CN111615050A - Emergency positioning searching device, method and system - Google Patents
Emergency positioning searching device, method and system Download PDFInfo
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- CN111615050A CN111615050A CN202010333822.7A CN202010333822A CN111615050A CN 111615050 A CN111615050 A CN 111615050A CN 202010333822 A CN202010333822 A CN 202010333822A CN 111615050 A CN111615050 A CN 111615050A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/90—Services for handling of emergency or hazardous situations, e.g. earthquake and tsunami warning systems [ETWS]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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Abstract
The invention provides an emergency positioning searching device, a method and a system, wherein the emergency positioning searching device comprises: the ultra-wideband PDOA module is used for precise distance measurement and azimuth angle measurement; the MPU module is used for configuring the working mode of each module, managing communication and reading and writing operation and processing of data information; the wireless data transmission module is used for data interaction between the emergency positioning search and rescue device and the background server; the power supply module is used for supplying power to each module; the emergency fixed search device also comprises a display module for displaying the working state of the emergency fixed search device and the distance and direction information of a person seeking help or an object to be searched relative to the emergency fixed search device; the emergency positioning search and rescue searching device further comprises a key module used for manually sending a distress signal and switching the working modes of the emergency positioning search and rescue searching device. The system can realize interactive positioning between firefighters on site, know accurate position information of the person seeking help in real time, reduce rescue difficulty and improve rescue efficiency.
Description
Technical Field
The invention relates to the field of wireless communication and emergency rescue, in particular to a fire-fighting positioning search and rescue method, device and system based on wireless communication.
Background
With the rapid development of society and economy, the demands of people on positioning and navigation are increasing, and the demands are becoming more and more prominent in the field of fire fighting. Under the situation that fire accidents and chemical leakage accidents of serious and serious malignant disasters are increased day by day at present, in the face of various severe disasters, the rescue form faced by firefighters is more and more severe, and the difficulty and the danger of the disposal of various accidents are higher and higher. In the face of the complex environment of rescue scene, the fire fighter is difficult to perceive the position of self, and simultaneously the off-site commander also can't master the distribution condition of the fire fighter in the scene of a fire, hardly makes effectual judgement and commander, consequently, how when effectively promoting the progress and the efficiency of disaster rescue, can guarantee again first line fire fighter personnel personal safety and danger to a maximum extent, is becoming a realistic problem who waits for the solution urgently. At present, the firefighter positioning equipment is used for positioning personnel in a mode of laying anchor nodes in advance, the mode is time-consuming, and the method is not suitable for rescue sites which are life-oriented in time. The other is personnel positioning based on inertial navigation, although the problem of base station arrangement is avoided, only off-site commanders can master the distribution condition of firefighters in the mode, the firefighters and the firefighters are difficult to interactively position, off-site voice command is required, and search and rescue personnel still cannot know the accurate position information of the help seeker in real time, so that great difficulty is caused in rescue.
Therefore, there is a need to develop a device, a method and a system for firefighter emergency location search, which can enable the firefighter and the firefighter to perform interactive location on site, realize real-time knowledge of accurate location information of a person seeking help, reduce rescue difficulty and improve rescue efficiency.
Disclosure of Invention
The invention aims to solve the technical problem of providing an emergency positioning searching device, which can realize the on-site interactive positioning between firemen and the firemen, realize the real-time accurate position information of the person seeking help, reduce the difficulty of rescue and improve the rescue efficiency; the distribution condition of firefighters in the rescue site is rapidly counted, the position distribution of the firefighters in the fire site is convenient to determine, a decision basis is provided for subsequent search and rescue, and effective and rapid search and rescue of the firefighters in danger are guaranteed.
In order to solve the technical problems, the invention adopts the technical scheme that: this emergent location searching arrangement includes: the ultra-wideband PDOA module is used for precise distance measurement and azimuth angle measurement;
the MPU module is used for configuring the working mode of each module, managing communication and reading and writing operation and processing of data information; the wireless data transmission module is used for data interaction between the emergency positioning search and rescue device and the background server;
the power supply module is used for supplying power to each module;
the ultra-wideband PDOA module, the MPU module and the wireless data transmission module are all connected with the power supply module; and the ultra-wideband PDOA module and the wireless data transmission module are respectively connected with the MPU module.
The emergency fixed search device further comprises a display module, wherein the display module is respectively connected with the MPU module and the power supply module and is used for displaying the working state of the emergency fixed search device and the distance and direction information of a person seeking help or an object to be searched relative to the emergency fixed search device.
The invention has the further improvement that the emergency fixed search device also comprises an alarm module, and the alarm module is respectively connected with the MPU module and the power supply module and is used for giving an alarm when the distance information exceeds a threshold value.
The emergency positioning search and rescue device further comprises a key module, wherein the key module is respectively connected with the MPU module and the power supply module and is used for manually sending a help-seeking signal and switching the working modes of the emergency positioning search and rescue device. The working modes of the emergency positioning searching device comprise a positioning mode and a searching and rescuing mode, the positioning mode realizes the distance measurement of low refreshing rate between positioning searching and rescuing devices in a communication range, and the emergency positioning searching device in the positioning mode can be worn on the body of a fireman, so that hands can be conveniently released; the search and rescue mode is used for realizing the distance measurement and direction finding functions with high refreshing rate between the search and rescue mode and the appointed emergency positioning search device, and the emergency positioning search device in the search and rescue mode needs to be changed into a handheld mode, so that the position information of the help seeking personnel can be observed in real time conveniently. The distance and direction measuring function of the emergency positioning and searching device is developed based on the ultra-wideband technology.
The emergency positioning searching device further comprises a motion sensor module, wherein the motion sensor module is respectively connected with the MPU module and the power supply module and is used for judging the abnormal falling/falling conditions by monitoring the motion state. If abnormal conditions such as faint/fall occur through monitoring of the motion sensor module, the distress signal is automatically triggered.
The invention is further improved in that the ultra-wideband PDOA module comprises an ultra-wideband array antenna and an ultra-wideband transceiver module, wherein the ultra-wideband array antenna is used for transmitting and receiving ultra-wideband signals; the ultra-wideband transceiver module is used for generating the ultra-wideband signal and processing the ultra-wideband array antenna signal, and extracting time information required by ranging and a PDOA value required by direction finding.
The invention is further improved in that the key module comprises an SOS alarm button and an operating mode setting button.
The invention has the further improvement that the emergency positioning search device is divided into a personnel emergency positioning search and rescue device and an article positioning search and rescue device, and the article positioning search and rescue device comprises an article positioning search host machine and an article positioning search submachine.
As a preferred technical scheme of the invention, the ultra-wideband array antenna adopts a circular planar array, the number N of array elements is more than or equal to 3, and the distance d between the array elements is lambda/2.
The invention aims to solve the technical problem of providing an emergency positioning and search and rescue device for a fireman to perform emergency search and rescue, which can realize the interactive positioning between the fireman and the fireman on site, realize the real-time knowledge of the accurate position information of a person asking for help, reduce the rescue difficulty and improve the rescue efficiency; the distribution condition of firefighters in the rescue site is rapidly counted, the position distribution of the firefighters in the fire site is convenient to determine, a decision basis is provided for subsequent search and rescue, and effective and rapid search and rescue of the firefighters in danger are guaranteed.
In order to solve the technical problems, the invention adopts the technical scheme that: the method for firefighters to perform emergency positioning search and rescue by using the emergency positioning search and rescue device specifically comprises the following steps:
(1) marking each emergency positioning search and rescue device, after entering an emergency rescue area, wearing the emergency positioning search and rescue device by each fireman, defaulting the working mode of the emergency positioning search and rescue device to a positioning mode, ranging between every two emergency positioning search and rescue devices to obtain ranging information, and transmitting the ranging information and the mark of the emergency positioning search and rescue device corresponding to the ranging information to a background server;
(2) the background server acquires the distribution of firefighters, the position of each firefighter and the distance between every two firefighters according to the ranging information and the labels of the emergency positioning search and rescue devices for scheduling;
(3) if the firemen or the persons to be rescued are in a dangerous state and need to be assisted, sending distress signals to the background server through the emergency positioning and searching and rescuing device, and after receiving the distress signals, using the firemen adjacent or near to the firemen or the persons to be rescued which send the distress signals as appointed rescue personnel and sending the appointed rescue signals to the appointed rescue personnel by the background server;
(4) after receiving the appointed rescue signal, the appointed rescue personnel go to rescue, the working mode of the emergency positioning search and rescue device of the appointed rescue personnel is adjusted to be a search and rescue mode, and the emergency positioning search and rescue device can display the distance and the direction between a fireman sending the distress signal or a person to be rescued in real time in the search and rescue mode.
As a preferred technical scheme of the invention, the labels in the step (1) are in one-to-one binding relationship with each fireman.
The invention aims to solve the technical problem of providing an emergency positioning search and rescue system suitable for firemen, which can realize the on-site interactive positioning between the firemen, realize the real-time knowledge of the accurate position information of the person seeking help, reduce the rescue difficulty and improve the rescue efficiency.
In order to solve the technical problems, the invention adopts the technical scheme that: the emergency positioning search and rescue system comprises a plurality of emergency positioning search and rescue devices, a wireless data transmission base station and a background server, wherein the wireless data transmission base station is used for establishing a base station communication transmission link between the emergency positioning search and rescue devices and the background server, and the emergency positioning search and rescue devices are connected with the background server through the wireless data transmission base station; the emergency positioning search and rescue device is used for positioning, ranging and displaying information for firemen or to-be-rescued people or articles; the background server is used for receiving ranging information between every two emergency positioning search and rescue devices sent by the plurality of emergency positioning search and rescue devices, forming a distance information list between the emergency positioning search and rescue devices, establishing a database of position information of the emergency positioning search and rescue devices, generating a firefighter distribution condition table according to the position information, sending a deployment signal to a firefighter adjacent to or near the distress signal after receiving the distress signal, and receiving the deployment signal to perform search and rescue.
As the preferred technical scheme of the invention, the data return between the emergency positioning search and rescue device and the background server adopts 5G or high-power Wi-Fi technology.
The technical problem to be solved by the invention is to provide an article positioning and searching device, which can realize interactive positioning between people and articles, realize real-time knowing of accurate position information of the articles, facilitate article searching and improve efficiency.
In order to solve the technical problems, the invention adopts the technical scheme that: the article positioning and searching device comprises an article positioning and searching host machine and a plurality of article positioning and searching sub-machines, wherein the article positioning and searching host machine is respectively bound with the article positioning and searching sub-machines, the article positioning and searching sub-machines are bound with an article to be positioned,
the article positioning search host and the article positioning search sub-machine both comprise:
the MPU module is used for reading and writing operation and processing of data information;
the wireless communication module is used for positioning and searching the binding pairing between the host and the submachine;
the power supply module is used for supplying power to the article positioning and searching host machine and the article positioning and searching sub machine;
wherein the article positioning search host further comprises an ultra-wideband PDOA module, an alarm module and a display module;
the ultra-wideband PDOA module is used for accurate distance and azimuth angle measurement; the display module is used for displaying the working state of the emergency fixed searching device and the distance and direction information of the object to be searched relative to the emergency fixed searching device; the alarm module is used for sending an alarm when the distance information exceeds a threshold value;
the article positioning and searching sub-machine also comprises an ultra-wideband module which is used for realizing the transceiving of ultra-wideband signals, and the ultra-wideband module is different from the ultra-wideband PDOA module in the positioning and searching main machine and only realizes the transceiving of the ultra-wideband signals.
The technical problem to be solved by the invention is to provide an article positioning and searching device, which can realize interactive positioning between people and articles, realize real-time knowing of accurate position information of the articles, facilitate article searching and improve efficiency.
In order to solve the technical problems, the invention adopts the technical scheme that: the searching method for positioning the article by using the article positioning searching device specifically comprises the following steps:
s1, binding the article positioning and searching host machine with the article positioning and searching slave machine, and binding the article positioning and searching slave machine with the article to be positioned, wherein the article positioning and searching host machine is held by personnel;
s2, accurately measuring the distance between the article positioning and searching host and the article positioning and searching sub-machine, monitoring the distance between the article to be positioned and the person holding the article positioning and searching host in real time by the article positioning and searching host, and when the distance exceeds a set safety threshold value, sending an alarm by the article positioning and searching host to prompt the person to search the article;
s3, when the article positioning and searching host computer gives an alarm, the switching of the working mode is triggered, the article searching mode is started, and meanwhile, the article positioning and searching host computer displays the distance and the direction between the article and the personnel, so that the personnel can be helped to find the article quickly, and the article is ensured not to be lost.
Compared with the prior art, the invention has the beneficial effects that: mutual positioning between the terminals can be realized without the assistance of other additional devices, the problem of time consumption of projects for laying anchor nodes in an emergency rescue scene in advance is solved, more precious time is strived for rescue, and unnecessary casualties are reduced. Meanwhile, based on mutual distance measurement between terminals, the distribution situation of firefighters in a rescue site can be rapidly counted, the position distribution of the firefighters in a fire scene is convenient to determine, a decision basis is provided for subsequent search and rescue, and effective and rapid search and rescue of the firefighters in danger are guaranteed.
Drawings
FIG. 1 is a schematic flow chart of the method for firefighter emergency positioning search and rescue according to the present invention;
FIG. 2 is a schematic diagram of search and rescue between terminals in the firefighter emergency positioning search and rescue method of the present invention;
wherein, 21 is the position of the rescue worker, and 22 is the position of the help seeking worker;
FIG. 3 is a schematic structural view of the firefighter emergency positioning search and rescue system of the present invention;
31-an ultra wideband PDOA module; 311-ultra wideband array antenna; 312-ultra wideband transceiving; 32-MPU module; 33-a wireless data transmission module; 34-a motion sensor module; 35-a display module; 36-a key module; 361-SOS alarm; 362-mode switching; 37-a power module;
fig. 4 is a schematic structural diagram of a firefighter emergency location search device according to embodiment 1 of the present invention;
41-personnel emergency positioning search and rescue device; 42-wireless data transmission base station; 43-background server;
fig. 5 is a schematic structural diagram of an article location search host according to embodiment 4 of the present invention;
wherein, 51-ultra wideband PDOA module; 511-ultra wideband array antenna; 512-ultra wide band transceiving; 52-MPU module; 53-display module; 54-a wireless communication module; 55-an alarm module; 56-power supply module;
fig. 6 is a schematic structural diagram of an article location search slave machine according to embodiment 4 of the present invention;
the 61-ultra wide band PDOA module; 611-ultra wide band array antenna; 612-ultra wide band transceiving; 62-an MPU module; 63-a wireless communication module; 64-a power module;
fig. 7 is a flowchart illustrating an item location search method according to embodiment 4 of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the drawings of the embodiments of the present invention.
Example 1: as shown in fig. 4, the emergency positioning search and rescue apparatus 41 for a person includes: an ultra-wideband PDOA module 31 for accurate ranging and azimuth measurement; an MPU module 32, which is used for the configuration of the working mode of each module, the communication management and the read-write operation and processing of data information; the wireless data transmission module 33 is used for data interaction between the emergency positioning search device and the background server 43; the motion sensor module 34 is used for judging abnormal conditions such as faint/fall through monitoring the motion state; monitoring whether abnormal conditions such as faint/fall occur through the motion sensor module 34, and automatically triggering a distress signal; the display module 35 is used for displaying the working state of the emergency positioning searching device and the distance and direction information of the person seeking help relative to the emergency positioning searching device; the key module 36 comprises an SOS alarm button 361 and a working mode setting button 362, and is used for manually sending a distress signal and switching the working mode of the terminal; and a power supply module 37 for supplying power to each module. The working state of the emergency positioning search and rescue device displayed by the display module 35 includes: the emergency positioning search and rescue device in the communication range has the characteristics of a mark number, a distance value, a motion state, electric quantity information and the like; the ultra-wideband PDOA module 31, the MPU module 32, the wireless data transmission module 33, the motion sensor module 34, the display module 35 and the key module 36 are all connected with the power module 37; and the ultra-wideband PDOA module 31, the wireless data transmission module 33, the motion sensor module 34, the display module 35 and the key module 36 are respectively connected with the MPU module 32 to realize data transmission.
The working modes of the personnel emergency positioning and searching device 41 in embodiment 1 include a positioning mode and a search and rescue mode, the positioning mode realizes distance measurement with a low refresh rate between emergency positioning and search and rescue devices in a communication range, and the personnel emergency positioning and searching device 41 in the positioning mode can be worn on a fire fighter, so that hands are conveniently released; the search and rescue mode is used for realizing the functions of distance measurement and direction finding with high refresh rate between the search and rescue mode and the designated personnel emergency positioning search device 41, and the personnel emergency positioning search device 41 in the search and rescue mode needs to be changed into a handheld mode, so that the position information of the help seeking personnel can be observed in real time conveniently; the distance and direction finding function of the personnel emergency positioning searching device 41 is developed based on the ultra-wideband technology;
the ultra-wideband PDOA module 31 comprises an ultra-wideband array antenna 311 and an ultra-wideband transceiver module 312, wherein the ultra-wideband array antenna 311 is used for transmitting and receiving ultra-wideband signals; the ultra-wideband transceiver module 312 is used for generating the ultra-wideband signal and processing the ultra-wideband array antenna 311 signal, and extracting time information required for ranging and a PDOA value required for direction finding; the ultra-wideband array antenna 311 adopts a circular planar array, the number N of array elements is not less than 3, and the distance d between the array elements is lambda/2; the key module 36 includes an SOS alarm button and an operation mode setting button.
Example 2: as shown in fig. 1 to 2, the method for firefighter emergency positioning search and rescue using the personnel emergency positioning search and rescue device of embodiment 1 specifically includes the following steps:
(1) labeling each personnel emergency positioning search and rescue device 41, after entering an emergency rescue area, each fireman wears the personnel emergency positioning search and rescue device 41, the working mode of the emergency positioning search and rescue device 41 is defaulted to be a positioning mode, distance measurement is carried out between every two personnel emergency positioning search and rescue devices 41 to obtain distance measurement information, and the distance measurement information and the label of the personnel emergency positioning search and rescue device 41 corresponding to the distance measurement information are transmitted to a background server 43; the labels and each firefighter are in one-to-one binding relationship;
(2) the background server 43 obtains the distribution of the firefighters, the position of each firefighter and the distance between every two firefighters according to the ranging information and the labels of the personnel emergency positioning search and rescue devices 41, and the distribution, the position and the distance are used for scheduling;
(3) if the firemen or the persons to be rescued are in a dangerous state and need to be assisted, sending help-seeking signals to the background server 43 through the personnel emergency positioning search and rescue device 41, and after receiving the help-seeking signals, the background server 43 taking the firemen adjacent or nearby to the firemen or the persons to be rescued which send the help-seeking signals as appointed rescue personnel and sending the appointed rescue signals to the appointed rescue personnel;
(4) after receiving the designated rescue signal, the designated rescue worker goes to rescue, and the working mode of the emergency positioning and searching and rescuing device 41 of the designated rescue worker is adjusted to a search and rescue mode, and the emergency positioning and searching and rescuing device 41 can display the distance and the direction between the firefighter sending the distress signal or the person to be rescued in real time in the search and rescue mode.
In this embodiment, the personnel emergency positioning search and rescue device 41 includes two working modes: a positioning mode and a search and rescue mode. Wherein, the location mode realizes the distance measurement of the emergent location search and rescue device 41 of personnel in communication range between the low refresh rate, and the location search and rescue device can be worn on the fire fighter body under the location mode, is convenient for liberate both hands. In the search and rescue mode, the distance measurement and direction finding functions with high refresh rate between the designated personnel emergency positioning search and rescue device 41 pairs need to be realized, and the personnel emergency positioning search and rescue device 41 in the search and rescue mode needs to be changed into a handheld mode, so that the position information of the help seeking personnel can be observed in real time conveniently.
The background server 43 receives the position information list of the neighbor devices around the firefighter, which is sent by the personnel emergency positioning search and rescue device 41 worn by each firefighter, and then integrates, classifies and processes the position information list to obtain the overall distribution condition of the firefighters, so as to provide a reference basis for subsequent scheduling. In order to ensure the self safety of the firefighters during rescue, each personnel emergency positioning search and rescue device 41 has a help seeking function, and when the firefighters are trapped but conscious, help seeking signals can be manually sent to the background server 43 to request rescue; when a firefighter falls down or is in a dark smoke coma, the emergency positioning and search and rescue device 41 of the firefighter can automatically trigger a distress signal terminal to monitor and judge whether the firefighter is in a normal walking state or in a faint state according to the motion state, automatically trigger a distress signal, and after the background server 43 receives the distress signal, assign the nearest firefighter nearby to search and rescue according to the position of the distress person; the positioning model adopts low refresh rate ranging to reduce power consumption as much as possible on the premise of ensuring that the background server 43 can timely master the distribution of firefighters, and improves the cruising ability of the personnel emergency positioning search and rescue device 41 so as to work normally when search and rescue tasks exist. After a firefighter assigned as a rescue worker sets the working mode of the emergency positioning and search and rescue device 41 to a search and rescue mode, an LED display screen on the device can display the distance and the direction of the rescue worker from the rescue worker in real time, as shown in fig. 2, wherein 21 is the position of the rescue worker, 22 is the position of the rescue worker, and the terminal can display the direct distance R and the angle α of 21 and 22 in real time.
Example 3: as shown in fig. 3, the emergency positioning search and rescue system using the personnel emergency positioning search and rescue device 41 of embodiment 1 includes a plurality of personnel emergency positioning search and rescue devices 41, a wireless data transmission base station 42 and a background server 43, where the wireless data transmission base station 42 is used for establishing a base station communication transmission link between the personnel emergency positioning search and rescue device 41 and the background server 43, and the personnel emergency positioning search and rescue device 41 is connected with the background server 43 through the wireless data transmission base station 42; the personnel emergency positioning and searching and rescuing device 41 is used for positioning, ranging and displaying information for firemen or to-be-rescued personnel or articles; the background server 43 is configured to receive ranging information between every two personnel emergency positioning search and rescue devices 41 sent by the plurality of personnel emergency positioning search and rescue devices 41, form a distance information list between the personnel emergency positioning search and rescue devices 41, establish a database of location information of the personnel emergency positioning search and rescue devices 41, generate a firefighter distribution condition table according to the location information, send a deployment signal to a firefighter who is adjacent to or close to the distress signal after receiving the distress signal, and receive the deployment signal to perform search and rescue; the data return between the personnel emergency positioning search and rescue device 41 and the background server 43 adopts 5G or high-power Wi-Fi technology.
Example 4: as shown in fig. 5 to 6, the emergency positioning search and rescue device is divided into an article positioning search device, and the article positioning search and rescue device includes an article positioning search host and an article positioning search sub-machine.
The article positioning and searching device comprises an article positioning and searching host, a plurality of article positioning and searching submachine, a wireless data transmission base station and a background server, wherein the article positioning and searching host is respectively bound with the article positioning and searching submachine, the article positioning and searching submachine is bound with an article to be positioned, and the article positioning and searching host is connected with the background server through the wireless data transmission base station;
as shown in fig. 5, the item location search host includes: an ultra-wideband PDOA module 51 for accurate ranging and azimuth angle measurement; an MPU module 52 for operating mode configuration and read/write operation and processing of data information; the wireless communication module 53 is used for positioning and searching the binding pairing between the host machine and the submachine; the display module 54 is used for displaying the working state of the local machine and the distance and the direction information of the submachine relative to the local machine; the alarm module 55 is used for giving an alarm prompt that the submachine exceeds a set distance threshold; a power module 56 for supplying power to the modules; the ultra-wideband PDOA module 51, the wireless communication module 53, the display module 54 and the alarm module 55 are all connected with the MPU module 52; the ultra-wideband PDOA module 51, the wireless communication module 53, the display module 54, the alarm module 55 and the MPU module 52 are all connected with the power module 56; the ultra-wideband PDOA module 51 comprises: an ultra-wideband array antenna 511 and an ultra-wideband transceiver module 512; the ultra-wideband array antenna 511 is used for transmitting and receiving ultra-wideband signals; the ultra-wideband transceiver module 512 is used for generating ultra-wideband signals and processing array antenna signals, and extracting time information required for ranging and PDOA values required for direction finding. Specifically, the ultra-wideband array antenna 511 adopts a circular planar array, the number N of array elements is greater than or equal to 3, and the array element interval d is λ/2.
As shown in fig. 6, the article location search slave unit includes: the ultra-wideband module 61 is used for transmitting and receiving ultra-wideband signals; an MPU module 62 for reading and writing data information and processing; the wireless communication module 63 is used for binding and pairing the positioning search host machine and the article positioning search sub machine; a power module 64 for supplying power to each module; the ultra-wideband module 61, the wireless communication module 63 and the power module 64 are all connected with the MPU module 62, and the ultra-wideband module 61 and the wireless communication module 63 are all connected with the power module; the ultra-wideband module 61 comprises: the ultra-wideband antenna 611 and the ultra-wideband transceiver module 612 are different from the ultra-wideband PDOA module 51, in that the ultra-wideband module 61 only implements the transmission and reception of ultra-wideband signals.
Example 5: as shown in fig. 7, the method for searching for locating an item by using an item location search device specifically includes the following steps:
s1, binding the article positioning and searching host machine with the article positioning and searching slave machine, and binding the article positioning and searching slave machine with the article to be positioned, wherein the article positioning and searching host machine is held by personnel;
s2, accurately measuring the distance between the article positioning and searching host and the article positioning and searching sub-machine, monitoring the distance between the article to be positioned and the person holding the article positioning and searching host in real time by the article positioning and searching host, and when the distance exceeds a set safety threshold value, sending an alarm by the article positioning and searching host to prompt the person to search the article;
s3, when the article positioning and searching host computer gives an alarm, the switching of the working mode is triggered, the article searching mode is started, and meanwhile, the article positioning and searching host computer displays the distance and the direction between the article and the personnel, so that the personnel can be helped to find the article quickly, and the article is ensured not to be lost.
In this embodiment 5, the binding between the article location search master and the article location search slave machine may be one-to-one or one-to-many, that is, one article location search master may bind a plurality of article location search slave machines, which may monitor the safety of a plurality of articles at the same time, and prevent the loss of valuables.
The above description is only exemplary of the present invention and should not be taken as limiting the invention, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (14)
1. An emergency positioning search device, comprising:
the ultra-wideband PDOA module is used for precise distance measurement and azimuth angle measurement;
the MPU module is used for configuring the working mode of each module, managing communication and reading and writing operation and processing of data information; the wireless data transmission module is used for data interaction between the emergency positioning search and rescue device and the background server;
the power supply module is used for supplying power to each module;
the ultra-wideband PDOA module, the MPU module and the wireless data transmission module are all connected with the power supply module; and the ultra-wideband PDOA module and the wireless data transmission module are respectively connected with the MPU module.
2. The emergency positioning and searching device according to claim 1, further comprising a display module, wherein the display module is respectively connected to the MPU module and the power module, and is configured to display an operating status of the emergency positioning and searching device and information on a distance and an orientation of a rescuer or an object to be searched with respect to the emergency positioning and searching device.
3. The emergency positioning search device according to claim 2, further comprising a key module, wherein the key module is connected to the MPU module and the power module, respectively, and is configured to manually send a distress signal and switch the operation mode of the emergency positioning search device.
4. The emergency location search device according to claim 3, further comprising a motion sensor module, wherein the motion sensor module is connected to the MPU module and the power supply module, respectively, and is used for determining an abnormal falling/falling situation by monitoring a motion state.
5. The emergency position finding device of any one of claims 1-4 wherein the ultra-wideband PDOA module comprises an ultra-wideband array antenna and an ultra-wideband transceiver module, the ultra-wideband array antenna being used for transmission and reception of ultra-wideband signals; the ultra-wideband transceiver module is used for generating the ultra-wideband signal and processing the ultra-wideband array antenna signal, and extracting time information required by ranging and a PDOA value required by direction finding.
6. The apparatus of claim 3, wherein the key module comprises an SOS alarm button and an operation mode setting button.
7. The emergency positioning search device according to claim 5, wherein the emergency positioning search and rescue device is divided into a personnel emergency positioning search and rescue device and an article positioning search and rescue device, and the article positioning search and rescue device comprises an article positioning search main machine and an article positioning search sub-machine.
8. The emergency positioning and searching device according to claim 4, wherein the ultra-wideband array antenna is a circular planar array, the number of array elements N is greater than or equal to 3, and the distance d between the array elements is λ/2.
9. A method for firefighter emergency location search and rescue using the emergency location search device of claims 1-8, comprising the steps of:
(1) marking each emergency positioning search and rescue device, after entering an emergency rescue area, wearing the emergency positioning search and rescue device by each fireman, defaulting the working mode of the emergency positioning search and rescue device to a positioning mode, ranging between every two emergency positioning search and rescue devices to obtain ranging information, and transmitting the ranging information and the mark of the emergency positioning search and rescue device corresponding to the ranging information to a background server;
(2) the background server acquires the distribution of firefighters, the position of each firefighter and the distance between every two firefighters according to the ranging information and the labels of the emergency positioning search and rescue devices for scheduling;
(3) if the firemen or the persons to be rescued are in a dangerous state and need to be assisted, sending distress signals to the background server through the emergency positioning and searching and rescuing device, and after receiving the distress signals, using the firemen adjacent or near to the firemen or the persons to be rescued which send the distress signals as appointed rescue personnel and sending the appointed rescue signals to the appointed rescue personnel by the background server;
(4) after receiving the appointed rescue signal, the appointed rescue personnel go to rescue, the working mode of the emergency positioning search and rescue device of the appointed rescue personnel is adjusted to be a search and rescue mode, and the emergency positioning search and rescue device can display the distance and the direction between a fireman sending the distress signal or a person to be rescued in real time in the search and rescue mode.
10. A firefighter emergency location search and rescue method according to claim 9, wherein the labels in step (1) are in a one-to-one binding relationship with each firefighter.
11. An emergency positioning search and rescue system is characterized by comprising a plurality of emergency positioning search and rescue devices, a wireless data transmission base station and a background server, wherein the wireless data transmission base station is used for establishing a base station communication transmission link between the emergency positioning search and rescue devices and the background server, and the emergency positioning search and rescue devices are connected with the background server through the wireless data transmission base station; the emergency positioning search and rescue device is used for positioning, ranging and displaying information for firemen or to-be-rescued people or articles; the background server is used for receiving ranging information between every two emergency positioning search and rescue devices sent by the plurality of emergency positioning search and rescue devices, forming a distance information list between the emergency positioning search and rescue devices, establishing a database of position information of the emergency positioning search and rescue devices, generating a firefighter distribution condition table according to the position information, sending a deployment signal to a firefighter adjacent to or near the distress signal after receiving the distress signal, and receiving the deployment signal to perform search and rescue.
12. A firefighter emergency locating, search and rescue system according to claim 11, wherein data return between the emergency locating, search and rescue apparatus and the background server employs 5G or high power Wi-Fi technology.
13. The article positioning and searching device as claimed in claims 1-3, wherein the article positioning and searching device comprises a main article positioning and searching machine and a plurality of sub article positioning and searching machines, the main article positioning and searching machine is respectively bound with the plurality of sub article positioning and searching machines, the sub article positioning and searching machines are bound with the article to be positioned,
the article positioning search host and the article positioning search sub-machine both comprise:
the MPU module is used for reading and writing operation and processing of data information;
the wireless communication module is used for positioning and searching the binding pairing between the host and the submachine;
the power supply module is used for supplying power to the article positioning and searching host machine and the article positioning and searching sub machine;
wherein the article positioning search host further comprises an ultra-wideband PDOA module, an alarm module and a display module; the ultra-wideband PDOA module is used for accurate distance and azimuth angle measurement; the display module is used for displaying the working state of the emergency fixed searching device and the distance and direction information of the object to be searched relative to the emergency fixed searching device; the alarm module is used for sending an alarm when the distance information exceeds a threshold value;
the article positioning and searching sub-machine further comprises an ultra-wideband module which is used for receiving and transmitting ultra-wideband signals.
14. A search method for locating an item using the item location search device according to claim 13, comprising:
s1, binding the article positioning and searching host machine with the article positioning and searching slave machine, and binding the article positioning and searching slave machine with the article to be positioned, wherein the article positioning and searching host machine is held by personnel;
s2, accurately measuring the distance between the article positioning and searching host and the article positioning and searching sub-machine, monitoring the distance between the article to be positioned and the person holding the article positioning and searching host in real time by the article positioning and searching host, and when the distance exceeds a set safety threshold value, sending an alarm by the article positioning and searching host to prompt the person to search the article;
s3, when the article positioning and searching host computer gives an alarm, the switching of the working mode is triggered, the article searching mode is started, and meanwhile, the article positioning and searching host computer displays the distance and the direction between the article and the personnel, so that the personnel can be helped to find the article quickly, and the article is ensured not to be lost.
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