CN113053055A - Integrated control system and method based on emergency evacuation decision optimization and intelligent induction - Google Patents
Integrated control system and method based on emergency evacuation decision optimization and intelligent induction Download PDFInfo
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Abstract
The invention discloses an integrated control system and method based on emergency evacuation decision optimization and intelligent guidance. The method comprises the steps that a monitoring front end collects and monitors the field environment in real time, data are transmitted to a central control center through a wireless communication module, the central control center processes the received data through an emergency evacuation decision optimization program, and a decision result is sent to an execution terminal through the wireless communication module to be dynamically displayed. The system and the method can meet the requirements of low cost, low power consumption, long distance and flexible maneuvering arrangement, and can realize the aims of high-degree automation, high efficiency and global optimal intelligent evacuation.
Description
Technical Field
The invention relates to the technical field of intelligent evacuation, in particular to an integrated control system and method based on emergency evacuation decision optimization and intelligent induction.
Background
Although the integrated large public buildings and areas for life, work, entertainment and the like continuously appear to solve the problem of shortage of land at present to a certain extent, the large public buildings have the characteristics of complicated internal structure, large information transmission range, dense personnel, high mobility, unfamiliarity to internal layout and the like, and are very easy to escape with people stream due to panic and psychological blindness after emergencies such as fire, explosion and the like, so that serious casualties and property loss are caused due to lack of corresponding emergency evacuation and induction measures or improper evacuation induction. Up to now, the traditional fixed evacuation indication marks and the diversion lamp strips for keeping visual continuity are adopted in large public buildings and areas at home and abroad, high-degree automation, high-efficiency and overall optimal intelligent evacuation cannot be realized, and the evacuation strategy cannot be dynamically adjusted according to the accident environment state on the basis of decision optimization, so that the aim of intelligent induction of emergency evacuation in the complex accident environment is achieved. Meanwhile, people in large public buildings and areas are evacuated, and the evacuation system has the characteristics of large scale, wide range, long evacuation distance, long time and the like, and the traditional evacuation indicating system adopts wired connection, so that the requirements of low cost, low power consumption, long distance and flexible maneuvering arrangement cannot be met.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an integrated control system and method based on emergency evacuation decision optimization and intelligent induction.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: an integrated control system based on emergency evacuation decision optimization and intelligent inducement, comprising: the system comprises a monitoring front end, a wireless communication module, a central control center and a plurality of execution terminals; the monitoring front end is connected with a central control center through a wireless communication module, and the central control center is connected with an execution terminal through the wireless communication module; the wireless communication module is connected with the central control center through a USB;
the monitoring front end is the parallelly connected data acquisition node that a plurality of detectors are constituteed, includes: the LED lamp comprises a single chip microcomputer, a detector, a buzzer module, a power supply module, a voltage regulating module and an LED display module, wherein the detector is directly connected with the single chip microcomputer; the buzzer module is controlled by a single chip microcomputer through an I/O port to directly output signals; the monitoring front end collects and monitors the field environment in real time, and when the value collected and monitored by any detector exceeds a set threshold value, the buzzer sends out an alarm; the LED display module displays the monitored environmental information in real time;
the detector comprises a smoke sensor and a temperature sensor; the smoke sensor is a ZYMQ-2 type smoke sensor and has the characteristics of strong driving capability, high sensitivity, low power consumption and the like; the temperature sensor adopts an NTC thermistor sensor and has the characteristics of strong driving capability, high sensitivity, low power consumption and the like.
The single chip microcomputer is an MSP430F419 type single chip microcomputer, is used for monitoring information acquired by the smoke sensor and the temperature sensor, compares the information with a threshold value, and controls the buzzer to sound when the information exceeds the threshold value; and meanwhile, controlling the LED display module to display the monitored environmental information in real time.
The wireless communication module consists of an LoRa wireless communication unit, a LoRa monitoring module, a LoRa output controller module, a singlechip and a serial asynchronous communication protocol UART interface, is a bridge of the whole system and is used for monitoring communication among the front end, the central control center and the execution terminal; the LoRa monitoring module is connected with the central control center through a USB and used for automatically monitoring accident node information acquired by the monitoring front end; the LoRa output controller module is connected with the central control center through a USB (universal serial bus), and data analyzed by the central control center are sent to the execution terminal in a fixed point mode through the wireless communication module;
the LoRa wireless communication unit adopts an SX1301 chip and an SX1278 radio frequency chip, and has the characteristics of long-distance communication, strong anti-jamming capability, low power consumption and the like.
The central control center internally comprises an embedded microprocessor, a built-in program, a Web server, an FTP server and a database server and is responsible for processing the accident node information transmitted by the LoRa monitoring module and transmitting the processing result to the execution terminal through the output controller;
the embedded microprocessor performs data processing between the central control center and the monitoring front end and the execution terminals, can analyze and process information transmitted by each detector in the monitoring front end, and sends the processed information to each execution terminal;
the built-in programs comprise a detector data receiving program, an emergency evacuation decision optimizing program and an output controller program, and are the core of the whole system; the detector data receiving program is used for compiling accident node information monitored by the LoRa monitoring module, so that the monitoring front end is linked with the central control center, and the central control center is driven to give out sound alarm; the emergency evacuation decision optimization program utilizes an improved self-adaptive ant colony algorithm and realizes an optimal evacuation scheme meeting global optimization based on multi-objective optimization indexes of highest evacuation path safety degree, shortest evacuation completion time and lowest congestion degree; the output controller program is responsible for analyzing the optimal evacuation scheme obtained by the emergency evacuation decision optimization program and sending an instruction to the execution terminal through the LoRa output controller module;
the plurality of execution terminals are a plurality of LED intelligent evacuation indication marks and are used for executing instructions sent by the central control center through the wireless communication module; the LED intelligent evacuation indication marks and the respective LoRa wireless communication units adopt a CLASS-C communication mode, and a star network structure is formed.
The LED intelligent evacuation indication mark is provided with a single chip microcomputer system, a power supply module, a visual induction module, a voice induction module and a buzzer; an LED display driving program is arranged in the single chip microcomputer system and controls the visual induction module to realize the dynamic change indication direction induction; the singlechip system also controls the voice induction module to read the audio corresponding to the storage unit, and the buzzer realizes voice broadcast induction.
The visual induction module is formed by splicing a plurality of same green common-anode LED dot matrixes.
On the other hand, the invention also provides a method for controlling by adopting the integrated control system based on emergency evacuation decision optimization and intelligent induction, which comprises the following steps:
step 2, the LoRa monitoring module transmits the dangerous positions to a database server through a USB, a central control center sends out an alarm, and a detector data receiving program is started;
step 3, a detector data receiving program acquires dangerous positions and analyzes the data to generate txt files, and the txt files are stored in a root directory of an emergency evacuation decision optimization program;
step 4, the emergency evacuation decision optimization program acquires the dangerous positions under the txt file, plans the optimal evacuation path and the direction of the indication mark, displays the optimal evacuation scheme on a program interface, generates a txt-form file and stores the txt-form file in a root directory of an output controller program;
the emergency evacuation decision optimization program comprises the following steps:
step 4.1, acquiring a fire state in a building, dividing nodes, and determining a calculation area according to the position of a fire source;
step 4.2, initializing parameters, and establishing a building space information database according to the geometrical information of the building space structure, the state information of each fire-fighting facility, the initial fire state of each building space node and the initial number of people to be evacuated; determining a maximum cycle number NC, wherein the cycle number is initially set to be N-1;
step 4.2.1, the total number of people to be evacuated is calculated according to the formula (1):
wherein Y represents the total number of evacuation nodes in the building;
the representation is located at node siThe number of people evacuated; people k (k is 1,2, …, m) are evacuated by tabu tablek(k ═ 1,2, … m) the node recording the safe passage the evacuated person k currently walks through, the set tabukDynamically adjusting as the evolution progresses;
step 4.2.2, under the condition of considering the fire smoke diffusion in the searching process, the personnel to be evacuated selects the next node, namely the node s, by utilizing the state transition rule according to the information quantity on each channel and the heuristic information of the channeliBy applying the rule given in equation (2) to select the next node s to be moved toj：
Wherein: q is at [0, 1 ]]Random numbers, q, evenly distributed over a period0Is a parameter (0. ltoreq. q)0Less than or equal to 1); j is a random variable selected according to the probability distribution given by equation (3); q. q.s0Is determined by the relative importance between using a priori knowledge and exploring new paths, whenever one is located in the city siTo select the next city s to be reachedjWhen the random number is more than or equal to 0 and less than or equal to 1, q is selected; if q is less than or equal to q0Selecting the best path according to the formula (2), otherwise probabilistically selecting another path according to the formula (3); at time t, evacuate person k atNode siSelecting a node sjTransition probability of
Comprises the following steps:
among them, allowedk1, …, n-1 represents a node which is allowed to be selected next time by the evacuating personnel k;
evacuation passage e for time tij(si,sj) The pheromone of (a);
is a heuristic function; alpha is an information heuristic factor, represents the relative importance of the track, reflects the action degree of the information accumulated in the process of the movement of the evacuated personnel in the evacuation process, and the larger the value of the value is, the more the evacuated personnel tend to select the path for other people to pass through, the stronger the collaboration between people is; beta is an expected heuristic factor, reflects the degree of importance of heuristic information in the personnel selection path in the process of personnel evacuation movement, and the larger the value of the heuristic factor is, the closer the state is to the transition to the optimal path;
step 4.2.3, heuristic function
Is to select evacuation lane eijTime cost function of
The smaller the time cost required for finishing evacuation on the channel is, the larger the heuristic function value of the channel is, the higher the probability that the evacuation personnel selects the channel is, and the formula (4) and the formula (5) are shown:
wherein,
is a channel eijEquivalent length of, v0In order to increase the walking speed of the people to be evacuated,
is a channel eijThe number of the remaining persons in the building,
is a channel eijThe width of the paper is less than the width of the paper,
is a channel eijThe flow rate of (c);
for any evacuated person k, evacuation channel eijEquivalent length of
The smaller, the channel eijThe number of remaining people
The less the number of the channels, the smaller the value of the time cost function for evacuation by adopting the channels, and the heuristic function of the time cost function
The larger the person k is, the larger the slave node siTransfer to node sjThe higher the desired degree of;
and 4.3, updating the pheromone, wherein the process is as follows:
step 4.3.1, at the moment (t +1) in evacuation lane eijThe local pheromones above can be updated as follows:
wherein m represents the total number of people to be evacuated; when the number of the persons who select the path reaches a certain number (m/3) or most (m/5) of evacuated persons select the path, the current distance exceeds the last optimal path length to stop traversing, and the information amount is greatly reduced
The method and the device tend to the average value of the information content of each path, so that the evacuees have stronger exploration capacity on the channels which are not selected by the crowds at present, the strong action of the crowds in the evacuation process of the crowds is balanced, and the congestion phenomenon is avoided; when the number of evacuated people selecting the current path is general, taking
Is the increment of the current pheromone;
4.3.2, judging whether the circulation is finished, namely judging whether all the personnel find an exit, if so, carrying out next global pheromone updating, otherwise, continuously executing next iteration, and carrying out the next step until the circulation is finished;
step 4.3.3, at the moment (t +1) in evacuation lane eijThe global pheromone on the global optimal solution is updated according to the following formula for the channel to which the global optimal solution belongs:
wherein L isgbThe length of the current optimal solution; (1-rho) epsilon (0, 1) is a global pheromone volatilization coefficient, and rho is a pheromone residual coefficient; regarding the selection of pheromone volatility rho in the ant colony algorithm, two performance indexes of global searching capability and convergence speed of the algorithm must be comprehensively considered;adaptively changing the value of ρ according to equation (9) using an adaptive ant colony algorithm:
in the formula: a is a constant, ρminThe p is the minimum value, and the convergence rate of the algorithm is prevented from being reduced when the p is too small; in the initial stage of the solution, ρ is needed to be slightly larger to enhance the ant colony algorithm search speed. With the continuous increase of the cycle number, if the optimal value difference of each time is not large, the process is trapped in a certain extreme point, which is not necessarily a global optimal solution. At this time, the volatility coefficient ρ needs to be reduced to improve the search ability of the algorithm.
4.4, sequencing according to the time cost of each path, finding the optimal path with the shortest evacuation time, judging whether a set cycle time termination condition is reached, and ending when the condition is met; otherwise, recalculating from step 4.2;
and 4.5, after one source node to be evacuated finds the optimal path, continuously calculating the optimal path of the next source node, and stopping until all the source nodes find the path.
Step 5, the output controller program analyzes the txt file, and transmits the analyzed data to the LoRa output controller module through the USB;
step 6, the LoRa output controller module transmits the analyzed data to the execution terminal through the LoRa wireless communication unit in a fixed point manner;
step 7, the LoRa wireless communication unit receives the action information and awakens the action information from the dormant state into a working state;
and 8, after the execution terminal receives the instruction transmitted by the LoRa wireless communication unit, each LED intelligent evacuation indication mark acts under the control of the LED display driving program, the visual induction module displays corresponding direction information, and the voice induction module sends voice induction prompt.
The LED display driver comprises the following steps:
step 8.1, preparation phase: before the main program runs, the watchdog of the single chip microcomputer is closed, and the watchdog of the MSP430F149 single chip microcomputer is opened by default, so the watchdog is closed at the beginning of the program. Secondly, turning on the crystal oscillation externally connected with the single chip microcomputer so as to provide stable scanning frequency for line-column scanning;
step 8.2, defining pins and variables: the definition of the program pins and variables of the single chip microcomputer relates to control pins of the single chip microcomputer for driving 74HC595 columns and control pins for driving LED dot matrix rows;
step 8.3, compiling a display array: the display array is an array which comprises high-potential information accessed to the columns of the LED dot matrix and consists of a plurality of hexadecimal numbers, a pattern is firstly drawn by using modulus-taking software, and then the modulus from the binary system to the hexadecimal system is completed;
step 8.4, row and column scanning function: according to the display principle, the number in the array is output to the LED dot matrix in a high-low potential mode through the 74HC595 and the triode by adopting a serial transmission method.
Adopt the produced beneficial effect of above-mentioned technical scheme to lie in:
1. according to the system and the method provided by the invention, an emergency evacuation decision optimization program determines an evacuation scheme based on multi-objective optimization evaluation indexes such as the highest evacuation path safety degree, the shortest evacuation completion time, the lowest congestion degree and the like, so that the optimal target of overall evacuation is achieved;
2. the invention uses the LoRa wireless communication module to transmit data, and has strong anti-interference capability, long transmission distance and low power consumption;
3. the LED intelligent evacuation indicator mark designed by the invention can dynamically change the indication direction, and adopts a visual and auditory simultaneous induction mode to guide evacuation, thereby improving the evacuation efficiency;
4. the invention has the advantages of convenient and simple installation, low cost, convenient maintenance and good practical value.
Drawings
Fig. 1 is a schematic structural diagram of an integrated control system based on emergency evacuation decision optimization and intelligent guidance according to an embodiment of the present invention;
fig. 2 is a data flow diagram of an integrated control system based on emergency evacuation decision optimization and intelligent guidance in an embodiment of the present invention;
FIG. 3 is a flowchart of a display program of the single chip microcomputer according to the embodiment of the present invention;
FIG. 4 is a flowchart of a personnel evacuation decision optimization procedure according to an embodiment of the present invention;
in the figure: 1. monitoring the front end; 1-1. a detector; 2. a wireless communication module; 2-1. a LoRa wireless communication unit; 2-2, a LoRa monitoring module; 2-3, outputting a controller; 3. a central control center; 3-1, a server; 3-2, a built-in program; 4. executing the terminal; and 4-1, LED intelligent evacuation indication marks.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
As shown in fig. 1, the structure of the integrated control system based on emergency evacuation decision optimization and intelligent guidance in this embodiment is as follows: the system comprises a monitoring front end 1, a wireless communication module 2, a central control center 3 and a plurality of execution terminals 4;
the monitoring front end 1 is connected with a central control center 3 through a wireless communication module 2, and the central control center 3 is connected with an execution terminal 4 through the wireless communication module 2; the wireless communication module 2 is connected with the central control center 3 through a USB;
the monitoring front end 1 is a parallel data acquisition node composed of a plurality of detectors 1-1, and comprises: the system comprises a single chip microcomputer, a detector 1-1, a buzzer module, a power supply module, a voltage regulating module and an LED display module;
the detector 1-1 is directly connected with the single chip microcomputer; the buzzer module is controlled by a single chip microcomputer through an I/O port to directly output signals; the monitoring front end collects and monitors the field environment in real time, and when the value collected and monitored by any detector exceeds a set threshold value, the buzzer sends out an alarm; the LED display module displays the monitored environmental information in real time;
the detector 1-1 comprises a smoke sensor and a temperature sensor; the smoke sensor is a ZYMQ-2 type smoke sensor and has the characteristics of strong driving capability, high sensitivity, low power consumption and the like; the temperature sensor adopts an NTC thermistor sensor and has the characteristics of strong driving capability, high sensitivity, low power consumption and the like.
The single chip microcomputer is an MSP430F419 type single chip microcomputer, is used for monitoring information acquired by the smoke sensor and the temperature sensor, compares the information with a threshold value, and controls the buzzer to sound when the information exceeds the threshold value; and meanwhile, controlling the LED display module to display the monitored environmental information in real time.
The wireless communication module 2 consists of an LoRa wireless communication unit 2-1, a LoRa monitoring module 2-2, a LoRa output controller module 2-3, a single chip microcomputer and a serial asynchronous communication protocol UART interface, is a bridge of the whole system and is used for monitoring communication among the front end, the central control center and the execution terminal;
the LoRa monitoring module 2-2 is connected with the central control center 3 through a USB and used for automatically monitoring and monitoring accident node information acquired by the front end 1; the LoRa output controller module 2-3 is connected with the central control center 3 through a USB, and data analyzed by the central control center 3 are sent to the execution terminal 4 through the wireless communication module 2 at fixed points;
the LoRa wireless communication unit 2-1 adopts an SX1301 chip and an SX1278 radio frequency chip, and has the characteristics of long-distance communication, strong anti-jamming capability, low power consumption and the like.
The central control center 3 comprises an embedded microprocessor, a built-in program 3-2, a Web server, an FTP server and a database server 3-1 inside, is responsible for processing the accident node information transmitted by the LoRa monitoring module 2-2 and transmitting the processing result to the execution terminal 4 through the LoRa output controller 2-3;
the embedded microprocessor performs data processing between the central control center 3 and the monitoring front end 1 and the execution terminals 4, can analyze and process information transmitted by each detector 1-1 in the monitoring front end 1, and sends the processed information to each execution terminal 4;
the built-in programs 3-2 comprise a detector data receiving program, an emergency evacuation decision optimizing program and an output controller program, and are the core of the whole system;
the detector data receiving program is used for compiling accident node information monitored by the LoRa monitoring module 2-2, so that the monitoring front end 1 is linked with the central control center 3, and simultaneously drives the central control center 3 to give out sound alarm;
the emergency evacuation decision optimization program utilizes an improved self-adaptive ant colony algorithm and realizes an optimal evacuation scheme meeting global optimization based on multi-objective optimization indexes of highest evacuation path safety degree, shortest evacuation completion time and lowest congestion degree;
the output controller program is responsible for analyzing the optimal evacuation scheme obtained by the emergency evacuation decision optimization program and sending instructions to the execution terminal 4 through the LoRa output controller modules 2-3;
the execution terminals 4 are a plurality of LED intelligent evacuation indication marks 4-1 and are used for executing instructions sent by the central control center 3 through the wireless communication module 2; the LED intelligent evacuation indication marks 4-1 and the respective LoRa wireless communication units 2-1 adopt a CLASS-C communication mode, and a star network structure is formed.
The LED intelligent evacuation indicator 4-1 is provided with a single chip microcomputer system, a power supply module, a visual induction module, a voice induction module and a buzzer; an LED display driving program is arranged in the single chip microcomputer system and controls the visual induction module to realize the dynamic change indication direction induction; the singlechip system also controls the voice induction module to read the audio corresponding to the storage unit, and the buzzer realizes voice broadcast induction.
The visual induction module is formed by splicing a plurality of same green common-anode LED dot matrixes.
In this embodiment, the visual induction module selects a 16 × 40 LED dot matrix formed by splicing 10 identical green 8 × 8LED dots.
On the other hand, the invention also provides a method for controlling by using the integrated control system based on emergency evacuation decision optimization and intelligent induction, wherein the flow direction of the control data is shown as fig. 2, and the method comprises the following steps:
step 2, the LoRa monitoring module transmits the dangerous positions to a database server through a USB, a central control center sends out an alarm, and a detector data receiving program is started;
step 3, a detector data receiving program acquires dangerous positions and analyzes the data to generate txt files, and the txt files are stored in a root directory of an emergency evacuation decision optimization program;
in this embodiment, a file name is a firesensor.
Step 4, the emergency evacuation decision optimization program acquires the dangerous positions under the FireSensor. txt file, plans the optimal evacuation path and the direction of the indication mark, displays the optimal evacuation scheme on a program interface, generates a file in the form of an Eva-marker.txt and stores the file in a root directory of an output controller program;
the emergency evacuation decision-making optimization procedure, the flow of which is shown in fig. 4, includes the following steps:
step 4.1, acquiring a fire state in a building, dividing nodes, and determining a calculation area according to the position of a fire source;
step 4.2, initializing parameters, and establishing a building space information database according to the geometrical information of the building space structure, the state information of each fire-fighting facility, the initial fire state of each building space node and the initial number of people to be evacuated; determining a maximum cycle number NC, wherein the cycle number is initially set to be N-1;
step 4.2.1, the total number of people to be evacuated is calculated according to the formula (1):
wherein Y represents the total number of evacuation nodes in the building;
the representation is located at node siIs covered withThe number of people evacuated; people k (k is 1,2, …, m) are evacuated by tabu tablek(k ═ 1,2, … m) the node recording the safe passage the evacuated person k currently walks through, the set tabukDynamically adjusting as the evolution progresses;
step 4.2.2, under the condition of considering the fire smoke diffusion in the searching process, the personnel to be evacuated selects the next node, namely the node s, by utilizing the state transition rule according to the information quantity on each channel and the heuristic information of the channeliBy applying the rule given in equation (2) to select the next node s to be moved toj：
Wherein: q is at [0, 1 ]]Random numbers, q, evenly distributed over a period0Is a parameter (0. ltoreq. q)0Less than or equal to 1); j is a random variable selected according to the probability distribution given by equation (3); q. q.s0Is determined by the relative importance between using a priori knowledge and exploring new paths, whenever one is located in the city siTo select the next city s to be reachedjWhen the random number is more than or equal to 0 and less than or equal to 1, q is selected; if q is less than or equal to q0Selecting the best path according to the formula (2), otherwise probabilistically selecting another path according to the formula (3); at time t, evacuating person k at node siSelecting a node sjTransition probability of
Comprises the following steps:
among them, allowedk1, …, n-1 represents a node which is allowed to be selected next time by the evacuating personnel k;
evacuation passage e for time tij(si,sj) The pheromone of (a);
is a heuristic function; alpha is an information heuristic factor, represents the relative importance of the track, reflects the action degree of the information accumulated in the process of the movement of the evacuated personnel in the evacuation process, and the larger the value of the value is, the more the evacuated personnel tend to select the path for other people to pass through, the stronger the collaboration between people is; beta is an expected heuristic factor, reflects the degree of importance of heuristic information in the personnel selection path in the process of personnel evacuation movement, and the larger the value of the heuristic factor is, the closer the state is to the transition to the optimal path;
step 4.2.3, heuristic function
Is to select evacuation lane eijTime cost function of
The smaller the time cost required for finishing evacuation on the channel is, the larger the heuristic function value of the channel is, the higher the probability that the evacuation personnel selects the channel is, and the formula (4) and the formula (5) are shown:
wherein,
is a channel eijEquivalent length of, v0In order to increase the walking speed of the people to be evacuated,
is a channel eijThe number of the remaining persons in the building,
is a channel eijThe width of the paper is less than the width of the paper,
is a channel eijThe flow rate of (c);
for any evacuated person k, evacuation channel eijEquivalent length of
The smaller, the channel eijThe number of remaining people
The less the number of the channels, the smaller the value of the time cost function for evacuation by adopting the channels, and the heuristic function of the time cost function
The larger the person k is, the larger the slave node siTransfer to node sjThe higher the desired degree of;
and 4.3, updating the pheromone, wherein the process is as follows:
step 4.3.1, at the moment (t +1) in evacuation lane eijThe local pheromones above can be updated as follows:
wherein m represents the total number of people to be evacuated; when the number of the persons who select the path reaches a certain number (m/3) or most (m/5) of evacuated persons select the path, the current distance exceeds the last optimal path length to stop traversing, and the information amount is greatly reduced
The method and the device tend to the average value of the information quantity of each path, so that the evacuees have stronger exploration capability on channels which are not selected by the crowds at present, and people can be balanced to evacuateThe strong action of people in the process avoids the occurrence of congestion; when the number of evacuated people selecting the current path is general, taking
Is the increment of the current pheromone;
4.3.2, judging whether the circulation is finished, namely judging whether all the personnel find an exit, if so, carrying out next global pheromone updating, otherwise, continuously executing next iteration, and carrying out the next step until the circulation is finished;
step 4.3.3, at the moment (t +1) in evacuation lane eijThe global pheromone on the global optimal solution is updated according to the following formula for the channel to which the global optimal solution belongs:
wherein L isgbThe length of the current optimal solution; (1-rho) epsilon (0, 1) is a global pheromone volatilization coefficient, and rho is a pheromone residual coefficient; regarding the selection of pheromone volatility rho in the ant colony algorithm, two performance indexes of global searching capability and convergence speed of the algorithm must be comprehensively considered; adaptively changing the value of ρ according to equation (9) using an adaptive ant colony algorithm:
in the formula: a is a constant, ρminThe p is the minimum value, and the convergence rate of the algorithm is prevented from being reduced when the p is too small; in the initial stage of the solution, ρ is needed to be slightly larger to enhance the ant colony algorithm search speed. With the continuous increase of the cycle number, if the optimal value difference of each time is not large, the process is trapped in a certain extreme point, which is not necessarily a global optimal solution. At this time, the volatilization coefficient ρ needs to be reduced to provideHigh search ability of the algorithm.
4.4, sequencing according to the time cost of each path, finding the optimal path with the shortest evacuation time, judging whether a set cycle time termination condition is reached, and ending when the condition is met; otherwise, recalculating from step 4.2;
and 4.5, after one source node to be evacuated finds the optimal path, continuously calculating the optimal path of the next source node, and stopping until all the source nodes find the path.
Step 5, the output controller program analyzes the Eva-marker.txt file and transmits the analyzed data to the LoRa output controller module through a USB;
step 6, the LoRa output controller module transmits the analyzed data to the execution terminal through the LoRa wireless communication unit in a fixed point manner;
step 7, the LoRa wireless communication unit receives the action information and awakens the action information from the dormant state into a working state;
and 8, after the execution terminal receives the instruction transmitted by the LoRa wireless communication unit, each LED intelligent evacuation indication mark acts under the control of the LED display driving program, the visual induction module displays corresponding direction information, and the voice induction module sends voice induction prompt.
The LED display driver comprises the following steps:
step 8.1, preparation phase: before the main program runs, the watchdog of the single chip microcomputer is closed, and the watchdog of the MSP430F149 single chip microcomputer is opened by default, so the watchdog is closed at the beginning of the program. Secondly, turning on the crystal oscillation externally connected with the single chip microcomputer so as to provide stable scanning frequency for line-column scanning;
in this embodiment, an XT2 port of the single chip microcomputer MSP430F149 is externally connected with an 8MHz crystal oscillator.
Step 8.2, defining pins and variables: the definition of the program pins and variables of the single chip microcomputer relates to control pins of the single chip microcomputer for driving 74HC595 columns and control pins for driving LED dot matrix rows;
in this embodiment, the P1.1-P1.3, P2.0-P2.7, and P4.0-P4.7 of the single chip microcomputer have 19 ports, where P1.1-P1.3 are control pins for column driver 74HC595, and P2.0-P2.7 and P4.0-P4.7 are control pins for row driver of the LED dot matrix.
Step 8.3, compiling a display array: the display array is an array consisting of a plurality of hexadecimal numbers and containing information of high potential connected to the columns of the LED dot matrix, so that 1 is written in the corresponding position of the display array when the lamp is required to be turned on. Drawing a pattern by using a modulus taking software, and then completing the modulus from the binary system to the hexadecimal system;
in the present embodiment, a total of three patterns of leftward, rightward, and bidirectional states are designed.
Step 8.4, row and column scanning function: according to the display principle, the number in the array is output to the LED dot matrix in a high-low potential mode through the 74HC595 and the triode by adopting a serial transmission method.
According to the display principle, a serial transmission method is adopted, a single chip microcomputer controls a signal line DS (SER) of a first-stage 74HC595, hexadecimal numbers in a display array are shifted into a data input end of the 74HC595 in a form of a group of five, then a rising edge of SH _ CP (SRCLK) is generated, data at the data input end are shifted into a shift register, low bits are sent first, high bits are sent again, one byte transmission can be completed after eight times of circulation, finally a rising edge is generated at ST _ CP (RCLK), the data are sent to an output latch, and the data are output to a first row of an LED lattice. Then the first row control port of the MSP430F149 is set to "1" and the other ports are set to "0", at this time, the lighting of the first row is completed, then the pattern is displayed for sixteen times, and after the pattern is displayed for one time, the first row is returned to and so on until a stable pattern is displayed, and the display flow is as shown in fig. 3.
Claims (9)
1. An integrated control system based on emergency evacuation decision optimization and intelligent induction is characterized by comprising a monitoring front end, a wireless communication module, a central control center and a plurality of execution terminals; the monitoring front end is connected with a central control center through a wireless communication module, and the central control center is connected with an execution terminal through the wireless communication module; the wireless communication module is connected with the central control center through a USB;
the monitoring front end is the parallelly connected data acquisition node that a plurality of detectors are constituteed, includes: the LED lamp comprises a single chip microcomputer, a detector, a buzzer module, a power supply module, a voltage regulating module and an LED display module, wherein the detector is directly connected with the single chip microcomputer; the buzzer module is controlled by a single chip microcomputer through an I/O port to directly output signals; the monitoring front end collects and monitors the field environment in real time, and when the value collected and monitored by any detector exceeds a set threshold value, the buzzer sends out an alarm; the LED display module displays the monitored environmental information in real time;
the wireless communication module consists of an LoRa wireless communication unit, a LoRa monitoring module, a LoRa output controller module, a singlechip and a serial asynchronous communication protocol UART interface, is a bridge of the whole system and is used for monitoring communication among the front end, the central control center and the execution terminal; the LoRa monitoring module is connected with the central control center through a USB and used for automatically monitoring accident node information acquired by the monitoring front end; the LoRa output controller module is connected with the central control center through a USB (universal serial bus), and data analyzed by the central control center are sent to the execution terminal in a fixed point mode through the wireless communication module;
the central control center internally comprises an embedded microprocessor, a built-in program, a Web server, an FTP server and a database server and is responsible for processing the accident node information transmitted by the LoRa monitoring module and transmitting the processing result to the execution terminal through the output controller;
the embedded microprocessor performs data processing between the central control center and the monitoring front end and the execution terminals, can analyze and process information transmitted by each detector in the monitoring front end, and sends the processed information to each execution terminal;
the built-in programs comprise a detector data receiving program, an emergency evacuation decision optimizing program and an output controller program, and are the core of the whole system; the detector data receiving program is used for compiling accident node information monitored by the LoRa monitoring module, so that the monitoring front end is linked with the central control center, and the central control center is driven to give out sound alarm; the emergency evacuation decision optimization program utilizes an improved self-adaptive ant colony algorithm and realizes an optimal evacuation scheme meeting global optimization based on multi-objective optimization indexes of highest evacuation path safety degree, shortest evacuation completion time and lowest congestion degree; the output controller program is responsible for analyzing the optimal evacuation scheme obtained by the emergency evacuation decision optimization program and sending an instruction to the execution terminal through the LoRa output controller module;
the plurality of execution terminals are a plurality of LED intelligent evacuation indication marks and are used for executing instructions sent by the central control center through the wireless communication module; the LED intelligent evacuation indication marks and the respective LoRa wireless communication units adopt a CLASS-C communication mode, and a star network structure is formed.
2. The integrated emergency evacuation decision optimization and intelligent inducement-based control system according to claim 1, wherein: the detector comprises a smoke sensor and a temperature sensor; the smoke sensor is a ZYMQ-2 type smoke sensor; the temperature sensor adopts an NTC thermistor sensor.
3. The integrated emergency evacuation decision optimization and intelligent inducement-based control system according to claim 1, wherein the single chip microcomputer is an MSP430F419 type single chip microcomputer, and is configured to monitor the information collected by the smoke sensor and the temperature sensor, compare the information with a threshold value, and control a buzzer to sound when the threshold value is exceeded; and meanwhile, controlling the LED display module to display the monitored environmental information in real time.
4. The integrated emergency evacuation decision optimization and intelligent inducement-based control system according to claim 1, wherein: the LoRa wireless communication unit adopts an SX1301 chip and an SX1278 radio frequency chip.
5. The integrated emergency evacuation decision optimization and intelligent inducement-based control system according to claim 1, wherein: the LED intelligent evacuation indication mark is provided with a single chip microcomputer system, a power supply module, a visual induction module, a voice induction module and a buzzer; an LED display driving program is arranged in the single chip microcomputer system and controls the visual induction module to realize the dynamic change indication direction induction; the singlechip system also controls the voice induction module to read the audio corresponding to the storage unit, and the buzzer realizes voice broadcast induction.
6. The integrated control system based on emergency evacuation decision optimization and intelligent induction of claim 5, wherein the visual induction module is formed by splicing a plurality of same green common-sun LED lattices.
7. Method for controlling with the integrated emergency evacuation decision optimization and intelligent guidance based control system according to any of the claims 1 to 6, characterized in that it comprises the following steps:
step 1, a detector acquires real-time information of temperature and smoke concentration in a field environment, the acquired environment information is displayed in an LED display module in real time and is compared with a preset threshold value, when the acquired information exceeds the threshold value, a dangerous position is sent to a LoRa monitoring module through a LoRa wireless communication unit, and a buzzer gives out sound alarm;
step 2, the LoRa monitoring module transmits the dangerous positions to a database server through a USB, a central control center sends out an alarm, and a detector data receiving program is started;
step 3, a detector data receiving program acquires dangerous positions and analyzes the data to generate txt files, and the txt files are stored in a root directory of an emergency evacuation decision optimization program;
step 4, the emergency evacuation decision optimization program acquires the dangerous positions under the txt file, plans the optimal evacuation path and the direction of the indication mark, displays the optimal evacuation scheme on a program interface, generates a txt-form file and stores the txt-form file in a root directory of an output controller program;
step 5, the output controller program analyzes the txt file, and transmits the analyzed data to the LoRa output controller module through the USB;
step 6, the LoRa output controller module transmits the analyzed data to the execution terminal through the LoRa wireless communication unit in a fixed point manner;
step 7, the LoRa wireless communication unit receives the action information and awakens the action information from the dormant state into a working state;
and 8, after the execution terminal receives the instruction transmitted by the LoRa wireless communication unit, each LED intelligent evacuation indication mark acts under the control of the LED display driving program, the visual induction module displays corresponding direction information, and the voice induction module sends voice induction prompt.
8. The method of claim 7, wherein the emergency evacuation decision optimization procedure comprises the steps of:
step 4.1, acquiring a fire state in a building, dividing nodes, and determining a calculation area according to the position of a fire source;
step 4.2, initializing parameters, and establishing a building space information database according to the geometrical information of the building space structure, the state information of each fire-fighting facility, the initial fire state of each building space node and the initial number of people to be evacuated; determining a maximum cycle number NC, wherein the cycle number is initially set to be N-1;
step 4.2.1, the total number of people to be evacuated is calculated according to the formula (1):
wherein Y represents the total number of evacuation nodes in the building;
the representation is located at node siThe number of people evacuated; people k (k is 1,2, …, m) are evacuated by tabu tablek(k ═ 1,2, … m) records the nodes of the safe channel that evacuated person k currently walks through, set tabukDynamically adjusting as the evolution progresses;
step 4.2.2, under the condition of considering the fire smoke diffusion in the searching process, the personnel to be evacuated selects the next node, namely the node s, by utilizing the state transition rule according to the information quantity on each channel and the heuristic information of the channeliBy applying the rule given in equation (2) to select the next node s to be moved toj：
Wherein: q is at [0, 1 ]]Random numbers, q, evenly distributed over a period0Is a parameter (0. ltoreq. q)0Less than or equal to 1); j is a random variable selected according to the probability distribution given by equation (3); q. q.s0Is determined by the relative importance between using a priori knowledge and exploring new paths, whenever one is located in the city siTo select the next city s to be reachedjWhen the random number is more than or equal to 0 and less than or equal to 1, q is selected; if q is less than or equal to q0Selecting the best path according to the formula (2), otherwise probabilistically selecting another path according to the formula (3); at time t, evacuating person k at node siSelecting a node sjTransition probability of
Comprises the following steps:
among them, allowedk1, …, n-1 represents a node which is allowed to be selected next time by the evacuating personnel k; τ eij(t) evacuation route e at time tij(si,sj) The pheromone of (a); etaeij(t) is a heuristic function; alpha is an information heuristic factor, represents the relative importance of the track and reflects the information accumulated in the process of the movement of the evacuated personnel in the evacuation processThe greater the action degree in the dispersion process, the more the evacuated personnel tend to select the path that other people pass through, and the stronger the collaboration between people is; beta is an expected heuristic factor, and reflects the degree of importance of heuristic information in the personnel selection path in the evacuation movement process of the personnel;
step 4.2.3, heuristic function
Is to select evacuation lane eijTime cost function of
The smaller the time cost required for finishing evacuation on the channel is, the larger the heuristic function value of the channel is, the higher the probability that the evacuation personnel selects the channel is, and the formula (4) and the formula (5) are shown:
wherein,
is a channel eijEquivalent length of, v0In order to increase the walking speed of the people to be evacuated,
is a channel eijThe number of the remaining persons in the building,
is a channel eijThe width of the paper is less than the width of the paper,
is a channel eijThe flow rate of (c);
for any evacuated person k, evacuation channel eijEquivalent length of
The smaller, the channel eijThe number of remaining people
The less the number of the channels, the smaller the value of the time cost function for evacuation by adopting the channels, and the heuristic function of the time cost function
The larger the person k is, the larger the slave node siTransfer to node sjThe higher the desired degree of;
and 4.3, updating the pheromone, wherein the process is as follows:
step 4.3.1, at the moment (t +1) in evacuation lane eijThe local pheromones above can be updated as follows:
wherein m represents the total number of people to be evacuated; when the number of the persons who select the path reaches a certain number (m/3) or most (m/5) of evacuated persons select the path, the current distance exceeds the last optimal path length to stop traversing, and the information amount is greatly reduced
The method and the device tend to the average value of the information content of each path, so that the evacuees have stronger exploration capacity on the channels which are not selected by the crowds at present, the strong action of the crowds in the evacuation process of the crowds is balanced, and the congestion phenomenon is avoided; when the number of evacuated people selecting the current path is general, taking
Is the increment of the current pheromone;
4.3.2, judging whether the circulation is finished, namely judging whether all the personnel find an exit, if so, carrying out next global pheromone updating, otherwise, continuously executing next iteration, and carrying out the next step until the circulation is finished;
step 4.3.3, at the moment (t +1) in evacuation lane eijThe global pheromone on the global optimal solution is updated according to the following formula for the channel to which the global optimal solution belongs:
wherein L isgbThe length of the current optimal solution; (1-rho) epsilon (0, 1) is a global pheromone volatilization coefficient, and rho is a pheromone residual coefficient; regarding the selection of pheromone volatility rho in the ant colony algorithm, two performance indexes of global searching capability and convergence speed of the algorithm must be comprehensively considered; adaptively changing the value of ρ according to equation (9) using an adaptive ant colony algorithm:
in the formula: a is a constant, ρminThe p is the minimum value, and the convergence rate of the algorithm is prevented from being reduced when the p is too small;
4.4, sequencing according to the time cost of each path, finding the optimal path with the shortest evacuation time, judging whether a set cycle time termination condition is reached, and ending when the condition is met; otherwise, recalculating from step 4.2;
and 4.5, after one source node to be evacuated finds the optimal path, continuously calculating the optimal path of the next source node, and stopping until all the source nodes find the path.
9. The method of claim 7, wherein the LED display driver comprises the following steps:
step 8.1, preparation phase: before the main program runs, firstly closing a watchdog of the single chip microcomputer, and secondly opening a crystal externally connected with the single chip microcomputer to vibrate so as to provide stable scanning frequency for row-column scanning;
step 8.2, defining pins and variables: the definition of the program pins and variables of the single chip microcomputer relates to control pins of the single chip microcomputer for driving 74HC595 columns and control pins for driving LED dot matrix rows;
step 8.3, compiling a display array: the display array is an array which comprises high-potential information accessed to the columns of the LED dot matrix and consists of a plurality of hexadecimal numbers, a pattern is firstly drawn by using modulus-taking software, and then the modulus from the binary system to the hexadecimal system is completed;
step 8.4, row and column scanning function: according to the display principle, the number in the array is output to the LED dot matrix in a high-low potential mode through the 74HC595 and the triode by adopting a serial transmission method.
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