Summary of the invention
In view of this, object of the present invention provides a kind of disaster relief field staff movement locus accurate tracking monitoring system, device and tracking and monitoring method, being directed to the problem that satellite positioning module cannot locate in buildings improves, can carry out accurate tracking location to the rescue personnel in buildings, and be transferred to terminal device and monitor, and according to this monitoring information, grasp fireman or trapped personnel position and movement locus, thereby guidance and help rescue personnel or trapped personnel are withdrawn scene fast.
Disaster relief field staff movement locus accurate tracking monitoring system of the present invention, comprises terminal device, track positioning device and identification module;
Described terminal device comprises central processing unit I and the wireless communication module I being connected with central processing unit I signal;
Described identification module is distributed in scene and at least records positional information;
Wireless communication module II and track positioning component that described track positioning device comprises central processing unit II, is connected with central processing unit II signal, described track positioning component comprises the information reading module that motion orientation module and the positional information for acquiring and identifying module are proofreaied and correct the error of motion orientation module;
Mutual radio communication between described wireless communication module I and wireless communication module II.
Further, identification module is arranged at or corresponding is arranged at on-the-spot fire fighting device or/and fire escape;
Further, described motion orientation module is 3-axis acceleration sensor, and identification module is RFID electronic tag, and this RFID electronic tag also stores fire fighting device information;
Further, also comprise for the intercom system between terminal device and track positioning device, the intercommunication module II that this intercom system is connected by the intercommunication module I being connected with central processing unit I signal with central processing unit II signal forms; Described terminal device also comprises the Input/Output Device I being connected with central processing unit I signal, and described track positioning device also comprises the Input/Output Device II being connected with central processing unit II signal;
Further, central processing unit I and/or central processing unit II store the on-the-spot three-dimensional map of the disaster relief; Tracking and monitoring system also comprises remote command center, and described remote command center and terminal device are or/and mutual transmission network signal between track positioning device.
The invention also discloses a kind of disaster relief field staff movement locus locating device, comprise track positioning device and identification module;
Described identification module is distributed in scene and at least records positional information;
Described track positioning device comprises central processing unit II and the track positioning component being connected with central processing unit II signal, and described track positioning component comprises the information reading module that motion orientation module and the positional information for acquiring and identifying module are proofreaied and correct the error of motion orientation module.
Further, identification module is arranged at or corresponding is arranged at on-the-spot fire fighting device or/and fire escape;
Further, described motion orientation module is 3-axis acceleration sensor, and described identification module is RFID electronic tag, and RFID electronic tag also stores fire fighting device information;
Further, also comprise the wireless communication module II, satellite positioning module II and the Input/Output Device II that are connected with central processing unit II signal; Described central processing unit II stores the on-the-spot three-dimensional map of the disaster relief.
The invention also discloses a kind of disaster relief field staff movement locus accurate tracking monitoring method, comprise the following steps:
A. terminal device obtains from track positioning device the data message that motion orientation module transmits;
B. utilize the data of step a to calculate current X, Y, Z axis orientation, and obtain the positional information of motion orientation module;
The positional information of the identification module c. transmitting from track positioning device obtaining information read module;
D. utilize the positional information of the position information correction motion orientation module of identification module;
E. obtain the actual position information of final track positioning device.
Beneficial effect of the present invention: disaster relief field staff movement locus accurate tracking monitoring system of the present invention, device and tracking and monitoring method, utilize motion orientation module (can adopt 3-axis acceleration sensor or three-axis gyroscope to add acceleration transducer), combining information read module and be distributed in scene and at least record the identification module of positional information, the measured positional information of motion orientation module is interrupted to correction, trimming process can be passed to terminal device by above-mentioned information data, motion orientation module error is made zero by terminal device by operating personnel, avoid the inaccurate problem that cannot rescue causing of positional information causing due to error accumulation, also the inaccurate problem of recognizing site information of having avoided the discontinuity of existing radio-frequency (RF) identification card technique to cause, can be by conjunction with satnav and identification module (on-the-spot entrance) is rationally set, realize the docking of outdoor indoor location, can carry out accurate Continuous Tracking location to the rescue personnel in buildings, and be transferred to terminal device and monitor, and according to this monitoring information, grasp fireman or trapped personnel position and movement locus, thereby guidance and help rescue personnel or trapped personnel are withdrawn scene fast.
Embodiment
Fig. 1 is structural principle block diagram of the present invention, as shown in the figure: the disaster relief field staff movement locus accurate tracking monitoring system of the present embodiment, comprises terminal device, track positioning device and identification module;
Described terminal device comprises central processing unit I and the wireless communication module I being connected with central processing unit I signal; Described wireless communication module I is used for receiving wireless signal and transfers to central processing unit I, and accepts command signal the wireless transmission of central processing unit I;
Described identification module is distributed in scene and at least records positional information;
Wireless communication module II and track positioning component that described track positioning device comprises central processing unit II, is connected with central processing unit II signal, described track positioning component comprises the information reading module that motion orientation module and the positional information for acquiring and identifying module are proofreaied and correct the error of motion orientation module;
Mutual radio communication between described wireless communication module I and wireless communication module II; Described wireless communication module II is used for receiving the wireless signal of wireless communication module I and transferring to central processing unit II, and accepts the command signal of central processing unit II and be wirelessly transmitted to wireless communication module I.
In the present embodiment, described wireless communication module I and wireless communication module II are LoRa communication module, mainly the useful information such as displacement that comprises initial space coordinate figure and X, Y, Z direction is sent to terminal device, LoRa communication module has stronger signal transmission and ability through walls, is particularly suitable for the signal and communication transmission in buildings.
In the present invention, the general integral installation of track positioning device, in a housing, forms compact equipment, carry, and terminal device is generally vehicle-mounted equipment, for fire truck or other breakdown lorrys for (disaster relief) fireman individual; When rescue personnel is entered outward in buildings by buildings, satellite-signal disappears, satellite positioning module (GPS or Big Dipper locating module) is made up of positioning chip (GPS or Big Dipper positioning chip) and orientation triggering switch, trigger switch will obtain longitude (X-axis), latitude (Y-axis) coordinate of positioning chip while startup in real time, again the acceleration of gravity direction (Z axis) that triggers moment is set to zero simultaneously, generate the spatial value (X that triggers moment, Y, 0); Certainly, also can be as required, do not adopt the mode of satnav and adopt radio-frequency card at the scene import send positional information, carry out preliminary correction location, and this volume coordinate is sent to terminal device and central processing unit I by wireless communication module I and wireless communication module II, as the initial space coordinate figure of scene of fire personnel motion, certainly, this initial coordinate values also can directly be stored in central processing unit II, and shows; Motion orientation module (can adopt 3-axis acceleration sensor or three-axis gyroscope to add acceleration transducer) generally has integrator computing unit, motion orientation module detects the acceleration of track positioning and tracking device X, Y, tri-directions of Z in real time, draw the instantaneous velocity of three directions by integral operation, go out the displacement of track positioning and tracking device in X, Y, tri-directions of Z by the integral and calculating of time again, the displacement of its X, Y, Z and initial space coordinate superpose, and can obtain the fire control personnel's that carry track positioning device running orbit; But, this motion orientation module can produce cumulative errors, after the identification module arranging by scene is accurately located, this locating information is sent to terminal device (being generally command car), also can be sent to central processing unit II simultaneously, operating personnel artificially proofread and correct the positional information of motion orientation module by terminal device, simultaneously, rescue personnel also can set track positioning device, error is made zero, thereby obtain positional information accurately continuously; Certainly, also can automatically contrast, revise correction to the positional information of motion orientation module by terminal device, error is made zero, utilize the information acquiring program of existing 3-axis acceleration sensor or three-axis gyroscope to realize, this arrogant repeating not.Certainly, and, in central processing unit I and/or central processing unit II (only central processing unit I can realize object), need to store buildings map, and compare with the detection track orientation of aforesaid detection track positioning and tracking device, thereby obtain the concrete position of rescue personnel, for the guidance foundation that guidance is rescued, escape provides route, belong to the mode of utilizing map pursuit path of prior art, do not repeat them here; Certainly, this route is stored in central processing unit I and/or central processing unit II according to buildings map, can directly be presented at detection track positioning and tracking device is directly read by rescue personnel, also can be read and be transferred to detect track positioning and tracking device or pass to rescue personnel by terminal device by voice by terminal device and all can, certainly, also can not show and directly voice message etc., not repeat them here.
In the present embodiment, identification module is arranged at or correspondence is arranged at on-the-spot fire fighting device or/and fire escape; Fire fighting device and fire escape are that disaster relief personnel are easy to the position that approaches or be positioned at, thereby can obtain in time correction position information.
In the present embodiment, described motion orientation module is 3-axis acceleration sensor, and described 3-axis acceleration sensor is small and exquisite, precision is high, and directly output signal, is easy to carry whole individual device; Identification module is RFID electronic tag, and certainly, read module is rfid interrogator, can in Daily Round Check process, write useful data, does not repeat them here; This RFID electronic tag also stores fire fighting device information; Not only there is the effect of identification correction position information, also can be rescue personnel fire fighting device information and fire escape information are provided, contribute to rescue.
In the present embodiment, also comprise for the intercom system between terminal device and track positioning device, the intercommunication module II that this intercom system is connected by the intercommunication module I being connected with central processing unit I signal with central processing unit II signal forms; Realize terminal device and rescue personnel's real-time call by intercom system, improve rescue efficiency and reduce maloperation; Described terminal device also comprises the Input/Output Device I being connected with central processing unit I signal, and described track positioning device also comprises the Input/Output Device II being connected with central processing unit II signal; Input/Output Device I and Input/Output Device II generally comprise command input unit, voice unit and display unit, command input unit is generally keyboard, touch-screen, Mike, the first-class existing input equipment of shooting, for giving an order or exchanging with rescue personnel; Display unit can show rescue personnel's track in time, and points out by voice, ensures security; General terminal device also should comprise the satellite positioning module I being connected with central processing unit I signal, for determine the concrete orientation of terminal device (be generally used for fire truck or command place) temporarily, and show this orientation, determine that its tram provides foundation, and can transfer to commander in chief center, realize the centralized management of rescue process, do not repeat them here.
In the present embodiment, central processing unit I and/or central processing unit II store the on-the-spot three-dimensional map of the disaster relief; Three-dimensional map can adapt with the interior of building of building, thereby obtains displacement intuitively and orientation, is beneficial to realization and effectively rescues or flee from; If only central processing unit I has three-dimensional map, the communication with central processing unit II by unlimited transceiver module realization, makes rescue personnel obtain concrete orientation; Central processing unit II has also stored three-dimensional map, directly show or voice message, and with reference to carrying out pick-up operation, terminal device is only for supervision and correction; And three-dimensional map is software systems, this system the map of the association attributes generating three-dimensional in buildings main in city and street is downloaded to central processing unit I terminal device in, belong to existing software engineering, certainly, central processing unit II also can store, the bit shift of the initial space coordinate figure sending with track positioning and tracking device and X, Y, Z direction is combined with, realize scene of fire personnel in buildings and avenue three-dimensional localization, traceable scene of fire personnel motion trail.
Tracking and monitoring system also comprises remote command center, and described remote command center and terminal device, or/and mutual transmission network signal between track positioning device certainly, need be provided with necessary mixed-media network modules mixed-media, can adopt 3G/4G communication module.
The invention also discloses a kind of disaster relief field staff movement locus locating device, comprise track positioning device and identification module;
Described identification module is distributed in scene and at least records positional information; Identification module can adopt RFID electronic tag, magnetic card, IC-card, NFC chip carrier, Quick Response Code carrier or bar code carrier etc., the positional information that has at least stored or can identify;
Described track positioning device comprises central processing unit II and the track positioning component being connected with central processing unit II signal, and described track positioning component comprises the information reading module that motion orientation module and the positional information for acquiring and identifying module are proofreaied and correct the error of motion orientation module;
The general integral installation of this device track positioning device, in a housing, forms compact equipment, carries for (disaster relief) fireman individual; While use separately, when rescue personnel is entered outward in buildings by buildings, satellite-signal disappears, satellite positioning module (GPS or Big Dipper locating module) is made up of positioning chip (GPS or Big Dipper positioning chip) and orientation triggering switch, trigger switch will obtain longitude (X-axis), latitude (Y-axis) coordinate of positioning chip while startup in real time, again the acceleration of gravity direction (Z axis) that triggers moment is set to zero simultaneously, generate the spatial value (X that triggers moment, Y, 0); Certainly, also can be as required, do not adopt the mode of satnav and adopt radio-frequency card at the scene import send positional information, carry out preliminary correction location, and the initial space coordinate figure of the motion using this volume coordinate as scene of fire personnel, can directly be stored in central processing unit II, and show; Motion orientation module (can adopt 3-axis acceleration sensor or three-axis gyroscope to add acceleration transducer) generally has integrator computing unit, motion orientation module detects the acceleration of track positioning and tracking device X, Y, tri-directions of Z in real time, draw the instantaneous velocity of three directions by integral operation, go out the displacement of track positioning and tracking device in X, Y, tri-directions of Z by the integral and calculating of time again, the displacement of its X, Y, Z and the stack of initial space coordinate, can obtain carrying the running orbit that detects track positioning and tracking device fire control personnel; But this motion orientation module can produce cumulative errors, after the identification module arranging by scene is accurately located, this locating information is sent to central processing unit II, rescue personnel also can set track positioning device, error is made zero, thereby obtain positional information accurately continuously; Certainly, also can automatically contrast, revise correction to the positional information of motion orientation module by central processing unit II, error is made zero, utilize the information acquiring program of existing 3-axis acceleration sensor or three-axis gyroscope to realize, this arrogant repeating not.Certainly, and, in central processing unit II, need to store buildings map, and compare with the real trace orientation of aforesaid track positioning device, thereby obtain the concrete position of rescue personnel self, the guidance foundation of route is provided for escaping, belongs to the mode of utilizing map pursuit path of prior art, do not repeat them here.
In the present embodiment, identification module is arranged at or correspondence is arranged at on-the-spot fire fighting device or/and fire escape.
In the present embodiment, described motion orientation module is 3-axis acceleration sensor, and described identification module is RFID electronic tag, and RFID electronic tag also stores fire fighting device information; Fire fighting device information comprises the information such as fire fighting equipment, passage, makes disaster relief personnel fully understand the fire fighting device information of environment of living in.
In the present embodiment, also comprise the wireless communication module II being connected with central processing unit II signal, the satellite positioning module II being connected with central processing unit II signal and the Input/Output Device II being connected with central processing unit II signal, Input/Output Device II comprises command input unit, voice unit and display unit, command input unit is generally keyboard, touch-screen, Mike, the first-class existing input equipment of shooting, for giving an order or exchanging with rescue personnel; Display unit can show rescue personnel's track in time, and points out by voice, ensures security; Described central processing unit II stores the on-the-spot three-dimensional map of the disaster relief, by 3-axis acceleration sensor and RFID electronic tag and in conjunction with three-dimensional map, can know clear, accurately disaster relief personnel's track.
Fig. 2 is FB(flow block) of the present invention, as shown in the figure, the invention also discloses a kind of disaster relief field staff movement locus accurate tracking monitoring method, comprises the following steps:
A. terminal device obtains from track positioning device the data message that motion orientation module transmits; Certainly, first will be to the setting of making zero of motion orientation module, can identification module be set by GPS module or entering on-the-spot porch, be similar to and proofread and correct the setting of making zero, all can realize goal of the invention; Also can be stored the positional information of motion orientation module by track positioning device simultaneously;
B. utilize the data of step a to calculate current X, Y, Z axis orientation, and obtain the positional information of motion orientation module;
The positional information of the identification module c. transmitting from track positioning device obtaining information read module; Positional information in identification module, for write early stage, does not repeat them here; Also can be simultaneously by the positional information of track positioning device store identification module;
D. utilize the positional information of the position information correction motion orientation module of identification module, the positional information of motion orientation module is classified as consistent with the positional information of identification module, eliminate error; This process is compared the positional information of the positional information of identification module and motion orientation module by program by terminal device, and the positional information of motion orientation module is modified, and error is made zero; Certainly, also can store and contrast by the central processing unit II of track positioning device, the positional information of moving orientation module is modified, error is made zero, directly be read by rescue personnel;
E. obtain the actual position information of final track positioning device, this actual position information is presented on three electronic charts of terminal device (on fire truck).
The present invention in use, at terminal device, track positioning device or/and in command centre pre-stored electronic three-dimensional map and building fire protection facility and facility (can be also to arrange as required) to there being RFID coded data, on building ' s fire facility, install simultaneously and there is architecture indoor positional information RFID electronic tag (coding of RFID with terminal device, track positioning device or/and the RFID of command centre encodes corresponding one by one), in the time of breaking out of fire, when the track positioning device of wearing as fireman enters buildings hall and passage, can immediately obtain fire fighting device (as: the passageway for fire apparatus label on hall and passage, hall flame snuffer etc.) positional information, obtained the positional information of fireman at buildings, in fireman's fire fighting and rescue process, calculated the track of fireman's motion by motion orientation module, in motion process, motion orientation module exists and calculates cumulative errors, can there is gradually deviation at indoor location in fireman, but when fireman is when installing the fire fighting device of RFID label, can read effective and accurate Indoor environment position data, there is the cumulative errors positional information of calculating with the data replacement reading, realize the accurate positioning correcting function of 3 D locating device, thereby reach the object of the positional information of obtaining continous-stable.
The mode that signal connection of the present invention refers to signal transmission connects; Although do not represent in figure, no matter be terminal device or track positioning device, complete said process and need to there is power module, belong to prior art, do not repeat them here.
Finally explanation is, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify or be equal to replacement technical scheme of the present invention, and not departing from aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of claim scope of the present invention.