CN105976563A - Fire rescue system - Google Patents
Fire rescue system Download PDFInfo
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- CN105976563A CN105976563A CN201610518994.5A CN201610518994A CN105976563A CN 105976563 A CN105976563 A CN 105976563A CN 201610518994 A CN201610518994 A CN 201610518994A CN 105976563 A CN105976563 A CN 105976563A
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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
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/10—Services
- G06Q50/26—Government or public services
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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
- G08B25/08—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 communication transmission lines
-
- 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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Abstract
The invention provides a fire rescue system comprising a command platform and a positioning caller worn on a firefighter. The positioning caller comprises an inertial positioning module, an active positioning module and a first sending module; the inertial positioning module is used for acquiring current first position information by adopting an inertial positioning mode; the active positioning module is used for acquiring current second position information by adopting an active positioning mode; the first sending module is used for sending the first position information and the second position information to the command platform; and the command platform is used for calculating the actual position of the positioning caller according to the first position information and the second position information. By adopting the fire rescue system, accurate position data is obtained by synthesizing the positioning results of the inertial positioning module and the active positioning module and after constraint and correction of an algorithm, so that the positioning precision of indoor positioning under complex environments is improved.
Description
Technical field
The present invention relates to fire-fighting system field, in particular to a kind of fire-fighting and rescue system.
Background technology
Along with the fast development of China's economy, fire inducement is also on the increase, and fire incident also becomes many
Sample and complication.The generation of fire, not only causes great casualties and economic loss, simultaneously
Also social stability is caused with harmony and have a strong impact on.Sudden, complexity, the multiformity of fire incident
With significant damage fire the most efficiently rescued and have higher requirement.
During implementing fire rescue, in the face of field condition complicated and changeable, the fire-fighting of scene of fire
Commander makes a policy in a short period of time, proposes effective, a careful fire fighting and rescue embodiment party
Case, and assign rapidly operational instruction, it is extremely difficult.If there being a fire extinguishing reserved in advance in advance
Rescue Plan, as foundation, is combining the practical situation in the scene of a fire, suitable adjustment and practicing Buddhism or Taoism, and fire-fighting refers to
The person of waving just is referred to revision, adjust after fire fighting and rescue prediction scheme ruly command troops.Therefore,
Fire fighting and rescue prediction scheme, as tackling all kinds of burst fire incidents, reduces casualties and the weight of property loss
Want countermeasure, become limits and reduce casualties and the important guarantee of property loss；Drastically increase
The ability that fire fighting and rescue efficiency, fire-fighting emergent commander disposes.Tradition written fire fighting and rescue prediction scheme without
Method meets new period complication and diversified fire.
At present, degree fireman positions when, the technology using external auxiliary location more, as
GPS location technology, but the positioning precision of this kind of location mode is difficult to meet the requirements.
Summary of the invention
In view of this, the purpose of the embodiment of the present invention is to provide a kind of based on multi-source fusion indoor positioning
The fireman of navigation quickly positions rescue system.This system mobility is high, motility is strong, and can
Effective rescue strategies is provided for commanding with the form of three-dimensional Rescue Plan.
Embodiments provide a kind of fire-fighting and rescue system, including maneuvering platform be worn on fire-fighting
Positioning emergency device with personnel, described positioning emergency device includes inertial positioning module, active location mould
Block and the first sending module；
Described inertial positioning module, is used for using inertial positioning mode, obtains current primary importance information；
Described active location module, for using the mode of active location, obtains current second confidence
Breath；
Described first sending module, for being sent to described primary importance information and second position information
Described maneuvering platform；
Described maneuvering platform, for calculating described according to described primary importance information and second position information
The physical location at positioning emergency device place.
Preferably, above-mentioned fire-fighting and rescue system, also include self-built threedimensional model device, described self-built three
Dimension module device includes laser scanning module, data processing module, the second sending module and is arranged on institute
State the MBM in maneuvering platform；
Described laser scanning module, for gathering the architecture information of building, described architecture information includes building
The three-dimensional dimension built and texture；
Described data processing module, for being converted into data message by described architecture information；
Described second sending module, for sending described data message to described MBM；
Described MBM, for setting up the outdoor scene threedimensional model of building according to described data message.
Preferably, above-mentioned fire-fighting and rescue system, described inertial positioning mode is inertial navigation and/or earth magnetism
Coupling；Described active location mode be bluetooth indoor positioning, UWB indoor positioning, WIFI indoor positioning,
Zigbee any one or more.
Preferably, above-mentioned fire-fighting and rescue system, described maneuvering platform includes scheme forming module；
Described scheme forming module includes transferring unit and signal generating unit；
Described transfer unit, be used for transferring described threedimensional model；
Described signal generating unit, for generating three-dimensional Rescue Plan according to described threedimensional model
Described three-dimensional Rescue Plan includes that prediction scheme content, fire hazard target three dimensional arrangement figure, fire are endangered
Danger target fire fighting device three-dimensional distribution map, emergency management and rescue headquarter information about firms, analysis on fire cover three
Dimension deployment diagram and evacuating personnel three dimension pathline figure.
Preferably, above-mentioned fire-fighting and rescue system, described positioning emergency device also includes buzzer, strobe light
Source；
Described buzzer, for sending the alarm signal of form of sound；
Described stroboscopic light source, for sending the alarm signal of light form.
Preferably, above-mentioned fire-fighting and rescue system, described maneuvering platform also includes prediction scheme judge module；
Described prediction scheme judge module includes the first transmitting element, detector unit and feedback unit；
Described first transmitting element, for sending the detection signal of target structures to described detector unit；
Described detector unit, for detecting the three-dimensional Rescue Plan of target structures in described maneuvering platform
Archive situation；
Described feedback unit, has the three-dimensional of building for being not detected by described maneuvering platform internal memory target
During Rescue Plan, three-dimensional Rescue Plan instruction is set up in prompting.
Preferably, above-mentioned fire-fighting and rescue system, also include data transmission device, described data transmission dress
Be set in mobile communications network and local area wireless network any one.
Preferably, above-mentioned fire-fighting and rescue system, described positioning emergency device also includes main control module, GNSS
Multimode locating module, barometer and power supply；
Described main control module, for for calculating according to described primary importance information and second position information
The physical location at described positioning emergency device place；
Described GNSS multimode locating module, the satellite positioning signal received for output；
Described barometer, is used for exporting accurate elevation information；
Described power supply, for powering for positioning emergency device.
Preferably, above-mentioned fire-fighting and rescue system, described maneuvering platform also includes property evaluation module；
Described property evaluation module includes the second transmitting element, receives unit and assessment unit；
Described second transmitting element, for sending modeling signal to described self-built threedimensional model device；
Described reception unit, three built after the calamity receiving described self-built threedimensional model device feedback
Dimension module；
Described assessment unit, for according to the threedimensional model assessment property loss of building after calamity, generating wealth
Produce lost data table.
Preferably, above-mentioned fire-fighting and rescue system, described maneuvering platform also include import module, described in lead
Enter module for importing the electronic model of 3DS form.
A kind of fire-fighting and rescue system that the embodiment of the present invention provides, including maneuvering platform and be worn on fire-fighting
Positioning emergency device with personnel.Positioning emergency device include inertial positioning module, active location module and
First sending module.Inertial positioning module, is used for using inertial positioning mode, obtains current first
Confidence ceases；Active location module, for using the mode of active location, obtains current second confidence
Breath；First sending module, is sent to described commander by described primary importance information and second position information
Platform；Maneuvering platform, described fixed for calculating according to described primary importance information and second position information
The physical location at rescue beacon place, position.Determining of combined inertia locating module of the present invention and active location module
Position result, and after the constraint and correction of algorithm, it is possible to obtain position data accurately.
For making the above-mentioned purpose of the present invention, feature and advantage to become apparent, preferable reality cited below particularly
Execute example, and coordinate appended accompanying drawing, be described in detail below.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below will be to required in embodiment
Accompanying drawing to be used is briefly described, it will be appreciated that the following drawings illustrate only some of the present invention
Embodiment, is therefore not construed as the restriction to scope, for those of ordinary skill in the art,
On the premise of not paying creative work, it is also possible to obtain other relevant accompanying drawings according to these accompanying drawings.
Fig. 1 shows that the embodiment of the present invention provides the group of a preferred version of a kind of fire-fighting and rescue system
Become schematic diagram；
Fig. 2 shows that the embodiment of the present invention is provided another preferred version of a kind of fire-fighting and rescue system
Composition schematic diagram.
In accompanying drawing, digitized representation meaning is as follows:
10-maneuvering platform
11-scheme forming module
12-prediction scheme judge module
13-property evaluation module
20-positioning emergency device
21-inertial positioning module
22-active location module
23-the first sending module
30-self-built threedimensional model device
31-laser scanning module
32-data processing module
33-the second sending module
34-MBM
Detailed description of the invention
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the present invention,
Rather than whole embodiments.Generally herein described in accompanying drawing and the group of the embodiment of the present invention that illustrates
Part can be arranged with various different configurations and design.Therefore, below to the basis provided in the accompanying drawings
The detailed description of inventive embodiment is not intended to limit the scope of claimed invention, but only
Only represent the selected embodiment of the present invention.Based on embodiments of the invention, those skilled in the art are not having
There is on the premise of making creative work the every other embodiment obtained, broadly fall into present invention protection
Scope.
At present, fireman position mode can be according to whether outside plant basis be divided into without outside
Facility auxiliary autonomous location mode and need outside plant assist two ways.Autonomous location mainly has
Inertial navigation positions, and the mode needing outside plant to assist is primarily referred to as the side needing to lay locating base station
Formula.But being affected by error drift, multipath effect, non-market value etc., both the above mode does not still have
Have and thoroughly solve position jump present in fireman's indoor positioning, low precision, problem that universality is low.
Based on this, the embodiment of the present invention provide a kind of fire-fighting and rescue system.Retouch below by embodiment
State.
As it is shown in figure 1, a kind of fire-fighting and rescue system that the embodiment of the present invention provides, including maneuvering platform
10 and be worn on the positioning emergency device 20 with fire fighter, positioning emergency device 20 includes inertial positioning
Module 21, active location module 22 and the first sending module 23；
Inertial positioning module 21, is used for using inertial positioning mode, obtains current primary importance information；
Active location module 22, for using the mode of active location, obtains current second position information；
First sending module 23 is flat for primary importance information and second position information are sent to commander
Platform 10；
Maneuvering platform 10, for calculating positioning emergency device according to primary importance information and second position information
The physical location at 20 places.
Concrete, fireman, before entering the scene of a fire, wears described positioning emergency device 20.Due to each
Fire fighter has its distinctive numbering, and the positioning emergency device 20 that each fire fighter wears also has it peculiar
Mark, and there is relation one to one in this numbering and this mark.Command system has each volume
The essential information of number corresponding fire fighter, it is simple to the on-the-spot scheduling directly perceived of commander in chief and regulation and control.
Positioning emergency device 20 uses the multi-source of inertial positioning module 21 and active location module 22 composition to melt
Close location mode.Inertial positioning module 21 can obtain location in the case of not having external base station auxiliary
The positional information of rescue beacon 20, the most above-mentioned primary importance information；Active location module 22 can be with base
In time of arrival (toa) (TOA), reach angle (DOA) based on signal arrival time difference (TDOA), signal
Or the mode of signal intensity (RSSI) positions, obtain second position information.Combined inertia positions
The positioning result (i.e. primary importance information and second position information) of module 21 and active location module 22,
And after algorithm constraint and revising, it is possible to obtain position data (actual location data) accurately, should
Position data is sent to maneuvering platform 10, and maneuvering platform 10 is according to described positioning emergency device actual bit confidence
Breath obtains firefighter locator and state.
As a preferred version of the embodiment of the present invention, this fire-fighting and rescue system also includes self-built three-dimensional
Model equipment 30, self-built threedimensional model device 30 includes laser scanning module 31, data processing module
32, the second sending module 33 and the MBM 34 that is arranged in described maneuvering platform；
Laser scanning module 31, for gathering the architecture information of building, described architecture information includes building
Three-dimensional dimension and texture；
Data processing module 32, for being converted into data message by described architecture information；
Second sending module 33, for sending described data message to described MBM 34；
MBM 34, for setting up the outdoor scene threedimensional model of building according to described data message.
Concrete, laser scanning module 31 includes that Three Dimensional Ground laser scanner, Three Dimensional Ground laser are swept
Retouch instrument to realize large scale, high-precision building three dimensional data collection, process work, built-in number
Code-phase machine, can obtain true color image data simultaneously.Utilize this Three Dimensional Ground laser scanner, disappearing
Anti-key unit, we can be according to field condition, and rapid development goes out scanning modeling planning.Above-mentioned number
Being a data processing stations according to processing module 32, this data processing stations to process large batch of
Cloud data, therefore requires higher to the allocation of computer of data processing stations.Sweep at three-dimensional laser
After retouching instrument data acquisition, we are sent to the data file of host workstation Computer Storage
On the computer of data processing stations, with the supporting data processing software cloud data to scanning
Process in real time with image data and analyze, setting up outdoor scene threedimensional model.
As a preferred version of the embodiment of the present invention, above-mentioned inertial positioning mode be inertial navigation and
Any one in geomagnetic matching, but it is not limited only to any one in inertial navigation and geomagnetic matching,
Can also is that inertial navigation and geomagnetic matching combination mode；Active location mode is that bluetooth is indoor
Location, UWB indoor positioning, WIFI indoor positioning and any one or more of Zigbee.
As a preferred version of the embodiment of the present invention, the maneuvering platform 10 in this fire-fighting and rescue system
Including scheme forming module 11；
Scheme forming module 11 includes transferring unit and signal generating unit；
Transfer unit, be used for transferring described threedimensional model；
Signal generating unit, for generating three-dimensional Rescue Plan according to described threedimensional model；
Three-dimensional Rescue Plan includes prediction scheme content, fire hazard target three dimensional arrangement figure, fire hazard mesh
Mark fire fighting device three-dimensional distribution map, emergency management and rescue headquarter information about firms, analysis on fire cover three-dimensional portion
Administration's figure and evacuating personnel three dimension pathline figure.
This preferred version combines aforementioned preferred version, transfers after unit transfers threedimensional model, according to book
The requirement of face fire fighting and rescue prediction scheme, adds in threedimensional model by fire hazard target, fire fighting device,
To obtain the three-dimensional Rescue Plan of electronic form.
Concrete, above-mentioned three-dimensional Rescue Plan can display terminal building threedimensional model realized scaling,
Translation, rotate positioning function, thus reach to building different piece (exterior wall, internal structure, passage,
Equipment etc.) visualization roaming browse.Herein, during display terminal can be arranged on maneuvering platform 10.Logical
Cross this three-dimensional Rescue Plan, then disappearing of sending over of the positioning emergency device 20 worn by every fireman
Anti-member position and state, can check that personnel are distributed inside building the very first time, the most also can accurate energy
Check the emergency set distribution within building, the essential information of each equipment and status information etc., it is simple to
The personnel that direct rescue work enable in rescue operations in time.Three-dimensional Rescue Plan also will realize evacuating personnel road
The animation of line presents.It should be noted that, above-mentioned three-dimensional Rescue Plan not only includes prediction scheme content, fire
Risk object three dimensional arrangement figure, fire hazard target fire fighting device three-dimensional distribution map, emergency management and rescue commander
The contents such as portion's information about firms, analysis on fire cover three-dimensional deployment diagram and evacuating personnel three dimension pathline figure, also
Unit basic situation, member relevant government department of emergency management and rescue headquarter can be added as needed on.Connection
It is phone, participates in rescue unit relevant personnel's liaison table etc..
As a preferred version of the embodiment of the present invention, maneuvering platform 10 also includes prediction scheme judge module
12；
Prediction scheme judge module 12 includes the first transmitting element, detector unit and feedback unit；
First transmitting element, for sending the detection signal of target structures to described detector unit；
Detector unit, for detecting the three-dimensional Rescue Plan of target structures in described maneuvering platform 10
Archive situation；
Feedback unit, has the three-dimensional of building to rescue for being not detected by described maneuvering platform 10 internal memory target
When helping prediction scheme, three-dimensional Rescue Plan instruction is set up in prompting.
In this preferred version, maneuvering platform 10 can be judged whether by prediction scheme judge module 12
Mode of operation is selected in the case of three-dimensional Rescue Plan.The first transmitting element in prediction scheme judge module 12
Send the detection signal of target structures to detector unit, after detector unit receives this detection signal, open
Beginning to scan in the server, the three-dimensional having target structures in being not detected by maneuvering platform 10 is rescued
When helping prediction scheme, three-dimensional Rescue Plan instruction is set up in prompting.
Three-dimensional Rescue Plan is the upgrading to traditional written plan of fire fighting, it is possible to straight with computer picture and text form
Sight presents plan of fire fighting.By three-dimensional Rescue Plan, disaster hidden-trouble can be analyzed and easily send out a little, according to
Environmental geography position around, fire fighting fire-fighting resource available near screening, to utilize, pre-establishes
Fire rescue scheme is also put on record.Accomplish to provide for a rainy day, prevent trouble before it happens.Fire-fighting three-dimensional electronic prediction scheme makes
Plan of fire fighting jumps out that utilization rate is low, the wasting of resources present situation of poor operability.
In conjunction with aforementioned all preferred versions, embodiments provide another preferred version, aforementioned
Maneuvering platform 10 also includes property evaluation module 13, and concrete structure schematic diagram is as shown in Figure 2；
Property evaluation module 13 includes the second transmitting element, receives unit and assessment unit；
Second transmitting element, for sending modeling signal to self-built threedimensional model device 30；
Receive unit, the threedimensional model of building after the calamity receiving self-built threedimensional model device feedback；
Assessment unit, for according to the threedimensional model assessment property loss of building after calamity, generating property and damage
Lose tables of data.
Property evaluation module 13 can be by building to the transmission of self-built threedimensional model device 30 after fire
Mould signal, so that self-built threedimensional model device 30 carries out three-dimensional modeling to plant area, builds after generating calamity
Threedimensional model, contrast with the threedimensional model before calamity, mainly contrast atural object, equipment, machine
Change, property loss very first time of fire is assessed, generates property loss tables of data, reported
Pass department.
It is emphasized that above-mentioned self-built threedimensional model device mainly carries out calamity to fire-fighting key unit
Front modeling, so that this fire-fighting key unit has generated three-dimensional Rescue Plan before disaster-stricken.Right
In not setting up in advance the region of three-dimensional Rescue Plan, can at the scene according to the basic condition grasped,
Artificial self-built threedimensional model.The self-built threedimensional model set up based on scene, commanding may determine that
Fireman's general location in building, unaffected in terms of information communication.
As a preferred version of the embodiment of the present invention, this fire-fighting and rescue system also includes that data are transmitted
Device, data transmission device is any one in mobile communications network and local area wireless network.
As a preferred version of the embodiment of the present invention, positioning emergency device 20 also includes buzzer, frequently
Flash source；
Buzzer, for sending the alarm signal of form of sound；
Stroboscopic light source, for sending the alarm signal of light form.
Positioning emergency device 20 including buzzer and stroboscopic light source possesses warning function, in case of emergency,
Buzzer and stroboscopic light source can send the various ways such as sound and light alarm and remote alarms and report to the police.Warning side
Formula is divided into manual alarm and automatic alarm two kinds.In manual alarm pattern, once fireman presses report
Alert button, the buzzer in positioning emergency device 20 sends the alarm signal of form of sound immediately, and location is exhaled
Rescue the stroboscopic light source in device 20 and send the alarm signal of light form.Meanwhile, positioning emergency device 20 passes through
Data transmission device sends warning message to maneuvering platform 10.Under automatic alarm pattern, positioning emergency
According to length quiescent time of fireman, device 20 can judge that it is the most in danger, when resting between more than 15s
During less than 30s, the buzzer in positioning emergency device 20 sends the alarm signal of form of sound immediately,
Stroboscopic light source in positioning emergency device 20 sends the alarm signal of light form, position in pre-alarm 15s
Change, then pre-alarm release, when resting between more than 30s time, positioning emergency device 20 sends by force
Sound and light alarm, simultaneously to maneuvering platform 10 alert.
As a preferred version of the embodiment of the present invention, positioning emergency device 20 also include main control module,
GNSS multimode locating module, barometer and power supply.
Main control module, for calculating positioning emergency device 20 according to primary importance information and second position information
The physical location at place；
GNSS multimode locating module, the satellite positioning signal received for output；
Barometer, is used for exporting accurate elevation information；
Power supply, for powering for positioning emergency device.
Concrete, in positioning emergency device 20 main control module, it is possible to according to primary importance information and second
The physical location at positioning emergency device place described in positional information calculation, now, in positioning emergency device 20
First sending module 23 for being sent to maneuvering platform 10 rather than by first by actual position information
Confidence breath and second position information are sent to maneuvering platform 10.This kind of mode is utilized to carry out positioning emergency device
The location of 20 can select in advance in maneuvering platform 10.
As a preferred version of the embodiment of the present invention, maneuvering platform 10 also includes importing module, leads
Enter module and preferably import the electronic model of 3DS form, but be not limited only to the electronic model of 3DS form,
Can also is that the electronic model of other standards form, such as obj, max, ma, vtk, mb, stl, igs, stp.
The above, the only detailed description of the invention of the present invention, but protection scope of the present invention not office
Being limited to this, any those familiar with the art, can in the technical scope that the invention discloses
Readily occur in change or replace, all should contain within protection scope of the present invention.Therefore, the present invention
Protection domain should described be as the criterion with scope of the claims.
Claims (10)
1. a fire-fighting and rescue system, it is characterised in that include maneuvering platform and be worn on fire-fighting
Positioning emergency device with personnel, described positioning emergency device includes inertial positioning module, active location mould
Block and the first sending module；
Described inertial positioning module, is used for using inertial positioning mode, obtains current primary importance information；
Described active location module, for using the mode of active location, obtains current second confidence
Breath；
Described first sending module, for being sent to described primary importance information and second position information
Described maneuvering platform；
Described maneuvering platform, for calculating described according to described primary importance information and second position information
The physical location at positioning emergency device place.
A kind of fire-fighting and rescue system the most according to claim 1, it is characterised in that also include
Self-built threedimensional model device, described self-built threedimensional model device includes that laser scanning module, data process
Module, the second sending module and the MBM being arranged in described maneuvering platform；
Described laser scanning module, for gathering the architecture information of building, described architecture information includes building
The three-dimensional dimension built and texture；
Described data processing module, for being converted into data message by described architecture information；
Described second sending module, for sending described data message to described MBM；
Described MBM, for setting up the outdoor scene threedimensional model of building according to described data message.
A kind of fireman's rescue system the most according to claim 2, it is characterised in that institute
Stating inertial positioning mode is inertial navigation and/or geomagnetic matching；Described active location mode is bluetooth room
Inner position, UWB indoor positioning, WIFI indoor positioning, Zigbee any one or more.
A kind of fireman's rescue system the most according to claim 2, it is characterised in that described
Maneuvering platform includes scheme forming module；
Described scheme forming module includes transferring unit and signal generating unit；
Described transfer unit, be used for transferring described threedimensional model；
Described signal generating unit, for generating three-dimensional Rescue Plan according to described threedimensional model；
Described three-dimensional Rescue Plan includes that prediction scheme content, fire hazard target three dimensional arrangement figure, fire are endangered
Danger target fire fighting device three-dimensional distribution map, emergency management and rescue headquarter information about firms, analysis on fire cover three
Dimension deployment diagram and evacuating personnel three dimension pathline figure.
A kind of fireman's rescue system the most according to claim 4, it is characterised in that institute
State positioning emergency device and also include buzzer, stroboscopic light source；
Described buzzer, for sending the alarm signal of form of sound；
Described stroboscopic light source, for sending the alarm signal of light form.
A kind of fireman's rescue system the most according to claim 5, it is characterised in that institute
State maneuvering platform and also include prediction scheme judge module；
Described prediction scheme judge module includes the first transmitting element, detector unit and feedback unit；
Described first transmitting element, for sending the detection signal of target structures to described detector unit；
Described detector unit, for detecting the three-dimensional Rescue Plan of target structures in described maneuvering platform
Archive situation；
Described feedback unit, has the three-dimensional of building for being not detected by described maneuvering platform internal memory target
During Rescue Plan, three-dimensional Rescue Plan instruction is set up in prompting.
7. according to a kind of fireman's rescue system described in claim 6, it is characterised in that also include
Data transmission device, described data transmission device is appointing in mobile communications network and local area wireless network
Meaning one.
A kind of fireman's rescue system the most according to claim 1, it is characterised in that described
Positioning emergency device also includes main control module, GNSS multimode locating module, barometer and power supply；
Described main control module, for calculating described according to described primary importance information and second position information
The physical location at positioning emergency device place；
Described GNSS multimode locating module, the satellite positioning signal received for output；
Described barometer, is used for exporting accurate elevation information；
Described power supply, for powering for positioning emergency device.
A kind of fireman's rescue system the most according to claim 8, it is characterised in that described
Maneuvering platform also includes property evaluation module；
Described property evaluation module includes the second transmitting element, receives unit and assessment unit；
Described second transmitting element, for sending modeling signal to described self-built threedimensional model device；
Described reception unit, three built after the calamity receiving described self-built threedimensional model device feedback
Dimension module；
Described assessment unit, for according to the threedimensional model assessment property loss of building after calamity, generating wealth
Produce lost data table.
A kind of fireman's rescue system the most according to claim 9, it is characterised in that described
Maneuvering platform also includes importing module, and described importing module is for importing the electronic model of 3DS form.
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| CN201610518994.5A CN105976563B (en) | 2016-07-01 | 2016-07-01 | A kind of fire-fighting and rescue system |
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| CN201610518994.5A CN105976563B (en) | 2016-07-01 | 2016-07-01 | A kind of fire-fighting and rescue system |
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| CN110753301A (en) * | 2018-07-06 | 2020-02-04 | 北京金坤科创技术有限公司 | Strange scene-oriented indoor positioning system and method |
| CN108917771A (en) * | 2018-07-25 | 2018-11-30 | 梁步阁 | A kind of indoor navigation system for fire-fighting first aid |
| JP7472560B2 (en) | 2020-03-12 | 2024-04-23 | 日本電気株式会社 | Activity support device, activity support method, and program |
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