CN104155670B - System and method are followed the tracks of in a kind of operation for scene of a fire fire fighter - Google Patents
System and method are followed the tracks of in a kind of operation for scene of a fire fire fighter Download PDFInfo
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- CN104155670B CN104155670B CN201410378251.3A CN201410378251A CN104155670B CN 104155670 B CN104155670 B CN 104155670B CN 201410378251 A CN201410378251 A CN 201410378251A CN 104155670 B CN104155670 B CN 104155670B
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- fire fighter
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention provides a kind of operation for scene of a fire fire fighter to follow the tracks of system and method, this system includes shoe body, location tags and fire command system, and described shoe body is provided with micro-control unit, GPS module, inertial navigation system module, tag recognition module, environment induction sensing module, alarm module, communication module and power supply in sole heel position.Tag recognition module location tags in scanning recognition building, obtains the absolute-coordinate three-dimensional value of label position；Shoe body carries out communication transmission data by communication module and fire command system.It has the beneficial effects that: alignment system of the present invention is combined with the special purpose shoes of fire fighter, realize scene of a fire operation fire fighter real time position follow the tracks of and scene of a fire the condition of a disaster detect monitoring in real time, and fed back in time in commanding by communication module, commanding is facilitated to grasp the overall situation, farthest ensure people life property safety, reduce fire damage.
Description
Technical field
The present invention relates to locating and tracking system and method thereof, particularly to a kind of for scene of a fire fire fighter's
Fight and follow the tracks of system and method.
Background technology
Also bringing huge fire safety evaluating hidden danger while rapid urban, induction pyric factor is drastically
Increasing, fire once occurs or rescues too late, it will bring huge loss to the people's lives and property,
This just has higher requirement to the fire extinguishing rescue of public security fire-fighting.In actual scene of fire, fire-fighting
Team member is punched in, with the memory route building fire, a line of recovering, but scene of a fire inner case is complicated and changeable,
Not only make fire extinguishing efficiency of recovering low, be even also possible to threaten inherently safe.
It is increasingly extensive that the development of Satellite Navigation Technique makes outdoor location be served by, but due to building etc.
Blocking of barrier so that indoor satellite signal drastically weakens and even do not exists, and causes based on satellite-signal
Precision indoor location cannot realize.Also fire-fighting command personnel are made cannot to obtain current scene of a fire operation team member
Real time position and be difficult to commander, dispatch and guide work.Patent No. [CN 203275661U]
A kind of indoor locating system for scene of a fire fire fighter, proposes using GPS location information as initial position,
Inertial navigation system is utilized to carry out position estimation to realize the real-time acquisition of fire fighter's indoor location.But inertial navigation system
System itself is affected by environment relatively big, and there is error accumulation feature, when operating for a long time, positioning precision
It is substantially reduced.And more indoor positioning based on wireless technologys such as WIFI, when occurring due to fire, it is difficult to
Ensure the completeness of circuit, so relying on external wireless device location technology in scene of fire unreliable.
Radio frequency identification label technology is applied to fireman room for [CN 103499808 A] by application publication number
Method in inner position, proposes to arrange passive RFID in the region that interior of building personnel may arrive
Label, and on Building Design drawing, demarcate indoor location coordinate and the installation side thereof of each RFID label tag
To information, it is identified reading to label by the RFID reader installed on the intelligent helmet that fireman wears
Take corresponding position coordinates.This patent uses the ultra-high frequency RFID label identification technology of one-to-many, according to adopting
Collect to signal intensity coordinate realize indoor positioning based on related operation location algorithm program.This location technology
Positioning precision and algorithm routine close relation, there is no the positioning product of such maturation in the market.
Summary of the invention
In order to solve above-mentioned prior art defect and realize above-mentioned functions, the present invention provides a kind of for fire
System and method are followed the tracks of in the operation of field fire fighter, and it can effectively help scene of a fire commanding quickly to do
Go out the most reasonably commander, scheduling and guide decision-making, farthest assure the safety for life and property of the people,
Reduce fire damage.
It is an object of the invention to be achieved through the following technical solutions: a kind of work for scene of a fire fire fighter
War tracking system, this system includes shoe body, location tags and fire command system；
Described shoe body includes upper of a shoe and sole, is provided with micro-control unit, GPS in sole heel position
Module, inertial navigation system module, tag recognition module, environment induction sensing module, alarm module, communication
Module and power supply；Micro-control unit and GPS module, inertial navigation system module, tag recognition module, ring
Border sensing sensing module, alarm module, communication module and power supply connect respectively.
Described shoe body is provided with a shift knob and an emergency help button；
Tag recognition module in described shoe body includes a reader and an antenna, is used for identifying that indoor are definitely
Coordinate information；Wherein, the location tags that reader is set by antenna and interior of building carries out channel radio
Letter, it is achieved in location tags, the identification of positional information is read；Shoe body reads position by tag recognition module
The positional information of label；
Described fire command system, its EM is desktop computer or laptop computer PC equipment, and shoe body is led to
Cross communication module and carry out communication transmission data to this fire command system.
Communication module in described shoe body is one of GSM, GPRS, 3G or 4G communication module.
A kind of operation tracking for scene of a fire fire fighter, comprises the following steps:
(1) fire-fighting detachment is when building is disposed fire fighting device or makes plan of fire fighting, at interior of building
Be easy in room and on passage fire fighter trample through place, straight line exists with 10 meters of intervals, turnings
Corner position installation position label, writes the absolute three-dimensional coordinate information of correspondence position in label；
(2) after receiving fire alarm, fire fighter presses the shift knob arranged in shoe body, starts location
Follow the tracks of and the condition of a disaster detects pattern；Commanding opens the building three that the scene of a fire occurs on fire command system
Dimension structure chart, and start positional information and the environmental index data receiving fire fighter, reception frequency is set
After start receive；
(3) shoe body of alignment system is under the control of micro-control unit, autonomous regioselective pattern: when defending
In the case of star signal is very strong, GPS station-keeping mode is activated individually；Weak at satellite-signal or not in the presence of,
Automatically switching to inertial navigation system, and position information as initial position using the GPS of previous moment, it is fixed to continue
Position；After entering building, when fire fighter is near optional position label, the tag recognition mould in shoe body
It is just read and deciphers acquisition absolute three-dimensional coordinate information by block, the closer to location tags, acquired
Positional information the most accurate, then micro-control unit is using new as inertial navigation system of acquired three-dimensional coordinate
Initial position message, is carried out continuously high-precision inertial navigation location.
(4) environment induction sensing module is under the control of micro-control unit, starts the temperature in this module and passes
Sensor, gas sensor, humidity sensor and baroceptor, start to detect the temperature of scene of fire respectively
Degree, the type of multiple gases and the environmental index of concentration, humidity and atmospheric pressure value；Gas described in utilization passes
The gas type of scene of fire is identified and detects its concentration by sensor, when carbon monoxide poisonous and harmful gas
When bulk concentration exceeds standard, micro-control unit sends corresponding gas to alarm module and exceeds standard instruction, triggers voice and warns
Report, informs that fire fighter exceeds standard gas type and concentration value, notifies that fire fighter carries out and withdraws or protect standard
Standby；
(5) micro-control unit by the three dimensional local information of fire fighter and expresses the scene of a fire according to set frequency
The environmental index data of the condition of a disaster is sent to fire command system by communication module；Now, fire fighter position
Put and intuitively show in the tomograph of fire command system；According to the environmental index data received, disappear
Anti-command system sends the warning information of blue/yellow/orange/red different stage automatically；
(6) scene of a fire the condition of a disaster that commanding feeds back in time according to fire fighter, analyzes the scene of a fire state of affairs further,
Carry out orderly commander, guide work；When fire missions finds the position of fire fighter on graphics
Occur abnormal, determine rapidly location tags possible near fire fighter, and notify that fire fighter is with the fastest
Mode carries out position corrigendum, obtains new initial position message and continues hi-Fix；As fire-fighting command personnel
Receive environmental index and exceed standard after alarm, according to alert level, assign to fire fighter withdraw or protect corresponding
Instruction；
(7) fire fighter is in the Campaign Process of the scene of a fire, and as run into pop-up threats, continuation is supported or rescued
In the case of, press rapidly emergency help button；Distress call is by micro-control unit by communication module immediately
Send to fire command system；Commanding carries out rapidly rescue and guides and rescue tune after receiving calling for help information
Degree decision-making；
(8) scene of a fire disaster relief is after all have worked, and fire fighter presses shift knob, closes the merit of shoe body
Can pattern.
Beneficial effect, owing to have employed such scheme: by GPS location technology, inertial navigation technique and radio frequency skill
Art triplicity, it is achieved the hi-Fix of indoor and outdoor；Utilize sensing technology to realize scene of fire simultaneously
Environmental index detects monitoring in real time；The positional information of fire fighter is led to together with the condition of a disaster environmental index of the scene of a fire
Cross communication module and pass to commanding, allow commanding grasp in time the scene of a fire overall situation, thus improve commander,
Scheduling and the decision-making capability guided.
1. this system uses the RFID radio-frequency technique of identification contactless, automatic, and it identifies that work need not
Manual intervention, and it is operable with various adverse circumstances.Utilize this radio-frequency technique, when identification module is near mark
During label, the most only identify a label, obtain corresponding positional information, correct determining of inertial navigation system in time
Position result, greatly improves indoor position accuracy；
2. this system is by GPS location technology, inertial navigation location technology and radio-frequency technique triplicity, it is possible to real
During reality, high-precision indoor and outdoor location, ensures the fire-fighting command personnel real time position to fire fighter
Follow the tracks of；
3. this system is herein in connection with employing sensing technology, utilizes the temperature sensing in environment induction sensor
Device, multi-gas sensor, humidity sensor, baroceptor detect the temperature in the scene of a fire, gas respectively
The environmental index such as type and concentration, humidity and atmospheric pressure value.By communication module, these environmental index data are sent out
Give commanding so that fire-fighting command personnel can grasp scene of a fire the condition of a disaster in time；
4. these system and method are combined with footwear, are ensureing real-time positioning and the detection monitoring of scene of a fire the condition of a disaster
Meanwhile, because improve fire fighter's largely without carrying the hardware device of extra position monitor
Operational Effectiveness Rat；
5. being combined with footwear, its design is simple, and it is convenient to install, because examining without extra purchase location and the condition of a disaster
The carrier hardware of brake and manufacturing cost is greatly reduced；
6. this system and method effectively helps fire-fighting command personnel to grasp the reality of fire-fighting combatant in time
Time position and the real-time the condition of a disaster in the scene of a fire, plan as a whole to hold the scene of a fire overall situation, thus largely improve its commander,
Scheduling and the decision-making capability guided, assure the safety for life and property of the people, as much as possible reduce fire damage.
Accompanying drawing explanation
Fig. 1 is the population structure block diagram of system of the present invention.
Fig. 2 is the operation tracking flow chart of system of the present invention.
Detailed description of the invention
With detailed description of the invention, the present invention is described in further detail below in conjunction with the accompanying drawings.
Embodiment 1: in FIG, system, this system are followed the tracks of in a kind of operation for scene of a fire fire fighter
Including shoe body, location tags and fire command system, described shoe body includes upper of a shoe and sole, at sole
Heel position is provided with micro-control unit, GPS module, inertial navigation system module, tag recognition module, ring
Border sensing sensing module, alarm module, communication module and power supply.Micro-control unit and GPS module,
Inertial navigation system module, tag recognition module, environment induction sensing module, alarm module, communication module with
And power supply connects respectively.
Tag recognition module in described shoe body includes a reader and an antenna, is used for identifying that indoor are definitely
Coordinate information；Wherein, the location tags that reader is set by antenna and interior of building carries out channel radio
Letter, it is achieved in location tags, the identification of positional information is read；Shoe body reads position by tag recognition module
The positional information of label.
Described location tags is RFID label tag, comprises the three-dimensional coordinate information of location point.
Described fire command system, its EM is the PC equipment such as desktop computer or laptop computer.At this
Load fire command system on PC equipment, including building tomograph, tomograph intuitively shows
Show fire fighting device and the spatial distribution of interior location label inside and outside building.Described shoe body passes through communication module
Data are transmitted to this fire command system communication.
Being additionally provided with charging socket in shoe body, this charging socket is connected with the power supply in shoe body by flexible circuit conductor,
And wired connection external power source.
Being additionally provided with a button groups in shoe body, this button groups includes a shift knob and an emergency help button.
Described shift knob connects micro-control unit by wire, is used for controlling shoe body location and the condition of a disaster detection function
State model；Described emergency help button is connected with micro-control unit, for meeting as operation fire fighter
The when of to pop-up threats urgent need support, rescue, transmit assistance message by communication module to commanding.
GPS module in described shoe body is used for outdoor positioning, and inertial navigation system module is for indoor or satellite letter
Number faint environmental positioning, tag recognition module is used for identifying indoor absolute location information.Due to indoor satellite
Signal is die-offed and is not even existed, and causes global position system cannot use in indoor environment, and inertial navigation system
Because the easily factor such as magnetic field by environment is affected, and there is error accumulation feature, long positioning precision
Certainly will be substantially reduced.Therefore, when using inertial navigation system to carry out indoor positioning, needs at reasonable time are
It resets initial position to eliminate cumulative error.Fire-fighting detachment disposes fire fighting device or system at building
When making plan of fire fighting, dispose in corner position by 10 meters of intervals, turning at interior of building, straight line
Location tags, depending on the layout scheme of label can be by actual demand, the unique identifier of this label is this position
The three-dimensional coordinate put.The tag recognition module in box is followed the tracks of in described shoe body fire-fighting, when the fire-fighting fought in the scene of a fire
During this location tags of personnel's Close approach, can scanning recognition decipher and obtain current three-dimensional coordinate,
Distance the closer to, the positional information of acquisition is the most accurate, then as the new initial position of inertial navigation system
Information.Thus realize commanding and the three-dimensional position of scene of a fire fire-fighting combatant is monitored.
Environment induction sensing module in described shoe body includes that temperature sensor, gas sensor, humidity pass
Sensor, baroceptor, be respectively used to detect temperature, the type of multiple gases and concentration, humidity gentle
The environmental index such as pressure value.Scene of fire often gather have carbon monoxide, carbon dioxide and other multiple have
Poison harmful gas, utilizes this multi-gas sensor to carry out identification and the Concentration Testing thereof of scene of a fire gas type.
The gathered environmental index data of environment induction sensing module is transmitted to refer to by communication module by micro-control unit
Wave personnel, it is simple to fire-fighting command personnel grasp scene of a fire the condition of a disaster in real time.
Communication module in described shoe body is one of GSM, GPRS, 3G or 4G communication module.
A kind of operation tracking for scene of a fire fire fighter, comprises the following steps:
(1) fire-fighting detachment is when building is disposed fire fighting device or makes plan of fire fighting, at interior of building
Be easy in room and on passage fire fighter trample through position, straight line exists with 10 meters of intervals, turnings
Flex point installation position label, writes the absolute three-dimensional coordinate information of correspondence position in label.
(2) after receiving fire alarm, fire fighter presses the shift knob arranged in shoe body, starts location
Follow the tracks of and the condition of a disaster detects pattern；Commanding opens the building three that the scene of a fire occurs on fire command system
Dimension structure chart, and start positional information and the environmental index data receiving fire fighter, reception frequency is set
After start receive.
(3) shoe body of alignment system is under the control of micro-control unit, autonomous regioselective pattern: when defending
In the case of star signal is very strong, GPS station-keeping mode is activated individually；Weak at satellite-signal or not in the presence of,
Automatically switching to inertial navigation system, and position information as initial position using the GPS of previous moment, it is fixed to continue
Position.After entering building, when fire fighter is near optional position label, the tag recognition mould in shoe body
It is just read and deciphers acquisition absolute three-dimensional coordinate information by block, the closer to location tags, acquired
Positional information the most accurate, then micro-control unit is using new as inertial navigation system of acquired three-dimensional coordinate
Initial position message, is carried out continuously high-precision inertial navigation location.
(4) environment induction sensing module is under the control of micro-control unit, starts the temperature in this module and passes
Sensor, gas sensor, humidity sensor, baroceptor, start to detect the temperature of scene of fire respectively
Degree, the type of multiple gases and the environmental index of concentration, humidity and atmospheric pressure value.Gas described in utilization passes
The gas type of sensor team scene of fire is identified and detects its concentration, when poisonous and harmfuls such as carbon monoxides
When gas concentration exceeds standard, micro-control unit sends corresponding gas to alarm module and exceeds standard instruction, triggering voice
Alarm, informs that fire fighter exceeds standard gas type and concentration value, notifies that fire fighter carries out and withdraws or protect
Prepare.
(5) micro-control unit by the three dimensional local information of fire fighter and expresses the scene of a fire according to set frequency
The environmental index data of the condition of a disaster is sent to fire command system by communication module.Now, fire fighter position
Put and intuitively show in the tomograph of fire command system；According to the environmental index data received, disappear
Anti-command system sends the warning information of blue/yellow/orange/red different stage automatically.
(6) scene of a fire the condition of a disaster that commanding feeds back in time according to fire fighter, analyzes the scene of a fire state of affairs further,
Carry out orderly commander, guide work.When fire missions finds the position of fire fighter on graphics
Occur abnormal, determine rapidly location tags possible near fire fighter, and notify that fire fighter is with the fastest
Mode carries out position corrigendum, obtains new initial position message and continues hi-Fix；As fire-fighting command personnel
Receive environmental index and exceed standard after alarm, according to alert level, assign to fire fighter and withdraw or the phase such as protection
Should instruct.
(7) scene of a fire disaster relief is after all have worked, and fire fighter presses shift knob, closes the merit of shoe body
Can pattern.
Embodiment 2: fire fighter, in the Campaign Process of the scene of a fire, encounters pop-up threats, is badly in need of external force
Amount support and rescue, now fire fighter just can press rapidly emergency help button, distress call by
Micro-control unit is sent to fire command system immediately by communication module, and its transmission mechanism is not referred to by fire-fighting
Wave the reception frequency influence set by system, but take to trigger the pattern i.e. sent；When commanding connects
Carry out rescue with prestissimo after receiving calling for help information to guide and the decision-making of rescue dispatch.With it and embodiment
1 is same.
Claims (1)
1. the operation tracking that the operation tracking system for scene of a fire fire fighter is united, it is characterised in that comprise the following steps:
(1) fire-fighting detachment is when building is disposed fire fighting device or makes plan of fire fighting, be easy in interior of building room and on passage fire fighter trample through place, straight line at corner position installation position label, writes the absolute three-dimensional coordinate information of correspondence position with 10 meters of intervals, turning in label；
(2) after receiving fire alarm, fire fighter presses the shift knob arranged in shoe body, starts locating and tracking and the condition of a disaster detection pattern；Commanding opens the building tomograph that the scene of a fire occurs on fire command system, and starts positional information and the environmental index data receiving fire fighter, starts to receive after arranging reception frequency；
(3) shoe body of alignment system is under the control of micro-control unit, autonomous regioselective pattern: in the case of satellite-signal is very strong, GPS station-keeping mode is activated individually；Weak at satellite-signal or not in the presence of, automatically switch to inertial navigation system, and position information as initial position using the GPS of previous moment, continue location；After entering building, when fire fighter is near optional position label, it is just read and deciphers acquisition absolute three-dimensional coordinate information by the tag recognition module in shoe body, the closer to location tags, acquired positional information is the most accurate, then micro-control unit is using acquired three-dimensional coordinate as the new initial position message of inertial navigation system, is carried out continuously high-precision inertial navigation location；
(4) environment induction sensing module is under the control of micro-control unit, start the temperature sensor in this module, gas sensor, humidity sensor, baroceptor, start respectively to detect the temperature of scene of fire, the type of multiple gases and the environmental index of concentration, humidity and atmospheric pressure value；The gas type of the gas sensor team scene of fire described in utilization is identified and detects its concentration, when carbon monoxide toxic and harmful concentration over-standard, micro-control unit sends corresponding gas to alarm module and exceeds standard instruction, trigger voice alarm, inform that fire fighter exceeds standard gas type and concentration value, notifies that fire fighter carries out and withdraws or protect preparation；
(5) environmental index data of the three dimensional local information of fire fighter and expression scene of a fire the condition of a disaster is sent to fire command system by communication module by micro-control unit according to set frequency；Now, fire fighter position intuitively shows in the tomograph of fire command system；According to the environmental index data received, fire command system sends the warning information of blue/yellow/orange/red different stage automatically；
(6) scene of a fire the condition of a disaster that commanding feeds back in time according to fire fighter, analyzes further the scene of a fire state of affairs, carries out orderly commander, guides work；When fire missions finds that on graphics extremely, determining rapidly location tags possible near fire fighter, and notifying that fire fighter carries out position corrigendum in the fastest mode occur in the position of fire fighter, obtain new initial position message and continue hi-Fix；Exceed standard after alarm when fire-fighting command personnel receive environmental index, according to alert level, assign the command adapted thereto withdrawn or protect to fire fighter；
(7) fire fighter is in the Campaign Process of the scene of a fire, as run into pop-up threats, is badly in need of supporting or in the case of rescue, presses rapidly the emergency help button arranged in shoe body；Distress call is sent to fire command system by communication module immediately by micro-control unit；Commanding carries out rapidly rescue after receiving calling for help information and guides and rescue dispatch decision-making；
(8) scene of a fire disaster relief is after all have worked, and fire fighter presses shift knob, closes the functional mode of shoe body.
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| CN201410378251.3A CN104155670B (en) | 2014-08-01 | 2014-08-01 | System and method are followed the tracks of in a kind of operation for scene of a fire fire fighter |
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| CN114200495B (en) * | 2022-02-17 | 2022-04-29 | 江苏德一佳安防科技有限公司 | Accurate positioning method and system for firefighter in full-task scene |
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| CN100565550C (en) * | 2005-09-27 | 2009-12-02 | 捷玛计算机信息技术（上海）有限公司 | Warehouse three dimensions and haulage equipment, carrying object positioning system |
| CN202697857U (en) * | 2012-07-20 | 2013-01-30 | 艾沃瑞克（北京）科技有限公司 | Intelligent helmet |
| CN103499808A (en) * | 2013-08-29 | 2014-01-08 | 北京金橄榄科技有限责任公司 | Method for applying radio frequency identification label technology to indoor locating of firefighter |
| CN203552406U (en) * | 2013-10-31 | 2014-04-16 | 南京正泽科技有限公司 | Firefighter comprehensive monitoring command system |
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2014
- 2014-08-01 CN CN201410378251.3A patent/CN104155670B/en not_active Expired - Fee Related
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