CN101990157A - System for positioning fire fighters in fire scene based on wireless Mesh network structure - Google Patents

Abstract

The invention relates to a fire site positioning system for firefighters based on a wireless Mesh network architecture. The system consists of a wireless monitoring host, several wireless positioning slaves and several wireless relays. The wireless monitoring host is composed of a monitoring module and a wireless central node module, and the wireless positioning sub-machine is composed of a central processing unit module, a three-axis magnetoresistive sensor module, a three-axis acceleration sensor module, a three-axis gyroscope sensor module, and a height sensor module. Module, temperature sensing module and wireless terminal node module. In specific applications, firefighters wear wireless positioning sub-machines to enter the fire scene or other accident scenes, and the commander monitors the posture and movement trajectory of each firefighter through the wireless monitoring host. Once the firefighters are in distress, the monitoring host will alarm, and the commander will further judge and confirm, and promptly dispatch other personnel to quickly and accurately rescue the firefighters in distress according to the positioning information. The invention improves the efficiency of quick rescue of firefighters in distress and reduces the battle damage rate.

Description

A fire location system for firefighters based on wireless Mesh network architecture

technical field

The invention belongs to the technical field of wireless network communication, personal positioning and control, and in particular relates to a firefighter fire site positioning system based on a wireless Mesh network architecture.

Background technique

In the traditional fire rescue system, when firefighters are sent into the fire scene for investigation, fire fighting and other operations, they can only communicate with the command center through the police walkie-talkie. However, due to the complexity of the fire scene and many emergencies, firefighters may not be able to ask for help from the command center in time after they are in distress, thus missing the best rescue opportunity; at the same time, the command center cannot understand the situation of the frontline personnel in real time and dynamically, and the commander cannot Conduct precise command so that the command system cannot play its best role.

With the development of society and science and technology, as one of the routine personal protective equipment for firefighters, the firefighter's rescue device has played a huge role in protecting the personal safety of firefighters. When firefighters are fighting, they are equipped with it to enter the disaster scene. Once the firefighters have no movement response for a certain period of time, the rescue device will send out sound and light alarm information to guide rescuers to search and rescue firefighters in distress. However, due to the complex and changeable environment of the disaster scene, there are many noise sources. Coupled with the barriers of surrounding buildings, the transmission distance of alarm information is limited, and the search and rescue process is extremely time-consuming. Not only the lives of firefighters in distress are threatened, but also new dangers are brought to rescuers. Therefore, there is an urgent need for devices that can effectively shorten the search and rescue time and improve search and rescue efficiency.

In the utility model patent "Multi-point Wireless SOS Device for Fire Fighters 200620041686.X", a multi-point wireless SOS device for fire fighters is proposed. Firefighters wear sub-machines to enter the fire scene or other accident sites. Once encountering a dangerous situation that threatens personal safety , the sub-machine can manually or automatically send out continuous alarm sound signals, positioning strobe light signals and alarm working status radio signals. However, also because the sound and light signals have a certain range of transmission, the information dissemination of firefighters in distress is relatively limited. The alarm signal transmitted wirelessly to the parent machine can allow the commander to grasp the information of firefighters in time, but it cannot be timely and accurate. Knowing the movement trajectory and posture information of the firefighters in distress, so it is impossible to know the exact location of the firefighters in distress and determine the best search and rescue route, which will delay the rescue of firefighters in distress, miss the best rescue opportunity, and threaten the firefighters in distress. personnel's life safety.

In order to further improve the safety of firefighters during firefighting operations, it is urgent to develop a firefighter positioning system that can be applied to fire scenes and other accident scenes. However, the environment of the fire scene and other accident sites is extremely harsh, and the main environmental factors include extreme high temperature, high humidity, smoke, dust, toxic and harmful gases, corrosion, explosion, radiation, subway tunnel structure and so on. Commonly used satellite positioning systems are mainly used outdoors where satellite signals can be received well, and cannot be directly used indoors, especially in underground buildings or tunnels. Due to the sudden nature of fire accidents and other disasters, it is impossible to pre-deploy beacon nodes, and the site environment is extremely harsh, so some indoor positioning technologies, such as Wi-Fi, Bluetooth, RFID, light tracking, ultrasonic, infrared , ultra-wideband, wireless sensors, and computer vision positioning technologies are not applicable. Due to the attenuation of radio waves when they propagate in complex environments such as indoors and underground, it affects the normal use of the method of measuring the received signal strength RSS, and the multipath effect and other unfavorable factors when radio waves are transmitted in complex environments such as indoors and underground are restricted. , which also makes it impossible to apply methods such as time of arrival/time difference of arrival/observable time difference of arrival (TOA/TDOA/OTDOA) to the fire scene.

Contents of the invention

In view of the above-mentioned technical limitations and the technical problems to be achieved, the purpose of the present invention is to provide a firefighter fire location system based on a wireless Mesh network architecture. In the specific application of the system, firefighters wear wireless positioning sub-machines to enter the fire scene or other accident scenes, and the commander monitors the posture and movement trajectory of each firefighter through the wireless monitoring host. Once the firefighters have an accident, such as falling to the ground or falling from a high altitude, the monitoring host will give an alarm, and the commander will further judge and confirm, and according to the situation, send other firefighters to quickly and accurately enter the fire scene for timely rescue according to the positioning information.

In order to achieve the above object, the firefighter fire location system based on the wireless Mesh mesh network architecture provided by the present invention is composed of a wireless monitoring host 10, a wireless positioning sub-unit 11 and a wireless relay 12, wherein the number of wireless positioning sub-units 11 Depending on the specific situation, it is worn by firefighters who enter the fire scene, and is directly connected to the wireless monitoring host 10 through the wireless Mesh mesh network, or the wireless positioning sub-machine 11 is connected to the wireless monitoring host 10 through the wireless relay 12. The monitoring host 10 is directly connected by communication; the commander dynamically monitors the attitude and motion track of each firefighter who wears the wireless positioning sub-machine 11 through the wireless monitoring host 10; Mesh network is connected with wireless relay 12;

The wireless monitoring host 10 is composed of a monitoring module 14 connected with a wireless central node module 13, and is used to monitor the posture and motion track of the firefighter; wherein, the posture of the firefighter includes: walking, running, going up and down the escalator, going up and down the elevator, and lying down on the front. , lying on the back, lying on the left side, lying on the right side, and falling from a height;

The wireless positioning sub-machine 11 is composed of a central processing unit module 18, a three-axis magnetoresistive sensing module 15, a three-axis acceleration sensing module 16, a three-axis gyroscope sensing module 17, a height sensing module 19, and a temperature sensing module 20 and a wireless terminal node module 21, the central processing unit module 18 is respectively connected to a three-axis magnetoresistive sensor module 15, a three-axis acceleration sensor module 16, a three-axis gyroscope sensor module 17, a height sensor module 19, a temperature sensor module sensor module 20 and wireless terminal node module 21.

In the present invention, the monitoring module 14 is composed of a computer or other embedded systems, and the monitoring module 14 uses information fusion and three-dimensional imaging technology to map the firefighter's movement trajectory in a two-dimensional or three-dimensional coordinate system Carry out dynamic real-time display, display the posture of firefighters in animation, and alarm when firefighters fall to the ground or fall from a high altitude, and provide information support for command and decision-making for the commander on the fire scene, so as to protect the personal safety of firefighters to the greatest extent; The monitoring module 14 has the function of storing and replaying the data, as a daily tactical training evaluation for fire officers and soldiers.

In the present invention, the wireless central node module 13 has the functions of sending network beacons, establishing a Mesh network, managing Mesh network nodes, storing information of Mesh network nodes, routing search and data sending and receiving.

In the present invention, the wireless relay 12 adopts a router, which is used for multi-hop routing communication of positioning data signals in environments such as long-distance positioning communication or subway, so as to extend the communication distance and broaden the application scenarios.

In the present invention, the wireless terminal node module 21 has a routing function and a data sending and receiving function. That is to say, it can not only receive the information of the wireless central node sent directly from the wireless central node or through other wireless positioning handsets and wireless relays, but also directly or through other wireless positioning handsets and wireless relays The central node sends information and also has a routing function to provide routing and forwarding of information for other wireless positioning handsets or wireless relays.

In the present invention, the above-mentioned system constitutes a wireless communication network through multiple wireless positioning sub-units and relay nodes, collects data information in real time, wirelessly transmits to the wireless monitoring sub-unit, and calculates the movement trajectory of firefighters through information fusion technology, thereby realizing Dynamic positioning enables the commander to know the safety status of the firefighters in a timely manner and achieve the fastest emergency response speed, so that personnel can be arranged for rescue as early as possible.

Compared with the prior art, the beneficial effects of the present invention are reflected in:

a. The reliability and real-time performance of positioning data transmission

The present invention consists of a wireless monitoring host, several wireless positioning sub-machines, several wireless relays, and a wireless Mesh mesh network to realize non-line-of-sight transmission. The present invention has larger network capacity and coverage area, and can better realize The transmission to multiple points fully guarantees the reliability and real-time performance of wireless data transmission, so that the fire commander can dynamically monitor the movement trajectory and posture of the firefighters, so that the rescuers can arrive at the distress location as soon as possible according to the movement trajectory, and provide assistance for the rescue department. Lives of firefighters in peril buy valuable time.

b. Accuracy and real-time of positioning information

The wireless positioning sub-machine of the present invention is realized by a three-axis reluctance sensing module, a three-axis acceleration sensing module, a three-axis gyroscope sensing module, a height sensing module, a temperature sensing module, a wireless data transmission module and a central processing unit High-precision wireless positioning can adapt to sudden and extremely severe fires or other disaster site environments, and can timely and accurately detect information such as body posture, movement trajectory and position of firefighters at the disaster site.

c. Fast and flexible networking, with strong adaptability, self-repair without single point of failure

The wireless positioning monitoring system constructed by the present invention has a robust wireless Mesh mesh network structure network system, flexible and quick networking, no need for pre-configuration, and strong adaptability. The wireless positioning sub-machine, wireless monitoring host and wireless relay are all interconnected in the form of a wireless Mesh mesh network. They all have routing functions. It is convenient to add and delete nodes, and can realize data relay and multi-hop transmission. It is suitable for application scenarios such as subways and tunnels. If any node in the wireless Mesh network fails or is disturbed, the data packet will be automatically routed to the backup path through the intelligent algorithm of the Mesh network for further transmission, realizing self-repair, so that the operation of the entire network will not be affected. At the same time, the network scale can be adjusted according to the scale of the fire scene, and the setting is simple, highlighting the advantages of controllable scale and strong flexibility of the wireless positioning monitoring system.

d. The miniaturization and intelligence of the wireless positioning sub-machine

The structure of the invention can realize the miniaturization and intelligence of the mobile positioning sub-machine. Before entering the fire scene, firefighters only need to wear the wireless locating handset, and there is no need for firefighters to perform any other operations, thereby reducing the number of steps for firefighters. The mobile positioning sub-machine is light in weight and small in size, which can effectively reduce the weight and volume of portable equipment for firefighters. The miniaturization and intelligence of the mobile positioning sub-machine simplifies the learning and use of equipment by firefighters, basically does not affect tactical actions after carrying it, and is easy to install, thereby improving combat effectiveness.

e. Visualization and three-dimensionalization of positioning information

The present invention performs two-dimensional or three-dimensional dynamic display of the running track of each firefighter through information fusion at the wireless positioning host end, and dynamically displays the current behavior posture of the firefighters through animation effects, including walking, running, going up and down the escalator, and going up and down the elevator , lying on the front, lying on the back, lying on the left side, lying on the right side, and falling from a height. It can make the commander intuitively and accurately judge the situation of each firefighter, so as to provide information support for command decision-making.

f. Tactical training evaluation, formulating scientific training plan, improving combat effectiveness

The present invention can store and replay data on the wireless monitoring host end, and use it as a daily tactical training evaluation for fire officers and soldiers, so as to formulate a scientific training plan closer to the actual situation and improve combat effectiveness.

Description of drawings

FIG. 1 is an application scene diagram of the firefighter fire location system based on the wireless Mesh network architecture of the present invention.

Fig. 2 is a structural block diagram of the wireless monitoring host computer of the present invention.

Fig. 3 is a structural block diagram of the wireless positioning sub-unit of the present invention.

Fig. 4 is a structural block diagram of the wireless relay node of the present invention.

Fig. 5 is a flowchart of positioning communication in the present invention.

Numbers in the figure: 10 is the wireless monitoring host, 11 is the wireless positioning sub-machine, 12 is the wireless relay, 13 is the wireless central node module, 14 is the monitoring module, 15 is the three-axis magnetic resistance sensor module, and 16 is the three-axis acceleration Sensing module, 17 is a three-axis gyroscope sensing module, 18 is a central processing unit module, 19 is a height sensing module, 20 is a temperature sensing module, 21 is a wireless terminal node module.

Detailed ways

The following embodiments further describe the present invention in conjunction with the accompanying drawings.

Embodiment 1: With reference to the application scenario shown in Figure 1, a firefighter fire location system based on a wireless Mesh network architecture according to the present invention consists of a wireless monitoring host 10, 6 wireless positioning slaves 11 and 2 wireless The relays are composed of 12 and form a wireless Mesh communication network. Wherein 6 wireless positioning sub-units 11 are worn by firefighters who enter the fire scene, and communicate with the wireless monitoring host 10 through the wireless Mesh mesh network. The commander dynamically monitors the posture and movement trajectory of each firefighter through the wireless monitoring host 10, and instructs to set up two wireless relays 12 in corresponding places according to the communication status of the fire scene. For example, in the subway scene, when firefighters conduct reconnaissance, search, rescue, or fire fighting operations to the depths of the subway, the commander will instruct the firefighters to place wireless relays at the corresponding location and continue to perform tasks according to the subway structure, signal strength, etc. . In the shopping mall scenario, you can also choose to place, launch or air float the wireless relay outside the mall, or you don’t need to set up a wireless relay according to the site conditions.

Referring to FIG. 2 , the wireless monitoring host 10 of the present invention includes a monitoring module 14 and a wireless central node module 13 connected to the monitoring module 14 . The wireless central node module 13 can choose AGBE340-5W, set it as the central node working mode, send network beacons, establish Mesh network, manage Mesh network nodes, store Mesh network node information, route search and data transmission and reception. The monitoring module 14 can be a computer or other embedded systems, such as using a highly reliable and strong-protected military notebook computer, installing corresponding firefighter fire location software, and by information fusion and three-dimensional imaging technology, the firefighter's motion track is displayed in two Dynamic real-time display in the three-dimensional or three-dimensional coordinate system, the firefighter's posture is displayed in animation, and the alarm is given when the firefighter falls to the ground or falls from a high altitude, providing the fire site commander with information support for command decision-making, so as to maximize the protection Personal safety of firefighters. At the same time, the monitoring module can also store and replay the data as a daily tactical training evaluation for fire officers and soldiers.

Referring to Fig. 3, the wireless positioning sub-machine 11 of the present invention includes a central processing unit module 18, a three-axis magnetoresistive sensor module 15 connected to the central processing unit module 18, a three-axis acceleration sensor module 16, a three-axis gyro Instrument sensing module 17, height sensing module 19, temperature sensing module 20 and wireless terminal node module 21; wherein three-axis magnetoresistive sensing module 15, three-axis acceleration sensing module 16, three-axis gyroscope sensing module 17 1. The temperature sensing module 20 can be constituted by discrete chips respectively. For example, the three-axis reluctance module can use discrete chips HMC1023 and ADS7844E digital-to-analog converters, and the three-axis acceleration module 16 can use KXP74-1050, etc., or can use integrated Modules, such as the ADIS16405 that integrates a three-axis gyroscope, a three-axis magnetoresistive sensor, a three-axis acceleration sensor and a temperature sensor to provide temperature compensation, the MS5540-CM with temperature compensation can be used for the height sensing module, and the wireless terminal node module 21 can be selected AGBE340-5W, set it as a routing node. The central processing unit module 18 may be composed of conventional peripheral circuits such as a processor M30626FHPGP, a memory Atmel Flash chip AT45DB161D, and an interface chip. Through the central processing unit module, the data fusion of each sensor information is carried out, and the location information of the firefighters is dynamically transmitted to the wireless Mesh network, which is collected directly or through other nodes and wireless relays to the wireless monitoring host to complete the data. Collection and dynamic upload functions.

Referring to FIG. 4 , the wireless relay 12 can choose AGBE340-5W, and set it as a routing node for routing and forwarding data in the wireless Mesh network.

With reference to Fig. 5, the flow process of positioning communication of the present invention comprises the following steps:

Step 1, the wireless monitoring host broadcasts the start positioning instruction to each node;

That is to say, when the firefighters move to a certain place before entering the fire scene and receive the start positioning instruction broadcasted by the wireless monitoring host, the wireless positioning sub-machine starts positioning work to reduce the cumulative error.

Step 2, the wireless monitoring host requests positioning data from a wireless positioning sub-machine according to the packet serial number;

According to the ID list of the wireless positioning sub-units registered with the wireless monitoring host, the wireless monitoring host requests the positioning data of the first serial number from one of the wireless positioning sub-units.

Step 3, other wireless positioning handsets or wireless relays perform routing and forwarding;

According to the actual changing routing conditions in the wireless Mesh network, the wireless monitoring host may communicate with the target wireless positioning sub-unit directly or through other wireless positioning sub-units or wireless relay routes.

Step 4: After receiving the instruction to request local positioning data, the target wireless positioning sub-machine sends positioning data according to the serial number and the current data pointer according to the sliding window protocol.

Step 5, other wireless positioning handsets or wireless relays perform routing and forwarding;

According to the actual changing routing conditions in the wireless Mesh network, the target wireless positioning sub-unit may communicate with the wireless monitoring host directly or through other wireless positioning sub-units or wireless relay routes.

Step 6: The wireless monitoring host determines the serial number of the next positioning data request to the slave according to the data received or not received.

Step 7: The wireless monitoring host requests positioning data from the next wireless positioning sub-machine according to the packet sequence number.

Step 8, skip to step 3.

Repeated execution in this way, the wireless monitoring host realizes the collection of positioning data of each wireless positioning sub-unit, and the wireless monitoring host performs information fusion on the data, and dynamically displays and alarms the running trajectory of each firefighter in two or three dimensions, and through animation The effect dynamically shows the current behavior of firefighters, including walking, running, going up and down the escalator, going up and down the elevator, lying on the front, lying on the back, lying on the left side, lying on the right side, and falling from a high altitude. It can make the commander intuitively and accurately judge the situation of each firefighter, so as to provide information support for command decision-making. At the same time, the data can also be stored and played back as a daily tactical training evaluation for fire officers and soldiers, so that a scientific training plan that is closer to the actual situation can be formulated to improve combat effectiveness.

Claims (5)

1. fireman scene of a fire navigation system based on the netted planar network architecture of Wireless Mesh, form by wireless monitor main frame (10), wireless location handset (11) and wireless relay (12), it is characterized in that wireless location handset (11) worn with oneself by the fireman who enters the scene of a fire, and be connected with wireless monitor main frame (10) direct communication by the netted net of Wireless Mesh, perhaps wireless location handset (11) is passed through wireless relay (12) and is connected with wireless monitor main frame (10) direct communication by the netted net of Wireless Mesh; Each wears the fireman's of wireless locator machine (11) attitude and movement locus to the commander by wireless monitor main frame (10) dynamic monitoring; Wireless monitor main frame (10) is connected with wireless relay (12) by the netted net of Wireless Mesh;

Described wireless monitor main frame (10) is connected to form by monitoring module (14) and wireless center node module (13), is used to monitor fireman's attitude and movement locus;

Described wireless location handset (11) is made up of CPU module (18), three magneto-resistive transducing modules (15), 3-axis acceleration sensing module (16), three-axis gyroscope sensing module (17), highly sensing module (19), temperature sensing module (20) and wireless terminal node module (21), and CPU module (18) connects three magneto-resistive transducing modules (15), 3-axis acceleration sensing module (16), three-axis gyroscope sensing module (17), highly sensing module (19), temperature sensing module (20) and wireless terminal node module (21) respectively.

2. the fireman scene of a fire navigation system based on the netted planar network architecture of Wireless Mesh according to claim 1, it is characterized in that described monitoring module (14) is made up of computer or other embedded system, monitoring module (14) is with fireman's locating information, by information fusion and three-dimensional imaging technology, fireman's movement locus is carried out the dynamic real-time demonstration in two dimension or three-dimensional system of coordinate, fireman's attitude is shown in the animation mode, and fall down to the ground or report to the police when falling in the high-altitude the fireman; Monitoring module (14) has to be stored and playback function data.

3. the fireman scene of a fire navigation system based on the netted planar network architecture of Wireless Mesh according to claim 1 is characterized in that described wireless center node module (13) has the networked beacons of transmission, sets up the Mesh network, manages Mesh network node, store M esh network node information, route querying and data transmit-receive function.

4. the fireman scene of a fire navigation system based on the netted planar network architecture of Wireless Mesh according to claim 1, it is characterized in that described wireless relay (12) adopts router, be used at remote positioning and communicating or subway environment, to the multi-hop routing to communicate of locator data signal, expanding communication distance and widen application scenarios.

5. the fireman scene of a fire navigation system based on the netted planar network architecture of Wireless Mesh according to claim 1 is characterized in that described wireless terminal node module (21) has routing function and data transmit-receive function.

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