CN111536978A - Indoor positioning navigation system and application method thereof in emergency evacuation - Google Patents
Indoor positioning navigation system and application method thereof in emergency evacuation Download PDFInfo
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Abstract
The invention provides an indoor positioning navigation system and an application method thereof in emergency evacuation. The system comprises a map drawing module, a map processing module and a map processing module, wherein the map drawing module is used for carrying out three-dimensional mapping and map drawing on the indoor space through an SLAM technology and generating a three-dimensional live-action map; the key point positioning module is used for generating key points in the three-dimensional live-action map, wherein the key points comprise emergency exits and intersection points with 2 or more paths; the route planning module is used for dynamically planning an evacuation route from each intersection to an emergency exit according to the fire occurrence position by using a preset route planning algorithm based on the three-dimensional live-action map and generating the evacuation route into dynamic navigation information; and the two-dimensional code laying module is used for generating the dynamic navigation information into a two-dimensional code and marking the position of a cross point corresponding to the two-dimensional code at one end of the two-dimensional code. The indoor positioning navigation system can dynamically plan the evacuation path according to the position of the fire, and is low in investment cost and easy to popularize.
Description
Technical Field
The invention relates to the technical field of indoor positioning and navigation, in particular to an indoor positioning and navigation system and an application method thereof in emergency evacuation.
Background
With the increasing of urban large-scale buildings and the increasing complexity of internal structures thereof, when an emergency such as a fire occurs, a great deal of casualties and property loss are often accompanied, and how to plan a safe and effective emergency evacuation escape path is more and more concerned. The existing indoor navigation path planning algorithm mainly considers the geometric information of an indoor model, plans a path according to the current position and the determined target position, and hardly dynamically plans an evacuation path by considering less building structure factors which are crucial to evacuation decision under the condition of fire, other factors which influence evacuation, such as the position where the fire occurs and the like. Meanwhile, the existing indoor positioning method has poor positioning accuracy or needs to lay corresponding infrastructure and has high cost investment, and is difficult to effectively popularize in a large range.
Therefore, it is desirable to provide an indoor positioning navigation system suitable for emergency evacuation to solve at least one of the above technical problems.
Disclosure of Invention
The invention aims to provide an indoor positioning navigation system and an application method thereof in emergency evacuation, and aims to solve the problem that the existing indoor navigation path planning cannot dynamically plan an evacuation path or is difficult to popularize.
In order to achieve the above object, a first aspect of the present invention provides an indoor positioning and navigation system, including:
the map drawing module is used for carrying out three-dimensional mapping and map drawing on the indoor space through an SLAM technology and generating a three-dimensional live-action map;
the key point positioning module is used for generating key points in the three-dimensional live-action map, wherein the key points comprise emergency exits and intersection points with 2 or more paths;
the route planning module is used for dynamically planning an evacuation route from each intersection to an emergency exit by using a preset route planning algorithm according to the fire occurrence position on the basis of the three-dimensional live-action map and generating the evacuation route into dynamic navigation information;
and the two-dimensional code laying module is used for generating the dynamic navigation information into a two-dimensional code and marking the position of a cross point corresponding to the two-dimensional code at one end of the two-dimensional code.
Preferably, the mapping module includes:
the acquisition submodule is used for acquiring indoor three-dimensional geographic information data based on an SLAM technology;
the construction submodule is used for constructing an indoor three-dimensional model according to the indoor three-dimensional geographic information data;
and the matching submodule is used for mapping and matching the indoor three-dimensional model into a CGCS2000 coordinate system so as to generate the three-dimensional live-action map.
Preferably, the two-dimensional code laying module includes:
the two-dimensional code generation submodule is used for generating the dynamic navigation information into a two-dimensional code;
the link binding submodule is used for binding the two-dimension code and the corresponding dynamic navigation information through a data link, and accessing the corresponding dynamic navigation information through the data link after the terminal equipment scans the two-dimension code;
the position calibration submodule is used for marking the position of a cross point corresponding to the position at one end of the two-dimensional code, wherein the position and the two-dimensional code are designed integrally or separately;
and the printing submodule is used for printing the two-dimensional code and the marked position thereof.
Preferably, the preset path planning algorithm is a hierarchical a-algorithm that includes both a direction constraint and a distance constraint, and an evaluation function of the hierarchical a-algorithm is:
f′(n)＝g(n)+q.abs(sinθ)+Dis(nf,ng)
wherein g (n) represents the actual cost from the current node CN to the start node IN; abs () is an absolute value function, theta is an included angle between a vector formed by the precursor node FN and the start node IN and a vector formed by the start node IN and the target node GN; n isf、ngIs a precursor node FN and a target node GN, Dis (n)f,ng) The Euclidean distance from the precursor node FN to the target node GN; q is a heuristic of directional constraints.
In order to further achieve the above object, a second aspect of the present invention provides an application method of the above indoor positioning and navigation system in emergency evacuation, the application method comprising:
the trapped person handheld terminal device scans the two-dimensional code and transmits the two-dimensional code to the server;
the server analyzes the two-dimension code, reads a corresponding three-dimensional live-action map, and dynamically plans an evacuation path from a current position to an emergency exit according to a fire occurrence position, wherein the current position, a plurality of emergency exits and the fire occurrence position are marked in the three-dimensional live-action map, the fire occurrence position is real-time data, and the current position is the position marked by the two-dimension code;
and the server sends the evacuation path to the terminal equipment.
Preferably, after the step of sending the evacuation path to the terminal device, the server further includes:
and the server acquires the real-time position of the terminal equipment by using an inertial navigation positioning method according to the current position.
Preferably, after the step of sending the evacuation path to the terminal device, the server further includes:
the server acquires the telephone number and the real-time positioning information of the terminal equipment and judges whether the terminal equipment escapes to the emergency exit within preset time;
if yes, recording as successful escape; otherwise, recording that the escape is not successful, and sending the information to the rescue personnel.
Preferably, after the step of sending the evacuation path to the terminal device, the server further includes:
judging whether the evacuation proportion of the trapped people according to the evacuation path is greater than or equal to a correction threshold value or not;
and if not, updating the evacuation path in real time.
Preferably, the evacuation path is dynamically planned by a preset path planning algorithm, the preset path planning algorithm is a hierarchical a-algorithm that simultaneously contains a direction constraint and a distance constraint, and an evaluation function of the hierarchical a-algorithm is as follows:
f′(n)＝g(n)+q.abs(sinθ)+Dis(nf,ng)
wherein g (n) represents the actual cost from the current node CN to the start node IN; abs () is an absolute value function, theta is an included angle between a vector formed by the precursor node FN and the start node IN and a vector formed by the start node IN and the target node GN; n isf、ngIs a precursor node FN and a target node GN, Dis (n)f,ng) The Euclidean distance from the precursor node FN to the target node GN; q is a heuristic of directional constraints.
Preferably, the three-dimensional live-action map is obtained by drawing through a SLAM technology.
Compared with the prior art, the indoor positioning navigation system provided by the invention comprises a map drawing module, a key point positioning module, a path planning module and a two-dimensional code laying module, wherein the map drawing module is used for generating a high-precision and visual indoor three-dimensional live-action map through an SLAM technology; the key point positioning module is used for generating key points in the three-dimensional live-action map, such as emergency exits and intersections with 2 or more paths; the route planning module is used for dynamically planning an evacuation route from each intersection to an emergency exit by using a preset route planning algorithm according to the fire occurrence position based on the three-dimensional live-action map with the generated key points, and generating the evacuation route into dynamic navigation information; the two-dimensional code laying module is used for generating the dynamic navigation information into a two-dimensional code and marking the position of a cross point corresponding to the two-dimensional code at one end of the two-dimensional code. The indoor positioning navigation system fully considers the building structure factors and the fire occurrence position factors which are crucial to evacuation decision under the condition of fire, dynamically plans the evacuation path from each intersection point to the emergency exit according to the fire occurrence position on the basis of the three-dimensional live-action map, and greatly improves the accuracy of evacuation decision so that trapped people can escape to the emergency exit in time. Meanwhile, the indoor positioning navigation system disclosed by the invention binds the two-dimension code and the dynamic navigation information and carries out position calibration by using the two-dimension code, so that the investment cost is greatly reduced compared with the prior art, and the indoor positioning navigation system is easy to popularize.
Drawings
FIG. 1 is a schematic structural diagram of an indoor positioning and navigation system according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of a first embodiment of a mapping module;
fig. 3 is a schematic structural diagram of a two-dimensional code laying module according to a first embodiment of the invention;
FIG. 4 is a flow chart illustrating a method for applying the indoor positioning and navigation system in emergency evacuation according to the second embodiment of the present invention;
fig. 5 is a flow chart illustrating a method for applying the indoor positioning and navigation system in emergency evacuation according to the third embodiment of the present invention;
fig. 6 is a flow chart illustrating a method for applying the indoor positioning and navigation system in emergency evacuation according to the fourth embodiment of the present invention;
fig. 7 is a flow chart illustrating an application method of the indoor positioning and navigation system in emergency evacuation according to the fifth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, a first embodiment of the present invention provides an indoor positioning and navigation system 100, where the indoor positioning and navigation system 100 is built based on a three-dimensional geographic information platform, such as a 3DGIS with ceium as an open source engine. Specifically, the indoor positioning navigation system 100 includes a mapping module 10, a key point positioning module 20, a path planning module 30, and a two-dimensional code laying module 40. The map drawing module 10 is configured to perform three-dimensional mapping and map drawing on an indoor space by using a slam (simultaneous localization and mapping) technology, and generate a three-dimensional live-action map of the indoor space. The keypoint location module 20 is coupled to the mapping module 10 for generating keypoints in the three-dimensional live-action map, the keypoints including emergency exits and intersections having 2 or more paths.
The route planning module 30 is coupled to the key point positioning module 20, and configured to dynamically plan an evacuation route from each intersection to an emergency exit by using a preset route planning algorithm according to a fire occurrence location on the basis of the generated three-dimensional live-action map of the key point, and generate the evacuation route as dynamic navigation information. It should be noted that the emergency exit is a safe escape exit closest to the corresponding intersection. The two-dimensional code laying module 40 is coupled to the path planning module 30, and is configured to generate a two-dimensional code from the dynamic navigation information, and mark a position of a cross point corresponding to the two-dimensional code at one end of the two-dimensional code.
The indoor positioning and navigation system of the first embodiment of the invention fully considers the building structure factors and the fire occurrence position factors which are crucial to the evacuation decision under the fire condition, and dynamically plans the evacuation path from each intersection to the emergency exit according to the fire occurrence position on the basis of the three-dimensional live-action map, so that the accuracy of the evacuation decision can be greatly improved, and trapped people can conveniently escape to the emergency exit in time. Meanwhile, the indoor positioning navigation system of the first embodiment of the invention binds the two-dimensional code and the dynamic navigation information and uses the two-dimensional code to calibrate the position, compared with the prior art, the indoor positioning navigation system greatly saves manpower, material resources and financial resources, almost does not need extra cost investment, and is easy to popularize.
Optionally, please refer to fig. 2, wherein fig. 2 is a schematic structural diagram of the mapping module 10 according to the first embodiment of the present invention. As shown in fig. 2, the mapping module 10 includes an acquisition sub-module 11, a construction sub-module 12, and a matching sub-module 13. The acquisition submodule 11 is configured to acquire indoor three-dimensional geographic information data based on an SLAM technique, where the three-dimensional geographic information data includes a live-action image and three-dimensional point cloud data of the indoor space. The construction submodule 12 is coupled to the acquisition submodule 11, and is configured to construct an indoor three-dimensional model according to the indoor three-dimensional geographic information data. The traditional three-dimensional laser scanner can only acquire three-dimensional point cloud data singly, and texture mapping and modeling are performed after a plurality of images are shot by a third-party device, so that texture mapping error influence exists. According to the method, the real-scene image and the three-dimensional point cloud data of the indoor space are acquired simultaneously through the SLAM technology, so that errors in the texture mapping process are avoided, and the accuracy of the indoor three-dimensional model obtained after reconstruction is high.
The matching sub-module 13 is coupled to the constructing sub-module 12, and is configured to match the indoor three-dimensional model mapping into a CGCS2000 coordinate system, so as to finally generate the three-dimensional live-action map. The three-dimensional live-action map is visual and high in precision, and is favorable for accurate positioning and trapped people to timely know the specific position of the trapped people. The three-dimensional point cloud data acquired by the acquisition submodule 11 has an independent coordinate system, and the indoor three-dimensional model reconstructed based on the three-dimensional point cloud data is also an independent coordinate system. Inside the three-dimensional space, the relative position between the points can reach the sub-centimeter level precision. However, when an indoor three-dimensional live-action map is produced, an indoor three-dimensional model needs to be mapped and matched to the CGCS2000 coordinate system. Optionally, a plurality of pairs of common points are searched on the indoor three-dimensional model and the CGCS2000 base map, and the relative positions are matched by using the common points, so as to obtain an indoor three-dimensional live-action map matched with the CGCS2000 base map.
Optionally, please refer to fig. 3, where fig. 3 is a schematic structural diagram of a two-dimensional code laying module 40 according to a first embodiment of the present invention. As shown in fig. 3, the two-dimensional code laying module 40 includes a two-dimensional code generation sub-module 41, a link binding sub-module 42, a position calibration sub-module 43, and a printing sub-module 44. The two-dimensional code generation submodule 41 is configured to generate a two-dimensional code from the dynamic navigation information. The link binding submodule 42 is coupled to the two-dimensional code generating submodule 41, and is configured to bind the two-dimensional code and the corresponding dynamic navigation information through a data link, and when a terminal device scans the two-dimensional code, the terminal device accesses the corresponding dynamic navigation information through the data link. The position calibration submodule 43 is coupled to the two-dimensional code generation submodule 41, and is configured to mark a position of a cross point corresponding to one end of the two-dimensional code, where the position and the two-dimensional code are designed as an integrated design or a separate design. It should be noted that each two-dimensional code is provided with a unique corresponding data link, and the two-dimensional code is identified by identifying parameters of the data link, so as to obtain the position of the intersection corresponding to the two-dimensional code. The printing sub-module 44 is coupled to the position calibration sub-module 43, and is configured to print the two-dimensional code and the marked position thereof.
The preset path planning algorithm in the path planning module 30 may adopt any suitable algorithm in the art, as long as the evacuation path can be accurately and quickly planned according to the location of the fire. At present, an algorithm suitable for indoor path planning is an a-x algorithm, which is an algorithm with a heuristic search algorithm. The traditional a-algorithm valuation function is:
f′(n)＝g(n)+h′(n) (1)
in formula (1): f '(n) is an evaluation function of the current node CN, h' (n) represents the actual cost from the current node CN to the start node IN, and g (n) is a heuristic function representing the estimated cost from the current node CN to the target node GN.
The execution process of the A-algorithm involves a first set and a second set, wherein the first set is used for storing nodes to be checked in the routing process, and the second set is used for storing checked nodes. At the initial moment, the first set only contains the initial node IN, the second set is an empty set, each time of the main cycle, the first set takes the mix [ f '(n) ] node n as a father node of the next calculation, deletes the checked node and adds the checked node into the second set, and repeats the main cycle by taking the current father node as the center to calculate the evaluation function value of all the precursor nodes FN with the communication relation with the former father node, namely f' (n +1), until the taken precursor nodes FN are the target nodes GN.
In the traditional A-star algorithm, the Manhattan or Euclidean distance usually adopted by the heuristic function cannot realize indoor personalized path finding, and the heuristic function has the defects of weak adaptability to the environment of a complex indoor map, low search rate and the like. Therefore, in the present invention, a hierarchical a-algorithm containing both a direction constraint and a distance constraint is adopted as the preset path planning algorithm in the path planning module 30. The evaluation function of the hierarchical A-algorithm is as follows:
f′(n)＝g(n)+q.abs(sinθ)+Dis(nf,ng) (2)
IN the formula (2), g (n) represents the actual cost from the current node CN to the initial node IN; abs () is an absolute value function, theta is an included angle between a vector formed by the precursor node FN and the start node IN and a vector formed by the start node IN and the target node GN; n isf、ngIs a precursor node FN and a target node GN, Dis (n)f,ng) The Euclidean distance from the precursor node FN to the target node GN; q is a heuristic of directional constraints. The q value is determined according to the scale of the three-dimensional live-action map; the angle theta is set, so that the requirement that the trapped person moves straight in a complex indoor environment is considered while distance information is considered.
Further, please refer to fig. 4, in which fig. 4 is a flowchart illustrating an application method of an indoor positioning and navigation system in emergency evacuation according to a second embodiment of the present invention. It should be noted that the method of the present invention is not limited to the flow sequence shown in fig. 4 if the results are substantially the same. The application method comprises the following steps:
step S201: the trapped person holds the terminal equipment to scan the two-dimensional code and transmits the two-dimensional code to the server.
In step S201, the two-dimensional code is disposed at a preset position of an emergency evacuation area, for example, in this embodiment, the preset position is an intersection of 2 or more routes in the emergency evacuation area. And one end of the two-dimensional code is marked with the position of the corresponding intersection point. The terminal equipment has a function of scanning the two-dimension code, and when a trapped person holds the terminal equipment to scan the two-dimension code, the two-dimension code is transmitted to the server.
Step S202: the server analyzes the two-dimension code, reads a corresponding three-dimensional live-action map, and dynamically plans an evacuation path from a current position to an emergency exit according to a fire occurrence position, wherein the current position, a plurality of emergency exits and the fire occurrence position are marked in the three-dimensional live-action map, the fire occurrence position is real-time data, and the current position is the position marked by the two-dimension code.
In step S202, the two-dimensional code points to a server through a data link, and the server identifies the two-dimensional code according to parameters on the data link, further analyzes the two-dimensional code, reads a corresponding three-dimensional live-action map, and dynamically plans an evacuation path from a current position to an emergency exit according to a fire occurrence position. It should be noted that in emergency evacuation scenarios like fire, the emergency exit should be a safe exit closest to the current location.
Optionally, in step S202, the three-dimensional live-action map is obtained by drawing through SLAM technology. The specific drawing method comprises the following steps: firstly, acquiring indoor three-dimensional geographic information data of the emergency evacuation area based on an SLAM technology, then constructing an indoor three-dimensional model based on the indoor three-dimensional geographic information data, and finally mapping and matching the indoor three-dimensional model to a CGCS2000 coordinate system to obtain an indoor three-dimensional live-action map matched with the CGCS2000 coordinate system.
Optionally, in this embodiment, the evacuation path is obtained by dynamically planning through a preset path planning algorithm, where the preset path planning algorithm is a hierarchical a-algorithm that includes both a direction constraint and a distance constraint, and an evaluation function of the hierarchical a-algorithm is:
f′(n)＝g(n)+q.abs(sinθ)+Dis(nf,ng)
wherein g (n) represents the actual cost from the current node CN to the start node IN; abs () is an absolute value function, theta is an included angle between a vector formed by the precursor node FN and the start node IN and a vector formed by the start node IN and the target node GN; n isf、ngIs a precursor node FN and a target node GN, Dis (n)f,ng) The Euclidean distance from the precursor node FN to the target node GN; q is a heuristic of directional constraints.
Step S203: and the server sends the evacuation path to the terminal equipment.
In step S203, the evacuation path is displayed in the three-dimensional live-action map, and the trapped person escapes to the emergency exit according to the three-dimensional live-action map displayed on the terminal device and the evacuation path displayed on the map.
The application method of the indoor positioning navigation system in emergency evacuation in the second embodiment of the invention fully considers the building structure factor and the fire occurrence position factor which are crucial to the evacuation decision under the condition of fire, dynamically plans the evacuation path from the current position to the emergency exit according to the fire occurrence position on the basis of the three-dimensional live-action map, and can greatly improve the accuracy of the evacuation decision so as to facilitate trapped people to escape to the emergency exit in time. Meanwhile, the terminal equipment accesses the server by using the two-dimensional code to read the corresponding three-dimensional live-action map, and the input cost of the two-dimensional code is low, so that the input cost is greatly reduced, and the method is easy to popularize.
Further, please refer to fig. 5, in which fig. 5 is a flowchart illustrating an application method of an indoor positioning and navigation system in emergency evacuation according to a third embodiment of the present invention. It should be noted that the method of the present invention is not limited to the flow sequence shown in fig. 5 if the results are substantially the same. The application method comprises the following steps:
step 301: the trapped person holds the terminal equipment to scan the two-dimensional code and transmits the two-dimensional code to the server.
Step 302: the server analyzes the two-dimension code, reads a corresponding three-dimensional live-action map, and dynamically plans an evacuation path from a current position to an emergency exit according to a fire occurrence position, wherein the current position, a plurality of emergency exits and the fire occurrence position are marked in the three-dimensional live-action map, the fire occurrence position is real-time data, and the current position is the position marked by the two-dimension code.
Step S303: and the server sends the evacuation path to the terminal equipment.
In this embodiment, steps S301 to S303 are similar to steps S201 to S203 in the second embodiment, respectively, and are not repeated herein for brevity.
Step S304: and the server acquires the real-time position of the terminal equipment by using an inertial navigation positioning method according to the current position.
In step S304, the inertial navigation positioning method estimates a next position of the terminal device according to the current position of the terminal device. When the terminal equipment moves, the inertial positioning navigation method carries out aggregation operation on data acquired by a ranging method to predict the next position of the terminal equipment. The data required by the ranging method can be obtained by sensors such as an accelerator, a magnetic sensor, a compass and a gyroscope arranged in the terminal equipment together, or obtained according to the average moving speed of the terminal equipment. The real-time position of the terminal device is actively acquired, so that the trapped personnel can be quickly positioned, and support is provided for the rescue personnel to quickly make a rescue scheme.
The application method of the indoor positioning and navigation system in emergency evacuation in the third embodiment of the invention fully considers the building structure factor and the fire occurrence position factor which are crucial to the evacuation decision under the fire condition, and dynamically plans the evacuation path from the current position to the emergency exit according to the fire occurrence position on the basis of the three-dimensional live-action map, so that the accuracy of the evacuation decision can be greatly improved, and trapped people can escape to the emergency exit in time. Meanwhile, the application method provided by the embodiment can also realize the quick positioning of the trapped people, and provides support for the rescue personnel to quickly make a rescue scheme. In addition, the terminal equipment accesses the server by using the two-dimensional code to read the corresponding three-dimensional live-action map, and the input cost of the two-dimensional code is low, so that the input cost is greatly reduced, and the method is easy to popularize.
Further, please refer to fig. 6, in which fig. 6 is a flowchart illustrating an application method of an indoor positioning and navigation system in emergency evacuation according to a fourth embodiment of the present invention. It should be noted that the method of the present invention is not limited to the flow sequence shown in fig. 6 if the results are substantially the same. The application method comprises the following steps:
step 401: the trapped person holds the terminal equipment to scan the two-dimensional code and transmits the two-dimensional code to the server.
Step 402: the server analyzes the two-dimension code, reads a corresponding three-dimensional live-action map, and dynamically plans an evacuation path from a current position to an emergency exit according to a fire occurrence position, wherein the current position, a plurality of emergency exits and the fire occurrence position are marked in the three-dimensional live-action map, the fire occurrence position is real-time data, and the current position is the position marked by the two-dimension code.
Step S403: and the server sends the evacuation path to the terminal equipment.
In this embodiment, steps S401 to S403 are similar to steps S201 to S203 in the second embodiment, respectively, and are not repeated herein for brevity.
Step S404: and the server acquires the telephone number and the real-time positioning information of the terminal equipment.
In this embodiment, the process of obtaining the real-time positioning information of the terminal device in step S404 is similar to step S304 of the third embodiment, and for brevity, is not described herein again.
Step S405: and judging whether the terminal equipment escapes to an emergency exit within preset time according to the real-time positioning information.
In step S405, if the determination result is yes, it indicates that the trapped person has successfully escaped to the emergency exit, and step S406 is executed. If the determination result is negative, it indicates that the trapped person has not escaped successfully, and step S407 is executed.
Step S406: recording that the trapped person has successfully escaped.
Step S407: and recording the success of the trapped people in escaping, and sending the recorded success to the rescue personnel.
In step S407, after the information that the trapped person has not successfully escaped is sent to the rescue person, the rescue person may determine the position of the trapped person according to the real-time positioning information, and communicate with the trapped person by dialing the phone number of the terminal device to make a corresponding rescue measure.
The application method of the indoor positioning and navigation system in emergency evacuation in the fourth embodiment of the invention fully considers the building structure factors and the fire occurrence position factors which are crucial to the evacuation decision under the condition of fire, dynamically plans the evacuation path from the current position to the emergency exit according to the fire occurrence position on the basis of the three-dimensional live-action map, and can greatly improve the accuracy of the evacuation decision so as to facilitate the trapped people to escape to the emergency exit in time. Meanwhile, the application method provided by the embodiment can also judge whether the trapped people successfully escape to the emergency exit and carry out corresponding recording, and rescue the trapped people who do not successfully escape. In addition, the terminal equipment accesses the server by using the two-dimensional code to read the corresponding three-dimensional live-action map, and the input cost of the two-dimensional code is low, so that the input cost is greatly reduced, and the method is easy to popularize.
Further, please refer to fig. 7, fig. 7 is a flowchart illustrating an application method of an indoor positioning and navigation system in emergency evacuation according to a fifth embodiment of the present invention. It should be noted that the method of the present invention is not limited to the flow sequence shown in fig. 7 if the results are substantially the same. The application method comprises the following steps:
step 501: the trapped person holds the terminal equipment to scan the two-dimensional code and transmits the two-dimensional code to the server.
Step 502: the server analyzes the two-dimension code, reads a corresponding three-dimensional live-action map, and dynamically plans an evacuation path from a current position to an emergency exit according to a fire occurrence position, wherein the current position, a plurality of emergency exits and the fire occurrence position are marked in the three-dimensional live-action map, the fire occurrence position is real-time data, and the current position is the position marked by the two-dimension code.
Step S503: and the server sends the evacuation path to the terminal equipment.
In this embodiment, steps S501 to S503 are similar to steps S201 to S203 in the second embodiment, respectively, and are not repeated herein for brevity.
Step S504: and judging whether the evacuation proportion of the trapped people according to the evacuation path is greater than or equal to a correction threshold value or not.
In step S504, a rate of the trapped people evacuating according to the evacuation path is calculated, and if the rate is greater than or equal to the correction threshold, it indicates that the evacuation path planned by the server can help the trapped people to navigate to an emergency exit, and step S506 is executed. Otherwise, it indicates that there are other factors obstructing or affecting the escape of the trapped people to the emergency exit on the evacuation path planned by the server, and then step S505 is executed.
Step S505: and updating the evacuation path in real time.
In step S505, the server replans the evacuation path according to the real-time data to update the evacuation path.
Step S506: recording and storing the evacuation path.
In step S506, the server records and stores the evacuation path, and when other trapped persons pass through the two-dimensional code corresponding to the evacuation path by scanning, sends the stored evacuation path to the terminal device held by the other trapped persons.
The application method of the indoor positioning and navigation system in emergency evacuation in the fifth embodiment of the invention fully considers the building structure factor and the fire occurrence position factor which are crucial to the evacuation decision under the fire condition, and dynamically plans the evacuation path from the current position to the emergency exit according to the fire occurrence position on the basis of the three-dimensional live-action map, so that the accuracy of the evacuation decision can be greatly improved, and trapped people can escape to the emergency exit in time. Meanwhile, the application method provided by the embodiment can also judge whether factors which obstruct or influence the escape of the trapped people to the emergency exit exist on the evacuation path planned by the server, and if so, the server needs to plan the evacuation path again according to the real-time data so as to provide an accurate evacuation path for the trapped people. In addition, the terminal equipment accesses the server by using the two-dimensional code to read the corresponding three-dimensional live-action map, and the input cost of the two-dimensional code is low, so that the input cost is greatly reduced, and the method is easy to popularize.
While the foregoing is directed to embodiments of the present invention, it will be understood by those skilled in the art that various changes may be made without departing from the spirit and scope of the invention.
Claims (10)
1. An indoor positioning navigation system, comprising:
the map drawing module is used for carrying out three-dimensional mapping and map drawing on the indoor space through an SLAM technology and generating a three-dimensional live-action map;
the key point positioning module is used for generating key points in the three-dimensional live-action map, wherein the key points comprise emergency exits and intersection points with 2 or more paths;
the route planning module is used for dynamically planning an evacuation route from each intersection to an emergency exit by using a preset route planning algorithm according to the fire occurrence position on the basis of the three-dimensional live-action map and generating the evacuation route into dynamic navigation information;
and the two-dimensional code laying module is used for generating the dynamic navigation information into a two-dimensional code and marking the position of a cross point corresponding to the two-dimensional code at one end of the two-dimensional code.
2. The indoor positioning navigation system of claim 1, wherein the mapping module comprises:
the acquisition submodule is used for acquiring indoor three-dimensional geographic information data based on an SLAM technology;
the construction submodule is used for constructing an indoor three-dimensional model according to the indoor three-dimensional geographic information data;
and the matching submodule is used for mapping and matching the indoor three-dimensional model into a CGCS2000 coordinate system so as to generate the three-dimensional live-action map.
3. The indoor positioning and navigation system according to claim 1, wherein the two-dimensional code laying module comprises:
the two-dimensional code generation submodule is used for generating the dynamic navigation information into a two-dimensional code;
the link binding submodule is used for binding the two-dimension code and the corresponding dynamic navigation information through a data link, and accessing the corresponding dynamic navigation information through the data link after the terminal equipment scans the two-dimension code;
the position calibration submodule is used for marking the position of a cross point corresponding to the position at one end of the two-dimensional code, wherein the position and the two-dimensional code are designed integrally or separately;
and the printing submodule is used for printing the two-dimensional code and the marked position thereof.
4. The indoor positioning and navigation system according to claim 1, wherein the preset path planning algorithm is a hierarchical a algorithm containing both a direction constraint and a distance constraint, and the evaluation function of the hierarchical a algorithm is:
f′(n)＝g(n)+q.abs(sinθ)+Dis(nf，ng)
wherein g (n) represents the actual cost from the current node CN to the start node IN; abs () is an absolute value function, theta is an included angle between a vector formed by the precursor node FN and the start node IN and a vector formed by the start node IN and the target node GN; n isf、ngIs a precursor node FN and a target node GN, Dis (n)f，ng) The Euclidean distance from the precursor node FN to the target node GN; q is a heuristic of directional constraints.
5. An application method of an indoor positioning navigation system in emergency evacuation is characterized by comprising the following steps:
the trapped person handheld terminal device scans the two-dimensional code and transmits the two-dimensional code to the server;
the server analyzes the two-dimension code, reads a corresponding three-dimensional live-action map, and dynamically plans an evacuation path from a current position to an emergency exit according to a fire occurrence position, wherein the current position, a plurality of emergency exits and the fire occurrence position are marked in the three-dimensional live-action map, the fire occurrence position is real-time data, and the current position is the position marked by the two-dimension code;
and the server sends the evacuation path to the terminal equipment.
6. The method of claim 5, wherein after the step of sending the evacuation path to the terminal device by the server, the method further comprises:
and the server acquires the real-time position of the terminal equipment by using an inertial navigation positioning method according to the current position.
7. The method of claim 5, wherein after the step of sending the evacuation path to the terminal device by the server, the method further comprises:
the server acquires the telephone number and the real-time positioning information of the terminal equipment and judges whether the terminal equipment escapes to the emergency exit within preset time;
if yes, recording as successful escape; otherwise, recording that the escape is not successful, and sending the information to the rescue personnel.
8. The method of claim 5, wherein after the step of sending the evacuation path to the terminal device by the server, the method further comprises:
judging whether the evacuation proportion of the trapped people according to the evacuation path is greater than or equal to a correction threshold value or not;
and if not, updating the evacuation path in real time.
9. The application method according to claim 5, wherein the evacuation path is dynamically planned by a preset path planning algorithm, the preset path planning algorithm is a hierarchical A algorithm containing both a direction constraint and a distance constraint, and an evaluation function of the hierarchical A algorithm is as follows:
f′(n)＝g(n)+q.abs(sinθ)+Dis(nf，ng)
wherein g (n) represents the actual cost from the current node CN to the start node IN; abs () is an absolute value function, theta is an included angle between a vector formed by the precursor node FN and the start node IN and a vector formed by the start node IN and the target node GN; n isf、ngIs a precursor node FN and a target node GN, Dis (n)f，ng) Is a precursorEuclidean distance from node FN to target node GN; q is a heuristic of directional constraints.
10. The application method of claim 5, wherein the three-dimensional live-action map is drawn by SLAM technology.
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