CN112866921B - System and method for positioning and scheduling ship firefighters - Google Patents

Abstract

The invention provides a system and a method for positioning and dispatching ship firefighters. The system comprises a portable positioning terminal, a fixed relay gateway and a plurality of mobile relay gateways which are respectively and electrically connected with the portable positioning terminal, and a network intercom device and a comprehensive display server which are respectively and electrically connected with the fixed relay gateways. The method comprises the steps that the portable positioning terminal is used for wirelessly transmitting action situations such as space position information, personnel types, action speeds, field conditions and the like and field information to the relay gateway through the communication network, then the relay gateway transmits corresponding information to the comprehensive display server, the comprehensive display server analyzes the space position of ship fire fighters by using a carried ship internal map engine, matches space position data, comprehensively displays the positioning information of the ship fire fighters, and commands and schedules the personnel by using the portable positioning terminal and the network intercom device.

Description

A system and method for positioning and dispatching ship firefighters

technical field

The invention relates to the technical field of ship fire protection, in particular to a system and method for positioning and dispatching ship firefighters.

Background technique

Due to the needs of power and purpose, a large amount of combustibles including fuel oil, lubricating oil and engine oil are loaded inside the hull of the ship, which is prone to fire in the case of collision, hitting a reef, and overloaded use. Once a fire occurs, due to the complexity of the hull structure , the spread of fire in a large area is very likely to occur. At this time, due to the limited damage control personnel of the ship itself and the marine environment, it is difficult to obtain immediate support from external fire fighting forces. At this time, the commander must timely judge the fire situation and reasonably dispatch damage control Only personnel can carry out ship fire protection work in a targeted manner to the greatest extent. According to the needs of firefighting work, ships generally have corresponding firefighting plans, and the corresponding action plans for damage control personnel will be clearly defined in the plan. However, when a fire actually occurs, there is often a large deviation from the firefighting plan. A single fixed fire protection plan can't actually play a good guiding role. Therefore, timely grasping the spatial position information of firefighters in the entire operation process and reasonable dynamic scheduling can truly ensure the safety of the ship.

When a fire occurs on a ship, the commander generally grasps the action situation of the damage control personnel through fixed telephone, walkie-talkie, and manual reporting. However, the steel structure of the ship determines that the walkie-talkie has signal blind spots or loud noise, and the fixed telephone system exists. Due to the problem that the fire may cause signal interruption, the timeliness of manual reporting is poor, and none of the three traditional methods can transmit the spatial position data set of firefighters in real time, which is also one of the main factors restricting the improvement of ship fire safety.

The invention patent application with the application number CN201810737644.7 discloses a method and system for positioning ship personnel. The method includes: the base station transmits a wireless query signal; the positioning terminal determines that the wireless query signal with the strongest received signal strength is the target signal; the positioning terminal then determines whether the number of the base station to which the target signal belongs is the same as the number of the base station received last time; if so, The positioning terminal sends a position coverage signal to the base station, so that the base station sends the position coverage signal to the management center equipment; if not, the positioning terminal sends a position query signal and the crew's heart rate data to the base station, so that the base station contains the position coverage signal. The information point calculates the position data of the positioning terminal, and sends the calculated position data and the heart rate data of the crew to the management center equipment.

The invention patent application with the application number CN201710962090.6 discloses a ship personnel positioning method and a positioning device. The positioning method includes step a: tracking the positioning terminal worn by the ship personnel through the positioning base station, and generating positioning information; step b: the control unit determines whether the positioning terminal is located in the first preset area according to the positioning information; when the positioning terminal is located in the first preset area , the control unit generates the first-level positioning information, and executes step c; when the positioning terminal is not in the first preset area, the control unit feeds back the positioning result and stops tracking; step d: the control unit determines according to the first-level positioning information the sub-area position of the positioning terminal in the first preset area; the positioning device includes a positioning terminal, a positioning base station, a WiFi link and a control unit; the positioning terminal is worn on the ship personnel, and the positioning terminal includes a communication connection with the positioning base station Pulse transmitter module.

However, the above system or method has the defect that the accuracy of the positioning data of the ship personnel is not high, and at the same time, the system also has the technical defect that the ship personnel cannot be dispatched and commanded at the same time.

In view of this, it is necessary to design an improved system and method for locating and dispatching ship firefighters to solve the above problems.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a system and method for positioning and dispatching ship firefighters that can synchronously realize real-time online positioning and dispatching.

In order to achieve the above purpose of the invention, the present invention provides a system for positioning and dispatching ship firefighters, characterized in that the system for positioning and dispatching ship firefighters includes: a portable positioning terminal, which is electrically connected to the portable positioning terminal respectively. A connected fixed relay gateway and several mobile relay gateways, as well as a network intercom device and a comprehensive display server electrically connected to the fixed relay gateway respectively; the fixed relay gateway and the mobile relay gateway The relay gateway is electrically connected.

As a further improvement of the present invention, the portable positioning terminal includes a central processing unit, a personnel information module, an acousto-optic calling module, an antenna module, a power supply module and a debugging module electrically connected to the central processing unit respectively.

As a further improvement of the present invention, the portable positioning terminal further includes an acceleration sensor module electrically connected to the central processing unit and used to detect the walking speed of the firefighters on site; the acceleration sensor module adopts a three-axis acceleration sensor.

As a further improvement of the present invention, the central processing unit is composed of a microprocessor for processing spatial data reading and transmission calculations, and a radio frequency that is electrically connected to the antenna module and used to process radio frequency signal transmission of the antenna module. Transceiver composition.

As a further improvement of the present invention, in the system for positioning and dispatching ship firefighters, the spatial location data of ship firefighters is formed through the portable positioning terminal, the mobile relay gateway and the fixed relay The three gateways are jointly implemented; the portable positioning terminal continuously sends signals to the space, and after receiving the signals, the mobile relay gateway and the fixed relay gateway obtain the fixed relays respectively through signal strength detection The spatial distance between the gateway and the portable positioning terminal, the spatial distance between the mobile relay gateway and the portable positioning terminal; according to three or more relay gateway distance baselines (the distance baseline is the mobile The connection between the terminal and the relay gateway) is obtained to obtain the hexagon of the spatial position distribution of the ship's firefighters. The spatial positions of the ship's firefighters are distributed in the hexagon, and then the corresponding Spatial location data.

As a further improvement of the present invention, the calculation process of the spatial position data of the ship firefighters is as follows:

S1, based on three relay gateways consisting of a fixed relay gateway (4) and two mobile relay gateways (3), the portable positioning terminal (1) obtained by the detected signal strength and the three The spatial distances between the relay gateways are: d _A , d _B , d _C , the spatial coordinates of the six intersection points: K(x,y)={(x _k1 ,y _k1 ),…,(x _k6 ,y _k6 )}, the solution equation is obtained as:

The measured coordinates (x _f1 , y _f1 ) of the spatial position of the portable positioning terminal (1) are:

S2, carry out the second step of correction, using the acceleration sensor module (16) arranged in the portable positioning terminal (1), the acceleration sensor module (16) of the ship firefighter will detect the firefighter's x direction during the movement process The action speed s _x , the travel speed in the y direction s _y , since the firefighters of the ship basically act in a plane when they act inside the ship, according to the speed collected by the acceleration sensor, it can be obtained after a certain time Δt, before and after travel After the position distance difference:

S3, after traveling to the new position, through the relay gateway, it can be solved according to formula 1 and formula 2 again to obtain a new spatial position (x _f2 , y _f2 ), which is the same as the original (x _f1 , y _f1 ) ) also has a distance difference, which is calculated according to the following formula:

S4, if there is no signal detection error, the two distance differences should be equal, namely: d _dx =d _wx , d _dy =d _wy , but in fact, due to the existence of the signal detection error, the two must not be equal, according to the following formula Calculate the difference between the two:

最小原则进行修正；Due to the basic working principle and mechanism of the acceleration sensor, its speed measurement will not be subject to external interference, so ε _x and ε _y can be considered as system errors. For the correction of personnel space position, according to the error and

Modified by the principle of least;

S5, the signal detection error coefficient of each relay gateway is set as η _A , η _B , η _C , so the distance between the terminal under test and the relay gateway after correction is:

The correction coefficient takes values η _A , η _B , η _C =(±0.1,±0.2,...,±1) in turn, and each corresponding value is brought into formula 1 and formula 2 to solve the spatial position of firefighters, and determine the corresponding The value of the correction coefficient of , when the error sum is the smallest, the accurate position of the firefighter space can be determined.

As a further improvement of the present invention, the antenna module uses a frequency mixing transmission circuit to receive and transmit wireless data.

As a further improvement of the present invention, the mobile relay gateway includes a mobile gateway in the cabin and a mobile gateway outside the cabin.

As a further improvement of the present invention, the network intercom device is electrically connected to the fixed relay gateway to transmit the processed voice data to the fixed relay gateway for transfer, and then the fixed relay The relay gateway transmits the voice data to the integrated display server.

In order to achieve the above purpose of the invention, the present invention also provides a method for positioning and dispatching ship firefighters, using the above-mentioned system for positioning and dispatching ship firefighters for positioning and dispatching, including the following steps:

P1, the fixed relay gateway is pre-fixed and placed in a predetermined position in the cabin, and several mobile relay gateways are carried by ship firefighters, and the mobile relay gateways are placed in the cabin and At the preset position outside the cabin, complete the system construction;

P2, then, ship firefighters carry a portable positioning terminal and a network intercom device to investigate the situation inside and outside the cabin. During the operation, the portable positioning terminal continuously sends signals to the mobile relay gateway and the fixed relay gateway. , the fixed relay gateway 4 performs spatial position calculation according to the received signal to obtain terminal spatial position data;

P3, ship firefighters also send on-site data consisting of the action status of on-site personnel and the fire field status to the fixed relay gateway through the portable positioning terminal, and then the fixed relay gateway 4 will receive the received The field data is sent to the integrated display server;

P4, according to the terminal spatial position data, the integrated display server displays the real-time spatial position of the ship's firefighters on the display terminal through the ship's internal map engine set in the integrated display server; when the ship commander receives the real-time position of the ship's firefighters After the spatial location of the ship is determined, it will combine the received on-site data to judge the development of the ship's fire spread, and clarify the next fire protection action plan;

P5, the integrated display server sends the voice command of the deployed fire fighting action plan to the fixed relay gateway for relaying, and then the fixed relay gateway sends the voice command to the mobile phone worn by ship firefighters. The network intercom device realizes the dispatch of ship firefighters; when the ship firefighters receive the voice command, the on-site feedback voice data is transmitted to the fixed relay gateway through the network intercom device, and then the The fixed relay gateway is sent to the integrated display server, and the ship commander receives the feedback information on the spot.

The beneficial effects of the present invention are:

1. The system for positioning and dispatching ship firefighters provided by the present invention utilizes the joint action of each module, and uses the portable positioning terminal to record the spatial position information, personnel category, action speed, on-site situation and other action situation and on-site information, using communication. The network is wirelessly transmitted to the relay gateway, and then the relay gateway transmits the corresponding information to the integrated display server. The integrated display server uses the ship's internal map engine to analyze the spatial location of the ship's firefighters, match the spatial location data, and comprehensively display their location. Positioning information, and use the combination of the acousto-optic call module on the portable positioning terminal and the network intercom device to command and dispatch the firefighters on the ship, thereby realizing the functions of real-time online spatial positioning and dual dispatching of the firefighters on the ship.

2. The system for positioning and dispatching ship firefighters provided by the present invention allows the formation of the spatial position data of ship firefighters. According to the distance baselines of more than three relay gateways, the hexagon of the spatial location distribution of ship firefighters is obtained. The spatial positions of firefighters are distributed in the hexagon, and then the corresponding spatial position data of ship firefighters can be obtained through centroid calculation. At the same time, an acceleration sensor module is also set up on the portable positioning terminal, and the data collected by the acceleration sensor is used to carry out the spatial position analysis. Correction to make the corrected real-time spatial position more accurate.

3. The system for positioning and dispatching ship firefighters provided by the present invention adopts the design of joint dispatching by using a portable positioning terminal and a network intercom device under the instruction of the comprehensive display server, so that the real-time communication between the ship firefighters and the commander can be achieved. The process of communication and feedback of on-site conditions can be guaranteed to ensure that information can be effectively transmitted, and in different fire scene environments, ship firefighters can flexibly choose scheduling and communication methods according to the actual situation.

Description of drawings

FIG. 1 is a schematic structural diagram of a system for positioning and dispatching ship firefighters provided by the present invention.

FIG. 2 is a schematic structural diagram of a module of a portable positioning terminal provided by the present invention.

FIG. 3 is a schematic diagram of a control flow of wireless data reception and transmission of the antenna module provided by the present invention.

FIG. 4 is a schematic diagram of a data transmission flow of the acceleration sensor module provided by the present invention.

FIG. 5 is a flow chart of voice transmission of the network intercom device provided by the present invention.

FIG. 6 is a schematic diagram of the calculation principle of the spatial position of the system for positioning and dispatching ship firefighters provided by the present invention.

reference number

1-portable positioning terminal; 10-central processing unit; 11-personnel information module; 12-sound and light call module; 13-antenna module; 14-power module; 15-debugging module; 16-acceleration sensor module; 2-network pair speaking device; 3-mobile relay gateway; 4-fixed relay gateway; 5-integrated display server.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

Here, it should also be noted that, in order to avoid obscuring the present invention due to unnecessary details, only structures and/or processing steps closely related to the solution of the present invention are shown in the drawings, and the Invent other details that are less relevant.

In addition, it should be noted that the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device comprising a series of elements includes not only those elements, but also Also included are other elements not expressly listed or inherent to such a process, method, article or apparatus.

Referring to FIG. 1 , the present invention provides a system for positioning and dispatching ship firefighters, which includes: a portable positioning terminal 1 , a fixed relay gateway 4 electrically connected to the portable positioning terminal 1 , and a plurality of A mobile relay gateway 3 , a network intercom device 2 and an integrated display server 5 electrically connected to the fixed relay gateway 4 respectively.

Referring to FIG. 2 , the portable positioning terminal 1 includes a central processing unit 10, a personnel information module 11 electrically connected to the central processing unit 10, an acousto-optic calling module 12, an antenna module 13, a power supply module 14, Debug module 15 and acceleration sensor module 16 . The portable positioning terminal 1 mainly determines the current real-time position information of the ship's firefighters inside the ship by measuring the spatial position information of the ship's firefighters by means of space signals. The basic instructions are issued to the ship firefighters at the corresponding positions, and the ship firefighters can also feed back the basic situation of the scene to the ship commander.

In this embodiment, the central processing unit 10 is composed of a microprocessor 101 for processing spatial data reading and transmission calculations, and a microprocessor 101 that is electrically connected to the antenna module 13 and used to process radio frequency signals of the antenna module 13 The transmitting radio frequency transceiver 102 is formed.

The personnel information module 11 is arranged in a memory chip, which is used to store the basic information of the wearer, including name, specific position in the fire team, age, etc. The internal memory chip performs read and write operations to obtain specific personnel information, and then transmits the personnel information to the antenna module 13 , and sends a signal of personnel information data to the mobile relay gateway 3 through the antenna module 13 .

The main function of the acousto-optic call module 12 is to transmit an alarm signal to the relay gateway. When the on-site ship firefighters encounter issues that cannot be handled or are threatened by their own safety, they can click the relevant buttons on the portable positioning terminal 1 to pass the fixed medium. Following the gateway transit, an alarm signal is sent to the integrated display server 5. After receiving the alarm signal, the ship commander will check the corresponding video surveillance system or make judgments by analyzing the relevant fire field information, and provide assistance to the ship's firefighters.

Specifically, the acousto-optic call module 12 is mainly to ensure that the on-site ship firefighters can realize one-key alarm and return relevant information when encountering an emergency. accomplish. The portable positioning terminal 1 adopts a fully enclosed design to prevent the equipment from being damaged by fire water splashing. The shape of the button represents different functions, and the transmission of different information is realized with different click methods. The specific functions are designed as follows:

1) Fire alarm button: click once for the fire at the current location of the alarm personnel, click twice for a small fire, and click for several times for a large fire and difficult to control;

2) Trapped help button: Click once to call for help for the alarm personnel who are trapped, and click the button several times in a row in a critical situation;

3) Action status button: Click once to indicate that the current action is successful, and multiple clicks in a row indicate that the action fails;

4) Safe evacuation button: Click once to evacuate all personnel safely, and click multiple times in a row to indicate that personnel are not evacuated safely;

5) Disaster warning light: After the ship's command center issues a damage control warning, it reminds personnel that a disaster occurs at this time;

6) Assembly warning light: After the assembly command is issued by the ship command post and the damage control command post, the personnel will rush to the assembly location according to the deployment and give an alarm.

Referring to FIG. 3 , the antenna module 13 uses a frequency mixing transmission circuit to receive and transmit wireless data. The antenna module 13 includes an antenna, a low-frequency amplifier, a digital demodulator, a filter, a power amplifier and a power controller, and the working principle of the frequency mixing transmission is:

First, the antenna transmits the received radio frequency signal (wireless data) to a low-frequency amplifier (LAM) for amplification, and the received in-phase signal and quadrature signal are mixed and converted into an intermediate frequency signal. After the quadrature signal is filtered, the intermediate frequency signal is amplified, and then digitized by ADC. A digital demodulator is used to perform automatic gain control and digital demodulation to obtain signal data, and then transmit the signal data to the central processing unit 10 .

When the radio frequency signal (wireless data) is sent, the wireless data to be sent is temporarily stored in the sending queue, filtered by a filter, and then processed by the phase shift and up-conversion of the wireless signal. After the data is amplified and transmitted to the antenna, the processed wireless data is sent out by the antenna.

In this embodiment, the antenna module 13 adopts a PCB antenna, and the antenna is designed on the casing of the portable positioning terminal 1, which is convenient for ship firefighters to carry. A single-stage antenna and an balun transformer are used to form a PCB antenna circuit.

The power module 14 uses a lithium battery as a power supply to ensure the convenience of using the portable positioning terminal 1 .

The debugging module 15 writes the program and clock into the microprocessor 101 of the portable positioning terminal 1, and reserves the corresponding clock channel, program channel and reset channel.

Please refer to FIG. 4 , the acceleration sensor module 16 is mainly used to detect the walking speed of firefighters. It adopts a three-axis acceleration sensor, and the external decoupling capacitor and filter capacitor are directly connected to the central processing unit 10. The data interface receives the movement speed data, and then sends the corresponding movement speed data of ship firefighters to the fixed relay gateway 4 through the radio frequency transceiver 102 and the antenna module 13. At the same time, the power monitoring function of the microprocessor 101 is used. , realizes power monitoring and power distribution, and is supplied with power by the power module 14 .

The network intercom device 2 is electrically connected to the fixed relay gateway 4 for transmitting the processed voice data to the fixed relay gateway 4 for transfer, and then the fixed relay gateway 4. The voice data is transmitted to the integrated display server 5.

In this embodiment, the network intercom device 2 mainly transmits the on-site report of the ship's firefighters to the comprehensive display server 5, which is then converted into voice by the comprehensive display server 5 and sent to the ship commander; correspondingly, The ship commander can also send the decision-making instructions to the integrated display server 5 by voice, which is then received by the network intercom device 2 and sent to the ship's firefighters.

Please refer to FIG. 5 , the network intercom device 2 is composed of a microphone, an A/D conversion module, a compression filter module, a radio frequency module, a D/A conversion module, a power amplifier and a speaker. Its working principle is: the voice data is collected by the microphone, converted by the A/D conversion module, the converted data signal is compressed by the compression filter module to form the received voice data, the voice data is detected and compared to filter out invalid voice data, and the combination is effective. After the voice data is packaged, a received voice data packet is formed, which is transmitted to the radio frequency module, and then processed through the fixed relay gateway 4. The server walkie-talkie on the integrated display server 5 receives the received voice data packet, decompresses it and undergoes D/A conversion. , and then amplified to the speaker output voice through the power amplifier circuit. Correspondingly, the server walkie-talkie can also transmit the voice data in reverse to the radio frequency module of the network intercom device 2, and then the radio frequency module transmits the transmitted voice data packets to the D/A conversion module, the power amplifier and the speaker in turn. And after the amplification process, the voice is output from the microphone.

Specifically, the power supply of the network intercom device 2 adopts batteries in series. The shell is designed with a universal walkie-talkie shell, which mainly includes antenna, indicator light, power-on and mouse buttons, mock speaker, MIC and intercom button.

The mobile relay gateway 3 is temporarily placed inside and outside the cabin when used by ship firefighters. The shell of the mobile gateway in the cabin has a built-in magnet, ceiling installation, built-in omnidirectional antenna, and receives the wireless signal sent by the portable positioning terminal 1; the mobile gateway outside the cabin is pole-mounted or wall-mounted, and the shell is designed to be waterproof.

The fixed relay gateway 4 is electrically connected with the portable positioning terminal 1, the mobile relay gateway 3, the network intercom device 2 and the integrated display server 5, which play three roles. :

One is the bridge function, which communicates with the integrated display server 5 through wireless signals, and transmits the positioning data received by the mobile relay gateway 3 to the integrated display server 5 for interaction;

The second is to simultaneously serve as a positioning reference point to provide spatial reference coordinates for the mobile positioning terminal 1;

The third is to use a built-in computing chip on which a predetermined computing program is set to calculate the spatial position of the ship's firefighters.

In the system for positioning and dispatching ship firefighters provided by the present invention, the spatial position data of ship firefighters is formed through the portable positioning terminal 1 , the mobile relay gateway 3 and the fixed relay gateway 4 . The portable positioning terminal 1 continuously sends signals to the space, and after the mobile relay gateway 3 and the fixed relay gateway 4 receive the signals, they respectively obtain the fixed position through signal strength detection. The spatial distance between the relay gateway 4 and the portable positioning terminal 1, the spatial distance between the mobile relay gateway 3 and the portable positioning terminal 1; according to three or more relay gateway distance baselines (The distance baseline is the connection between the mobile positioning terminal and the relay gateway), and the hexagon of the spatial position distribution of ship firefighters is obtained. The spatial positions of ship firefighters are distributed in the hexagon, and then calculated by the centroid The corresponding spatial position data of ship firefighters, the calculation principle is shown in Figure 6.

Combined with the calculation principle of Fig. 6, the calculation process of the spatial position data of the ship's firefighters is as follows:

S1, based on three relay gateways consisting of a fixed relay gateway (4) and two mobile relay gateways (3), the portable positioning terminal (1) obtained by the detected signal strength and the three The spatial distances between the relay gateways are: d _A , d _B , d _C , the spatial coordinates of the six intersection points: K(x,y)={(x _k1 ,y _k1 ),…,(x _k6 ,y _k6 )}, the solution equation is obtained as:

The measured coordinates (x _f1 , y _f1 ) of the spatial position of the portable positioning terminal (1) are:

S2, due to the existence of signal refraction and reflection effects in the space, there is an error in the distance baseline obtained by the signal intensity detection, and the second step is corrected, using the acceleration sensor module (16) arranged in the portable positioning terminal (1), During the movement of ship firefighters, the acceleration sensor module (16) will detect the movement speed sx in the _x direction and the travel speed sy in the _y direction. Because the firefighters are basically in a plane when they move inside the ship Therefore, according to the speed collected by the acceleration sensor, after a certain time Δt, the position distance difference between before and after traveling can be obtained:

S3, after traveling to the new position, through the relay gateway, it can be solved according to formula 1 and formula 2 again to obtain a new spatial position (x _f2 , y _f2 ), which is the same as the original (x _f1 , y _f1 ) ) also has a distance difference, which is calculated according to the following formula:

S4, if there is no signal detection error, the two distance differences should be equal, namely: d _dx =d _wx , d _dy =d _wy , but in fact, due to the existence of the signal detection error, the two must not be equal, according to the following formula Calculate the difference between the two:

最小原则进行修正；Due to the basic working principle and mechanism of the acceleration sensor, its speed measurement will not be subject to external interference, so ε _x and ε _y can be considered as system errors. For the correction of personnel space position, according to the error and

Modified by the principle of least;

S5, the signal detection error coefficient of each relay gateway is set as η _A , η _B , η _C , so the distance between the terminal under test and the relay gateway after correction is:

The correction coefficient takes values η _A , η _B , η _C =(±0.1,±0.2,...,±1) in turn, and each corresponding value is brought into formula 1 and formula 2 to solve the spatial position of firefighters, and determine the corresponding The value of the correction coefficient of , when the error sum is the smallest, the accurate position of the firefighter space can be determined.

The above-mentioned system transmits the spatial position information, personnel category, action speed, on-site situation and other action situation and on-site information through the portable positioning terminal 1, and uses the communication network to wirelessly transmit to the relay gateway, and then the relay gateway transmits the corresponding information to the comprehensive display server. 5. The integrated display server 5 utilizes the onboard internal map engine to analyze the spatial location of the firefighters on the ship, matches the spatial location data, comprehensively displays their positioning information, and uses the portable positioning terminal 1 and the network intercom device 2 to command the personnel and scheduling, which works like this:

The portable positioning terminal 1 continuously sends signals to the mobile relay gateway 3 and the fixed relay gateway 4, and the fixed relay gateway 4 calculates the spatial position. The field data is sent to the fixed relay gateway 4 for transfer, and the fixed relay gateway 4 sends the relevant field data to the integrated display server 5; the integrated display server 5 displays the portable positioning on the display terminal through the internal map engine of the ship. The spatial location of terminal 1. Then, after obtaining the real-time spatial position data and on-site data, the integrated display server 5 sends the voice command of the fire action plan to the fixed relay gateway 4, and then the fixed relay gateway 4 sends the voice command to the network intercom device. 2, so as to realize the dispatch of ship firefighters. When ship firefighters need to send voice feedback commands to the commander, the signal transmission process of the entire voice feedback command is opposite to the dispatch process.

Based on the above system, the present invention also provides a method for positioning and dispatching ship firefighters, comprising the following steps:

P1, the fixed relay gateway 4 is pre-fixed and placed in a predetermined position in the cabin, and several mobile relay gateways 3 are carried by ship firefighters, and the mobile relay gateways 3 are placed in the action process. Complete the system construction at the preset positions inside and outside the cabin;

P2, then, the firefighters of the ship carry the portable positioning terminal 1 and the network intercom device 2 to investigate the situation inside and outside the cabin. During the operation, the portable positioning terminal 1 continuously communicates with the mobile relay gateway 3 and the fixed intermediate Following the signal sent by the gateway 4, the fixed relay gateway 4 performs spatial position calculation according to the received signal to obtain terminal spatial position data;

P3, the firefighters of the ship also send the on-site data composed of the action status of the on-site personnel and the fire field status to the fixed relay gateway 4 through the portable positioning terminal 1, and then the fixed relay gateway 4 will receive the received The on-site data is sent to the integrated display server 5;

P4, according to the terminal spatial position data, the integrated display server 5 displays the real-time spatial position of the ship's firefighters on the display terminal through the ship's internal map engine arranged in the integrated display server 5; when the ship commander receives the ship's firefighters After the real-time spatial position, it will combine the received on-site data to judge the development of the ship's fire spread, and clarify the next fire protection action plan;

P5, the integrated display server 5 sends the voice command of the deployed fire fighting action plan to the fixed relay gateway 4 for relay, and then the fixed relay gateway 4 sends the voice command to the ship firefighters The network intercom device 2 worn on the body realizes the dispatch of ship firefighters; when the ship firefighters receive the voice command, the on-site feedback voice data is transmitted to the fixed relay gateway 4 through the network intercom device 2 Transit, and then transmitted to the integrated display server 5 by the fixed relay gateway 4, and the ship commander receives the on-site feedback information.

In summary, the present invention provides a system and method for positioning and dispatching ship firefighters. The system includes a portable positioning terminal, a fixed relay gateway electrically connected to the portable positioning terminal, and several mobile positioning terminals. A relay gateway, a network intercom device and an integrated display server electrically connected to the fixed relay gateway respectively. Through the portable positioning terminal, the action situation and on-site information such as spatial position information, personnel category, action speed, and on-site status are wirelessly transmitted to the relay gateway through the communication network, and then the relay gateway transmits the corresponding information to the comprehensive display server, and the comprehensive display The server uses the onboard internal map engine to analyze the spatial location of firefighters on the ship, matches the spatial location data, comprehensively displays their positioning information, and uses portable positioning terminals and network intercom devices to command and dispatch personnel.

The above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced. Without departing from the spirit and scope of the technical solutions of the present invention.

Claims (6)

1. A system for positioning and dispatching ship firefighters, characterized in that: the system for positioning and dispatching ship firefighters comprises: a portable positioning terminal (1), a A fixed relay gateway (4), a plurality of mobile relay gateways (3), a network intercom device (2) and a comprehensive display server (5) electrically connected to the fixed relay gateway (4) respectively ; The fixed relay gateway (4) and the mobile relay gateway (3) are electrically connected; The portable positioning terminal (1) comprises a central processing unit (10), a personnel information module (11) electrically connected to the central processing unit (10) respectively, a sound and light calling module (12), and an antenna module (13) , a power supply module (14) and a debugging module (15); The portable positioning terminal (1) further comprises an acceleration sensor module (16) electrically connected to the central processing unit (10) and used for detecting the walking speed of firefighters on site; the acceleration sensor module (16) adopts three axis acceleration sensor; In the system for positioning and dispatching ship firefighters, the spatial location data of ship firefighters is formed through the portable positioning terminal (1), the mobile relay gateway (3) and the fixed relay gateway (4) The three are jointly realized; the portable positioning terminal (1) continuously sends signals to the space, and after the mobile relay gateway (3) and the fixed relay gateway (4) receive the signals, the Signal strength detection respectively obtains the spatial distance between the fixed relay gateway (4) and the portable positioning terminal (1), the distance between the mobile relay gateway (3) and the portable positioning terminal (1) According to the distance baseline of three or more relay gateways, the hexagon of the spatial position distribution of ship firefighters is obtained, and the spatial positions of ship firefighters are distributed in the hexagon, and then calculated by the center of mass. Corresponding spatial position data of ship firefighters; The calculation process of the spatial position data of the ship firefighters is as follows: S1, the fixed relay gateway (4) is pre-fixed and placed in a predetermined position in the cabin, and several mobile relay gateways (3) are carried by ship firefighters, and the mobile relay gateways (3) are carried by ship firefighters during the operation. The gateway (3) is placed at preset positions inside and outside the cabin to complete the system construction; based on three relay gateways consisting of a fixed relay gateway (4) and two mobile relay gateways (3), The spatial distances between the portable positioning terminal (1) and the three relay gateways obtained by the detected signal strength are: d _A , d _B , d _C respectively, and the spatial coordinates of the six intersection points: K(x, y)={(x _k1 ,y _k1 ),...,(x _k6 ,y _k6 )}, the solution equation is obtained as:

The measured coordinates (x _f1 , y _f1 ) of the spatial position of the portable positioning terminal (1) are:

S2, carry out the second step of correction, using the acceleration sensor module (16) arranged in the portable positioning terminal (1), the acceleration sensor module (16) of the ship firefighter will detect the firefighter's x direction during the movement process The action speed s _x , the travel speed in the y direction s _y , since the firefighters of the ship basically act in a plane when they act inside the ship, according to the speed collected by the acceleration sensor, it can be obtained after a certain time Δt, before and after travel After the position distance difference:

S3, after traveling to the new position, through the relay gateway, it can be solved according to formula 1 and formula 2 again to obtain a new spatial position (x _f2 , y _f2 ), which is the same as the original (x _f1 , y _f1 ) ) also has a distance difference, which is calculated according to the following formula:

S4, if there is no signal detection error, the two distance differences should be equal, namely: d _dx =d _wx , d _dy =d _wy , but in fact, due to the existence of the signal detection error, the two must not be equal, according to the following formula Calculate the difference between the two:

Due to the basic working principle and mechanism of the acceleration sensor, its speed measurement will not be subject to external interference, so ε _x and ε _y can be considered as system errors. For the correction of personnel space position, according to the error and

Modified by the principle of least; S5, the signal detection error coefficient of each relay gateway is set as η _A , η _B , η _C , so the distance between the terminal under test and the relay gateway after correction is:

The correction coefficient takes values η _A , η _B , η _C =(±0.1,±0.2,...,±1) in turn, and each corresponding value is brought into formula 1 and formula 2 to solve the spatial position of firefighters, and determine the corresponding The value of the correction coefficient of , when the error sum is the smallest, the accurate position of the firefighter space can be determined. 2. A system for positioning and dispatching ship firefighters according to claim 1, characterized in that: the central processing unit (10) is composed of a microprocessor (101) for processing spatial data reading and transmission calculation and a radio frequency transceiver (102) electrically connected to the antenna module (13) and used for processing radio frequency signal transmission of the antenna module (13). 3. A system for positioning and dispatching ship firefighters according to claim 1, characterized in that: the antenna module (13) uses a frequency-mixing transmission circuit to receive and transmit wireless data. 4. A system for positioning and dispatching ship firefighters according to claim 1, characterized in that: the mobile relay gateway (3) comprises a mobile gateway in a cabin and a mobile gateway outside the cabin. 5. A system for positioning and dispatching ship firefighters according to claim 3, characterized in that: the network intercom device (2) is electrically connected to the fixed relay gateway (4) for The processed voice data is transmitted to the fixed relay gateway (4) for transit, and then the fixed relay gateway (4) transmits the voice data to the integrated display server (5). 6. A method for positioning and dispatching ship firefighters, characterized in that: using a system for positioning and dispatching ship firefighters according to any one of claims 1 to 5 for positioning and dispatching, comprising the following steps : P1, the fixed relay gateway (4) is pre-fixed and placed in a predetermined position in the cabin, and several mobile relay gateways (3) are carried by the firefighters of the ship, and the mobile relay gateways (3) are carried by ship firefighters during the operation. The gateway (3) is placed in preset positions inside and outside the cabin to complete the system construction; P2, then, the firefighters of the ship carry the portable positioning terminal (1) and the network intercom device (2) to investigate the situation inside and outside the cabin. During the action, the portable positioning terminal (1) continuously relays to the mobile The gateway (3) and the fixed relay gateway (4) send signals, and the fixed relay gateway (4) performs spatial position calculation according to the received signal to obtain terminal spatial position data; P3, the firefighters of the ship also send the field data consisting of the action status of the field personnel and the fire field status to the fixed relay gateway (4) through the portable positioning terminal (1), and then the fixed relay gateway ( 4) sending the received on-site data to the integrated display server (5); P4, according to the terminal space position data, the integrated display server (5) displays the real-time space position of the ship's firefighters on the display terminal through the ship's internal map engine set in the integrated display server (5); when the ship commander receives the ship's internal map engine After the real-time spatial position of the firefighters, they will combine the received on-site data to judge the development of the ship's fire spread and clarify the next step of the firefighting action plan; P5, the integrated display server (5) sends the voice command of the deployed fire action plan to the fixed relay gateway (4) for relaying, and then the fixed relay gateway (4) sends the voice command to the fixed relay gateway (4). The command is sent to the network intercom device (2) worn by the ship's firefighters, so as to realize the dispatch of the ship's firefighters; when the ship's firefighters receive the voice command, the on-site voice data is fed back through the network intercom device (2). The transmission is transmitted to the fixed relay gateway (4) for transit, and then transmitted to the integrated display server (5) by the fixed relay gateway (4), and the ship commander receives the on-site feedback information.

Images