacent door locks in the preset evacuation path, and the relay alarm message transmission between door locks is realized through the IP forwarding function of the robot dog; according to the relay alarm message transmitted by the door lock in the Bluetooth link, each door lock sounds the alarm at the planned time point and synchronously reports the personnel statistics information; according to the door lock failure detected by the robot dog, the emergency pointing link is updated by using the leading skip or self-identification method, so that the intelligent level and rescue efficiency of building emergency response can be improved.

[0230] Another embodiment of the present application provides an emergency system based on door lock Bluetooth cooperation, see Figure 3 , the system can include:

[0231] The detection module 301 is used for network failure detection and task allocation: according to the listening result of the robot dog to the door lock multicast communication state, the floor network failure is detected, the robot dog autonomous task allocation or platform scheduling allocation is triggered, and the floor responsible for each robot dog is determined.

[0232] The establishment module 302 is used for auxiliary establishment of Bluetooth communication: according to the event that the robot dog arrives at the specified floor, the Bluetooth communication link between adjacent door locks is established in turn according to the preset evacuation path, and the relay alarm message transmission between door locks is realized through the IP forwarding function of the robot dog.

[0233] The alarm module 303 is used for relay alarm and personnel statistics: according to the relay alarm message transmitted by the door lock in the Bluetooth link, each door lock sounds the whistle alarm according to the planned time point, and synchronously reports the personnel statistics information, and the robot dog collects and calculates the floor personnel state.

[0234] The processing module 304 is used for fault processing and link updating: according to the door lock fault condition detected by the robot dog, the emergency pointing link is updated by using the leading skip or autonomous identification mode, and the integrity of the alarm link is ensured.

[0235] The embodiment of the present application also provides a storage medium, and the storage medium stores a computer program, wherein the computer program is set to execute the steps in any one of the method embodiments.

[0236] The embodiment of the present application also provides an electronic device, which includes a memory and a processor, the memory stores a computer program, and the processor is set to run the computer program to execute the steps in any one of the method embodiments.

[0237] Specifically, the above electronic device can further include a transmission device and an input-output device, wherein the transmission device is connected with the processor, and the input-output device is connected with the processor.

[0238] The above embodiment according to the drawings illustrates the structure, features and effects of the present application, and the above description is only the preferred embodiment of the present application, but the present application is not limited to the drawings shown, any change or modification made according to the idea of the present application, or the equivalent embodiment of equivalent change, still within the scope of the present application.

Claims

1. An emergency method based on door lock Bluetooth collaboration, characterized in that, The method comprises: Network fault detection and task allocation: according to the listening result of the dog to the door lock multicast communication state, detect the floor network fault, trigger the autonomous task allocation of the dog or the platform scheduling allocation, determine the floor responsible for each dog; Bluetooth communication auxiliary establishment: according to the event of the dog arriving at the specified floor, the Bluetooth communication link between the adjacent door locks is established in turn according to the preset evacuation path, and the door locks are connected through the IP forwarding function of the dog to realize the relay alarm message transmission between the door locks; Relay alarm and personnel statistics: according to the relay alarm message transmitted by the door lock in the Bluetooth link, each door lock sounds an alarm at the planned time point, and synchronously reports personnel statistics information, which is collected and calculated by the dog to determine the floor personnel state; Fault handling and link updating: according to the door lock fault detected by the dog, the main jump or autonomous identification method is used to update the emergency pointing link, so as to ensure the integrity of the alarm link.

2. The method of claim 1, wherein, The network fault detection and task allocation comprises: Multicast state listening: according to the result of the dog joining each floor evacuation path multicast group, continuously listen to the door lock multicast message; Network fault judgment: according to the result that the dog does not receive any door lock multicast message of a certain floor within a set time, it is judged that network fault occurs in the floor; Autonomous task allocation: according to the condition that the number of network fault floors does not exceed the number of dogs, the dog is allocated through the mobile network broadcast to claim responsibility for a specific floor; Platform scheduling allocation: according to the condition that the number of network fault floors exceeds the number of dogs, the platform calculates the priority of each floor and allocates the dogs.

3. The method of claim 2, wherein, The Bluetooth communication auxiliary establishment comprises: Path query and movement: according to the evacuation path information stored in the dog, the moving path is planned and the first pair of door locks are reached; Bluetooth link establishment: according to the result that the dog and the adjacent two door locks respectively establish Bluetooth PAN connection, an independent Bluetooth physical link is formed; IP subnet construction: according to the operation that the dog runs DHCP service to allocate IP address for the door lock and opens IP forwarding, a unified IP subnet is constructed; Message start transmission: according to the result that the dog sends emergency pointing start message to the first door lock, the relay alarm process between the door locks is triggered.

4. The method of claim 3, wherein, The relay alarm and personnel statistics comprise: Personnel data statistics: according to the result that each door lock detects through the sensor, the entering personnel number, the leaving personnel number and the resident personnel number of the associated room are counted; Relay message transmission: according to the operation that the current alarm door lock sends the relay alarm message to the next hop door lock through the dog, the personnel statistics data and the alarm plan time are transmitted, and at the same time, the dog confirms the completion of the interaction by listening to the relay alarm message of the current alarm door lock and the response message of the next hop door lock, and moves to the subsequent door locks for relay; Dog data collection: according to the result that the dog listens to and analyzes each door lock relay alarm message, the leaving personnel statistics number and the resident personnel statistics number of all rooms are updated in real time; Evacuation state judgment: according to the comparison result of the number of evacuation personnel reported by the door lock closest to the evacuation exit and the dog collection data, it is judged whether a new round of emergency pointing needs to be started.

5. The method of claim 4, wherein, The fault handling and link updating comprise: Fault detection and identification: according to the result that the robot dog cannot establish a Bluetooth connection with the next hop door lock or does not receive a response message, identify the door lock failure; Master skip processing: according to the master processing mode of the robot dog, modify the target address field in the alarm message to directly establish communication with the subsequent normal door lock of the failed door lock; Autonomous identification processing: according to the result that the subsequent normal door lock receives an unexpected alarm message, autonomously identifies the previous failed door lock and updates the local emergency pointing link; Link information synchronization: according to the result of transferring the updated emergency pointing link information between door locks, realize the synchronization of link information of all door locks.

6. The method of claim 5, wherein, The method also includes a multi-floor cooperative scheduling mechanism: Priority calculation: according to the data of the fire fighting system and property management system connected by the platform, comprehensively calculate the priority of each floor considering the emergency, importance, evacuation risk, timeliness and resource allocation factors; Dynamic scheduling execution: according to the periodically updated priority calculation result, perform cross-floor dynamic scheduling of the robot dog; Task completion judgment: according to the result that the robot dog detects that all personnel on the floor have been evacuated or the passage has been empty for a long time, determine the completion of the stage task; Resource reallocation: according to the task completion state and new priority order, reallocate the robot dog to a floor with higher priority.

7. An emergency system based on Bluetooth collaboration of door locks, characterized in that, The system includes: A detection module for network fault detection and task allocation: according to the listening result of the robot dog to the door lock multicast communication state, detect the floor network failure, trigger the robot dog autonomous task allocation or platform scheduling allocation, and determine the floor responsible for each robot dog; An establishment module for Bluetooth communication auxiliary establishment: according to the event that the robot dog arrives at the specified floor, establish Bluetooth communication link between adjacent door locks in turn according to the preset evacuation path, and realize the relay alarm message transmission between door locks through the IP forwarding function of the robot dog; An alarm module for relay alarm and personnel statistics: according to the relay alarm message transmitted by the door lock in the Bluetooth link, each door lock sounds an alarm at the planned time point, and synchronously reports the personnel statistics information, which is collected and calculated by the robot dog to determine the floor personnel state; A processing module for fault processing and link updating: according to the door lock failure detected by the robot dog, update the emergency pointing link in the master skip or autonomous identification mode to ensure the integrity of the alarm link.

8. The system of claim 7, wherein, The detection module is specifically used for: Multicast state listening: according to the result that the robot dog joins each floor evacuation path multicast group, continuously listen to the door lock multicast message; Network fault judgment: according to the result that the robot dog does not receive any door lock multicast message of a certain floor within a set time, judge that the floor has a network fault; Autonomous task allocation: according to the condition that the number of network fault floors does not exceed the number of robot dogs, the robot dog claims to be responsible for a specific floor through mobile network broadcast; Platform scheduling allocation: according to the condition that the number of network fault floors exceeds the number of robot dogs, the platform calculates the priority of each floor and performs robot dog scheduling allocation.

9. A storage medium, characterized by The storage medium stores a computer program, wherein the computer program is set to execute the method of any one of claims 1-6 when running.

10. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to execute the method of any one of claims 1-6.

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