CN105976563A - Fire rescue system - Google Patents

Abstract

The invention provides a fire rescue system, which includes a command platform and a positioning caller worn by firefighters. The positioning rescue device includes an inertial positioning module, an active positioning module and a first sending module; the inertial positioning module is used to obtain the current first position information by using the inertial positioning method; the active positioning module is used to adopt the active positioning method, Obtain the current second location information; the first sending module is used to send the first location information and the second location information to the command platform; the command platform is used to calculate the positioning according to the first location information and the second location information The actual location of the rescue device. The present invention integrates the positioning results of the inertial positioning module and the active positioning module, and obtains precise position data after being constrained and corrected by an algorithm, thereby improving the positioning accuracy of indoor positioning in complex environments.

Description

A fire rescue system

technical field

The invention relates to the field of fire-fighting systems, in particular to a fire-fighting and rescue system.

Background technique

With the rapid development of my country's economy, fire causes are also increasing, and fire accidents have become diverse and complicated. The occurrence of fire not only causes heavy casualties and economic losses, but also seriously affects social stability and harmony. The suddenness, complexity, diversity and major hazards of fire accidents put forward higher requirements for timely and efficient fire rescue.

In the process of implementing fire rescue, in the face of complex and changeable on-site conditions, the fire commander at the fire site makes decisions in a short period of time, proposes an effective and thorough fire-fighting and rescue implementation plan, and quickly issues operational instructions. very difficult. If there is a pre-determined fire-fighting and rescue plan as a basis, combined with the actual situation of the fire scene, appropriate adjustments and practice, the fire commander can refer to the revised and adjusted fire-fighting and rescue plan to command operations in an orderly manner. Therefore, the fire fighting and rescue plan, as an important countermeasure to deal with all kinds of sudden fire accidents and reduce casualties and property losses, has become an important guarantee to minimize casualties and property losses; ability. Traditional written fire fighting and rescue plans can no longer meet the complex and diverse fires in the new era.

At present, when firefighters perform positioning, they often use external auxiliary positioning technology, such as GPS positioning technology, but the positioning accuracy of this positioning method is difficult to meet the requirements.

Contents of the invention

In view of this, the purpose of the embodiments of the present invention is to provide a firefighter rapid positioning and rescue system based on multi-source fusion indoor positioning and navigation. The system is highly maneuverable and flexible, and can provide effective rescue strategies for commanders in the form of three-dimensional rescue plans.

An embodiment of the present invention provides a fire rescue system, including a command platform and a positioning and rescue device worn by firefighters, and the positioning and rescue device includes an inertial positioning module, an active positioning module and a first sending module;

The inertial positioning module is used to obtain the current first position information in an inertial positioning manner;

The active positioning module is used to obtain the current second position information by means of active positioning;

The first sending module is configured to send the first location information and the second location information to the command platform;

The command platform is configured to calculate the actual location of the location caller according to the first location information and the second location information.

Preferably, the above-mentioned fire rescue system also includes a self-built three-dimensional model device, and the self-built three-dimensional model device includes a laser scanning module, a data processing module, a second sending module and a modeling module arranged in the command platform;

The laser scanning module is used to collect architectural information of the building, and the architectural information includes the three-dimensional size and texture of the building;

The data processing module is used to convert the building information into data information;

The second sending module is configured to send the data information to the modeling module;

The modeling module is used to establish a real three-dimensional model of the building according to the data information.

Preferably, in the above-mentioned fire rescue system, the inertial positioning method is inertial navigation and/or geomagnetic matching; the active positioning method is any one or more of Bluetooth indoor positioning, UWB indoor positioning, WIFI indoor positioning, and Zigbee.

Preferably, in the above-mentioned fire rescue system, the command platform includes a plan generation module;

The plan generating module includes a calling unit and a generating unit;

The calling unit is used to call the three-dimensional model;

The generating unit is configured to generate a three-dimensional rescue plan according to the three-dimensional model

The three-dimensional rescue plan includes plan content, three-dimensional layout diagram of fire hazard targets, three-dimensional distribution diagram of fire-fighting facilities of fire hazard targets, member information of emergency rescue headquarters, three-dimensional deployment diagram of fire fighting and rescue forces, and three-dimensional road map of personnel evacuation.

Preferably, in the above-mentioned fire rescue system, the positioning caller also includes a buzzer and a stroboscopic light source;

The buzzer is used to send an alarm signal in the form of sound;

The stroboscopic light source is used to send an alarm signal in the form of light.

Preferably, in the above-mentioned fire rescue system, the command platform further includes a pre-plan judgment module;

The plan judgment module includes a first sending unit, a detection unit and a feedback unit;

The first sending unit is configured to send a detection signal of a target building to the detection unit;

The detection unit is used to detect the archival status of the three-dimensional rescue plan of the target building in the command platform;

The feedback unit is configured to prompt an instruction to establish a three-dimensional rescue plan when no three-dimensional rescue plan for a building is detected in the memory target of the command platform.

Preferably, the above-mentioned fire rescue system further includes a data transmission device, and the data transmission device is any one of a mobile communication network and a local area wireless network.

Preferably, in the above-mentioned fire rescue system, the positioning and rescue device also includes a main control module, a GNSS multi-mode positioning module, a barometer and a power supply;

The main control module is used to calculate the actual location of the positioning rescue device according to the first location information and the second location information;

The GNSS multimode positioning module is used to output the received satellite positioning signal;

The barometer is used to output accurate altitude information;

The power supply is used for powering the positioning rescue device.

Preferably, in the above-mentioned fire rescue system, the command platform further includes a property evaluation module;

The property evaluation module includes a second sending unit, a receiving unit and an evaluation unit;

The second sending unit is configured to send a modeling signal to the self-built 3D model device;

The receiving unit is used to receive the three-dimensional model of the post-disaster building fed back by the self-built three-dimensional model device;

The assessment unit is configured to assess property damage according to the three-dimensional model of the post-disaster building, and generate a property loss data table.

Preferably, in the above-mentioned fire rescue system, the command platform further includes an import module, and the import module is used to import an electronic model in 3DS format.

A fire rescue system provided by an embodiment of the present invention includes a command platform and a positioning caller worn by firefighters. The positioning rescue device includes an inertial positioning module, an active positioning module and a first sending module. The inertial positioning module is used to obtain the current first position information by using the inertial positioning method; the active positioning module is used to obtain the current second position information by using the active positioning method; The information and the second position information are sent to the command platform; the command platform is used to calculate the actual position of the location caller according to the first position information and the second position information. The present invention integrates the positioning results of the inertial positioning module and the active positioning module, and after being constrained and corrected by an algorithm, can obtain accurate position data.

In order to make the above-mentioned objects, features and advantages of the present invention more comprehensible, preferred embodiments will be described in detail below together with the accompanying drawings.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and thus It should be regarded as a limitation on the scope, and those skilled in the art can also obtain other related drawings based on these drawings without creative work.

FIG. 1 shows a schematic composition diagram of a preferred solution of a fire rescue system provided by an embodiment of the present invention;

Fig. 2 shows a schematic composition diagram of another preferred solution of a fire rescue system provided by an embodiment of the present invention.

The meanings of the numbers in the attached drawings are as follows:

10-Command Platform

11-plan generation module

12- Plan Judgment Module

13 - Property Valuation Module

20-positioning rescue device

21-Inertial positioning module

22-Active positioning module

23-The first sending module

30-Self-built 3D model device

31-Laser scanning module

32-Data processing module

33-Second sending module

34 - Modeling Module

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts belong to the protection scope of the present invention.

At present, the positioning methods of firefighters can be divided into independent positioning methods without the assistance of external facilities and two methods requiring the assistance of external facilities according to whether external facilities are needed. Autonomous positioning mainly includes inertial navigation positioning, and the method that requires the assistance of external facilities mainly refers to the method that requires the deployment of positioning base stations. However, affected by error drift, multipath effects, and non-line-of-sight errors, the above two methods have not completely solved the problems of position jump, poor accuracy, and low universality in firefighters' indoor positioning. Based on this, an embodiment of the present invention provides a fire rescue system. The following is described by way of examples.

As shown in FIG. 1 , a fire rescue system provided by an embodiment of the present invention includes a command platform 10 and a positioning caller 20 worn by firefighters. The positioning caller 20 includes an inertial positioning module 21, an active positioning module 22 and The first sending module 23;

The inertial positioning module 21 is used to obtain the current first position information by adopting an inertial positioning method;

The active positioning module 22 is configured to obtain the current second position information by means of active positioning;

The first sending module 23 is configured to send the first location information and the second location information to the command platform 10;

The command platform 10 is configured to calculate the actual location of the emergency rescue device 20 according to the first location information and the second location information.

Specifically, the firefighter wears the positioning caller 20 before entering the fire scene. Since each firefighter has its unique number, the location calling device 20 worn by each firefighter also has its unique identification, and there is a one-to-one correspondence between the number and the identification. The basic information of the firefighters corresponding to each number is stored in the command system, which is convenient for the commander-in-chief to intuitively dispatch and control the scene.

The positioning emergency device 20 adopts a multi-source fusion positioning method composed of an inertial positioning module 21 and an active positioning module 22 . The inertial positioning module 21 can obtain the position information of the positioning rescue device 20 without the assistance of an external base station, that is, the above-mentioned first position information; ), signal angle of arrival (DOA) or signal strength (RSSI) to obtain the second location information. By integrating the positioning results of the inertial positioning module 21 and the active positioning module 22 (that is, the first position information and the second position information), and after being constrained and corrected by the algorithm, accurate position data (actual position data) can be obtained. The position data The information is transmitted to the command platform 10, and the command platform 10 obtains the position and status of the firefighters according to the actual position information of the positioning caller.

As a preferred solution of the embodiment of the present invention, the fire rescue system also includes a self-built three-dimensional model device 30, and the self-built three-dimensional model device 30 includes a laser scanning module 31, a data processing module 32, a second sending module 33 and the Modeling module 34 in the command platform;

Laser scanning module 31, is used for collecting the building information of building, and described building information comprises the three-dimensional size and texture of building;

A data processing module 32, configured to convert the building information into data information;

A second sending module 33, configured to send the data information to the modeling module 34;

The modeling module 34 is configured to establish a real three-dimensional model of the building according to the data information.

Specifically, the laser scanning module 31 includes a terrestrial 3D laser scanner, which can realize large-scale, high-precision 3D data collection and processing of buildings, and a built-in digital camera that can simultaneously acquire true-color image data. Using the ground 3D laser scanner, in key firefighting units, we can quickly formulate scanning modeling plans according to the site conditions. The above-mentioned data processing module 32 is a data processing workstation, and the data processing workstation needs to process a large amount of point cloud data, so the computer configuration requirements for the data processing workstation are relatively high. After the 3D laser scanner completes the data acquisition, we transfer the data files stored in the computer of the main control workbench to the computer of the data processing workstation, and use the supporting data processing software to process and analyze the scanned point cloud data and image data in real time. Analyze and build a 3D model of the real scene.

As a preferred solution of the embodiment of the present invention, the above-mentioned inertial positioning method is any one of inertial navigation and geomagnetic matching, but is not limited to any one of inertial navigation and geomagnetic matching, and can also be a combination of inertial navigation and geomagnetic matching. The combination of the two; the active positioning method is any one or more of Bluetooth indoor positioning, UWB indoor positioning, WIFI indoor positioning and Zigbee.

As a preferred solution of the embodiment of the present invention, the command platform 10 in the fire rescue system includes a plan generation module 11;

The plan generating module 11 includes a calling unit and a generating unit;

a retrieval unit, configured to retrieve the three-dimensional model;

A generating unit, configured to generate a three-dimensional rescue plan according to the three-dimensional model;

The three-dimensional rescue plan includes the content of the plan, the three-dimensional layout map of fire hazard targets, the three-dimensional distribution map of fire-fighting facilities for fire hazard targets, the member information of the emergency rescue headquarters, the three-dimensional deployment map of fire fighting and rescue forces, and the three-dimensional road map for personnel evacuation.

This optimal solution combines the aforementioned preferred solutions. After the retrieval unit retrieves the 3D model, according to the requirements of the written fire-fighting and rescue plan, add fire hazard targets and fire-fighting facilities to the 3D model to obtain an electronic 3D rescue plan.

Specifically, the above-mentioned 3D rescue plan can implement zooming, translation, and rotation positioning functions on the 3D model of the building on the display terminal, so as to achieve visual roaming browsing of different parts of the building (external walls, internal structures, passages, equipment, etc.). Here, the display terminal can be set in the command platform 10 . Through the three-dimensional rescue plan, and the position and status of the firefighters sent by the positioning call device 20 worn by each firefighter, the distribution of personnel in the building can be checked at the first time, and the distribution of emergency equipment inside the building can also be accurately checked , the basic information and status information of each device, etc., which is convenient for commanding rescuers to activate in time during the rescue process. The three-dimensional rescue plan will also realize the animation presentation of personnel evacuation routes. It should be noted that the above three-dimensional rescue plan not only includes the content of the plan, the three-dimensional layout map of fire hazard targets, the three-dimensional distribution map of fire-fighting facilities for fire hazard targets, the information of members of the emergency rescue headquarters, the three-dimensional deployment map of fire fighting and rescue forces, and the three-dimensional route map of personnel evacuation, etc. , you can also add the basic profile of the unit, the members of the emergency rescue headquarters and the relevant government departments as needed. Contact phone numbers, communication and contact forms for relevant personnel of participating rescue units, etc.

As a preferred solution of the embodiment of the present invention, the command platform 10 also includes a pre-plan judgment module 12;

The plan judgment module 12 includes a first sending unit, a detection unit and a feedback unit;

a first sending unit, configured to send a detection signal of a target building to the detection unit;

The detection unit is used to detect the archive situation of the three-dimensional rescue plan of the target building in the command platform 10;

The feedback unit is configured to prompt an instruction to establish a three-dimensional rescue plan when no three-dimensional rescue plan for a building is detected in the memory target of the command platform 10 .

In this preferred solution, the command platform 10 can select a working mode when judging whether there is a three-dimensional rescue plan through the plan judging module 12 . The first sending unit in the pre-plan judgment module 12 sends the detection signal of the target building to the detection unit. After the detection unit receives the detection signal, it starts to search in the server. In the pre-plan, prompt to create a 3D rescue pre-plan command.

The 3D rescue plan is an upgrade of the traditional written fire plan, which can be presented visually in the form of computer graphics. Through the three-dimensional rescue plan, it is possible to analyze the potential fire hazards, and according to the surrounding environment and geographical location, screen the available fire fighting resources nearby for use, and formulate a fire rescue plan in advance and file it. To plan ahead and prevent problems before they happen. The three-dimensional electronic plan for fire protection makes the fire plan jump out of the resource waste status of low utilization rate and poor operability.

Combining all the above-mentioned preferred solutions, the embodiment of the present invention provides another preferred solution, the aforementioned command platform 10 also includes a property evaluation module 13, the specific structural diagram is shown in Figure 2;

The property evaluation module 13 includes a second sending unit, a receiving unit and an evaluation unit;

The second sending unit is used to send the modeling signal to the self-built three-dimensional model device 30;

The receiving unit is used to receive the three-dimensional model of the post-disaster building fed back by the self-built three-dimensional model device;

The assessment unit is used for assessing property damage according to the three-dimensional model of the post-disaster building, and generating a property loss data table.

The property evaluation module 13 can send a modeling signal to the self-built three-dimensional model device 30 after the fire, so that the self-built three-dimensional model device 30 performs three-dimensional modeling on the factory area, generates a three-dimensional model of the building after the disaster, and compares it with the three-dimensional model before the disaster. The comparison is mainly to compare the changes of ground objects, equipment, and machines, evaluate the property loss of the fire in the first place, generate a property loss data table, and report it to the relevant departments.

What needs to be emphasized is that the self-built 3D model device mentioned above is mainly for pre-disaster modeling of key firefighting units, so that the key firefighting units have already generated a 3D rescue plan before the disaster. For areas where a 3D rescue plan has not been established in advance, a 3D model can be manually built on site based on the basic conditions already mastered. Based on the self-built 3D model established on site, the commanders can judge the approximate location of the firefighters in the building, and the information communication will not be affected.

As a preferred solution of the embodiment of the present invention, the fire rescue system further includes a data transmission device, and the data transmission device is any one of a mobile communication network and a local area wireless network.

As a preferred solution of the embodiment of the present invention, the location caller 20 also includes a buzzer and a strobe light source;

A buzzer for sending an alarm signal in the form of sound;

Strobe light source for signaling an alarm in the form of light.

The location calling device 20 comprising a buzzer and a strobe light source has an alarm function, and in an emergency, the buzzer and a strobe light source can send multiple forms of alarms such as sound and light alarms and remote alarms. There are two types of alarm modes: manual alarm and automatic alarm. In the manual alarm mode, once the firefighter presses the alarm button, the buzzer in the positioning emergency device 20 immediately sends an alarm signal in the form of sound, and the strobe light source in the positioning emergency device 20 sends an alarm signal in the form of light. At the same time, the location caller 20 sends an alarm message to the command platform 10 through the data transmission device. In the automatic alarm mode, the location calling device 20 can judge whether the firefighter is in distress according to the length of the still time. When the time of stopping exceeds 15s and does not exceed 30s, the buzzer in the location calling device 20 immediately sends out an alarm signal in the form of sound. The stroboscopic light source in the positioning rescue device 20 sends out an alarm signal in the form of light. If the position changes within 15s of the pre-alarm, the pre-alarm is released. Platform 10 sends alarm information.

As a preferred solution of the embodiment of the present invention, the positioning and rescue device 20 also includes a main control module, a GNSS multi-mode positioning module, a barometer and a power supply.

The main control module is used to calculate and locate the actual location of the emergency rescue device 20 according to the first location information and the second location information;

The GNSS multi-mode positioning module is used to output the received satellite positioning signal;

Barometer, for outputting precise altitude information;

The power supply is used to supply power to the positioning rescue device.

Specifically, the main control module in the location caller 20 can calculate the actual location of the location caller 20 according to the first position information and the second location information. At this time, the first sending module 23 in the location caller 20 uses Instead of sending the first location information and the second location information to the command platform 10, the actual location information is sent to the command platform 10. Using this method to locate the location of the rescue device 20 can be selected in the command platform 10 in advance.

As a preferred solution of the embodiment of the present invention, the command platform 10 also includes an import module, and the import module preferably imports an electronic model in 3DS format, but is not limited to an electronic model in 3DS format, and can also be an electronic model in other standard formats, such as obj ,max,ma,vtk,mb,stl,igs,stp.

The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention. Should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims (10)

1. A fire rescue system, characterized in that it comprises a command platform and a positioning and rescue device worn on firefighters, and the positioning and rescue device includes an inertial positioning module, an active positioning module and a first sending module; The inertial positioning module is used to obtain the current first position information in an inertial positioning manner; The active positioning module is used to obtain the current second position information by means of active positioning; The first sending module is configured to send the first location information and the second location information to the command platform; The command platform is configured to calculate the actual location of the location caller according to the first location information and the second location information. 2. A kind of fire rescue system according to claim 1, is characterized in that, also comprises self-built three-dimensional model device, and described self-built three-dimensional model device comprises laser scanning module, data processing module, second sending module and is arranged on a modeling module in the command platform; The laser scanning module is used to collect architectural information of the building, and the architectural information includes the three-dimensional size and texture of the building; The data processing module is used to convert the building information into data information; The second sending module is configured to send the data information to the modeling module; The modeling module is used to establish a real three-dimensional model of the building according to the data information. 3. A firefighter rescue system according to claim 2, wherein the inertial positioning method is inertial navigation and/or geomagnetic matching; the active positioning method is Bluetooth indoor positioning, UWB indoor positioning, WIFI Any one or more of indoor positioning and Zigbee. 4. A kind of firefighter rescue system according to claim 2, is characterized in that, described command platform comprises preplan generation module; The plan generating module includes a calling unit and a generating unit; The calling unit is used to call the three-dimensional model; The generating unit is configured to generate a three-dimensional rescue plan according to the three-dimensional model; The three-dimensional rescue plan includes the content of the plan, a three-dimensional layout diagram of fire hazard targets, a three-dimensional distribution diagram of fire-fighting facilities for fire hazard targets, information on members of the emergency rescue headquarters, a three-dimensional deployment diagram of fire fighting and rescue forces, and a three-dimensional roadmap for personnel evacuation. 5. A kind of firefighter rescue system according to claim 4, is characterized in that, described positioning caller also comprises buzzer, stroboscopic light source; The buzzer is used to send an alarm signal in sound form; The stroboscopic light source is used to send an alarm signal in the form of light. 6. A kind of firefighter rescue system according to claim 5, is characterized in that, described command platform also comprises pre-plan judgment module; The plan judgment module includes a first sending unit, a detection unit and a feedback unit; The first sending unit is configured to send a detection signal of a target building to the detection unit; The detection unit is used to detect the archival status of the three-dimensional rescue plan of the target building in the command platform; The feedback unit is configured to prompt an instruction to establish a three-dimensional rescue plan when no three-dimensional rescue plan for a building is detected on the memory target of the command platform. 7. The firefighter rescue system according to claim 6, further comprising a data transmission device, the data transmission device being any one of a mobile communication network and a local area wireless network. 8. A firefighter rescue system according to claim 1, characterized in that, the positioning caller also includes a main control module, a GNSS multi-mode positioning module, a barometer and a power supply; The main control module is configured to calculate the actual location of the positioning rescue device according to the first location information and the second location information; The GNSS multimode positioning module is used to output the received satellite positioning signal; The barometer is used to output accurate altitude information; The power supply is used to supply power to the positioning rescue device. 9. A kind of firefighter rescue system according to claim 8, is characterized in that, described command platform also comprises property evaluation module; The property evaluation module includes a second sending unit, a receiving unit and an evaluation unit; The second sending unit is configured to send a modeling signal to the self-built 3D model device; The receiving unit is used to receive the three-dimensional model of the post-disaster building fed back by the self-built three-dimensional model device; The assessment unit is configured to assess property damage according to the three-dimensional model of the post-disaster building, and generate a property loss data table. 10. A firefighter rescue system according to claim 9, wherein the command platform further comprises an import module, and the import module is used for importing an electronic model in 3DS format.