An underground powerhouse three-dimensional evacuation path planning method and system

Abstract

The application belongs to the field of emergency evacuation planning, and provides a three-dimensional evacuation path planning method and system for an underground powerhouse. The method comprises the following steps: constructing an evacuation topology network comprising a plurality of edges with slope information and a plurality of nodes, obtaining the toxic hazard attribute of each edge, the physical state quantity of personnel, the basic walking speed and the basic ventilation quantity; advancing along the edges of a path to be evaluated, determining the physical consumption quantity and updating the physical state quantity according to the current edge slope and the physical state quantity of personnel, and then determining the walking speed, the respiratory ventilation quantity and the toxic inhalation quantity, and cumulatively obtaining the physical consumption quantity and the toxic inhalation quantity of the path; and performing optimization with the cost containing the physical consumption quantity and the toxic inhalation quantity to obtain an optimal evacuation path. The application can solve the technical problem that the prior art is difficult to plan an evacuation path for a large-height-difference confined space such as an underground powerhouse, which takes into account the evacuation time, survival safety and physical accessibility.

Description

Technical Field

[0001] This application belongs to the field of emergency evacuation planning, specifically involving a three-dimensional evacuation path planning method and system for underground power plants. Background Technology

[0002] Underground powerhouses are widely used in large-scale underground projects such as hydropower and pumped storage. They are characterized by deep burial, numerous floors, significant elevation differences, and dense vertical passageways. The main powerhouse, busbar tunnels, main transformer tunnels, tailrace tunnels, and the staircases, ramps, inclined shafts, and vertical shafts connecting each floor together form a complex, highly vertically interconnected three-dimensional space. In fire evacuation studies of such spaces, the common approach is to abstract the evacuation space as a topological network composed of nodes and edges. Nodes represent key passage locations, and edges represent passable routes between adjacent locations. Using graph theory's shortest path algorithm, the path from the location of personnel to the exit is searched, with path length or travel time as the cost. Furthermore, fire simulation or on-site monitoring is typically used to obtain environmental hazard information such as smoke concentration and temperature within the space, and this information is used as weights for the evacuation routes. This allows route planning to shorten evacuation distance or time while avoiding high-risk areas, thus providing guidance for evacuation.

[0003] However, the existing technologies, when applied to confined spaces with large elevation differences, such as underground factories, often treat evacuees as homogeneous individuals with constant movement speed and unrestricted physical strength. This makes it difficult to characterize the physical exertion and resulting changes in movement speed during long-distance vertical ascents, compromising the actual accessibility of the planned routes. Furthermore, existing technologies often use gas concentrations at the route locations as a relatively static measure when assessing toxicity hazards, failing to reflect the intrinsic relationship between movement and toxic gas inhalation. In high-intensity vertical ascent sections, this can easily underestimate the actual amount of toxic gas inhaled, leading to biases in the assessment of survival safety. Therefore, existing technologies struggle to plan evacuation routes that balance evacuation time, survival safety, and physical accessibility in confined spaces with large elevation differences, such as underground factories, making this a pressing technical problem that needs to be solved in this field. Summary of the Invention

[0004] This application addresses the technical problem that existing technologies struggle to plan evacuation routes that balance evacuation time, survival safety, and physical accessibility in confined spaces with significant elevation differences, such as underground factories. It provides a three-dimensional evacuation route planning method and system for underground factories.

[0005] To achieve the above objectives, this application adopts the following technical solution: Firstly, a three-dimensional evacuation path planning method for underground power plants includes: Construct an evacuation topology network, which includes several edges and several nodes. Each edge includes the slope information of the passable road segment, and the several nodes include the starting node of the personnel and the target node of the evacuation. Obtain the toxicity hazard attributes of each edge and the initial values ​​of the physiological parameters of the personnel to be evacuated. The initial values ​​of the physiological parameters include the physical state, basic walking speed and basic ventilation of the personnel at the starting node. Several paths to be evaluated from the starting node to the target node are obtained. Each path includes several edges. For each path, the physical fitness status at the starting node is used as the physical fitness status when the person reaches the first edge, and the process proceeds sequentially along each edge. For the current edge, the physical fitness consumption of the person is determined based on the physical fitness status when the person reaches the current edge and the slope information of the current edge. The physical fitness status of the person after passing the current edge is updated based on the physical fitness consumption, resulting in an updated physical fitness status. The updated physical fitness status is then used to determine the physical fitness status. Based on the physical condition status and the baseline walking speed, determine the walking speed of the person passing through the current side; based on the walking speed of the current side, the baseline ventilation volume, and the slope information of the current side, determine the respiratory ventilation volume of the person passing through the current side; based on the respiratory ventilation volume and the toxicity hazard attribute of the current side, determine the toxicity inhalation volume of the person passing through the current side; use the updated physical condition status as the physical condition status of the person when reaching the next side, and repeat the above steps side by side until all sides of the path to be evaluated are traversed, to obtain the physical exertion and toxicity inhalation volume of the person along the path to be evaluated; Using the cost of physical exertion and toxicity inhalation along the evaluated path as the basis for optimization, a path search is performed on the evaluated paths to obtain the optimal evacuation path.

[0006] In some implementations, determining the amount of toxicity inhaled by a person through the current side based on the respiratory ventilation and the toxicity hazard attribute of the current side includes: Determine the estimated arrival time of the person along the path to be evaluated to reach the current edge, obtain the toxicity hazard attribute of the current edge at the estimated arrival time, and determine the toxicity inhalation amount of the person passing through the current edge based on the respiratory ventilation volume and the toxicity hazard attribute of the current edge at the estimated arrival time.

[0007] In some implementations, constructing the evacuation topology network includes: Calculate the elevation difference between the two nodes connected by each edge and the length of the edge, and determine the slope information of the edge based on the elevation difference and the length; The edge includes at least one passageway selected from horizontal passages, stairs, ramps, inclined shafts, and vertical shafts.

[0008] In some implementations, determining the amount of physical exertion expended by a person traversing the current edge based on their physical condition upon arrival and the slope information of the current edge includes: Determine the directional fatigue amount based on the slope information of the current edge; The amount of physical exertion of a person passing through the current edge is determined based on the person's physical condition when arriving at the current edge, the person's speed of travel to the current edge, and the fatigue level in the stated direction.

[0009] In some implementations, determining the movement speed of a person across the current edge based on the updated physical fitness status and the baseline walking speed includes: The speed penalty coefficient is determined based on the updated physical condition data; Multiply the base walking speed by the speed penalty coefficient to obtain the walking speed of the person passing through the current edge.

[0010] In some implementations, determining the respiratory ventilation of a person passing through the current side based on the travel speed, the baseline ventilation, and the slope information of the current side includes: Determine the speed ventilation term based on the travel speed; The vertical work ventilation term is determined based on the travel speed and the slope information of the current side; The basic ventilation volume, the velocity ventilation term, and the vertical work ventilation term are added together to obtain the respiratory ventilation volume of the person passing through the current side.

[0011] In some implementations, the target node includes an evacuation target node, a refuge target node, and a backup target node, with the priority of the evacuation target node, the refuge target node, and the backup target node decreasing sequentially. The process of searching for the optimal evacuation path among the several paths to be evaluated includes: The path to be evaluated that meets the preset survival threshold constraint for toxic inhalation and the preset lower limit constraint for physical fitness at the endpoint is determined as a feasible path. The endpoint physical fitness is the difference between the physical fitness of the person at the starting node and the physical fitness consumption of the path to be evaluated. Among the feasible paths, the feasible path leading to the target node with the highest priority is selected as the candidate path, and the candidate path with the lowest cost is selected as the optimal evacuation path.

[0012] Secondly, a three-dimensional evacuation path planning system for underground power plants includes: The network construction module is used to construct an evacuation topology network, which includes several edges and several nodes. Each edge includes the slope information of the passable road segment, and the several nodes include the starting node of the personnel and the target node of the evacuation. The data acquisition module is used to acquire the toxicity hazard attributes of each edge and the initial values ​​of the physiological parameters of the personnel to be evacuated. The initial values ​​of the physiological parameters include the physical state, basic walking speed and basic ventilation of the personnel at the starting node. A coupled calculation module is used to obtain several paths to be evaluated from the starting node to the target node. Each path includes several edges. For each path, the physical fitness state at the starting node is used as the physical fitness state when the person reaches the first edge, and the process proceeds sequentially along each edge. For the current edge, based on the physical fitness state when the person reaches the current edge and the slope information of the current edge, the physical fitness consumption of the person crossing the current edge is determined. The physical fitness state after crossing the current edge is updated based on the physical fitness consumption, resulting in an updated physical fitness state. The updated physical fitness state is then used to calculate the updated physical fitness state. Based on the physical condition status and the baseline walking speed, the walking speed of the person passing through the current side is determined; based on the walking speed of the current side, the baseline ventilation volume, and the slope information of the current side, the respiratory ventilation volume of the person passing through the current side is determined; based on the respiratory ventilation volume and the toxicity hazard attribute of the current side, the toxicity inhalation volume of the person passing through the current side is determined; the updated physical condition status is used as the physical condition status of the person when reaching the next side, and the above steps are repeated side by side until all sides of the path to be evaluated are traversed to obtain the physical exertion and toxicity inhalation volume of the person along the path to be evaluated; The path optimization module is used to search for the optimal evacuation path by taking the cost of physical exertion and toxicity inhalation of the path to be evaluated as the basis for optimization.

[0013] Thirdly, a computer-readable storage medium storing a computer program adapted to be loaded by a processor and executed as described in the three-dimensional evacuation path planning method for an underground plant.

[0014] Fourthly, a computer program product comprising a computer program that, when executed by a processor, implements the three-dimensional evacuation path planning method for an underground plant as described above.

[0015] Compared with the prior art, this application has the following beneficial effects: This application constructs an evacuation topology network comprising several edges and nodes, with each edge including slope information of passable road sections. During the process of advancing along the path to be evaluated edge by edge, the physical exertion of personnel upon reaching the current edge is determined based on their physical state and the slope information of that edge. This physical exertion is then used to update the physical state, and finally, based on the updated physical state and basic walking speed, the movement speed of personnel across the current edge is determined. This ensures that evacuees are no longer treated as having a constant movement speed and unrestricted physical strength. The physical exertion caused by vertical ascent in sections with significant elevation differences and the resulting changes in movement speed can be characterized edge by edge, guaranteeing the actual passability of the planned path. Simultaneously, this application determines the respiratory ventilation volume of personnel crossing the current side based on travel speed, basic ventilation volume, and slope information. It then determines the toxic inhalation volume based on this respiratory ventilation volume and the toxicity hazard attribute of the current side, linking the personnel's movement state to respiratory ventilation volume and toxic gas inhalation. This ensures that the increased inhalation volume due to increased ventilation volume in high-intensity vertical ascent sections can be accurately accounted for. Furthermore, this application uses the cost of physical exertion and toxic inhalation along the evaluated path as the optimization criterion for path searching. The resulting optimal evacuation path simultaneously considers personnel's physical accessibility and survival safety from toxic inhalation, thus providing evacuation routes that balance evacuation time, survival safety, and physical accessibility for confined spaces with significant elevation differences, such as underground factories.

[0016] Furthermore, the estimated arrival time of personnel along the path to be evaluated at the current edge is determined, the toxicity hazard attribute of the current edge at that estimated arrival time is obtained, and the toxicity inhalation amount of personnel passing through the current edge is determined accordingly. Since the hazard distribution of the disaster environment evolves over time, and the arrival times of personnel at each edge are different, the toxicity hazard attribute corresponding to the actual arrival time of personnel at the current edge is used in the calculation. This ensures that the assessment of toxicity inhalation amount is consistent with the actual exposure situation of personnel, avoids the bias caused by using the hazard distribution at a single moment in the overall planning, and improves the accuracy of the path survival safety assessment.

[0017] Furthermore, the elevation difference between the two nodes connected by each edge and the length of the edge are calculated. Based on the elevation difference and length, the slope information of the edge is determined, and the edge includes at least one passageway among horizontal passages, stairs, ramps, inclined shafts, and vertical shafts. Thus, the slope information is directly derived from the actual elevation difference between various passage locations in the underground powerhouse, and the climbing resistance of typical vertical passages such as shafts, inclined shafts, and stairs can be accurately characterized.

[0018] Furthermore, based on the slope information of the current side, the directional fatigue is determined. Then, based on the physical condition of the person upon reaching the current side, their walking speed, and the directional fatigue, the physical exertion of the person traversing the current side is determined. Introducing directional fatigue allows for a distinction between the different effects of uphill and downhill on physical exertion. By superimposing the effects of physical condition and walking speed, the calculation of physical exertion simultaneously reflects the slope direction, current physical strength level, and walking speed, resulting in a more accurate depiction of physical decline compared to the actual physiological performance of individuals in a vertical passage.

[0019] Furthermore, a speed penalty coefficient is determined based on the updated physical condition status, and the base walking speed is multiplied by this speed penalty coefficient to obtain the travel speed of the person passing through the current edge. By mapping the physical condition status to a reduction of the base walking speed through the speed penalty coefficient, the law that the travel speed decreases as the person's physical strength declines is quantified, avoiding the estimation of passage conditions based on the base walking speed in sections where physical strength has been significantly depleted, and ensuring that the travel speed value matches the person's actual physical condition.

[0020] Furthermore, a velocity ventilation term is determined based on the travel speed, and a vertical work ventilation term is determined based on the travel speed and the slope information of the current side. The baseline ventilation, velocity ventilation, and vertical work ventilation are then added together to obtain the respiratory ventilation of the personnel passing through the current side. The respiratory ventilation is decomposed into the resting baseline, the portion varying with travel speed, and the portion varying with vertical work. The increased ventilation demand due to additional work during vertical ascent can be separately accounted for, making the estimation of respiratory ventilation more closely reflect the actual breathing intensity of personnel on sections with significant elevation differences, and providing a basis for the accurate calculation of toxic inhalation doses.

[0021] Furthermore, target nodes are categorized into evacuation target nodes, refuge target nodes, and backup target nodes with decreasing priorities. Paths to be evaluated that meet the preset survival threshold constraint for toxicity inhalation and the preset lower limit constraint for physical fitness at the destination are identified as feasible paths. Among these feasible paths, the path leading to the highest priority target node is selected as the candidate path, and the path with the lowest replacement cost is chosen as the optimal evacuation path. Through the dual screening of survival threshold and lower limit constraints, paths where toxicity inhalation exceeds the limit or physical strength is insufficient to reach the destination are excluded. By prioritizing target nodes, when all paths to the evacuation target node are infeasible, the evacuation destination can automatically shift to the refuge target node or even the backup target node, thus providing feasible evacuation destinations that meet survival safety constraints even when conditions along conventional evacuation routes deteriorate. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 A flowchart of a three-dimensional evacuation route planning method for an underground powerhouse is provided in this application embodiment; Figure 2 A structural diagram of a three-dimensional evacuation route planning system for an underground powerhouse is provided in this application embodiment; Figure 3 A flowchart illustrating the technical principle of a three-dimensional evacuation path planning method for an underground powerhouse, as provided in this application embodiment; Figure 4 A flowchart of a three-dimensional evacuation path planning system for an underground factory provided in this application embodiment; Figure 5 This is a schematic diagram of the evacuation topology network provided in an embodiment of this application; Figure 6 A structural diagram of a computer device provided for an embodiment of this application. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0025] In one embodiment of this application, such as Figure 1 As shown, a three-dimensional evacuation path planning method for underground power plants is provided, including: S1. Construct an evacuation topology network, which includes several edges and several nodes. Each edge includes the slope information of the passable road segment, and the several nodes include the starting node of the personnel and the target node of the evacuation. This embodiment constructs an evacuation topology network based on the spatial structure information of the underground plant, providing a foundation for subsequent toxicity hazard attribute mapping, coupled calculation of personnel physiological parameters, and path search. For example... Figure 5 As shown in the figure, the evacuation space of the underground factory is abstracted into the following diagram:

[0026] in For a set of nodes, Let be a set of edges; nodes are used to represent key spatial locations that are significant for path selection, and edges are used to represent traversable road segments between any two directly traversable nodes.

[0027] The nodes may include exits, refuge point entrances, doorways, stairwell endpoints, adit intersections, traffic tunnel connections, busbar level or main plant level connections, shaft openings, horizontal wind tunnel connections, and initial personnel position points, etc.; wherein the initial personnel position point corresponds to the starting node, and exits, refuge point entrances, shaft openings, etc., can be used as target nodes. Figure 5 As shown, in one embodiment, key access points at different elevations in the underground powerhouse can be abstracted as nodes. N1 to N8 Some of the nodes are located in the turbine floor, generator floor, middle ventilation corridor, top smoke exhaust layer and safety zone, respectively, to characterize the multi-layered, multi-level, and strongly vertically connected spatial structure of a typical underground powerhouse.

[0028] Furthermore, each node i It has at least one of the following properties: three-dimensional coordinates Node type, elevation level, whether it is an exit node, whether it is a refuge node, whether it is a branch node, and default reachability.

[0029] An edge is established when there is a passable path between any two adjacent nodes. Each edge It must have at least the following properties: geometric length Slope angle Net width The information includes the passage type, default availability status, and direction attribute; the slope information can be obtained from the slope angle. Characterization. Among them, the passage type can include horizontal passage, stairs, ramps, connecting sections of traffic tunnels, adits, shafts, inclined shafts or other underground cavern connecting sections; the default availability status can be divided into available, restricted available and unavailable.

[0030] In one embodiment, the edge The slope information can be calculated based on the node elevation difference and side length, or directly given by the design parameters; for horizontal sides, take... =0; for stair sections, ramp sections, and vertical passage sections, the corresponding slope angle is assigned based on the actual elevation difference. For example... Figure 5 As shown, different types of edges, such as horizontal passage edges, long staircase edges, deep primary inclined shaft edges, and backup vertical shaft edges, are provided to characterize the mixed features of horizontal and vertical segments in the actual evacuation path of an underground powerhouse.

[0031] Preferably, when constructing the evacuation topology network, the availability status of edges is also initialized: if an edge is structurally disconnected, permanently blocked, or a dedicated equipment passage that does not allow personnel passage, it is marked as unavailable; if an edge is only allowed to be used under specific conditions, such as a backup shaft, an emergency passage, or a special passage requiring authorization, it is marked as restricted available and can be included in the feasible search set later when the strategy switching conditions are met. The input for this step can be a BIM model, a 3D design model, digitized results of 2D construction drawings, on-site survey results, or manually marked spatial connectivity relationships, which are parsed to form the evacuation topology network. It includes its node attribute table, edge attribute table, and default available state table for edges.

[0032] S2, obtain the toxicity hazard attributes of each edge and the initial values ​​of the physiological parameters of the personnel to be evacuated. The initial values ​​of the physiological parameters include the physical state, basic walking speed and basic ventilation of the personnel at the starting node. This step includes two parts: obtaining the toxicity hazard attributes of each edge and setting the initial values ​​of the physiological parameters of the people to be evacuated.

[0033] To obtain the toxicity hazard attributes of each edge, we first acquire dynamic environmental data under fire conditions in the underground plant, which describes the spatial distribution of smoke, toxicity, and thermal environment over time during the fire development process. This data can be represented as a continuous spatial hazard field. ,in Represents spatial location coordinates, t Indicates time, This represents the hazard attribute value at a corresponding location at a corresponding time. This hazard attribute value can be a single hazard parameter or an equivalent hazard quantity formed by combining multiple hazard parameters. The environmental dynamic data may include at least one or more of the following: smoke concentration, toxic gas concentration, carbon monoxide concentration, oxygen concentration, temperature, visibility, and overall hazard level. In a preferred embodiment, the focus is on acquiring the equivalent toxicity concentration field that characterizes the level of toxicity exposure to personnel. The environmental dynamic data can be obtained through one or more methods, such as time-varying calculation results generated by fire numerical simulation software, monitoring data collected in real time by temperature sensors, smoke sensors, gas sensors, video recognition devices, or factory monitoring systems, results pre-established based on typical fire source locations and fire scenario databases, or hazard field results rapidly predicted by surrogate models, substitute models, or data-driven models. It can be stored using structures such as grid data, voxel data, partitioned data, or interpolated field data. If necessary, it can also be preprocessed, such as unifying the coordinate system, unifying the dimensions, unifying the time step, filling in missing values, fusing multi-source data, and forming a hazard field sequence at preset time intervals.

[0034] Furthermore, the hazard field in the continuous space is mapped to the nodes and edges of the evacuation topology network to obtain the toxicity hazard attribute of each edge. For any node... i Based on its three-dimensional coordinates Extract the danger attribute value corresponding to the node position at time t, denoted as:

[0035] It can be obtained using nearest neighbor mapping or trilinear interpolation; for any side The path direction along the edge is set according to the preset spacing. K sampling points Extract each sampling point at time 10:00 t Danger attribute value The toxicity hazard attribute of the edge is determined by the average value, maximum value, weighted average value, or segment integral value. In a preferred embodiment, the average value is taken, i.e.:

[0036] This yields the toxicity hazard properties of each edge over time. and its time series data.

[0037] Furthermore, the availability status of nodes and edges can be dynamically corrected based on the mapping results: when the toxicity hazard attribute of a node or edge exceeds a preset safety threshold at the expected arrival time, the node or edge is marked as unavailable or a higher penalty cost is imposed on it; when its toxicity hazard attribute is within a tolerable but not preferred range, the searchable status of the node or edge is retained, and its hazard impact is reflected in subsequent cost calculations. In addition, in embodiments that acquire temperature and visibility fields, temperature and visibility can be used together for edge availability determination, personnel movement speed correction, or risk cost calculation. This establishes a clear correspondence between the static road network structure and the dynamic fire environment, resulting in a node hazard attribute sequence and an edge hazard attribute sequence for path planning.

[0038] Regarding the initial values ​​of physiological parameters, for each person to be evacuated or for each category of people to be evacuated, at least the initial location node, person category, basic walking speed, basic ventilation volume, physical fitness level, and protective status should be set. The initial location of the person corresponds to the starting node. Personnel categories may include on-duty personnel, maintenance personnel, patrol personnel, rescue personnel, or other preset categories; protective status may include whether a respirator is worn, whether a load is being carried, and whether auxiliary passage equipment is available. In this embodiment, the physical fitness level is defined as normalized physical reserves. Characterization, , =1 indicates sufficient physical strength =0 indicates physical exhaustion; the physical state of the person at the starting node is the initial physical reserve. E (0); In a preferred embodiment, all healthy adults can be included. E (0) is uniformly set to 1. In other embodiments, different initial values ​​may be assigned based on age, job type, load status, physical fitness level, or training statistics. The basic walking speed is based on... The representation can be preset according to personnel category, terrain conditions and engineering experience, or it can be given separately according to different side types such as horizontal passage, stair section, ramp section, etc.

[0039] The baseline ventilation is Characterization, units can be taken L / min And can increase initial respiratory ventilation ; When it is necessary to unify the dimensions with subsequent dose calculations, it can be converted to... m³ / s ,Right now:

[0040] Preferably, the resulting set of initial personnel parameters can be represented as:

[0041] For multi-person evacuation scenarios, parameter sets can be established for each individual, or a unified parameter set can be used to group and model similar individuals.

[0042] S3, obtain several paths to be evaluated from the starting node to the target node. Each path includes several edges. For each path, the physical fitness status at the starting node is used as the physical fitness status when the person reaches the first edge, and the process proceeds sequentially along each edge. For the current edge, based on the physical fitness status when the person reaches the current edge and the slope information of the current edge, determine the physical fitness consumption of the person passing through the current edge. Update the physical fitness status of the person after passing through the current edge based on the physical fitness consumption, obtaining the updated physical fitness status. Based on the physical state quantity and the baseline walking speed, determine the personnel's walking speed as they pass through the current side; based on the walking speed of the current side, the baseline ventilation volume, and the slope information of the current side, determine the personnel's respiratory ventilation volume as they pass through the current side; based on the respiratory ventilation volume and the toxicity hazard attribute of the current side, determine the personnel's toxicity inhalation volume as they pass through the current side; use the updated physical state quantity as the physical state quantity when the personnel reach the next side, and repeat the above steps side by side until all sides of the path to be evaluated are traversed, to obtain the personnel's physical exertion and toxicity inhalation volume along the path to be evaluated; In this step, for the path to be evaluated, the physical fitness status at the starting node is taken as the physical fitness status when the person reaches the first edge. The process proceeds sequentially along each edge it contains, and the physical fitness consumption and physical fitness status, movement speed, respiratory ventilation, and toxicity inhalation are updated sequentially for the current edge.

[0043] Regarding the updating of physical exertion and physical state, considering the numerous staircases, ramps, and vertical passageways in the underground plant evacuation, this embodiment introduces a directional fatigue function based on the principle of the classical human metabolic energy consumption equation to avoid non-physical phenomena such as stagnation of physical recovery or exertion when going downhill or down stairs. The slope information of the current side is incorporated into the calculation of physical exertion.

[0044] The physical exertion rate of personnel at the current level can be expressed as:

[0045] in, It is the basal metabolic rate constant. This represents the energy expenditure coefficient for horizontal movement. The coefficient for energy consumption during vertical work; the speed of movement in the above formula. The walking speed of a person when reaching the current edge can be used. That is, when calculating the physical energy consumption of a person when passing through the current edge, the walking speed of the person when reaching the current edge is used in the calculation. For the first edge, the basic walking speed can be used as the walking speed of the person when reaching the edge. For subsequent edges, the walking speed determined after the person reaches the previous edge is used.

[0046] The directional fatigue function is preferably expressed in a piecewise form:

[0047] in β The downhill fatigue coefficient is used to characterize the additional fatigue effects caused by braking, buffering, and centrifugal contraction when going downhill or down stairs, thus giving rise to the asymmetric characteristics of physical exertion between going uphill and downhill.

[0048] at discrete time step Below, the physical exertion of personnel at the current location is... Based on this, the personnel update their physical condition status using the current edge's physical condition value, and obtain the updated physical condition status value:

[0049] Among them, the physical fitness status of personnel when they reach the first edge is measured as the initial physical fitness reserve. E (0), the physical condition of the personnel when they arrive at each subsequent edge is taken from the physical condition updated by the previous edge.

[0050] Regarding the update of movement speed, a decrease in physical fitness will penalize a person's actual movement speed. A person's current movement speed is determined by the following formula:

[0051] in The base walking speed, It is a physical fitness penalty function, which decreases as the physical fitness state quantity decreases.

[0052] In one embodiment, Using piecewise linear form:

[0053] In another preferred embodiment, Alternatively, a continuous logistic decay method can be used:

[0054] in k This is the attenuation steepness coefficient. It serves as the critical threshold for physical fitness, characterizing the sudden drop in speed that occurs when a person's physical fitness approaches its limit, and is applicable to optimization scenarios that require a continuously differentiable cost function.

[0055] Regarding the updating of respiratory ventilation, considering that the respiratory load of personnel during long-distance vertical evacuation from underground powerhouses will significantly increase with the increase of velocity and vertical work, this embodiment uses the form of baseline ventilation + velocity term + vertical work term to determine the respiratory ventilation of personnel passing through the current side:

[0056] in This refers to the baseline ventilation rate. For speed influence coefficient, This is the slope influence coefficient. The function that does work in the direction of the work is denoted as .

[0057] The preferred definition of the directional work function is:

[0058] in, α A reduction factor for work done downhill is used to ensure that respiratory ventilation does not decrease unreasonably during downhill driving, but its increase is less than that during uphill driving. For ease of modular implementation, a dimensionless ventilation gain factor can also be defined:

[0059] When a unified dimension is required for subsequent calculations of inhaled toxicity, the respiratory ventilation volume will be converted to m³ / s:

[0060] Regarding the updating of toxic inhalation dose, after obtaining the toxicity hazard attributes of the current side and the respiratory ventilation of personnel passing through the current side, the toxic inhalation dose of personnel passing through the current side is determined by dynamic integration according to the discrete time step Δt, and a standardized dose fraction is formed accordingly.

[0061] For the k The characteristic toxic component has an inhalation dose increment within a single step time as follows:

[0062] in, This represents the equivalent concentration of the k-th toxic component at time t, and the corresponding cumulative inhalation dose is updated as follows:

[0063] Based on the tolerance limit threshold of each toxic component Calculate the standardized dose fraction:

[0064] in A disability threshold, a danger threshold, or other preset safety thresholds can be selected. Therefore, when personnel experience increased respiratory ventilation due to vertical ascent, their inhaled toxicity accumulates at a correspondingly faster pace.

[0065] After updating the current edge, the updated physical fitness state is used as the physical fitness state when the person reaches the next edge. This process is repeated edge by edge until all edges in the path to be evaluated are traversed, thus accumulating the person's physical exertion and toxicity inhalation along the path. The above physiological-environment coupling calculation process forms a set of state variables that are continuously updated over time.

[0066] It serves as the core input for subsequent path cost accumulation and optimal path search.

[0067] S4. Using the cost of physical exertion and toxicity inhalation of the path to be evaluated as the basis for optimization, a path search is performed on the several paths to be evaluated to obtain the optimal evacuation path.

[0068] This step, after obtaining the physical exertion and toxicity inhalation amounts for each path to be evaluated, performs path searching according to a preset cost function. (For the edges...) The passage process is expanded according to a discrete time step Δt, and the time increment is defined as follows:

[0069] Dosage increment:

[0070] Increase in physical exertion:

[0071] And define the incremental cost of the edge:

[0072] in , , These are the weighting coefficients for the time, dosage, and physical fitness components, respectively. In embodiments where the cost is solely based on physical exertion and toxicity inhalation, the time term can be weighted at zero or incorporated into the overall preference. and These respectively represent the trade-off between survival safety and physical accessibility.

[0073] Furthermore, the path search can be a time-dependent search, that is, during the evaluation of edges... At that time, based on the estimated arrival time of personnel crossing this side:

[0074] Use the corresponding dynamic toxicity hazard attributes Based on this, the dose increment, energy consumption, and cost at that moment are calculated, thus incorporating the time effects of fire smoke evolution and toxicity accumulation into the search process. In one embodiment, this can be achieved using... A The search algorithm optimizes the process, and the cost traversed from the starting point to the current node n is:

[0075] Heuristic costs are worthwhile:

[0076] in This serves as the lower bound for the 3D geometric distance from the current node to the target node. To preset the maximum achievable speed, the algorithm uses the following total cost: Based on the search criteria, the nodes with the lowest total cost are continuously expanded until the target node is reached; in other embodiments, it can also be set as follows: The search can be reduced to Dijkstra's search, or swarm intelligence algorithms such as ant colony optimization, particle swarm optimization, and genetic algorithms, or reinforcement learning algorithms, can be used to construct a fitness function or reward function based on the combined cost of physical exertion and toxicity inhalation for iterative optimization. Finally, the path with the optimal cost among the evaluated paths is obtained as the optimal evacuation path, and the total cost, total evacuation time, and cumulative standardized dose score corresponding to this path can be output. Endpoint physical fitness value Information on the hazardous attributes of key nodes along the route and the status changes of each side.

[0077] In other embodiments, the energy expenditure and respiratory rate of a person traversing the current side can be determined using a data-driven model based on machine learning, rather than by calculating the analytical formula described above. Specifically, a data-driven prediction model can be trained in advance using measured physiological data collected by the person's wearable device. During path search, the slope information of the current side and features such as the person's walking speed are input into this data-driven prediction model, which then directly outputs the energy expenditure and respiratory rate of the person traversing the current side. The data-driven prediction model can employ artificial neural networks, support vector machines, or other machine learning models. This embodiment achieves functionality similar to the analytical formula without requiring the construction of analytical mathematical dynamic equations.

[0078] In some embodiments, when computational resources are limited, a static equivalent penalty method can be used to simplify the above-mentioned edge-by-edge dynamic calculation. Specifically, based on the slope information and length of each edge, a corresponding elevation resistance coefficient and toxicity inhalation amplification coefficient are assigned to that edge, and the edge is converted into an equivalent distance on flat ground or a static hazard level accordingly. Then, a shortest path algorithm is used to search for paths among the several paths to be evaluated to obtain the optimal evacuation path. Although this embodiment does not progressively depict the nonlinear changes in physical exertion and toxicity inhalation, it can still partially reflect the adverse effects of vertical elevation differences on evacuation.

[0079] In one embodiment of this application, such as Figure 3 As shown, a technical principle and flow of a three-dimensional evacuation route planning method for underground power plants are provided. Based on the aforementioned S1 to S4, this method further explains how to combine the feasibility evaluation of external evacuation, refuge, and backup targets during the route search process to obtain the optimal evacuation route that meets the survival conditions and output evidence chain information.

[0080] In this embodiment, the target nodes include evacuation target nodes, refuge target nodes, and backup target nodes, with their priorities decreasing sequentially. The evacuation target nodes constitute an evacuation target set. These include exits from traffic tunnels, ventilation and safety tunnels, or other exits that allow direct escape from the danger zone; evacuation target nodes constitute an evacuation target set. This includes refuge points, refuge chambers, or relatively safe spaces accessible from the same or adjacent floors; the backup target nodes constitute the backup target set. This includes backup shafts, authorized emergency exits, or other fallback evacuation routes.

[0081] For edges with limited availability, they are only included in the feasible search set when the corresponding strategy switching condition is triggered. For example, the edge corresponding to the backup shaft is only enabled when the search shifts to the backup target node. Feasible path determination: For each type of target node, edge-by-edge coupling calculation and path search along the path to be evaluated are performed according to the aforementioned S3 and S4, respectively, to obtain the path to be evaluated leading to the corresponding target node and its key evaluation indicators, including total cost, total evacuation time, and cumulative standardized dose score. and endpoint physical condition measurement wait.

[0082] In this embodiment, the path to be evaluated that meets the preset survival threshold constraint for toxic inhalation and the preset lower limit constraint for physical fitness at the endpoint is determined as a feasible path. The endpoint physical fitness level is the difference between the physical fitness level of the person at the starting node and the physical exertion of the path to be evaluated, that is: = E (0) Σ .

[0083] Wherein, the toxic inhalation dose satisfying the preset survival threshold constraint represents the standardized dose fraction at the endpoint of the path to be evaluated. Not exceeding the preset survival threshold ,Right now ; The endpoint physical fitness state quantity satisfies the preset lower limit constraint. Not lower than the preset physical fitness limit ,Right now .

[0084] The preset survival threshold The preset physical fitness lower limit can be set according to engineering safety standards, effective fractional dose tolerance values, exercise calibration data, or management requirements. Characterizes the minimum physical strength required for personnel to maintain basic passage when they reach the target node.

[0085] Priority-based strategy switching. After determining feasible paths, the feasible path leading to the highest priority target node is selected as the candidate path, and the candidate path with the lowest cost is selected as the optimal evacuation path.

[0086] Specifically, if there are target nodes to be withdrawn... So that the corresponding path to be evaluated satisfies and If the evacuation plan is deemed feasible, the path with the lowest cost among the feasible paths leading to the evacuation target node that satisfy the above constraints is selected as the optimal evacuation path. If for all evacuation target nodes All of the following are available:

[0087] or:

[0088] If the evacuation plan is deemed unfeasible, the system will automatically switch to the set of refuge targets. Among the feasible paths leading to the refuge target node that satisfy the survival threshold constraint and the physical fitness lower limit constraint, the path with the lowest cost is selected; if all the paths to the refuge target node being evaluated still do not satisfy the constraints, then the process is further switched to the set of backup targets. Perform the search and judgment.

[0089] Thus, by employing a dual screening mechanism of survival threshold constraints and physical fitness minimum constraints, and prioritizing evacuation, followed by refuge, and then backup measures, a complete decision-making loop is formed, from prioritizing evacuation to providing backup solutions. If the backup objective is still infeasible, a backup strategy is output, such as waiting for rescue on-site or a path with the minimum incapacity time, along with the reasons why each candidate solution is infeasible. The optimal path and evidence chain are then output. After obtaining the optimal evacuation path, this embodiment further outputs the evidence chain information corresponding to the optimal evacuation path. This evidence chain information is used for real-time emergency command, as well as for subsequent plan review, exercise evaluation, and accident reconstruction. The output content includes at least one or more of the following: the final target node type corresponding to the optimal evacuation route, including exits, refuge points, backup shafts, or fallback targets; the optimal route sequence, including a node list, edge sequence, key turning points, and elevation change information; the reason for triggering target node switching, including threshold triggering, exit infeasibility, refuge point switching, or backup channel activation; and the process of changes in physical fitness and toxicity inhalation along the optimal evacuation route, including the estimated total evacuation time and cumulative standardized dose fraction. Curves, physical state quantities curve, respiratory ventilation Curves, critical node hazard attributes, and bottleneck information along the route.

[0090] Furthermore, in one embodiment, the candidate path comparison results can also be output, that is, comparison indicators of evacuation paths, refuge paths, and backup paths can be given simultaneously, so that emergency commanders can clearly understand the risk differences and switching basis under different strategies; for candidate paths that do not meet the survival conditions, their infeasibility reasons can also be clearly marked, such as cumulative dose exceeding the threshold, insufficient physical strength, path blockage, or target failure. This results in a complete set of results including the optimal evacuation path, the type of final target node, the change process of key state quantities, and the decision-making basis.

[0091] In one embodiment of this application, such as Figure 2 As shown, a three-dimensional evacuation path planning system for underground power plants is provided, including: The network construction module is used to construct an evacuation topology network, which includes several edges and several nodes. Each edge includes the slope information of the passable road segment, and the several nodes include the starting node of the personnel and the target node of the evacuation. The data acquisition module is used to acquire the toxicity hazard attributes of each edge and the initial values ​​of the physiological parameters of the personnel to be evacuated. The initial values ​​of the physiological parameters include the physical state, basic walking speed and basic ventilation of the personnel at the starting node. A coupled calculation module is used to obtain several paths to be evaluated from the starting node to the target node. Each path includes several edges. For each path, the physical fitness state at the starting node is used as the physical fitness state when the person reaches the first edge, and the process proceeds sequentially along each edge. For the current edge, based on the physical fitness state when the person reaches the current edge and the slope information of the current edge, the physical fitness consumption of the person crossing the current edge is determined. The physical fitness state after crossing the current edge is updated based on the physical fitness consumption, resulting in an updated physical fitness state. The updated physical fitness state is then used to calculate the updated physical fitness state. Based on the physical condition status and the baseline walking speed, the walking speed of the person passing through the current side is determined; based on the walking speed of the current side, the baseline ventilation volume, and the slope information of the current side, the respiratory ventilation volume of the person passing through the current side is determined; based on the respiratory ventilation volume and the toxicity hazard attribute of the current side, the toxicity inhalation volume of the person passing through the current side is determined; the updated physical condition status is used as the physical condition status of the person when reaching the next side, and the above steps are repeated side by side until all sides of the path to be evaluated are traversed to obtain the physical exertion and toxicity inhalation volume of the person along the path to be evaluated; The path optimization module is used to search for the optimal evacuation path by taking the cost of physical exertion and toxicity inhalation of the path to be evaluated as the basis for optimization.

[0092] like Figure 4 As shown, the processing flow of the above system during operation is as follows: the network construction module constructs an evacuation topology network based on the underground plant's spatial structure data. The system generates node attribute tables and edge attribute tables, which are then output to the data acquisition module and the coupled calculation module. The data acquisition module acquires the dynamic hazard field under fire conditions and maps it to the nodes and edges of the evacuation topology network, obtaining the toxicity hazard attribute of each edge. On the other hand, initial values ​​for the physiological parameters of personnel are set:

[0093] The toxicity hazard attributes and initial values ​​of physiological parameters are output to the coupled calculation module. The coupled calculation module takes the physical fitness status at the starting node as the physical fitness status of the personnel when they reach the first edge, and updates the physical fitness consumption, updated physical fitness status, walking speed, respiratory ventilation and toxicity inhalation along the path to be evaluated. The physical fitness consumption and toxicity inhalation of each path to be evaluated are accumulated and output to the path optimization module. The path optimization module uses the cost including physical fitness consumption and toxicity inhalation as the optimization criterion to search for the optimal evacuation path among several paths to be evaluated.

[0094] Furthermore, in one embodiment, the system further includes a strategy switching module and an output and evidence chain module. The strategy switching module is used to perform target switching and decision-making among evacuation, refuge, and backup target nodes based on the evaluation results of the paths to be evaluated for evacuation, refuge, and backup target nodes, according to preset survival threshold constraints and preset physical fitness minimum constraints. The module selects the feasible path with the lowest cost leading to the highest priority target node as the optimal evacuation path. The output and evidence chain module is used to output the final target node type corresponding to the optimal evacuation path, the reason for triggering the target node switching, and evidence chain information. The evidence chain information includes at least one or more of the following: estimated total evacuation time, toxicity inhalation rate change process, physical fitness rate change process, critical node hazard attributes, and candidate path comparison results.

[0095] Specific limitations regarding the three-dimensional evacuation route planning system for underground power plants can be found in the above-described limitations of the three-dimensional evacuation route planning method for underground power plants; the corresponding technical effects are equivalent and will not be repeated here. Each module in the aforementioned three-dimensional evacuation route planning system for underground power plants can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0096] Figure 6 An internal structural diagram of a computer device is shown in one embodiment. This computer device may specifically be a terminal or a server. Figure 6As shown, the computer device includes a processor, memory, network interface, display, camera, and input device connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements a three-dimensional evacuation path planning method for underground power plants. The display screen can be an LCD screen or an e-ink display screen. The input device can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0097] As will be understood by those skilled in the art, computer equipment Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present invention and does not constitute a limitation on the computer device to which the present invention is applied. Specific computing devices may include more or fewer components than those shown in the figure, or combine certain components, or have the same component arrangement.

[0098] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method described above.

[0099] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described method.

[0100] In one embodiment, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the steps of the aforementioned three-dimensional evacuation path planning method for underground power plants. Those skilled in the art will understand that the computer program in the aforementioned computer program product can be stored in a computer-readable storage medium and can be downloaded, distributed, or deployed to a corresponding computer device via wired or wireless means, where it is loaded and executed by the processor of the computer device to implement all or part of the steps of the aforementioned method.

[0101] In summary, the three-dimensional evacuation route planning method, system, computer equipment, and storage medium provided in this application improve upon traditional two-dimensional planar road network construction methods that ignore vertical elevation differences by constructing an evacuation topology network that includes spatial attributes such as elevation, slope, and traffic type. This makes the method more suitable for the three-dimensional structural characteristics of underground factories, such as multi-story buildings, deep burial, and long inclined shafts. By introducing a physical exertion and speed penalty mechanism based on slope and travel speed, the method corrects the assumptions of unlimited physical strength and constant speed in traditional algorithms. It quantifies the physical exertion and deceleration phenomena during long-distance vertical evacuation, reduces the number of routes that are difficult to traverse, and improves the actual accessibility of the planned routes. Furthermore, by establishing a cost model that couples physical exertion, respiratory ventilation, and toxic inhalation, the method further enhances the effectiveness of the planned routes. This approach changes the assessment method that uses static environmental hazard concentration as a fixed weight, incorporating the accelerated toxicity inhalation effect caused by increased ventilation during vertical ascent, making the survival safety assessment more objective and comprehensive. Furthermore, by establishing a dynamic switching mechanism between evacuation, refuge, and backup targets based on survival thresholds and physical fitness limits, it moves beyond the static optimization mode of direct access to a single target. When the main evacuation route is severely intruded upon, it can automatically switch to refuge or backup targets, enhancing the adaptability of evacuation strategies in complex fire evolution environments. This allows for the planning of evacuation routes that balance evacuation time, survival safety, and physical accessibility in confined spaces with large elevation differences, such as underground factories. It solves the technical problem that existing technologies struggle to balance these three aspects, demonstrating significant substantive features and remarkable progress.

[0102] The various embodiments in this specification are described in a progressive manner. For directly identical or similar parts of the embodiments, refer to each other. Each embodiment focuses on its differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. It should be noted that the technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0103] The above-described embodiments are merely preferred embodiments of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various improvements and substitutions without departing from the principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention. Therefore, the scope of protection of this invention should be determined by the scope of the claims.

Claims

1. A three-dimensional evacuation path planning method for an underground powerhouse, characterized in that, include: Construct an evacuation topology network, which includes several edges and several nodes. Each edge includes the slope information of the passable road segment, and the several nodes include the starting node of the personnel and the target node of the evacuation. Obtain the toxicity hazard attributes of each edge and the initial values ​​of the physiological parameters of the personnel to be evacuated. The initial values ​​of the physiological parameters include the physical state, basic walking speed and basic ventilation of the personnel at the starting node. Several paths to be evaluated from the starting node to the target node are obtained. Each path includes several edges. For each path, the physical fitness status at the starting node is used as the physical fitness status when the person reaches the first edge, and the process proceeds sequentially along each edge. For the current edge, the physical fitness consumption of the person is determined based on the physical fitness status when the person reaches the current edge and the slope information of the current edge. The physical fitness status of the person after passing the current edge is updated based on the physical fitness consumption, resulting in an updated physical fitness status. The updated physical fitness status is then used to determine the physical fitness status. Based on the physical condition status and the baseline walking speed, determine the walking speed of the person passing through the current side; based on the walking speed of the current side, the baseline ventilation volume, and the slope information of the current side, determine the respiratory ventilation volume of the person passing through the current side; based on the respiratory ventilation volume and the toxicity hazard attribute of the current side, determine the toxicity inhalation volume of the person passing through the current side; use the updated physical condition status as the physical condition status of the person when reaching the next side, and repeat the above steps side by side until all sides of the path to be evaluated are traversed, to obtain the physical exertion and toxicity inhalation volume of the person along the path to be evaluated; Using the cost of physical exertion and toxicity inhalation along the evaluated path as the basis for optimization, a path search is performed on the evaluated paths to obtain the optimal evacuation path.

2. The method for planning three-dimensional evacuation routes in an underground powerhouse according to claim 1, characterized in that, The determination of the amount of toxicity inhaled by a person through the current side based on the respiratory ventilation and the toxicity hazard attribute of the current side includes: Determine the estimated arrival time of the person along the path to be evaluated to reach the current edge, obtain the toxicity hazard attribute of the current edge at the estimated arrival time, and determine the toxicity inhalation amount of the person passing through the current edge based on the respiratory ventilation volume and the toxicity hazard attribute of the current edge at the estimated arrival time.

3. The method for planning three-dimensional evacuation routes in an underground factory building according to claim 1, characterized in that, The construction of the sparse topology network includes: Calculate the elevation difference between the two nodes connected by each edge and the length of the edge, and determine the slope information of the edge based on the elevation difference and the length; The edge includes at least one passageway selected from horizontal passages, stairs, ramps, inclined shafts, and vertical shafts.

4. The method for planning three-dimensional evacuation routes in an underground powerhouse according to claim 1, characterized in that, The step of determining the amount of physical exertion expended by a person traversing the current edge based on their physical condition upon arrival and the slope information of the current edge includes: Determine the directional fatigue amount based on the slope information of the current edge; The amount of physical exertion of a person passing through the current edge is determined based on the person's physical condition when arriving at the current edge, the person's speed of travel to the current edge, and the fatigue level in the stated direction.

5. The method for planning three-dimensional evacuation routes in an underground powerhouse according to claim 1, characterized in that, The step of determining the movement speed of a person across the current edge based on the updated physical fitness status and the base walking speed includes: The speed penalty coefficient is determined based on the updated physical condition data; Multiply the base walking speed by the speed penalty coefficient to obtain the walking speed of the person passing through the current edge.

6. The method for planning three-dimensional evacuation routes in an underground powerhouse according to claim 1, characterized in that, Determining the respiratory ventilation of a person passing through the current side based on the travel speed, the baseline ventilation volume, and the slope information of the current side includes: Determine the speed ventilation term based on the travel speed; The vertical work ventilation term is determined based on the travel speed and the slope information of the current side; The basic ventilation volume, the velocity ventilation term, and the vertical work ventilation term are added together to obtain the respiratory ventilation volume of the person passing through the current side.

7. The method for planning three-dimensional evacuation routes in an underground powerhouse according to claim 1, characterized in that, The target nodes include evacuation target nodes, refuge target nodes, and backup target nodes, with the priority of the evacuation target nodes, refuge target nodes, and backup target nodes decreasing in that order. The process of searching for the optimal evacuation path among the several paths to be evaluated includes: The path to be evaluated that meets the preset survival threshold constraint for toxic inhalation and the preset lower limit constraint for physical fitness at the endpoint is determined as a feasible path. The endpoint physical fitness is the difference between the physical fitness of the person at the starting node and the physical fitness consumption of the path to be evaluated. Among the feasible paths, the feasible path leading to the target node with the highest priority is selected as the candidate path, and the candidate path with the lowest cost is selected as the optimal evacuation path.

8. A three-dimensional evacuation path planning system for underground power plants, characterized in that, include: The network construction module is used to construct an evacuation topology network, which includes several edges and several nodes. Each edge includes the slope information of the passable road segment, and the several nodes include the starting node of the personnel and the target node of the evacuation. The data acquisition module is used to acquire the toxicity hazard attributes of each edge and the initial values ​​of the physiological parameters of the personnel to be evacuated. The initial values ​​of the physiological parameters include the physical state, basic walking speed and basic ventilation of the personnel at the starting node. A coupled calculation module is used to obtain several paths to be evaluated from the starting node to the target node. Each path includes several edges. For each path, the physical fitness state at the starting node is used as the physical fitness state when the person reaches the first edge, and the process proceeds sequentially along each edge. For the current edge, based on the physical fitness state when the person reaches the current edge and the slope information of the current edge, the physical fitness consumption of the person crossing the current edge is determined. The physical fitness state after crossing the current edge is updated based on the physical fitness consumption, resulting in an updated physical fitness state. The updated physical fitness state is then used to calculate the updated physical fitness state. Based on the physical condition status and the baseline walking speed, the walking speed of the person passing through the current side is determined; based on the walking speed of the current side, the baseline ventilation volume, and the slope information of the current side, the respiratory ventilation volume of the person passing through the current side is determined; based on the respiratory ventilation volume and the toxicity hazard attribute of the current side, the toxicity inhalation volume of the person passing through the current side is determined; the updated physical condition status is used as the physical condition status of the person when reaching the next side, and the above steps are repeated side by side until all sides of the path to be evaluated are traversed to obtain the physical exertion and toxicity inhalation volume of the person along the path to be evaluated; The path optimization module is used to search for the optimal evacuation path by taking the cost of physical exertion and toxicity inhalation of the path to be evaluated as the basis for optimization.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program adapted to be loaded by a processor and executed as described in any one of claims 1 to 7: a three-dimensional evacuation path planning method for an underground plant.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements a three-dimensional evacuation path planning method for underground power plants as described in any one of claims 1 to 7.

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