Mine fire escape real-time dynamic path planning method based on bidirectional A algorithm

• Main Authors: TANG LIPING, FENG HANXIN, ZHU SHASHA, JING CHENG, YANG YAO, ZHANG XU, ZHOU PIAOFAN, HE YAOYI, DING LEI, WANG HAILONG, XU JIANXIANG, GONG BAIQIANG, HAN YANNAN, GAO WEN, CHEN XING, ZHANG SHUN, MAO YI, CUI HONGYI
• Format: Patent
• Language: Chinese; English
• Published: 31.10.2023
• Subjects: GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention relates to the technical field of mine safety emergency, in particular to a mine fire escape real-time dynamic path planning method based on a bidirectional A * algorithm, and the method comprises the steps: S1, determining an underground fire point and a fire spreading direction based on roadway topological data and wind speed and wind direction sensor data; s2, the equivalent length of the roadway is determined based on the roadway type, the gradient, the local obstacle and the wind speed and direction; s3, determining the personnel passing time and the fire spreading time of each roadway according to the equivalent length of the roadway, the fire spreading speed and the personnel escape speed; and S4, determining an optimal escape route based on a bidirectional A * algorithm according to the position of the current underground personnel, the equivalent length of the roadway, the carbon monoxide content, the gas content, the passing time of the personnel in each roadway and the fire spreading