CN105160807B - Fire fighter's security positioning system and localization method based on UWB - Google Patents
Fire fighter's security positioning system and localization method based on UWB Download PDFInfo
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- CN105160807B CN105160807B CN201510545151.XA CN201510545151A CN105160807B CN 105160807 B CN105160807 B CN 105160807B CN 201510545151 A CN201510545151 A CN 201510545151A CN 105160807 B CN105160807 B CN 105160807B
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
- G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
- G08B25/016—Personal emergency signalling and security systems
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
- G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
- G08B25/10—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium using wireless transmission systems
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
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- General Physics & Mathematics (AREA)
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- Computer Networks & Wireless Communication (AREA)
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Abstract
The present invention relates to security against fire and UWB technology of wireless sensing network field, a kind of fire fighter's security positioning system based on UWB is disclosed, is included in some sub- anchor nodes set in each room of building and Bower Anchor node, positioning bracelet, router and command centre.The invention also discloses the method positioned using above-mentioned alignment system.The present invention enables FCC to understand real-time position information of the fire fighter in the building for occurring fire, judges whether fireman occurs dangerous situation according to its real-time position information.Grasped in real time simultaneously for the real-time condition of a fire for occurring fire building, prevent fire fighter from entering dangerous larger region and causing danger.
Description
Technical field
The present invention relates to security against fire and UWB technology of wireless sensing network field, particularly a kind of fire-fighting based on UWB
Personal security alignment system and localization method.
Background technology
With being pushed further into for urbanization, the urban skyscraper of China and large-scale public place of entertainment are continuously increased, fire
Calamity hidden danger is also greatly increased therewith, for concern life and property safety of people fire-fighting safety system requirement also increasingly
Improve.When fire occurs in building, the control that fire fighter carries out the condition of a fire into building inside is generally required.
In existing fire-fighting system, fireman enters after the building for occurring fire, often due to cigarette caused by the condition of a fire
Mist and cause personnel's poor visibility, it is impossible to recognize the location of itself, it is possible to be strayed into the dangerous region of the condition of a fire and to fire-fighting
The personal safety of personnel threatens.If generation fire fighter falls in a swoon because of high temperature or the smog of fire generation, more need
The real-time position information of fire fighter in a fire and personnel's action message are acquired, it is ensured that the person peace of fireman
Entirely.
The content of the invention
In order to solve the above problems, the present invention proposes a kind of fire fighter's security positioning system based on UWB and positioning
Method, makes command centre judge whether fireman occurs dangerous situation according to real-time position information, simultaneously for generation fire building
The real-time condition of a fire is grasped in real time, prevents fire fighter from entering dangerous larger region and causing danger.
The present invention is adopted the technical scheme that：
A kind of fire fighter's security positioning system based on UWB, it is characterized in that, it is included in each room of building and sets
Some sub- anchor nodes and Bower Anchor node, positioning bracelet, router and command centre, the router connected by network
The command centre is connected to, the Bower Anchor node is connected to the network by the router, and the sub- anchor node is connected to
The Bower Anchor node, is communicated to connect between the bracelet and the sub- anchor node by UWB, in the sub- anchor node monitoring room
Condition of a fire information and the positional information of the positioning bracelet be sent to the Bower Anchor node, the Bower Anchor node is by above- mentioned information
The command centre is sent to by router, after the command centre judges information processing, by the Bower Anchor node and
Sub- anchor node feeds back to the positioning bracelet.
Further, described positioning bracelet includes bracelet MCU, bracelet power module, bracelet UWB modules and alarm module,
The bracelet UWB modules and alarm module are connected to the bracelet MCU, and the bracelet UWB modules are realized by UWB radio communications
The positioning of the positioning bracelet and the data communication with each sub- anchor node.
Further, the positioning bracelet also includes radio frequency antenna module, and the radio frequency antenna module connects the bracelet UWB
Module, strengthens the wireless signal of the bracelet UWB modules.
Further, the alarm module includes LED light, vibrating motor and buzzer.
Further, described Bower Anchor node mainly includes Bower Anchor MCU, Bower Anchor power module, Bower Anchor UWB modules, network mould
Block, sense smoke sensor, temperature sensing sensor, A/D module, the Bower Anchor UWB modules, mixed-media network modules mixed-media, sense smoke sensor, temperature-sensitive sensing
Device and A/D module connect the Bower Anchor MCU, and the sense smoke sensor, temperature sensing sensor monitor the smoke intensity of the Bower Anchor near nodal
And temperature information, the smoke intensity and temperature information be converted into data signal by the A/D module, and the Bower Anchor MCU is by the numeral
Signal enters row data communication by the mixed-media network modules mixed-media and the command centre.
Further, described sub- anchor node is mainly passed comprising sub- anchor MCU, sub- anchor power module, sub- anchor UWB modules, sense cigarette
Sensor, temperature sensing sensor, A/D module, the sub- anchor UWB modules, sense smoke sensor, temperature sensing sensor and A/D module connection are described
Sub- anchor MCU, the sense smoke sensor, temperature sensing sensor monitor the smoke intensity and temperature information near the sub- anchor node, the AD
The smoke intensity and temperature information are converted into data signal by module, and the data signal is passed through sub- anchor UWB moulds by the sub- anchor MCU
Block is sent to the Bower Anchor MCU.
Further, the Bower Anchor node includes GPRS module, and the Bower Anchor node and sub- anchor node include stand-by power supply
Module.
Further, the router is located in building, and the router is by the master in multiple rooms in the building
Anchor node accesses the network.
Further, the command centre includes server and monitoring host computer, and the server is responsible for receiving each Bower Anchor section
The condition of a fire information and bracelet location information of point upload are simultaneously analyzed, and carrying out the progress of condition of a fire information by the monitoring host computer can
Depending on changing early warning processing.
A kind of localization method of the above-mentioned fire fighter's security positioning system based on UWB of application, it is characterized in that, including it is as follows
Step：
（1）Temperature and smoke intensity data around sub- anchor node and Bower Anchor the node timing acquiring in each room；
（2）The Bower Anchor node and sub- anchor node detect whether to receive the UWB signal that the positioning bracelet is sent simultaneously,
Judge that someone enters the room if signal is received, and the distance for entering administrative staff according to the UWB signal is detected, the sub- anchor section
Point, which sends range data to the Bower Anchor node, to be collected；
（3）Complete step（1）Afterwards, each sub- anchor section and Bower Anchor node judge whether its smoke intensity and temperature data exceed respectively
First threshold values, first threshold values is the sense smoke sensor, the threshold values of temperature sensing sensor for judging whether to occur fire,
If no more than the first threshold values, each sensing data is sent to Bower Anchor node and carries out collecting upload by each sub- anchor node；
If more than the first threshold values, further determining whether that, more than the second threshold values, second threshold values is whether the condition of a fire fits
Close fire fighter and enter room；
If no more than the second threshold values, generating the first warning message, then each sub- anchor node carries out fire-fighting biography to Bower Anchor node
Sense data and warning message collect；First warning message is that there occurs fire；
If more than the second threshold values, according to step（2）In judged result known whether personnel's entrance；
If entering without personnel, the second warning message is directly generated, and each sub- anchor node carries out fire-fighting to Bower Anchor node
Sensing data and warning message collect, and second warning message is that the room is not suitable for fire fighter and entered；
If there is personnel's entrance, warning message is sent to positioning bracelet UWB modules, the warning fire fighter room has danger
Danger, is not suitable for fire fighter and enters, and sends the 3rd warning message, and each sub- anchor node carries out fire-fighting sensing to Bower Anchor node
Data and warning message collect, and the 3rd warning message is that the room is not suitable for fire fighter and enters and have fireman
Into；
（4）The fire-fighting number that Bower Anchor node is gathered range information, the sensor of above-mentioned each anchor node and fire fighter
According to this and the warning message of generation is collected, and data are uploaded to by the command centre by the network；
（5）The command centre is received after the data of Bower Anchor node in each room, is according to data acquisition first
It is no to have warning message；If it was found that warning message, carries out the processing of warning message, then to fire fighter's range information of upload
Handled, determine its more specific location information in the room, and combine the BUILDINGS MODELS pre-established, show the position of personnel
Each data message of confidence breath and fire protection sensor；
（6）According to the warning message in the personnel positioning information of acquisition and each room, fire-fighting data message, judge to enter each
Whether the fireman in room is safe, if dangerous, is contacted by radio, alerts, with reference to the location information of personnel, if
The command centre monitors that the positional information of fireman did not had any variation within one minute, then sends emergency alarm, enter
Row emergency relief, prevents danger of the personnel caused by overheat and smog.
The beneficial effects of the invention are as follows：
（1）The positioning of fire fighter is carried out using UWB nodes, precision is high, can interpolate that fireman in a room specific
Positional information；And further whether can not be changed for a long time according to its position and judge whether personnel the dangerous situation such as fall in a swoon,
Further ensure the safety of fire fighter；
（2）Realize the combination that personnel positioning and the condition of a fire are perceived.UWB anchor nodes while being used as positioning method,
Temperature-sensitive and sense smoke sensor are added in its hardware module, each UWB anchor nodes is obtained fire information, judges that it is dangerous
Degree, if excessively dangerous, be not suitable for fireman and enter, then remind fireman by the vibrating motor and buzzer of fire-fighting bracelet
Danger, not only realizes personnel positioning, also achieves the early warning of danger；
（3）With reference to the model of building, the fire-fighting data collected by each anchor node obtain each room of the building each main
The condition of a fire information of position, understanding generally, in this way, Neng Goushi can be carried out for the condition of a fire information in the building
Reasonable benefit/risk guiding now is carried out to fire fighter, prevents it from entering condition of a fire high risk zone；
（4）Each UWB anchor nodes employ perfect alternative scheme to tackle various failure situations when fire occurs.This
With stand-by power supply and various network communications pattern, the availability and reliability of system greatly improved, further ensures
The safety of personnel under fire condition.
Brief description of the drawings
Accompanying drawing 1 is the hardware module figure of fire-fighting positioning bracelet；
Accompanying drawing 2 is the hardware module figure of UWB Bower Anchor nodes；
Accompanying drawing 3 is the hardware module figure of UWB anchor nodes；
Accompanying drawing 4 is system global structure figure；
Accompanying drawing 5 is system flow chart.
Embodiment
The embodiment to fire fighter security positioning system of the present invention based on UWB and localization method makees detailed below
Describe in detail bright.
UWB（UltraWideband）It is a kind of no-load communication techniques, it is narrow to the non-sinusoidal waveform of picosecond level using nanosecond
Data are transmitted in pulse.The data transfer mode of the pulsed of UWB technology, can be preferable in time with high resolving power
Be applied to high-precision positioning.By transmitting the signal of extremely low power on wider frequency spectrum, UWB can be at 10 meters or so
In the range of realize hundreds of Mbit/s to several Gbit/s message transmission rate.UWB strong anti-interference performance, transmission rate is high, is
The big transmit power of capacity of uniting is very small.UWB system emission powers are very small, and communication equipment can use the transmission power less than 1mW
It can be achieved with communication.Low transmitting power greatly prolongs the system power supply working time.Moreover, transmission power is small, its electromagenetic wave radiation
Influence to human body also can very little, application surface is just wide.
Fire fighter's security positioning system based on UWB includes fire-fighting positioning bracelet, UWB Bower Anchor sections entrained by fireman
Point, UWB anchor nodes, router and FCC.The fire-fighting positioning bracelet is carried in the wrist of fireman；Institute
State UWB Bower Anchors node and UWB anchor nodes are respectively positioned in the room of building, the surrounding in each room arranges UWB anchor sections
Point, for monitoring the condition of a fire information in room and the fireman for entering room being positioned, arranges three UWB in each room
Sub- anchor node and a UWB Bower Anchor node；UWB Bower Anchor node access networks networks can be passed through internet by the router
Carry out the upload of fire-fighting data and personnel positioning data；The FCC is long-range fire-fighting data center, is provided with
Server and monitoring host computer.
Fire-fighting positioning bracelet mainly includes MCU, power module, LED light, UWB modules, radio frequency antenna module, vibration
Motor, buzzer etc..MCU microprocessors can be used in controlling the tasks such as the operation and data processing of other each modules；Power supply
Module can be then powered to positioning bracelet by the way of lithium battery；LED light show current battery level information with
And working state of system, if system worked well, and without condition of a fire warning message, then green is shown, if into condition of a fire danger zone,
Then show orange, if battery electric quantity is not enough, display is red.UWB modules are responsible for UWB radio communication, to realize and each UWB anchors
The data communication of node and the range measurement for realizing positioning；The wireless signal that radio frequency antenna module is used to strengthen UWB is strong
Degree, it is ensured that the intensity and stability of wireless signal；Vibrating motor and buzzer are mainly used in when entering dangerous condition of a fire region
Notify fireman.
UWB Bower Anchors node mainly includes MCU, power module, stand-by power supply, UWB modules, radio frequency antenna module, network mould
Block, GPRS module, sense smoke sensor, temperature sensing sensor, A/D module etc..Its MCU microprocessor can be used in controlling other each moulds
The tasks such as the operation and data processing of block；Power module is then powered by the way of wired；Reserve battery is using lithium electricity
Pond powers, and can be powered in the case of external power source power-off after fire, it is ensured that the reliability of anchor node；UWB modules
It is responsible for UWB radio communication, is positioned with realization and the data communication between each UWB anchor nodes and positioning bracelet and for realizing
The range measurement of bracelet positioning；Radio frequency antenna module is used to strengthen UWB wireless signal strength, it is ensured that the intensity of wireless signal and
Stability；Mixed-media network modules mixed-media is the interface that UWB Bower Anchors node carries out network service with FCC equipment, can realize TCP/
IP is communicated, and fire-fighting data and location data are uploaded；For the purposes of ensureing the reliability of equipment, using standby GPRS
Module, after network failure occurs, fire data is uploaded by the way of wireless GPRS；Sense smoke sensor is used to monitor this
Smoke intensity information near UWB；Temperature sensing sensor is used for the temperature information for monitoring the UWB nodes；A/D module to realize AD conversion,
The analog signal that each sensor is gathered is converted into data signal and is supplied to MCU.
UWB anchor nodes reduce mixed-media network modules mixed-media and GPRS module, it is not necessary to enter on the basis of UWB Bower Anchor nodes
Row network service, it is only necessary to which UWB Bower Anchor nodes are sent data to by UWB signal by UWB modules.
Router is located in fire architecture, is responsible for each UWB Bower Anchors node access networks network, realizes each UWB Bower Anchors node
The upload of data.
FCC includes server and monitoring host computer.Server is responsible for receiving each UWB Bower Anchors node upload
Fire-fighting condition of a fire information and personnel positioning information, and carry out processing storage, using personnel positioning algorithm, determine the position of personnel
Put, and visualization shows its real time position in the model pre-established, is endangered simultaneously for the condition of a fire that each UWB Bower Anchors node is uploaded
Dangerous information alert processing.
A kind of security against fire alignment system based on UWB proposed by the present invention, it is comprised the following steps that：
（1）It is laid in the three UWB anchor nodes and a UWB Bower Anchors node of room surrounding regularly（Each minute）Adopt
Temperature and smoke intensity data around collecting；
（2）Each UWB anchor nodes detect whether to receive the UWB signal that positioning bracelet is sent simultaneously in room, if receiving letter
Number then judge that someone enters the room, and the distance for entering administrative staff according to the UWB signal is detected.Each UWB anchor nodes are by distance
Data, which are sent to UWB Bower Anchor nodes, to be collected；
（3）（1）Always complete after the condition of a fire information gathering near each UWB anchor nodes, each UWB anchor nodes judge respectively
Whether its smoke intensity and temperature data have exceeded the first threshold values（Judge whether occur each sensor threshold values of fire）；
If no more than the first threshold values, each sensing data is sent to UWB Bower Anchor nodes and collected by each UWB anchor nodes
Upload；
If more than the first threshold values, further determining whether more than the second threshold values（Judge the condition of a fire if appropriate for fire fighter
Into room）；
If no more than the second threshold values, generating the first warning message（Judge to there occurs fire）, then each UWB anchor nodes to
UWB Bower Anchors node carries out collecting for fire-fighting sensing data and warning message；
If more than the second threshold values, basis（2）In judged result known whether personnel's entrance；
If entering without personnel, the second warning message is directly generated（Judge that the room is not suitable for fire fighter and entered）,
And then each UWB anchor nodes carry out collecting for fire-fighting sensing data and warning message to UWB Bower Anchors node；
If there is personnel's entrance, warning message is sent to positioning bracelet UWB modules, makes its vibrating motor and buzzer work
Make, the warning fire fighter room is dangerous, be not suitable for fire fighter and enter, and send the 3rd warning message（Sentence
The unsuitable fire fighter in the room of breaking enters and has fireman to have been enter into）, and each UWB anchor nodes enter to UWB Bower Anchor nodes
Row fire-fighting sensing data and warning message collect；
（4）The fire-fighting that UWB Bower Anchors node is gathered range information, the sensor of above-mentioned each anchor node and fire fighter
Data and the warning message of generation are collected, and pass through the upload of Internet progress data；
（5）FCC is received after the data of UWB anchor nodes in each room, is according to data acquisition first
It is no to have warning message；If it was found that warning message, carries out the processing of warning message, mainly includes pair with 119 fire departments
Connect, report all types of warning messages, fire fighter's range information of upload is handled afterwards, calculated by three-point fix
Method, determines its more specific location information in the room, and combines the BUILDINGS MODELS pre-established, shows the positional information of personnel
And each data message of fire protection sensor；
（6）According to the warning message in the personnel positioning information of acquisition and each room, fire-fighting data message, judge to enter each
Whether the fireman in room is safe, if dangerous, is contacted by radio, alerts.With reference to the location information of personnel, if
FCC monitors that the positional information of fireman did not had any variation within one minute, then sends emergency alarm, enter
Row emergency relief, prevents personnel's falling in a swoon caused by overheat and smog, and causes life danger.
The present invention is illustrated further below according to accompanying drawing, referring to accompanying drawing 1, the figure is the hardware of fire-fighting positioning bracelet
Module map.Fire-fighting positioning bracelet is mainly comprising MCU, power module, LED light, UWB modules, radio frequency antenna module, vibration electricity
Machine, buzzer etc..MCU microprocessors can be used in controlling the tasks such as the operation and data processing of other each modules；Power supply mould
Block can be then powered to positioning bracelet by the way of lithium battery；LED light show current battery level information and
Working state of system, if system worked well, and without condition of a fire warning message, then green is shown, if into condition of a fire danger zone,
Display is orange, if battery electric quantity is not enough, and display is red.UWB modules are responsible for UWB radio communication, to realize and each UWB anchors section
The data communication of point and the range measurement for realizing positioning；Radio frequency antenna module is used for the wireless signal strength for strengthening UWB,
Ensure the intensity and stability of wireless signal；Vibrating motor and buzzer are mainly used in notifying when entering dangerous condition of a fire region
Fireman.
Referring to accompanying drawing 2, the figure is the hardware module figure of UWB Bower Anchor nodes.UWB Bower Anchors node mainly includes MCU, power supply mould
Block, stand-by power supply, UWB modules, radio frequency antenna module, mixed-media network modules mixed-media, GPRS module, sense smoke sensor, temperature sensing sensor, AD moulds
Block etc..Its MCU microprocessor can be used in controlling the tasks such as the operation and data processing of other each modules；Power module is then adopted
It is powered with wired mode；Reserve battery uses lithium battery power supply, can after fire external power source power off situation
Under be powered, it is ensured that the reliability of anchor node；UWB modules are responsible for UWB radio communication, with realize with each UWB anchor nodes and
Data communication between positioning bracelet and the range measurement for realizing positioning bracelet positioning；Radio frequency antenna module is used to strengthen
UWB wireless signal strength, it is ensured that the intensity and stability of wireless signal；Mixed-media network modules mixed-media is UWB Bower Anchors node and fire-fighting command
Central apparatus carry out the interface of network service, can realize TCP/IP communication, fire-fighting data and location data are uploaded；
For the purposes of ensureing the reliability of equipment, using standby GPRS module, after network failure occurs, using wireless GPRS
Mode upload fire data；Sense smoke sensor is used to monitor the smoke intensity information near the UWB；Temperature sensing sensor is used to monitor this
The temperature information of UWB nodes；A/D module is to realize AD conversion, and the analog signal that each sensor is gathered is converted into data signal
It is supplied to MCU.
Referring to accompanying drawing 3, the figure is the hardware module figure of UWB anchor nodes.Base of the UWB anchor nodes in UWB Bower Anchor nodes
On plinth, mixed-media network modules mixed-media and GPRS module are reduced, it is not necessary to carry out network service, it is only necessary to which UWB signal is passed through by UWB modules
Send data to UWB Bower Anchor nodes.
Referring to accompanying drawing 4, the figure is system global structure figure.Depicted in figure in the internal structure of certain building, each room
Four UWB anchor nodes are provided with, wherein having three UWB anchor nodes and a UWB Bower Anchor node.The UWB master in each room
Data can be uploaded in long-range fire-fighting command by anchor node by wired mode access network by internet
The heart.FCC is provided with server and monitoring host computer, and server is responsible for the reception processing and computing of data, monitoring master
Machine is substantially carried out monitoring and processing warning message of each building etc..
It is the overview flow chart of the system referring to accompanying drawing 5, its main flow is divided into following steps：
（1）It is laid in the three UWB anchor nodes and a UWB Bower Anchors node of room surrounding regularly（Each minute）Adopt
Temperature and smoke intensity data around collecting；
（2）Each UWB anchor nodes detect whether to receive the UWB signal that positioning bracelet is sent simultaneously in room, if receiving letter
Number then judge that someone enters the room, and the distance for entering administrative staff according to the UWB signal is detected.Each UWB anchor nodes are by distance
Data, which are sent to UWB Bower Anchor nodes, to be collected；
（3）（1）Always complete after the condition of a fire information gathering near each UWB anchor nodes, each UWB anchor nodes judge respectively
Whether its smoke intensity and temperature data have exceeded the first threshold values（Judge whether occur each sensor threshold values of fire）；
If no more than the first threshold values, each sensing data is sent to UWB Bower Anchor nodes and collected by each UWB anchor nodes
Upload；
If more than the first threshold values, further determining whether more than the second threshold values（Judge the condition of a fire if appropriate for fire fighter
Into room）；
If no more than the second threshold values, generating the first warning message（Judge to there occurs fire）, then each UWB anchor nodes to
UWB Bower Anchors node carries out collecting for fire-fighting sensing data and warning message；
If more than the second threshold values, basis（2）In judged result known whether personnel's entrance；
If entering without personnel, the second warning message is directly generated（Judge that the room is not suitable for fire fighter and entered）,
And then each UWB anchor nodes carry out collecting for fire-fighting sensing data and warning message to UWB Bower Anchors node；
If there is personnel's entrance, warning message is sent to positioning bracelet UWB modules, makes its vibrating motor and buzzer work
Make, the warning fire fighter room is dangerous, be not suitable for fire fighter and enter, and send the 3rd warning message（Sentence
The unsuitable fire fighter in the room of breaking enters and has fireman to have been enter into）, and each UWB anchor nodes enter to UWB Bower Anchor nodes
Row fire-fighting sensing data and warning message collect；
（4）The fire-fighting that UWB Bower Anchors node is gathered range information, the sensor of above-mentioned each anchor node and fire fighter
Data and the warning message of generation are collected, and pass through the upload of Internet progress data；
（5）FCC is received after the data of UWB anchor nodes in each room, is according to data acquisition first
It is no to have warning message；If it was found that warning message, carries out the processing of warning message, mainly includes pair with 119 fire departments
Connect, report all types of warning messages, fire fighter's range information of upload is handled afterwards, calculated by three-point fix
Method, determines its more specific location information in the room, and combines the BUILDINGS MODELS pre-established, shows the positional information of personnel
And each data message of fire protection sensor；
（6）According to the warning message in the personnel positioning information of acquisition and each room, fire-fighting data message, judge to enter each
Whether the fireman in room is safe, if dangerous, is contacted by radio, alerts.With reference to the location information of personnel, if
FCC monitors that the positional information of fireman did not had any variation within one minute, then sends emergency alarm, enter
Row emergency relief, prevents personnel's falling in a swoon caused by overheat and smog.And cause life danger.
It the above is only the preferred embodiment of the present invention, it is noted that for those skilled in the art,
Without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should be regarded as this hair
Bright protection domain.
Claims (10)
1. a kind of fire fighter's security positioning system based on UWB, it is characterised in that：It is included in each room of building and sets
Some sub- anchor nodes and Bower Anchor node, positioning bracelet, router and command centre, the router connected by network
The command centre is connected to, the Bower Anchor node is connected to the network by the router, and the sub- anchor node is connected to
The Bower Anchor node, is communicated to connect between the bracelet and the sub- anchor node by UWB, in the sub- anchor node monitoring room
Condition of a fire information and the positional information of the positioning bracelet be sent to the Bower Anchor node, the Bower Anchor node is by above- mentioned information
The command centre is sent to by router, after the command centre judges information processing, by the Bower Anchor node and
Sub- anchor node feeds back to the positioning bracelet.
2. fire fighter's security positioning system based on UWB according to claim 1, it is characterised in that：Described positioning
Bracelet includes bracelet MCU, bracelet power module, bracelet UWB modules and alarm module, the bracelet UWB modules and alarm module
Be connected to the bracelet MCU, the bracelet UWB modules by UWB radio communications realize the positioning bracelet positioning and with
The data communication of each sub- anchor node.
3. fire fighter's security positioning system based on UWB according to claim 2, it is characterised in that：The positioning hand
Ring also includes radio frequency antenna module, and the radio frequency antenna module connects the bracelet UWB modules, makes the bracelet UWB modules
Wireless signal is strengthened.
4. fire fighter's security positioning system based on UWB according to claim 2, it is characterised in that：The warning mould
Block includes LED light, vibrating motor and buzzer.
5. fire fighter's security positioning system according to claim 1 based on UWB, it is characterised in that：Described Bower Anchor
Node mainly comprising Bower Anchor MCU, Bower Anchor power module, Bower Anchor UWB modules, mixed-media network modules mixed-media, sense smoke sensor, temperature sensing sensor,
A/D module, the Bower Anchor UWB modules, mixed-media network modules mixed-media, sense smoke sensor, temperature sensing sensor and A/D module connect the Bower Anchor MCU,
The sense smoke sensor, temperature sensing sensor monitor the smoke intensity and temperature information of the Bower Anchor near nodal, and the A/D module is by institute
State smoke intensity and temperature information is converted into data signal, the data signal is passed through the mixed-media network modules mixed-media and institute by the Bower Anchor MCU
State command centre and enter row data communication.
6. fire fighter's security positioning system according to claim 5 based on UWB, it is characterised in that：Described sub- anchor
Node is mainly comprising sub- anchor MCU, sub- anchor power module, sub- anchor UWB modules, sense smoke sensor, temperature sensing sensor, A/D module, institute
State sub- anchor UWB modules, sense smoke sensor, temperature sensing sensor and A/D module and connect the sub- anchor MCU, the sense smoke sensor, sense
Temperature sensor monitors the smoke intensity and temperature information near the sub- anchor node, and the A/D module turns the smoke intensity and temperature information
Change data signal into, the sub- anchor MCU sends the data signal to the Bower Anchor MCU by sub- anchor UWB modules.
7. fire fighter's security positioning system based on UWB according to claim 5 or 6, it is characterised in that：The Bower Anchor
Node includes GPRS module, and the Bower Anchor node and sub- anchor node include standby power supply module.
8. fire fighter's security positioning system according to claim 7 based on UWB, it is characterised in that：The router
In building, the Bower Anchor node in multiple rooms in the building is accessed the network by the router.
9. fire fighter's security positioning system according to claim 8 based on UWB, it is characterised in that：In the commander
The heart includes server and monitoring host computer, and the condition of a fire information and bracelet that the server is responsible for receiving each Bower Anchor node upload are fixed
Position information is simultaneously analyzed, and carrying out condition of a fire information by the monitoring host computer carries out visualization early warning processing.
10. a kind of localization method of application fire fighter's security positioning system as claimed in claim 9 based on UWB, it is special
Levy and be：Comprise the following steps：
（1）Temperature and smoke intensity data around sub- anchor node and Bower Anchor the node timing acquiring in each room；
（2）The Bower Anchor node and sub- anchor node detect whether to receive the UWB signal that the positioning bracelet is sent simultaneously, if receiving
Then judge that someone enters the room to signal, and the distance for entering administrative staff according to the UWB signal is detected, the sub- anchor node will
Range data, which is sent to the Bower Anchor node, to be collected；
（3）Complete step（1）Afterwards, each sub- anchor section and each Bower Anchor node judge whether its smoke intensity and temperature data exceed respectively
First threshold values, first threshold values is the sense smoke sensor, the threshold values of temperature sensing sensor for judging whether to occur fire,
If no more than the first threshold values, each sensing data is sent to Bower Anchor node and carries out collecting upload by each sub- anchor node；
If more than the first threshold values, further determining whether that, more than the second threshold values, second threshold values is to judge whether the condition of a fire fits
Close the threshold values that fire fighter enters room；
If no more than the second threshold values, generating the first warning message, then each sub- anchor node carries out fire-fighting sensing number to Bower Anchor node
According to this and warning message collects；First warning message is that there occurs fire；
If more than the second threshold values, according to step（2）In judged result known whether personnel's entrance；
If entering without personnel, the second warning message is directly generated, and each sub- anchor node carries out fire-fighting sensing to Bower Anchor node
Data and warning message collect, and second warning message is that the room is not suitable for fire fighter and entered；
If there is personnel's entrance, warning message is sent to positioning bracelet UWB modules, the warning fire fighter room is dangerous,
Be not suitable for fire fighter to enter, and send the 3rd warning message, and each sub- anchor node carries out fire-fighting sensing number to Bower Anchor node
According to this and warning message collects, the 3rd warning message is that the room is not suitable for fire fighter and enters and have fireman to enter
Enter；
（4）Bower Anchor node is adopted above-mentioned each Bower Anchor node and each sub- anchor node and range information, the sensor of fire fighter
The fire-fighting data of collection and the warning message of generation are collected, and data are uploaded in the commander by the network
The heart；
（5）Whether the command centre is received after the data of Bower Anchor node in each room, had according to data acquisition first
Warning message；If it was found that warning message, carries out the processing of warning message, then being carried out to fire fighter's range information of upload
Processing, determines its more specific location information in the room, and combine the BUILDINGS MODELS pre-established, the position letter of display personnel
Each data message of breath and fire protection sensor；
（6）According to the warning message in the personnel positioning information of acquisition and each room, fire-fighting data message, judge to enter each room
Fireman whether safety, if dangerous, contacted by radio, warning, with reference to the location information of personnel, if described
Command centre monitors that the positional information of fireman did not had any variation within one minute, then sends emergency alarm, carries out tight
First aid is helped, and prevents danger of the personnel caused by overheat and smog.
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