CN105208617B - Method for routing and communication device for fire-fighting and rescue network - Google Patents

Method for routing and communication device for fire-fighting and rescue network Download PDF

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Publication number
CN105208617B
CN105208617B CN201510501337.5A CN201510501337A CN105208617B CN 105208617 B CN105208617 B CN 105208617B CN 201510501337 A CN201510501337 A CN 201510501337A CN 105208617 B CN105208617 B CN 105208617B
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node
fire
data
fighting
base station
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CN105208617A (en
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宋春燕
汪海英
李春友
史晓东
李漫丽
宫翰涛
才洪波
杨秀坤
张罡
赵士勇
赵银辉
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HARBIN HUAXIA KUANGAN TECHNOLOGY Co Ltd
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HARBIN HUAXIA KUANGAN TECHNOLOGY Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
    • H04W40/22—Communication route or path selection, e.g. power-based or shortest path routing using selective relaying for reaching a BTS [Base Transceiver Station] or an access point
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The present invention provides the method for routing and communication device for fire-fighting and rescue network.Method for routing includes: to acquire fire-fighting data to be transmitted by wireless sensing member；It determines the next base station class node and node type of receivable fire-fighting data: if node type is fire fighting command car, using the node as destination node, determining the final route path from wireless sensing member to destination node；If node type is relay base station, the routed path of record wireless sensing member to the node, and transistroute path of the acquisition from the node to fire fighting command car, using fire fighting command car therein as destination node, to determine final route path；Data transmission method based on balance network load presses final route path transmission data.Communication device include each other can wireless telecommunications wireless sensing member and wireless coverage and trunking.Above-mentioned technology of the invention can find the Optimization route that can complete data transmission between all kinds of nodes, and transmission speed is fast, high-efficient, accuracy is high.

Description

Routing method and communication device for fire rescue network
Technical Field
The present invention relates to routing technologies, and in particular, to a routing method and a communication device for a fire rescue network.
Background
Along with the development of society and economy, the urban modernization degree is continuously improved, the incidence rate of sudden accidents such as town fires and the like is gradually increased due to the complex and various levels of building structures, and the requirements on the modernization and the intelligent degree of fire-fighting and rescue technologies are also increased.
The fire rescue accident is characterized in that: first, disaster linkage. Small disasters can cause cascading disasters, resulting in large and serious disaster accidents; secondly, the field communication cannot be effectively guaranteed, because the disaster causes field disorder, communication lines and equipment can be damaged, so that the fire rescue command work cannot be smoothly carried out or the command is delayed; thirdly, personnel safety guarantee is the first place. When a disaster occurs, the life safety of fire rescue personnel and field trapped personnel is guaranteed firstly. The fire rescue command center is an information platform for fire rescue, and the fire rescue command center and field commanders can accurately and timely know the field situation when a serious accident occurs, carry out scientific command and reduce the loss of people and property.
The data of present fire rescue have following problem when transmitting:
when the wired communication technology is adopted for fire rescue data transmission, the fire rescue data transmission system is greatly influenced by the environment, the network structure is not flexible enough, resource waste and cost increase are easily caused, wiring is complex, a communication line is easy to damage, and the maintenance cost of the communication line is high.
When the wireless communication technology is adopted for fire rescue data transmission, signals are seriously weakened due to serious shielding of a building with reinforced concrete as a main structure, and the signals are difficult to transmit to a fire control command car due to interference of the signals in the environment. Data needing to be transmitted comprise site fire rescue worker information (position, thermal imaging, heartbeat and the like) and site conditions (smoke, temperature, video, audio and the like), and even if the data can be accessed into a wireless communication network, the existing wireless Mesh technology, WIFI technology, ZigBee technology and the like are influenced and limited in data transmission to a certain extent, so that the data cannot normally reach a target site.
Disclosure of Invention
The following presents a simplified summary of the invention in order to provide a basic understanding of some aspects of the invention. It should be understood that this summary is not an exhaustive overview of the invention. It is not intended to determine the key or critical elements of the present invention, nor is it intended to limit the scope of the present invention. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is discussed later.
In view of this, the present invention provides a routing method and a communication device for a fire rescue network, so as to solve the problems that data is easily damaged and does not easily reach a destination in the existing fire rescue data transmission technology.
According to one aspect of the invention, a routing method for a fire rescue network is provided, wherein nodes in the fire rescue network comprise an acquisition class node and a base station class node, wherein the acquisition class node comprises a wireless sensor element, and the base station class node comprises a relay base station, a fire command vehicle and a fire rescue command center; the routing method for the fire rescue network comprises the following steps: step one, fire fighting data to be transmitted are collected through a wireless sensing element; step two, determining the next base station node capable of receiving the fire-fighting data to be transmitted according to the signal intensity, and judging the node type of the node: when the node type of the node is fire-fighting command vehicle, the node is taken as a target node to determine a final routing path from the wireless sensing element to the target node; when the node type of the node is a relay base station, recording a routing path from the wireless sensor element to the node, acquiring a relay routing path from the node to a fire-fighting command vehicle, and taking the fire-fighting command vehicle in the relay routing path as a target node to determine a final routing path from the wireless sensor element to the target node; and step three, transmitting the fire fighting data to be transmitted according to the final routing path based on a data transmission method for balancing network load.
Further, the step of determining the next base station class node capable of receiving the fire protection data to be transmitted in the step two includes: step A1, setting a signal intensity threshold; step A2, acquiring all base station nodes capable of covering the wireless sensing element by calculating the signal intensity; step A3, selecting the base station class node with the signal strength larger than the signal strength threshold value from all the obtained base station class nodes as a candidate node, and determining the base station class node with the maximum signal strength in the candidate nodes as the next base station class node capable of receiving the fire-fighting data to be transmitted; and when the candidate node does not exist in all the acquired base station nodes, discarding the fire-fighting data to be transmitted and ending the routing.
Further, when the node type of the next base station class node determined in step two is a relay base station, the step of acquiring the relay routing path from the node to the fire-fighting command vehicle includes: step B1, setting a bandwidth capacity threshold and a maximum bandwidth capacity of the network; step B2, according to the maximum bandwidth capacity of the network and the number of relay base stations and fire control command vehicles in the fire rescue network, obtaining the maximum bandwidth capacity of the nodes by averagely distributing the bandwidth to the relay base stations and the fire control command vehicles in the fire rescue network; step B3, obtaining the optimal routing path from the next base station class node to the fire-fighting command vehicle through the following processes: acquiring all possible routing paths from the next base station class node to the fire conductor vehicles which may arrive, wherein the fire conductor vehicles which may arrive serve as destination nodes; calculating the distance from the next base station class node to the destination node in each possible routing path, and sequencing all the calculated distances from small to large; determining a routing path which meets a first condition that the residual bandwidth capacity after receiving the fire-fighting data to be transmitted is greater than or equal to the bandwidth capacity threshold value as the optimal routing path to serve as the relay routing path; and when no route path meeting the condition that the residual bandwidth capacity after the fire fighting data to be transmitted is received is greater than or equal to the bandwidth capacity threshold exists in all the sorted possible route paths, discarding the fire fighting data to be transmitted and ending the route.
Further, the step of acquiring all possible routing paths from the next base station class node to the fire conductor vehicles which may be reached in step B3 includes: step C1, setting a hop count threshold; step C2, taking the next base station class node as an initiating node, and broadcasting a routing signal to the base station class nodes adjacent to the initiating node through the initiating node; step C3, the base station node receiving the routing signal of the initiating node replies a response signal to the initiating node; step C4, the initiating node determines whether a response signal is received within a time period: if the judgment result is 'no', returning to execute the step C2; if the judgment result is yes, executing the step C5; step C5, adding the answer node where the answer signal received by the initiating node is in into a routing table; step C6, judging whether the type of the answering node is 'fire-fighting command vehicle': if the type of the answering node is not the fire conductor, executing the step C7; otherwise, go to step C14; step C7, determining whether "i +1 ═ hop count threshold" is satisfied, and if "i +1 ═ hop count threshold" is satisfied, executing step C8; otherwise, go to step C14; step C8, determining the response node which is determined not to be the fire conductor in step C6 as the ith hop downstream initiating node of the initiating node; wherein the initial value of i is 1; step C9, each ith-hop downstream initiating node broadcasts a routing signal, and the base station node which receives the routing signal of the ith-hop downstream initiating node replies a response signal to the ith-hop downstream initiating node; step C10, each ith-hop downstream originating node determines whether it receives a response signal within a time period: if the judgment result is 'no', executing the step C11; otherwise, go to step C12; step C11, replying a route ending signal to the initiating node, deleting the ith downstream initiating node from the routing table after the initiating node receives the route ending signal, and ending the processing; step C12, determining the base station node of the non-initiating node corresponding to the response signal received by the ith-hop downstream initiating node as the ith + 1-hop downstream initiating node, and forwarding all the determined ith + 1-hop downstream initiating nodes to the initiating node, wherein the initiating node adds all the ith + 1-hop downstream initiating nodes into the routing table; step C13, the initiating node judges whether all the (i + 1) th-hop downstream initiating nodes contain nodes with the type of a fire-fighting command vehicle: if all the (i + 1) th-hop downstream initiating nodes contain the node with the type of the fire-fighting command vehicle, executing the step C14; otherwise, go to step C15; step C14, determining the node with the type of the fire-fighting command vehicle as a target node, obtaining all routing paths from the initiating node to each target node, ending routing and ending processing; step C15, let i ═ i +1, and update the value of i to the value of current i', determine whether "current i ═ hop count threshold" holds: if yes, returning to execute the step C10; otherwise, the process ends.
Further, the step of transmitting the fire protection data to be transmitted according to the final routing path in the data transmission method based on balanced network load in step three includes: step D1, setting average sending rate; d2, compressing video and audio data in the fire-fighting data to be transmitted; step D3, carrying out fragment processing or network coding processing on the fire-fighting data to be transmitted currently; and D4, sequentially transmitting the fire-fighting data subjected to the fragment processing or the network coding processing in a breakpoint continuous transmission mode.
Further, step D3 includes: step D31, recording the average sending rate as SendRate, taking the data volume of the fire-fighting data to be transmitted as the data volume of the current data packet and recording the data volume as DataNum, and judging the size relationship between the DataNum and the SendRate; step D32, if DataNum < SendRate, the current data packet and the read adjacent data packet are added and calculated to obtain the total data volume DataPlusNum after the current data packet and the adjacent data packet are added, until, the total data volume DataPlusNum is the volume reserved for the change of the data volume after network coding, wherein,wherein, DataNumh(h is 1,2, …, k) represents the data volume of the h-th adjacent data packet of the current data packet, k is the number of the adjacent data packets, the k adjacent data packets and the current data packet are coded by applying a random network coding method to obtain the coded data packet, wherein, the head information of the coded data packet is added with a processing identifier, the number of the data packet, a coding vector, the IP addresses of a source node and a fire-fighting command vehicle node and a forwarding node list participating in sending, and D33 performs packet packaging processing on the fire-fighting data to be transmitted to obtain a plurality of sub-data packets if DataNum is more than SendRate, the packet number DataPartNum in the packaging processing is executed according to the following formula, and the DataPartNum is (DataNum + η)/SendRaAnd te, wherein η represents the amount reserved for the change of the data amount after data packetization, and header information of a processing identifier, the number of the data packet, the IP addresses of the source node and the fire-fighting command vehicle node and a forwarding node list participating in transmission are added to each sub-packet after packetization.
Further, after the step D4, the method further includes the following steps: step E1, if the receiving node is a fire-fighting command vehicle, the following processing is carried out on the receiving node: when the received data packet is a network coded data packet, decoding the received data packet according to the header information to obtain an original data packet; when the received data packet is a data packet subjected to packet processing, merging the received data packet according to the header information to restore an original data packet; when the received data packet is video or audio data, reversely decoding the data packet to restore the original data; and step E2, after the receiving node successfully receives the data, deleting the corresponding routing path record in the relevant base station class node.
Further, in the case that the node type of the next base station class node determined in the step two is a fire-fighting command vehicle, directly transmitting the fire-fighting data of the initiating node to the target node, and storing the fire-fighting data in the memory of the target node; and under the condition that the node type of the next base station class node determined in the step two is the relay base station, regularly transmitting the data of the fire-fighting command vehicle to the fire-fighting rescue command center, wherein the transmission process is as follows: and traversing the fire-fighting command vehicles after the polling time interval is reached, transmitting the fire-fighting data received and stored by each fire-fighting command vehicle to the fire-fighting rescue command center, and storing the fire-fighting data into a memory of the fire-fighting rescue command center.
According to another invention of the present invention, there is also provided a communication apparatus, characterized in that the communication apparatus includes a wireless sensor element and a wireless coverage and relay device; the wireless sensing element comprises a power supply device, a common data acquisition device, a video and audio data acquisition device, a common data processing chip, a video and audio data processing chip, a signal intensity calculation module and a wireless transceiving module; the common data acquisition equipment comprises a personnel three-dimensional position recognizer, a heartbeat sensor, a smoke sensor, a temperature sensor and thermal imaging equipment; the video and audio data acquisition equipment comprises a video and audio sensor; the common data processing chip comprises a first signal conditioning module, a first data acquisition module and a first data analysis processing module; the common data acquisition equipment is connected with the first signal conditioning module for signal conditioning, the first signal conditioning module is connected with the first data acquisition module, the first data acquisition module is connected with the first data analysis processing module, the first data analysis processing module is connected with the signal intensity calculation module, and the first data analysis processing module comprises a first reset module; the video and audio data processing chip comprises a second signal conditioning module, a second data acquisition module and a second data analysis processing module; the video and audio data acquisition equipment is connected with the second signal conditioning module for signal conditioning, the second signal conditioning module is connected with the second data acquisition module, the second data acquisition module is connected with the second data analysis processing module, the second data analysis processing module is connected with the signal intensity calculation module, and the second data analysis processing module comprises a second reset module; the common data acquisition equipment, the video and audio data acquisition equipment, the common data processing chip and the video and audio data processing chip are respectively powered by the power supply equipment; the wireless coverage and relay equipment comprises a 350M coverage router and a 5.8G relay router, and the 5.8G relay router comprises a route calculation module and a data transmission module; bidirectional communication can be carried out between the 350M overlay router and the 5.8G relay router; the routing calculation module performs routing calculation of data transmission, and the data transmission module communicates with other base stations in a wireless mode; wherein the 350M coverage router is used for covering nodes around the router, and the 5.8G relay router is used for transmitting data to other base station nodes; the wireless transceiver module of the wireless sensor unit is in wireless communication with the 350M coverage router of the wireless coverage and relay equipment; the base station nodes in the communication device comprise a relay base station, a fire command vehicle and a fire rescue command center, and each base station node is provided with the wireless coverage and relay equipment.
The routing method for the fire rescue network can search the optimal route capable of completing data transmission among various base station nodes, has the advantages of high transmission speed, high efficiency and high accuracy, is not easy to damage in the transmission process, and can quickly and accurately reach the target node. The data transmission collected by the wireless sensing element is completed by adopting the algorithm for balancing the network load, so that the data transmission efficiency and the data transmission accuracy can be improved.
Through the processing from step a1 to step A3, the signal strength of the next base station node determined for receiving fire protection data can be made higher than the signal strength threshold.
Through the processing of the steps C1 to C15, the wireless transmission of fire data in the routing method can be ensured under the conditions of limiting the number of routing hops and ensuring normal communication, so that the data can be stably transmitted.
The data transmission method based on the balanced network load in the third step is used for data transmission, data merging or packet packaging can be selectively performed according to factors such as data types and data volumes, node bandwidth resources can be utilized to the maximum extent, bandwidth capacity limit cannot be exceeded, and data with large data volume can be reliably transmitted to a destination.
According to the routing method and the communication device provided by the invention, in the building environment, information of on-site fire rescue personnel and on-site conditions after a disaster occurs can be accurately and timely transmitted to the fire command vehicle; the problem of signal attenuation in the wireless MESH network is solved, the anti-interference performance of signals is enhanced, and efficient transmission can be carried out.
These and other advantages of the present invention will become more apparent from the following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings.
Drawings
The invention may be better understood by referring to the following description in conjunction with the accompanying drawings, in which like reference numerals are used throughout the figures to indicate like or similar parts. The accompanying drawings, which are incorporated in and form a part of this specification, illustrate preferred embodiments of the present invention and, together with the detailed description, serve to further explain the principles and advantages of the invention. In the drawings:
fig. 1 is a flow chart schematically illustrating one exemplary process of a routing method for a fire rescue network according to an embodiment of the present invention;
fig. 2 is a process flow diagram showing the step of determining the next base station class node that can receive the fire protection data to be transmitted in step two;
fig. 3 is a process flow diagram showing the step of obtaining the relay routing path from the next base station class node to the fire commander in step two;
fig. 4A and 4B are process flow diagrams showing the step of acquiring all possible routing paths from the next base station class node to the fire conductor possibly reached in step B3;
fig. 5 is a block diagram schematically showing an example of a communication apparatus according to an embodiment of the present invention.
Skilled artisans appreciate that elements in the figures are illustrated for simplicity and clarity and have not necessarily been drawn to scale. For example, the dimensions of some of the elements in the figures may be exaggerated relative to other elements to help improve the understanding of the embodiments of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described hereinafter with reference to the accompanying drawings. It should be noted that, in order to avoid obscuring the present invention with unnecessary detail, only the device structure and/or the process steps closely related to the scheme according to the present invention are shown in the drawings, and other details not so relevant to the present invention are omitted.
The embodiment of the invention provides a routing method for a fire rescue network, wherein nodes in the fire rescue network comprise acquisition type nodes and base station type nodes, the acquisition type nodes comprise wireless sensing elements, and the base station type nodes comprise relay base stations, fire control command vehicles and fire rescue command centers. The routing method for the fire rescue network comprises the following steps: step one, fire fighting data to be transmitted are collected through a wireless sensing element; step two, determining the next base station node capable of receiving the fire-fighting data to be transmitted according to the signal intensity, and judging the node type of the node: when the node type of the node is fire-fighting command vehicle, the node is taken as a target node to determine a final routing path from the wireless sensing element to the target node; when the node type of the node is a relay base station, recording a routing path from the wireless sensor element to the node, acquiring a relay routing path from the node to a fire-fighting command vehicle, and taking the fire-fighting command vehicle in the relay routing path as a target node to determine a final routing path from the wireless sensor element to the target node; and step three, transmitting the fire fighting data to be transmitted according to the final routing path based on a data transmission method for balancing network load.
One example of the above-described routing method for a fire rescue network is described below with reference to fig. 1.
The routing method is applied to a fire rescue network, wherein the fire rescue network (such as a communication device to be described later) comprises two types of nodes, one type is a collection type node, the other type is a base station type node, and communication and data transmission are carried out between the two types of nodes.
In this example, the collection-type node is a wireless sensor node (hereinafter referred to as a wireless sensor). The wireless sensing element is composed of wireless sensing devices such as a personnel three-dimensional position identification card device, a heartbeat sensor, a smoke sensor, a temperature sensor, a thermal imaging device and a video and audio sensor in the fire rescue network (refer to the wireless sensing element in fig. 5). The nodes are respectively used for acquiring corresponding information, and the acquired information reflects the conditions of on-site fire rescue personnel, on-site rescue conditions and on-site environment conditions after a disaster occurs; but also for transmitting and receiving data. In the embodiment, the wireless sensing element belongs to the fourth-level node and can be carried by fire rescue personnel or randomly placed.
In addition, the base station node is a node having wireless coverage, data forwarding and data transmission functions. According to different work functions, the base station nodes can be divided into three types, namely relay base station nodes (hereinafter referred to as relay base stations), fire control command vehicle nodes (hereinafter referred to as fire control command vehicles) and fire rescue command center nodes (hereinafter referred to as fire rescue command centers). Generally, in a fire rescue network, there may be a plurality of relay base stations and fire command vehicles, respectively, and there is often only one fire rescue command center. The structural composition of the base station class node may refer to "wireless coverage and relay device" of fig. 5.
The relay base station is a wireless sensor element which can wirelessly cover a certain area and can send and receive data. In this embodiment, the wireless sensor units belong to the third-level node, and the deployment setting thereof can follow the principle of "determining the number according to the space area and the window position close to the building" by taking the floor as the unit.
The fire-fighting command vehicle is a mobile command platform for fire scene and rescue scene, can relay and transfer the data collected by the wireless sensing unit, has multiple functions of data sending, data receiving, data storing, data processing, command scheduling, video collection, communication guarantee video conference, distribution, alarm control and the like, and is convenient for on-site command. In this embodiment, the fire conductor belongs to a second level node, and may be located generally in a nearby location outside of the building where the disaster occurred.
The fire rescue command center is an information platform for fire rescue, and is beneficial to the fire rescue command center and field commanders to accurately and timely know the field situation when a serious accident occurs, so as to carry out scientific command and reduce the loss of people and property. In this embodiment, the fire rescue command center belongs to the first level node, and may be generally located in the fire management department.
In addition, communication between nodes in the fire rescue network is performed in a wireless manner, and a connection line segment between the nodes indicates that two nodes connected by a line segment have a communication relationship, and the connection line segment is called a communication edge of the fire rescue network. Wherein, the signal strength is used to represent the communication edge weight value 1, which indicates the communication strength of the receiving node after the data is transmitted through the communication edge; the communication edge weight 2 is expressed by the bandwidth capacity, which indicates the bandwidth capacity of the receiving node after data is transmitted through the communication edge.
In this way, node information in a fire rescue network can be described as follows:
the wireless sensor element set is recorded as SE ═ SE1,se2,...,senN represents the number of wireless sensing elements included in the fire rescue network;
the relay base station set is recorded as BS ═ BS1,bs2,...,bsmM represents the number of relay base stations included in the fire rescue network;
the fire-fighting command vehicle set is recorded as DC ═ DC1,dc2,...,dcpP represents the number of fire commanders in the fire rescue network;
recording the fire rescue command center as CE ═ CE1,ce2,...,ceqQ represents a packet in the fire rescue networkThe fire rescue command center is included, and the set has only one element under the normal condition;
the set of communication edges of the fire rescue network is denoted as ED ═ ED1,ed2,...,edjWhere j represents the number of communication edges, any element in the set has the attributes start node, end node and signal strength.
As shown in fig. 1, an exemplary process flow of the routing method begins at step one. Wherein, the following steps from one to three are described as any wireless sensor se in the fire rescue network0For example, the processing methods of other wireless sensor units are the same, and are not described again.
In step one, a wireless sensing element se is used0And acquiring fire fighting data to be transmitted. The fire fighting data to be transmitted comprises business data and physical position data. The type of the service data is related to the type of the wireless sensing element, for example, the smoke data is acquired by a smoke sensor; the physical location data comprising nodes se0The three-dimensional coordinates of the location include x, y and z values. In addition, the wireless sensor element se0The collected video and audio data is stored in the node se0If the data in the data storage card reaches the upper limit, the collected data is discarded and a warning is given out.
Then, in step two, the receivable wireless sensing element se is determined according to the signal strength0And (2) collecting the next base station class node Nd of the fire fighting data to be transmitted (step two, step one). Then, the node type of the next base station node Nd is determined (step two).
When the node type of the next base station class node Nd is the fire-fighting command vehicle, the node Nd is used as a target node to determine the slave wireless sensing element se0And (4) final routing path to the target node (step two, step three).
When the node type of the next base station type node Nd is a relay base station, recording the wireless sensing element se0The routing path to this node Nd (i.e. adding a record Row in the routing table of the 5.8G relay router of the node NdaIn turn, recording the path nodes se0And a node Nd, wherein node se0Is a primary key) and acquires a relay routing path from the node Nd to the fire-fighting command vehicle, and takes the fire-fighting command vehicle in the relay routing path as a target node to determine a secondary wireless sensor element se0And (4) final routing path to the target node (step two, four).
Then, in step three, the wireless sensor element se is transmitted according to the final routing path based on the data transmission method for balancing the network load0The acquired fire fighting data to be transmitted.
Further, the step of determining the next base station class node capable of receiving the fire protection data to be transmitted in the step two may include steps a1 to A3 shown in fig. 2.
As shown in fig. 2, in step a1, a signal strength threshold value phi, which is the minimum value of the signal strength of the receiving node when the data reaches the receiving node, is set for determining whether the signal can reach the next node, and the threshold value can be preset according to an empirical value or actual needs.
Then, in step a2, the coverable wireless sensor element se is obtained by calculating the signal strength0All base station class nodes.
Any base station node Nd0The 350M coverage router is applied to read physical position data and IP data of various nodes of a wireless sensor element, a relay base station and a fire-fighting command vehicle in a fire-fighting rescue network, and the obtained physical position data of various nodes is recorded to the Nd node0In the routing table of (2). The physical location data of a node includes three-dimensional coordinates of the location of the node.
According to the attenuation characteristic in the signal transmission process, the signal intensity calculation formula of the receiving node after data transmission is applied to sequentially calculate the wireless sensing element node se0Reach toolThe signal strength value of a node (i.e., a base station node) having "communication base station apparatus" is set as SIG { SIG ═ SIG1,sig2,...,sigc}。
Reflection, diffraction, refraction and the like are easily generated in the signal transmission process, the calculation process of the signal intensity when data are transmitted to the receiving node is calculated according to the attenuation characteristics in the signal transmission process, for example, refer to a wireless positioning method based on real-time estimation of path loss model parameters published by li yao yi in 2010, and details are not described here.
Then, in step a3, of all the obtained base station class nodes, the base station class node in which the signal strength is greater than the signal strength threshold is selected as a candidate node, and the base station class node with the largest signal strength in the candidate nodes is determined as a receivable wireless sensor element se0And the next base station class node of the acquired fire-fighting data to be transmitted.
When candidate nodes meeting the condition that the signal strength is greater than the signal strength threshold do not exist in all the acquired base station nodes, the wireless sensing element se is discarded0And the collected fire-fighting data to be transmitted and ending the route.
In this way, through the processing of step a1 to step A3, the signal strength of the next base station class node determined for receiving the fire protection data can be made higher than the above signal strength threshold.
Further, when the node type of the next base station class node determined in step two is the relay base station, the step of acquiring the relay routing path from the node to the fire-fighting command vehicle may be implemented by steps B1 to B3 as shown in fig. 3.
As shown in fig. 3, in step B1, a bandwidth capacity threshold δ and a network maximum bandwidth capacity BandWidthMax are set.
The unit of the bandwidth capacity threshold δ is Mb/s, the threshold is the minimum value of the bandwidth capacity of the receiving node when the data reaches the receiving node, and is used for judging whether the signal can reach the next node, and the threshold can be set according to an empirical value or an actual requirement.
The unit of the maximum bandwidth capacity BandWidthMax of the network is Mb/s, which is the highest data rate that can pass from one point to another point in the fire rescue network within a unit time under the ideal condition of no interference and no obstruction.
Then, in step B2, the maximum bandwidth capacity of the nodes, that is, the maximum bandwidth capacity that can be allowed by various nodes in the fire rescue network during data transmission, is obtained according to the maximum bandwidth capacity BandWidthMax of the network set in step B1, and according to the number of relay base stations and the number of fire commanders in the fire rescue network. For example, the maximum bandwidth capacity of the nodes can be obtained by evenly allocating the bandwidth to the relay base station and the fire conductor in the fire rescue network. The calculation formula of the maximum bandwidth capacity of the node is as follows:
NodeBW＝BandWidthMax/(m+q)
in the formula, the meanings of m and q are the same as those described above, and are not described herein again.
Next, in step B3, the optimal routing path from the next base station class node Nd (in this case, the relay base station) to the fire-fighting command vehicle is obtained by:
(1) and acquiring all possible routing paths from the next base station class node Nd to the fire command vehicles which can arrive, wherein the fire command vehicles which can arrive serve as destination nodes.
(2) And calculating the distance from the next base station type node Nd to the destination node in each possible routing path, and sequencing all the calculated distances from small to large.
(3) And determining the first routing path which meets the condition that the residual bandwidth capacity after receiving the fire-fighting data to be transmitted is greater than or equal to the bandwidth capacity threshold value as the optimal routing path from the next base station class node Nd to the fire-fighting command vehicle, so as to take the optimal routing path as the relay routing path.
The BandWidth capacity BandWidth remaining for each possible routing path, BandWidth, may be calculated according to the following equation:
BandWidth＝NodeBW-BandWidthLoss
BandWidthLoss is the bandwidth loss of a receiving node after transmission from a sending node to the receiving node, and the unit is Mb/s; the NodeBW represents the maximum bandwidth capacity of the receiving node.
When the route path meeting the condition that the residual bandwidth capacity after receiving the fire fighting data to be transmitted is greater than or equal to the bandwidth capacity threshold does not exist in all the sequenced possible route paths, the wireless sensor element se is discarded0And the collected fire-fighting data to be transmitted and ending the route.
Further, the step of acquiring all possible routing paths from the next base station class node to the fire conductor vehicles which may be reached in step B3 may be implemented by steps C1 to C15 shown in fig. 4A and 4B.
As shown in fig. 4A and 4B, in step C1, the hop count threshold Flop is set. The unit of the hop count threshold Flop is a hop, and the value > is 1, which is used when the data attenuation is severe after the control signal has passed through multiple hops.
Then, in step C2, the next base station class node Nd is used as an initiating node, and the routing signal is broadcast by the initiating node to the base station class nodes adjacent to the initiating node.
Then, in step C3, the base station node that receives the routing signal of the originating node replies a response signal to the originating node.
Next, in step C4, the originating node determines whether a reply signal has been received within a time period (which may be predetermined, for example, based on empirical values):
if the determination result is "no" (i.e. the initiating node does not receive the response signal within a time period), returning to execute step C2;
if the determination result is yes (i.e., the initiating node has received the response signal within a time period), step C5 is executed;
in step C5, the responding node where the responding signal received by the initiating node is located is added to the routing table. Then, step C6 is performed.
In step C6, it is determined whether the type of the answering node is "fire conductor": if the type of the response node is not "fire conductor" (that is, "no"), the process proceeds to step C7, and determines in step C7 whether "i +1 ═ hop count threshold" (where the initial value of i is 1) is satisfied, and if "i +1 ═ hop count threshold" is satisfied, the process proceeds to step C8, and if "i +1 ═ hop count threshold" is not satisfied, the process proceeds to step C14; if the type of the answering node is "fire conductor" (i.e., "yes"), step C14 is performed.
In step C8, the responding node determined not to be the "fire conductor" in step C6 is determined as the i-th hop downstream originating node of the originating node. Then, step C9 is performed.
In step C9, each i-th hop downstream initiating node broadcasts a routing signal, and the base station node that receives the routing signal of the i-th hop downstream initiating node replies a response signal to the i-th hop downstream initiating node.
Next, in step C10, each i-th hop downstream initiating node determines whether a reply signal is received within a time period:
if the determination result is "no" (i.e. the ith-hop downstream originating node does not receive the reply signal within a time period), executing C11, in step C11, the ith-hop downstream originating node replies an end routing signal to the originating node, the originating node deletes the ith-hop downstream originating node from the routing table after receiving the end routing signal, and then ends the processing;
if the determination result is "yes" (i.e. the ith-hop downstream originating node has received the reply signal within a time period), step C12 is executed, in step C12, the ith-hop downstream originating node determines the base station class node of the non-originating node corresponding to the reply signal received by the ith-hop downstream originating node as the (i + 1) -hop downstream originating node, and forwards all the determined (i + 1) -hop downstream originating nodes to the originating node, and the originating node adds all the (i + 1) -hop downstream originating nodes to the routing table. Then, step C13 is performed.
In step C13, the initiating node determines whether all i +1 th-hop downstream initiating nodes include a node of the type "fire conductor vehicle": if all the i +1 th-hop downstream initiating nodes contain the node with the type of the fire-fighting command vehicle (namely, yes), executing the step C14; otherwise, go to step C15;
in step C14, the node of type "fire conductor vehicle" is determined as the target node, all routing paths from the initiating node to each target node are obtained (as all possible routing paths from the next base station type node Nd to the fire conductor vehicles that may be reached), and the routing is ended. The process is ended.
In step C15, let i ═ i +1, and update the value of i to the value of current i', it is determined whether or not "current i ═ hop count threshold" holds: if yes, returning to execute the step C10; otherwise the process ends.
In general, due to the shielding and absorption of materials such as reinforced concrete and wood, the signal (or data) strength is attenuated with the increase of the number of hops, so that the signal may not reach the destination. Through the above processing of step C1 to step C15, the wireless transmission of fire data in the routing method can be ensured under the conditions of limiting the number of routing hops and ensuring normal communication, so that the data can be stably transmitted.
Further, the step of transmitting the fire protection data to be transmitted according to the final routing path based on the data transmission method for balancing network load in step three may be implemented through steps D1 to D4.
In step D1, the average transmission rate is set. Setting the average sending rate as SendRate, wherein the unit is MB/s, and the average sending rate represents the data volume transmitted from the sending node to the receiving node in unit time; the BandWidth capacity of the receiving node after the data is transmitted from the sending node to the receiving node is recorded as BandWidth, and the limiting condition of the average sending rate is SendRate multiplied by 8 < BandWidth.
Then, in step D2, the wireless sensor element se is detected0And compressing video and audio data in the acquired fire-fighting data to be transmitted. The video and audio data are compressed according to the corresponding video compression standard and algorithm by comprehensively considering factors such as transmission bandwidth, compression ratio, algorithm complexity, picture quality, node movement characteristic and the like as required.
Next, in step D3, the fire fighting data to be transmitted currently is subjected to fragmentation processing or network coding processing.
Then, in step D4, the fire-fighting data after the fragmentation processing or the network coding processing is sequentially transmitted in a breakpoint continuous transmission manner. If a network fault is encountered in the data transmission process, recording an interrupt flag BreakFlag object of an interrupted data packet, and continuously transmitting the part with the interrupt flag after the network is unobstructed by the interrupted data packet. The break flag BreakFlag object has attributes of 'data packet number', 'breakpoint position' and 'destination node'.
Further, the step D3 may include steps D31 to D33 described below.
In step D31, the data size to be transmitted is recorded as DataNum, the unit is MB, the average transmission rate is recorded as SendRate, the data size of the fire protection data to be transmitted is recorded as the data size of the current data packet as DataNum (that is, the fire protection data to be transmitted is recorded as the current data packet), and the size relationship between DataNum and SendRate is determined.
If DataNum is less than SendRate, executing step D32, and in this step, adding the current data packet and the read adjacent data packet to obtain the total data volume DataPlusNum after adding the current data packet and the adjacent data packet until the data volume DataPlusNum is reachedIn the above-mentioned order of magnitude,is the amount reserved for the change of the amount of data after network coding,
wherein,
DataNumh(h ═ 1,2, …, k) represents the data volume of the h-th adjacent data packet of the current data packet, k is the number of adjacent data packets, the k adjacent data packets and the current data packet are encoded by applying a random network coding method, and the encoded data packet is obtained, wherein the following header information is added in the header of the encoded data packet: process identification (process identification added here is "network coding"), number of data packet, coding vector, source node (i.e. wireless sensor element se)0) An IP address associated with the fire conductor node and a list of forwarding nodes (e.g., relay nodes) participating in the transmission.
If DataNum is more than SendRate, executing step D33, and in the step, performing packet processing on the fire-fighting data to be transmitted to obtain a plurality of sub packets, wherein the packet number DataPartNum in the packet processing is executed according to the following formula,
DataPartNum＝(DataNum+η)/SendRate，
η denotes the amount reserved for the change of data amount after data packetization, and each sub-packet after packetization is added with header information of a process identification (process added here)Identified as "data sub-packets"), the number of data packets, the source node (i.e., wireless sensor element se)0) An IP address associated with the fire conductor node and a list of forwarding nodes (e.g., relay nodes) participating in the transmission.
The data transmission method based on the balanced network load in the third step is used for data transmission, data merging or packet packaging can be selectively performed according to factors such as data types and data volumes, node bandwidth resources can be utilized to the maximum extent, bandwidth capacity limit cannot be exceeded, and data with large data volume can be reliably transmitted to a destination.
Further, after the step D4, the following steps E1 and E2 may be further included.
In step E1, it is determined whether the receiving node is a fire control command vehicle, and if yes, the receiving node is processed as follows:
when the received data packet is a network coded data packet, decoding the received data packet according to the header information to obtain an original data packet;
and when the received data packet is the data packet subjected to the packet processing, merging the received data packet according to the header information so as to restore the original data packet.
In addition, when the received data packet is video or audio data, the data packet is inversely decoded to restore the original data.
In step E2, after the receiving node successfully receives the data, the corresponding routing path record is deleted in the relevant base station class node.
Further, in the case that the node type of the next base station class node Nd determined in step two is a fire-fighting command vehicle, the fire-fighting data of the initiating node is directly transmitted to the target node and stored in the memory of the target node.
In addition, under the condition that the node type of the next base station type node Nd determined in the step two is the relay base station, each fire command vehicle transmits data to the fire rescue command center at regular time, and the transmission process is as follows: and after the polling time interval is reached, the fire fighting command vehicles transmit the fire fighting data received and stored by each fire fighting command vehicle to the fire fighting rescue command center, and store the fire fighting data into a memory of the fire fighting rescue command center.
The routing method for the fire rescue network can search the optimal route capable of completing data transmission among various base station nodes, has the advantages of high transmission speed, high efficiency and high accuracy, is not easy to damage in the transmission process, and can quickly and accurately reach the target node. The data transmission collected by the wireless sensing element is completed by adopting the algorithm for balancing the network load, so that the data transmission efficiency and the data transmission accuracy can be improved.
In addition, an embodiment of the present invention further provides a communication device, as shown in fig. 5, the communication device includes a wireless sensor unit 1 and a wireless coverage and relay device 2.
The wireless sensing unit 1 comprises a power supply device 110, a common data acquisition device 120, a video and audio data acquisition device 130, a common data processing chip 140, a video and audio data processing chip 150, a signal strength calculation module 160 and a wireless transceiving module 170.
The general data acquisition equipment 120 comprises a three-dimensional personnel position identifier 121, a heartbeat sensor 122, a smoke sensor 123, a temperature sensor 124 and thermal imaging equipment 125;
the video audio data capture device 130 includes a video audio sensor 131.
The common data processing chip 140 includes a first signal conditioning module 141, a first data acquisition module 142 and a first data analysis processing module 143; the common data acquisition device 120 is connected to the first signal conditioning module 141 for signal conditioning, the first signal conditioning module 141 is connected to the first data acquisition module 142, the first data acquisition module 142 is connected to the first data analysis processing module 143, the first data analysis processing module 143 is connected to the signal strength calculation module 160, and the first data analysis processing module 143 includes a first reset module 143-1.
The video and audio data processing chip 150 comprises a second signal conditioning module 151, a second data acquisition module 152 and a second data analysis processing module 153; the video and audio data acquisition device 130 is connected to the second signal conditioning module 151 for signal conditioning, the second signal conditioning module 151 is connected to the second data acquisition module 152, the second data acquisition module 152 is connected to the second data analysis processing module 153, the second data analysis processing module 153 is connected to the signal strength calculation module 160, and the second data analysis processing module 153 includes a second reset module 153-1.
The general data collecting device 120, the video and audio data collecting device 130, the general data processing chip 140 and the video and audio data processing chip 150 are respectively powered by the power supply device 110.
The wireless coverage and relay device 2 comprises a 350M coverage router 210 and a 5.8G relay router 220, and the 5.8G relay router 220 comprises a route calculation module 221 and a data transmission module 222; bidirectional communication can be performed between the 350M overlay router 210 and the 5.8G relay router 220; the route calculation module 221 performs route calculation of data transmission, and the data transmission module 222 communicates with other base stations in a wireless manner; wherein the 350M overlay router 210 is used to overlay the nodes around it, and the 5.8G relay router 220 is used to transmit data to other base station class nodes.
The wireless transceiver module 170 of the wireless sensor unit 1 wirelessly communicates with the 350M coverage router 210 of the wireless coverage and relay device 2.
The base station nodes in the communication device comprise a relay base station, a fire command vehicle and a fire rescue command center, and each base station node is provided with the wireless coverage and relay equipment 2.
According to the routing method and the communication device provided by the invention, in the building environment, information of on-site fire rescue personnel and on-site conditions after a disaster occurs can be accurately and timely transmitted to the fire command vehicle; the problem of signal attenuation in the wireless MESH network is solved, the anti-interference performance of signals is enhanced, and efficient transmission can be carried out.
While the invention has been described with respect to a limited number of embodiments, those skilled in the art, having benefit of this description, will appreciate that other embodiments can be devised which do not depart from the scope of the invention as described herein. Furthermore, it should be noted that the language used in the specification has been principally selected for readability and instructional purposes, and may not have been selected to delineate or circumscribe the inventive subject matter. Accordingly, many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the appended claims. The present invention has been disclosed in an illustrative rather than a restrictive sense, and the scope of the present invention is defined by the appended claims.

Claims (8)

1. The routing method for the fire rescue network is characterized in that nodes in the fire rescue network comprise acquisition nodes and base station nodes, wherein the acquisition nodes comprise wireless sensing elements, and the base station nodes comprise relay base stations, fire commanders and fire rescue command centers; the routing method for the fire rescue network comprises the following steps:
step one, fire fighting data to be transmitted are collected through a wireless sensing element;
step two, determining the next base station node capable of receiving the fire-fighting data to be transmitted according to the signal intensity, and judging the node type of the node:
when the node type of the node is fire-fighting command vehicle, the node is taken as a target node to determine a final routing path from the wireless sensing element to the target node;
when the node type of the node is a relay base station, recording a routing path from the wireless sensor element to the node, acquiring a relay routing path from the node to a fire-fighting command vehicle, and taking the fire-fighting command vehicle in the relay routing path as a target node to determine a final routing path from the wireless sensor element to the target node;
step three, transmitting the fire fighting data to be transmitted according to the final routing path based on a data transmission method for balancing network load;
when the node type of the next base station node determined in the step two is the relay base station, the step of acquiring the relay routing path from the node to the fire-fighting command vehicle includes:
step B1, setting a bandwidth capacity threshold and a maximum bandwidth capacity of the network;
step B2, according to the maximum bandwidth capacity of the network, the number of relay base stations in the fire rescue network and the number of fire control command vehicles, the maximum bandwidth capacity of the nodes is obtained by averagely distributing the bandwidth to the relay base stations and the fire control command vehicles in the fire rescue network;
step B3, obtaining the optimal routing path from the next base station class node to the fire-fighting command vehicle through the following processes:
acquiring all possible routing paths from the next base station class node to the fire conductor vehicles which can arrive, wherein the fire conductor vehicles which can arrive are used as destination nodes,
calculating the distance from the next base station class node to the destination node in each possible routing path, and sequencing all the calculated distances from small to large,
determining a routing path which meets a first condition that the residual bandwidth capacity after receiving the fire-fighting data to be transmitted is greater than or equal to the bandwidth capacity threshold value as the optimal routing path to serve as the relay routing path; and when no route path meeting the condition that the residual bandwidth capacity after the fire fighting data to be transmitted is received is greater than or equal to the bandwidth capacity threshold exists in all the possible route paths, discarding the fire fighting data to be transmitted and ending the route.
2. A routing method for fire rescue network as claimed in claim 1, wherein the step of determining the next base station class node capable of receiving the fire protection data to be transmitted in the second step comprises:
step A1, setting a signal intensity threshold;
step A2, acquiring all base station nodes capable of covering the wireless sensing element by calculating the signal intensity;
step A3, selecting the base station class node with the signal strength larger than the signal strength threshold value from all the obtained base station class nodes as a candidate node, and determining the base station class node with the maximum signal strength in the candidate nodes as the next base station class node capable of receiving the fire-fighting data to be transmitted;
and when the candidate node does not exist in all the acquired base station nodes, discarding the fire-fighting data to be transmitted and ending the routing.
3. A routing method for fire rescue network as claimed in claim 1, wherein the step of obtaining all possible routing paths from the next base station class node to the fire conductor vehicles that may be reached in step B3 comprises:
step C1, setting a hop count threshold;
step C2, taking the next base station class node as an initiating node, and broadcasting a routing signal to the base station class nodes adjacent to the initiating node through the initiating node;
step C3, the base station node receiving the routing signal of the initiating node replies a response signal to the initiating node;
step C4, the initiating node determines whether a response signal is received within a time period:
if the judgment result is 'no', returning to execute the step C2;
if the judgment result is yes, executing the step C5;
step C5, adding the answer node where the answer signal received by the initiating node is in into a routing table;
step C6, judging whether the type of the answering node is 'fire-fighting command vehicle': if the type of the answering node is not the fire conductor, executing the step C7; otherwise, go to step C14;
step C7, determining whether "i +1 ═ hop count threshold" is satisfied, and if "i +1 ═ hop count threshold" is satisfied, executing step C8; otherwise, go to step C14;
step C8, determining the response node which is determined not to be the fire conductor in step C6 as the ith hop downstream initiating node of the initiating node; wherein the initial value of i is 1;
step C9, each ith-hop downstream initiating node broadcasts a routing signal, and the base station node which receives the routing signal of the ith-hop downstream initiating node replies a response signal to the ith-hop downstream initiating node;
step C10, each ith-hop downstream originating node determines whether it receives a response signal within a time period: if the judgment result is 'no', executing the step C11; otherwise, go to step C12;
step C11, replying a route ending signal to the initiating node, deleting the ith downstream initiating node from the route table after the initiating node receives the route ending signal, and ending the processing;
step C12, determining the base station node of the non-initiating node corresponding to the response signal received by the ith-hop downstream initiating node as the ith + 1-hop downstream initiating node, and forwarding all the determined ith + 1-hop downstream initiating nodes to the initiating node, wherein the initiating node adds all the ith + 1-hop downstream initiating nodes into the routing table;
step C13, the initiating node judges whether all the (i + 1) th-hop downstream initiating nodes contain nodes with the type of a fire-fighting command vehicle: if all the (i + 1) th-hop downstream initiating nodes contain the node with the type of the fire-fighting command vehicle, executing the step C14; otherwise, go to step C15;
step C14, determining the node with the type of the fire-fighting command vehicle as a target node, obtaining all routing paths from the initiating node to each target node, ending routing and ending processing;
step C15, let i ═ i +1, and update the value of i to the value of current i', determine whether "current i ═ hop count threshold" holds: if yes, returning to execute the step C10; otherwise, the process ends.
4. A routing method for fire rescue network as claimed in claim 1, wherein the step of transmitting the fire protection data to be transmitted according to the final routing path based on the data transmission method for balancing network load in step three comprises:
step D1, setting average sending rate;
d2, compressing video and audio data in the fire-fighting data to be transmitted;
step D3, carrying out fragment processing or network coding processing on the fire-fighting data to be transmitted currently;
and D4, sequentially transmitting the fire-fighting data subjected to the fragment processing or the network coding processing in a breakpoint continuous transmission mode.
5. A routing method for a fire rescue network as claimed in claim 4, wherein step D3 includes:
step D31, recording the average sending rate as SendRate, taking the data volume of the fire-fighting data to be transmitted as the data volume of the current data packet and recording the data volume as DataNum, and judging the size relationship between the DataNum and the SendRate;
step D32, if DataNum is less than SendRate, the current data packet and the read adjacent data packet are added to get the current numberThe total data volume DataPlusNum after the data packet is added with the adjacent data packet untilIn the above-mentioned order of magnitude,is the amount reserved for the change of the amount of data after network coding,
wherein,wherein, DataNumh(h ═ 1,2, …, k) represents the data volume of the h-th adjacent data packet of the current data packet, k is the number of adjacent data packets, the k adjacent data packets and the current data packet are encoded by applying a random network coding method, and the encoded data packet is obtained, wherein the following header information is added in the header of the encoded data packet: processing the identification, the serial number of the data packet, the coding vector, the IP addresses of the source node and the fire-fighting command vehicle node and a forwarding node list participating in sending;
step D33, if DataNum is larger than SendRate, performing sub-packet processing on the fire-fighting data to be transmitted to obtain a plurality of sub-packets, wherein the number of sub-packets DataPartNum in the sub-packet processing is executed according to the following formula,
DataPartNum＝(DataNum+η)/SendRate，
η represents the reserved amount for the change of data amount after data packet processing, and the sub-packets are added with header information including processing identification, packet number, IP addresses of source node and fire-fighting command vehicle node, and forwarding node list participating in transmission.
6. A routing method for a fire rescue network as claimed in claim 4, further comprising the following steps after step D4:
step E1, if the receiving node is a fire-fighting command vehicle, the following processing is carried out on the receiving node:
when the received data packet is a network coded data packet, decoding the received data packet according to the header information to obtain an original data packet; when the received data packet is a data packet subjected to packet processing, merging the received data packet according to the header information to restore an original data packet;
when the received data packet is video or audio data, reversely decoding the data packet to restore the original data;
and step E2, after the receiving node successfully receives the data, deleting the corresponding routing path record in the relevant base station class node.
7. A routing method for fire rescue network as claimed in claim 3,
under the condition that the node type of the next base station class node determined in the step two is a fire-fighting command vehicle, directly transmitting the fire-fighting data of the initiating node to the target node and storing the fire-fighting data in a memory of the target node;
and under the condition that the node type of the next base station class node determined in the step two is the relay base station, regularly transmitting the data of the fire-fighting command vehicle to the fire-fighting rescue command center, wherein the transmission process is as follows: and traversing the fire-fighting command vehicles after the polling time interval is reached, transmitting the fire-fighting data received and stored by each fire-fighting command vehicle to the fire-fighting rescue command center, and storing the fire-fighting data into a memory of the fire-fighting rescue command center.
8. The communication device is characterized by comprising a wireless sensing element (1) and a wireless covering and relaying device (2);
the wireless sensing unit (1) comprises a power supply device (110), a common data acquisition device (120), a video and audio data acquisition device (130), a common data processing chip (140), a video and audio data processing chip (150), a signal intensity calculation module (160) and a wireless transceiving module (170);
the common data acquisition equipment (120) comprises a three-dimensional position identifier (121) of a person, a heartbeat sensor (122), a smoke sensor (123), a temperature sensor (124) and thermal imaging equipment (125);
the video audio data acquisition device (130) comprises a video audio sensor (131);
the common data processing chip (140) comprises a first signal conditioning module (141), a first data acquisition module (142) and a first data analysis processing module (143); the common data acquisition equipment (120) is connected with the first signal conditioning module (141) for signal conditioning, the first signal conditioning module (141) is connected with the first data acquisition module (142), the first data acquisition module (142) is connected with the first data analysis processing module (143), the first data analysis processing module (143) is connected with the signal intensity calculation module (160), and the first data analysis processing module (143) comprises a first reset module (143-1);
the video and audio data processing chip (150) comprises a second signal conditioning module (151), a second data acquisition module (152) and a second data analysis processing module (153); the video and audio data acquisition device (130) is connected with the second signal conditioning module (151) for signal conditioning, the second signal conditioning module (151) is connected with the second data acquisition module (152), the second data acquisition module (152) is connected with the second data analysis processing module (153), the second data analysis processing module (153) is connected with the signal intensity calculation module (160), and the second data analysis processing module (153) comprises a second reset module (153-1);
the common data acquisition equipment (120), the video and audio data acquisition equipment (130), the common data processing chip (140) and the video and audio data processing chip (150) are respectively powered by the power supply equipment (110);
the wireless coverage and relay device (2) comprises a 350M coverage router (210) and a 5.8G relay router (220), the 5.8G relay router (220) comprising a route calculation module (221) and a data transmission module (222); bidirectional communication is possible between the 350M overlay router (210) and the 5.8G relay router (220); the route calculation module (221) performs route calculation of data transmission, and the data transmission module (222) communicates with other base stations in a wireless manner; wherein the 350M coverage router (210) is used for covering nodes around the router, and the 5.8G relay router (220) is used for transmitting data to other base station class nodes;
the wireless transceiving module (170) of the wireless sensing element (1) communicates with the 350M coverage router (210) of the wireless coverage and relay device (2) in a wireless mode;
the base station nodes in the communication device comprise relay base stations, fire-fighting command vehicles and fire rescue command centers, and each base station node is provided with the wireless coverage and relay equipment (2).
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