CN115200579A

CN115200579A - Self-configurable firefighter location and environment detection method and system

Info

Publication number: CN115200579A
Application number: CN202211118481.7A
Authority: CN
Inventors: 曹熠峰; 杨勇; 严磊
Original assignee: Jiangsu Deyijia Security Technology Co ltd
Current assignee: Jiangsu Deyijia Security Technology Co ltd
Priority date: 2022-09-15
Filing date: 2022-09-15
Publication date: 2022-10-18

Abstract

The invention provides a self-configurable firefighter positioning and environment detecting method and system, which comprises the following steps: step 1, the equipment is in a sleep mode; step 2, the equipment is switched into a working state from a sleep mode; step 3, respectively calculating position data by the micro inertial navigation system and the satellite navigation system; step 4, the central processing unit acquires environmental data by using the sensing detection module; step 5, acquiring equipment information and firefighter identity identification information; step 6, the positioning equipment and the identity identification information of the firemen, the fusion positioning position data and the fire fighting site environment detection data are broadcasted and sent out through the wireless communication module; and 7, continuously and intelligently detecting and configuring the peripheral sensing detection module/equipment by the equipment in the working mode. The invention can realize non-inductive use, and firemen do not need to manually operate each device on a task site, thereby reducing the workload, and also do not need to carry out additional training on the firemen, thereby reducing the use cost and difficulty.

Description

Self-configurable firefighter location and environment detection method and system

Technical Field

The invention relates to the technical field of positioning, in particular to a self-configurable firefighter positioning and environment detecting method and system.

Background

In modern fire rescue, the situation of personnel and environment on the site is extremely important information and is a basic factor necessary for determining the command decision and the task distribution execution on the site. Specifically, in a fire scene, a commander needs to not only schedule and extinguish a fire and rescue trapped people, but also pay attention to the safety and danger of firefighters, and also accurately master environmental and battlefield situation information (such as real-time information of toxic and harmful substances, health and position information of people to be rescued, and the like). The method puts higher requirements on field commanding and scheduling, and in order to enable the field commanding and scheduling to be more timely and effective, the positions of personnel on a fire scene need to be accurately positioned in real time, and environmental information of fire rescue needs to be detected and sensed in real time. Therefore, except wearing various traditional rescue devices such as oxygen cylinders and interphones, firefighters need to additionally wear individual positioning systems to position the positions of the firefighters in real time and carry various environment detection devices as required, and all the digital information is transmitted back to the field command center, so that better real-time situation perception is provided for commanders.

Currently, a single soldier positioning system commonly used generally adopts a plurality of existing equipment combinations to form a set of wearable equipment system so as to provide a firefighter positioning function. The individual positioning system generally comprises the following independent equipment, inertial navigation equipment, satellite navigation equipment, wireless data transmission equipment and the like. However, the current individual positioning system has the following disadvantages: firstly, as the whole system is completed by combining a plurality of independent devices, a fireman needs to wear and mount a plurality of devices, and the weight of the devices is heavy, so that the load burden of the fireman is increased, and the activity ability and the task execution efficiency of the fireman are influenced; secondly, because the equipment is independent, each equipment system has a set of independent data communication mode, or the required positioning and data transmission can be completed only by data switching, the equipment failure rate is high; thirdly, each branch device comes from different manufacturers, and the maintenance and troubleshooting difficulty is high. Fourthly, every time a fireman executes a task, various manual configuration settings need to be carried out in advance, the use is complex, and errors are easy to cause the system to be incapable of working; fifthly, the system can be used correctly only by various training of firemen, which increases the use cost and difficulty.

At present, environment detection equipment used by firemen is generally equipment of different manufacturers with single functions, the firemen need to carry the equipment additionally and operate the equipment manually to obtain detection data, and the detection data are reported to a command center through a voice or data communication module for an electric station.

Disclosure of Invention

In view of the deficiencies in the prior art, it is an object of the present invention to provide a method and system for self-configurable firefighter location and environmental detection.

The method for self-configurable firefighter location and environmental detection provided by the invention comprises the following steps:

step S101, the equipment is in a sleep mode, only the minimized functions of the CPU of the pressure sensor and the CPU are in an active state, and the rest modules are in a sleep state;

step S102, the equipment is switched to a working state from a sleep mode, when the central processing unit detects that the pressure value is greater than a set threshold value through the pressure sensor and the pressure value is continuously and stably greater than the set threshold value, the fireman is judged to wear the fighting boots and prepare to execute a task, the central processing unit starts to detect the configurable sensing detection equipment, if a sensing detection module or equipment is detected, the equipment is automatically connected and loaded into the system, the sensing detection equipment and initialization are completed, meanwhile, the central processing unit completes communication connection with the comprehensive information center and joins the comprehensive information center network;

step S103, respectively calculating position data by a micro Inertial Navigation System (INS) and a satellite navigation system (GNSS);

step S104, the central processing unit acquires environmental data by using the sensing detection module;

step S105, acquiring equipment information and firefighter identity identification information;

step S106, the positioning equipment and the identity identification information of the firefighter, the fusion positioning position data and the fire fighting site environment detection data are broadcasted and sent out through the wireless communication module;

and S107, continuously and intelligently detecting and configuring the peripheral sensing detection module/equipment by the equipment in a working mode so as to realize the plug and play function of the equipment.

Preferably, the step S103 includes:

the method comprises the steps that a micro Inertial Navigation System (INS) periodically performs integration based on a fixed time interval according to an initial position and data output of an acceleration sensor and an angular velocity sensor of the INS, so that real-time position, yaw angle and speed information of individual soldier positioning equipment are obtained, positioning data of each moment are obtained by the micro inertial navigation system in a real-time mode, and after Kalman filtering processing is performed, final results of the position and the speed of the micro inertial navigation system are obtained;

the GNSS of the satellite navigation system obtains satellite signals, real-timely solves the position information of each moment, and the final results of the satellite navigation position and speed are obtained after Kalman filtering processing is carried out on the positioning data of each moment, which is real-timely solved.

Preferably, the step S103 includes:

the GNSS may simultaneously adopt a plurality of navigation systems to jointly complete the position data resolution, where the plurality of navigation systems include: GPS, beidou, glonass, galileo;

the method comprises the steps that an atmospheric pressure sensor is configured, the periodic atmospheric pressure sensor measures a real-time atmospheric pressure value, the atmospheric pressure value at each moment is obtained through measurement, and a final result of the atmospheric pressure value is obtained after Kalman filtering processing;

a temperature sensor is configured, a periodic temperature sensor measures a real-time atmospheric pressure value, a temperature value at each moment is obtained through measurement, and a final result of the environment temperature is obtained after Kalman filtering processing;

a magnetic field intensity sensor is configured, a periodic magnetic field intensity sensor measures a real-time magnetic field intensity value, the magnetic field intensity value at each moment is obtained through measurement, and after Kalman filtering processing is carried out, a final result of the magnetic field intensity is obtained;

calculating the real-time altitude of the equipment according to the atmospheric pressure value measured by the atmospheric pressure sensor, the relation between the altitude and the atmospheric pressure under the standard atmospheric condition and a correction coefficient obtained by the real-time environment temperature;

calculating the real-time yaw angle of the equipment according to the magnetic field intensity value measured by the magnetic field intensity sensor and the terrestrial magnetic field distribution database and the correction coefficient;

fusing the data of the micro inertial navigation system INS, the data of the satellite navigation system GNSS, the altitude data and the yaw angle data to obtain fused positioning data;

the fusion structure adopts a centralized fusion structure, and positioning data, altitude data and yaw angle data obtained by a micro inertial navigation system and a satellite navigation system are input into the same central fusion processor, so that the functions of data alignment, association and fusion are completed;

and after one or more modules have faults, the central processing unit intelligently adjusts a positioning algorithm program according to the hardware condition.

Preferably, the step S105 includes:

the equipment information and the serial number are stored in a module with a power-down storage function, the module comprises a NAND memory and an EEROM memory, and meanwhile, the equipment can also change the configuration through an external hardware button and a toggle switch;

the firefighter identification information is realized by adopting RFID and NFC technical means.

Preferably, the step S106 includes:

the wireless communication module comprises technical means of Bluetooth, WIFI, zigbee, lora and self-defined wireless frequency and protocol;

the communication modules communicate with each other and have the function of mesh networking.

Preferably, the step S107 includes: and setting a predefined time threshold, and if the running time of the equipment exceeds the time threshold, carrying out a round of peripheral sensing detection modules/equipment, and loading the newly detected peripheral sensing detection modules/equipment into the system.

The system for self-configurable firefighter location and environmental detection provided in accordance with the present invention comprises:

the module M1 is used for receiving the positioning data of all positioning devices by the information center wireless module;

the module M2 is used for reading the map and the data of the building database by the information center comprehensive processing module;

and the module M3 generates a situation display picture.

Preferably, the module M1 comprises:

the information center provides the functions of a wireless communication center node, and all firemen positioning and detecting equipment are connected and send equipment data;

the communication between the information center and the firefighter positioning and detecting equipment has encryption and identity recognition functions so as to prevent field wireless data communication from being interfered and invaded.

Preferably, the module M2 comprises:

the information center comprehensive processing module reads surrounding map data and building data in a database, particularly data of fire buildings according to the position information of the current task;

the map data includes an offline database or an online map database.

Preferably, the module M3 includes:

the generated situation display picture comprises map display, building display, fireman real-time position data and fireman identity identification information of a fire fighting site;

and if a 3D graphic database of buildings and surrounding maps exists, providing a 3D real-time simulation scene display.

Compared with the prior art, the invention has the following beneficial effects:

the invention aims to provide a firefighter positioning and environment detecting method and device capable of realizing self-networking and self-configuration, wherein a central module of the method and device is integrated in a fighting boot of a firefighter, the firefighter selects different sensor and detection equipment combinations according to a task scene, intelligent detection and loading are processed by a central processing unit of a core module, so that real-time accurate positioning of individual firefighters and environment information detection of a full-task scene are realized, and positioning data and environment detection data are sent to a comprehensive information processing center in real time. Because the combat boots are standard wear for firefighters when tasking, the load on the firefighters to mount various devices is reduced. The method and the device have the capacity of intelligent, automatic configuration and autonomous mode management, can realize non-inductive use, and reduce the workload of firemen on a task site without manually operating each device, and reduce the use cost and difficulty without additional training of the firemen.

The invention also provides a comprehensive information processing center, and the field commander can process and display the comprehensive information through the comprehensive information processing center to obtain the real-time situation information of the fire fighter and the fire alarm in the fire scene, thereby improving the capability of fire rescue command and dispatch.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a block diagram of the functional blocks of a firefighter locating method and apparatus;

FIG. 2 is a diagram of the operational mode of the firefighter positioning method and apparatus;

FIG. 3 is a flow chart of a method of firefighter foot positioning and environmental detection;

FIG. 4 is a block diagram of functional modules of the integrated information processing center;

FIG. 5 is a flowchart of the positioning and situational display workflow of the Combined information processing center;

FIG. 6 is a block diagram of a firefighter location and detection scheme;

fig. 7 is a block diagram of an integrated information processing center arrangement.

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the invention.

Example (b):

fig. 1 is a block diagram of functional modules of the firefighter positioning method and apparatus provided in the present application, and the functional modules of the positioning and detecting method and apparatus can be divided into three types, namely a central module, a configurable module, an enhanced expansion sensor, and a device:

1. center module

A central processing unit: and the functions of system control, data calculation, module management and the like are provided.

A wireless communication module: and providing wireless data transceiving function.

Rechargeable battery: providing electrical energy to the device.

The wireless charging module: and providing a wireless charging function for the rechargeable battery.

And the equipment information and firefighter identity recognition module.

A pressure sensor: the pressure state of the apparatus is detected to determine whether it is in a wearing state.

2. Configurable module

Micro Inertial Navigation (INS) module: and providing attitude, speed, positioning and other data based on inertial navigation.

A satellite navigation (GNSS) module: providing speed, positioning, etc. data based on satellite navigation.

An atmospheric pressure sensor module: an atmospheric pressure value is detected.

A temperature sensor module: an ambient temperature value is detected.

A humidity sensor module: ambient humidity values are detected.

A magnetic field strength sensor module: the magnitude of the earth magnetic field is detected.

3. Enhanced expansion sensor and apparatus

A gas composition sensor module.

Other sensors, detection devices, etc. (e.g., life detectors, through-wall radars, etc.).

The positioning and detecting method and the device comprise modules, wherein a central processing unit, a wireless communication module, a rechargeable battery, a wireless charging module, an equipment information and fireman identity identification module and a pressure sensor are central functional modules; the micro Inertial Navigation System (INS) module, the satellite navigation system (GNSS) module, the atmospheric pressure sensor module, the temperature sensor module, the magnetic field intensity sensor module and the humidity sensor module are configurable modules, can be freely collocated according to a task scene, and a central processing unit can automatically complete the loading and the collocation of equipment. The gas component sensor module, other sensors, detection equipment and the like are enhanced and expanded sensors and equipment, and can be selectively carried or mounted to individual firefighters according to task scenes, so that the task execution capacity of the firefighters in the whole task scene is expanded, and the central processing unit can automatically complete the loading and configuration of the equipment.

Fig. 2 is an illustration of the mode of operation of the firefighter location method and apparatus presented in this application. The working modes are divided into three modes of power-on starting, working mode and standby mode, and the switching among the working modes can be fully automatically and intelligently realized, so that the non-inductive operation is realized and the use difficulty is reduced. The detailed block diagram of the operation mode of the firefighter locating device is illustrated as follows:

the equipment and the device comprise the following working states:

(1) And (5) powering on and starting. After the power supply of the equipment is started, the central processing unit completes the self configuration and the start, and then the configuration initialization is carried out on each module. And after the initialization of the configuration of each module is completed, entering a sleep mode.

(2) And (4) an operating mode. The mode is a normal working mode of the equipment, and the functions of positioning the equipment, wirelessly transmitting data and the like are completed. When the central processing unit detects that the pressure value is smaller than a set threshold value through the pressure sensor and the duration time exceeds a set time threshold value, the device can be judged to be in a state of being worn by a non-firefighter to execute tasks, and the central processing unit sets each module and the central processing unit to enter a sleep mode.

(3) A standby mode. In this mode, each module is in a sleep state, and only the CPU minimizing functions of the pressure sensor and the CPU are in an active state, so as to reduce battery consumption and increase the operating time of the apparatus. When the central processing unit detects that the pressure value is larger than a set threshold value through the pressure sensor, the state that the equipment is worn by a fireman to execute a task can be judged, and the central processing unit awakens each module to enter a working mode.

FIG. 3 is a method and apparatus for firefighter foot positioning and environmental detection in accordance with the present application, with the following steps:

in step S101, the device is in sleep mode.

In a specific implementation, only the CPU minimizing functions of the pressure sensor and the central processing unit are in an active state, and the remaining modules are in a dormant state.

In step S102, the device shifts from the sleep mode to the operating state.

In a specific implementation, when the central processing unit detects that the pressure value is greater than a set threshold value through the pressure sensor, and the pressure value is continuously and stably greater than the set threshold value, the fireman is judged to be wearing the fighting boots and is ready to execute the task.

The central processing unit starts to detect the configurable sensing detection equipment, if the sensing detection module or the equipment is detected, all the equipment is automatically connected and loaded into the system, and all the sensing detection equipment and initialization are completed. Meanwhile, the central processing unit completes communication connection with the comprehensive information center and joins the comprehensive information center network.

The above work is completed by the full-automatic intellectualization of central processing without manual participation.

In step S103, the micro Inertial Navigation System (INS) and the satellite navigation system (GNSS) each calculate position data.

In one implementation, this step involves two separate functional units, a micro Inertial Navigation System (INS) and a satellite navigation system (GNSS).

And the micro Inertial Navigation System (INS) periodically integrates based on a fixed time interval according to the initial position and the data output of the acceleration sensor and the angular velocity sensor of the INS and along with the time lapse, so that the information such as the real-time position, the yaw angle, the speed and the like of the individual positioning equipment is obtained. And (3) solving the positioning data of each moment obtained by the micro inertial navigation system in real time, and obtaining the final result of the position and the speed of the micro inertial navigation system after Kalman filtering processing.

A satellite navigation system (GNSS) acquires satellite signals and resolves position information at each time in real time. And (4) performing Kalman filtering processing on the positioning data at each moment obtained by real-time calculation to obtain the final result of the satellite navigation position and speed.

Preferably, extended kalman filtering or other forms of kalman filtering may be employed.

Preferably, a satellite navigation system (GNSS) may simultaneously employ multiple navigation systems to jointly perform the position data solution. Various navigation systems herein refer to: GPS, beidou, glonass, galileo.

In step S103, if the atmospheric pressure sensor is configured, periodically, the atmospheric pressure sensor measures a real-time atmospheric pressure value. And (4) obtaining the atmospheric pressure value at each moment through measurement, and obtaining the final result of the atmospheric pressure value after Kalman filtering treatment.

In step S103, if a temperature sensor is configured, periodically, the temperature sensor measures a real-time atmospheric pressure value. And (4) obtaining the temperature value at each moment through measurement, and obtaining the final result of the environment temperature after Kalman filtering processing.

In step S103, if a magnetic field strength sensor is provided, periodically, the magnetic field strength sensor measures a real-time magnetic field strength value. And (4) obtaining the magnetic field intensity value at each moment through measurement, and obtaining the final result of the magnetic field intensity after Kalman filtering treatment.

In step S103, the real-time altitude of the device is calculated according to the atmospheric pressure value measured by the atmospheric pressure sensor, the relationship between the altitude and the atmospheric pressure under the standard atmospheric condition, and the correction coefficient obtained from the real-time ambient temperature.

In step S103, the real-time yaw angle of the device is calculated from the geomagnetic distribution database and the correction coefficient by using the magnetic field intensity value measured by the magnetic field intensity sensor.

In step S103, the micro Inertial Navigation System (INS), the satellite navigation system (GNSS) data, the altitude data, and the yaw angle data are fused to obtain fused positioning data.

In a specific implementation, the fusion structure is a centralized fusion structure. And inputting positioning data, altitude data and yaw angle data obtained by a micro inertial navigation system and a satellite navigation system into the same central fusion processor, and finishing the functions of data alignment, association, fusion and the like.

In step S103, the micro Inertial Navigation System (INS) and the satellite navigation system (GNSS) do not have to be provided at the same time, and only one module may be provided; the atmospheric pressure sensor, the temperature sensor, and the magnetic field strength sensor are not necessarily provided. The central processing unit can intelligently adjust the positioning algorithm program according to the hardware configuration condition.

In step S103, after one or more modules have failed, the cpu can intelligently adjust the positioning algorithm according to the hardware condition.

In step S104, the cpu obtains environmental data using the humidity sensor, the gas composition sensor, and the other sensing module.

In step S104, in a specific implementation, the sensing and detecting modules can be freely collocated according to a fire fighting task scene, and the central processing unit can intelligently detect, configure and load the sensing and detecting device without human intervention or sensing operation.

In step S105, device information, firefighter identification information is obtained.

In specific implementation, the device information, the serial number and the like are stored in a module with a power-down storage function, including but not limited to memories such as NAND and EEROM, and the device can change the configuration of the serial number and the like through an external hardware button, a toggle switch and the like.

The firefighter identification information can be implemented by technical means including but not limited to RFID, NFC, and the like.

In step S106, the locating device and the firefighter identification information, the fused locating position data, and the fire fighting site environment detection data are broadcast and transmitted through the wireless communication module.

In step S106, in a specific implementation, the wireless communication module includes, but is not limited to, bluetooth, WIFI, zigbee, lora, custom wireless frequency and protocol.

The communication between the communication modules has a mesh networking function so as to improve the safety, convenience and robustness of data transmission.

In step S107, the device continuously and intelligently detects and configures the peripheral sensing detection module/device in the working mode, so as to implement the plug and play function of the device.

In step S107, in a specific implementation, a predefined time threshold may be set, and if the device operation time exceeds the time threshold, a round of peripheral sensing detection modules/devices is performed, and the newly detected peripheral sensing detection modules/devices are loaded into the system.

Fig. 4 is a block diagram of functional modules of an integrated information processing center in the method and apparatus for locating and detecting a firefighter according to the present application:

the integrated information processing center comprises the following functional modules:

a wireless communication module: the device is used for positioning the firefighter and detecting communication data between the firefighter positioning and detecting devices.

The comprehensive data calculation processing module: and functions of comprehensive control, data calculation, information management and the like are provided.

A display control module: and the real-time situation display and control functions of the fire-fighting site are provided.

Map database or online map: including an offline database or accessing online map data through an interface.

Building database: pre-stored topographic information, 2D and 3D patterns of the building.

FIG. 5 shows the steps of the positioning and situation display of the comprehensive information processing center in the method and apparatus for firefighter positioning and detection provided by the present application as follows:

in step S201, the information center wireless module receives positioning data of all positioning devices.

In an implementation, the information center provides the functions of a wireless communication center node, and all firefighters can locate and detect the equipment connection and send the equipment data.

In step S202, the information center integrated processing module reads the map and the building database data.

In specific implementation, the information center comprehensive processing module reads peripheral map data and building data in a database, particularly data of fire buildings, according to the position information of the current task.

The map data includes an offline database or an online map database.

In step S203, a situation display screen is generated.

In the specific implementation, the generated situation display picture comprises map display, building display, fireman real-time position data and fireman identity identification information of a fire fighting site.

Preferably, a 3D real-time simulated scene display is provided if there is a 3D graphical database of buildings and surrounding maps.

FIG. 6 is a block diagram of a firefighter location and detection scheme presented in the present application:

as shown in figure 6, the invention mainly designs highly integrated micro positioning and detecting equipment, integrates a central module into a fireman combat boot, enables the fireman to select different sensor and detecting equipment combinations according to task scenes, realizes real-time accurate positioning of individual fireman and environment information detection of full task scenes by intelligently detecting and loading through central processing of the core module, and sends positioning data and environment detection data to a rear comprehensive information processing center in real time. Thereby solving the problems of heavy weight, low reliability and troublesome use of the existing individual positioning system for firemen.

The specific embodiment is as follows:

the miniature firefighter positioning and detecting equipment is small in size, light in weight and high in integration level, and the increase of the fire fighter load is basically negligible.

This miniature fire fighter location and detection equipment center module is integrated in fire fighter's combat boots, and concrete implementation form includes but not limited to: the insole, the heel of the battle boot and the detachable parts in the battle boot are directly integrated with the battle boot. The wearing equipment of the firefighter is not required to be additionally added.

This miniature fire fighter's location of fire fighter and detection equipment contains on the hardware: the fire-fighting equipment comprises a central processing unit, a wireless communication module, a pressure sensor, an equipment information and fireman identity recognition module, a rechargeable battery and a wireless charging module.

This miniature fireman positioning device can be according to the nimble sensing detection module of configuration of task scene, and the system can carry out intellectuality, automatic configuration, and specific module contains but not limited to: the system comprises a micro-inertial navigation module, a micro-satellite navigation module, an atmospheric pressure sensor, a temperature sensor, a magnetic field intensity sensor, a gas composition sensor module, other sensors, detection equipment and the like.

The Micro inertial navigation module adopts a Micro-inertial navigation scheme based on Micro-Electro-Mechanical System (MEMS) sensor technology.

The micro-satellite navigation module adopts a single-chip Beidou/GPS/Glonass dual-mode scheme.

The method for positioning the miniature firefighter adopts a method of fusing and positioning multi-source sensors such as micro inertial navigation, satellite navigation, barometric altitude, earth magnetic field yaw angle and the like, and improves the positioning precision and reliability.

The wireless communication module supports a mesh networking function. Data intercommunication and wireless communication data relay in the firefighter task squad can be achieved.

The wireless communication has encryption and identity recognition functions so as to prevent the field wireless data communication from being interfered and invaded.

The miniature fireman positioning and detecting equipment automatically detects the task execution state of the fireman based on the pressure sensor, and realizes the autonomous switching of the working mode and the automatic dormancy function of the equipment. The standby and working time of the system is improved, and the system can be charged once and standby and used for a long time.

This miniature fireman fixes a position and detection equipment can independently intelligence carry out mode switch and the opening of function closes, has removed the trouble of complicated manual setting from, has realized the noninductive operation. No additional training of the firefighter is required.

This miniature fireman positioning device still provides wireless charging function except traditional plug-in electricity charging mode. After the firefighter executes the task, the equipment can be charged only by placing the fighting boots on the pre-installed wireless charging device.

As shown in FIG. 6, in one example of use, a firefighter location and detection device includes the following modules.

The functional module 1: and a micro inertial navigation module.

The functional module 2: and a satellite navigation module.

The functional module 3: equipment information and firefighter identification information.

The functional module 4: a central processing unit.

The functional module 5: and a wireless communication module.

The sensor 1: pressure sensor

The sensor 2: atmospheric pressure sensor

The sensor 3: temperature sensor

The sensor 4: magnetic field intensity sensor

Component 1: rechargeable battery

Component 2: wireless charging module

Sensing, detecting device 1: gas composition sensor

The sensing and detecting device 2: life detectors, through-the-wall radars (for persons after locating ruins or obstacles)

The above configuration is an implementation example of the firefighter foot positioning and detecting device, and different configurations can be selected according to fire fighting task scenes.

Fig. 7 is a block diagram of a scheme of a comprehensive information processing center in the method and the device for positioning and detecting firefighters, which are provided by the application, and the invention mainly displays the situation of a fire scene in real time by receiving the positioning data of each firefighter positioning and detecting device in real time and utilizing map and building data, thereby providing situation information necessary for the field command and scheduling of a fire commander.

The specific embodiment is as follows:

the wireless communication module supports mesh networking. The data intercommunication can be realized with any equipment in a firefighter task team, and if a certain equipment is too far away, the data intercommunication can be completed through the relay function of other equipment.

The map database may be an off-line database or an on-line map data.

And the building database stores 2D and 3D graphic information which is pre-reported to the fire department by the unit to which each building belongs.

And displaying control, namely displaying situation information of the fire fighting field. The 3D mode display simulates a 3D scene, such as a real-time situation 3D display of a firefighter within a building floor room.

As shown in fig. 7, the integrated information processing center includes the following modules.

Functional module 1: and a wireless communication module.

The functional module 2: and a data calculation processing module.

The functional module 3: and displaying the control information.

The functional module 4: a map database or an online map.

The functional module 5: a building database.

It is known to those skilled in the art that, in addition to implementing the system, apparatus and its various modules provided by the present invention in pure computer readable program code, the system, apparatus and its various modules provided by the present invention can be implemented in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like by completely programming the method steps. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.

The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims

1. A self-configurable firefighter locating and environmental detection method, comprising:

step S106, the locating device and the identity identification information of the fireman, the fusion locating position data and the fire fighting site environment detection data are broadcasted and sent out through the wireless communication module;

2. The method for self-configurable firefighter location and environmental detection of claim 1, wherein said step S103 includes:

3. The method for self-configurable firefighter location and environmental detection of claim 1, wherein said step S103 includes:

and after one or more modules have faults, the central processing unit intelligently adjusts the positioning algorithm program according to the hardware condition.

4. The method for self-configurable firefighter location and environmental detection according to claim 1, wherein said step S105 includes:

5. The self-configurable firefighter location and environment detection method of claim 1, wherein said step S106 includes:

6. The self-configurable firefighter positioning and environment detection system of claim 1, wherein said step S107 includes: and setting a predefined time threshold, and if the running time of the equipment exceeds the time threshold, carrying out a round of peripheral sensing detection modules/equipment, and loading the newly detected peripheral sensing detection modules/equipment into the system.

7. A self-configurable firefighter locating and environmental detection system, employing the self-configurable firefighter locating and environmental detection method of any one of claims 1-6, comprising:

and the module M3 generates a situation display picture.

8. A self-configurable firefighter location and environment detection system according to claim 7, wherein said module M1 includes:

9. A self-configurable firefighter positioning and environmental detection system in accordance with claim 7, wherein said module M2 includes:

the information center comprehensive processing module reads peripheral map data and building data in a database, particularly data of fire buildings, according to the position information of the current task;

the map data includes an offline database or an online map database.

10. A self-configurable firefighter location and environment detection system according to claim 7, wherein said module M3 includes: