Navigation equipment suitable for individual soldier fire extinguishment and rescue

Abstract

The invention relates to navigation equipment suitable for single-soldier fire extinguishment and rescue. Firstly, a fire scene is scanned in real time through an infrared distance measurement module, and the position of a fire source is detected and positioned; meanwhile, an ultrasonic ranging module is used for detecting obstacles in the surrounding environment, and the orientation and distance of the obstacles are obtained; then, the information processing module fuses the infrared data and the ultrasonic data, a comprehensive environment model is generated, and the relative position of the fire source and the obstacle is calculated in real time; and then, the feedback module transmits fire source orientation and obstacle warning information to the firefighter through tactile feedback, and prompts the firefighter to avoid the obstacle or approach the fire source. According to the method, the effect of helping the firefighter to efficiently and accurately position the fire source and the obstacles in the complex and low-visibility fire environment is achieved through combined application of infrared and ultrasonic ranging, and the firefighter can efficiently and safely complete fire extinguishing and rescue tasks.

Description

Technical Field

[0001] The present invention belongs to the field of fire safety and rescue and environmental perception and navigation technology, and specifically relates to technical innovation of firefighter auxiliary equipment, and in particular to a navigation equipment combining infrared and ultrasonic ranging technologies suitable for individual fire fighting and rescue. Background Art

[0002] Most of the existing firefighting and rescue navigation equipment for firefighters are simple positioning systems or remote communication equipment, which fail to effectively combine environmental perception and precise positioning. Firefighters often face the challenges of difficulty in locating the fire source and many obstacles during firefighting and rescue. Especially in complex environments, especially smoke-filled fire scenes, the environmental visibility is low and the fire scene is very noisy. Traditional firefighting equipment that relies on vision and manual judgment has great risks. At present, there is a lack of integrated equipment with fire source positioning and obstacle detection functions. Therefore, it is of great significance to propose a method that uses modern technology to assist firefighters to perform rescue tasks efficiently and accurately, which is of great significance to breaking through the current technical bottleneck of firefighting equipment. Summary of the invention

[0003] The present invention designs a navigation device suitable for individual firefighting and rescue, with the purpose of improving the firefighters' positioning accuracy and safety in complex fire environments. By combining the navigation system and the environmental perception system, it provides firefighters with real-time fire source positioning and obstacle detection during emergency rescue, ensuring that firefighting and rescue work can be carried out quickly and accurately.

[0004] The technical solution of the present invention is as follows:

[0005] A navigation device suitable for single-soldier firefighting and rescue, characterized in that: an infrared sensor 2 is mounted on a firefighter's helmet 1 to detect the heat of a fire source and transmit the detected fire source data to an information processing module 8; an ultrasonic sensor 4 is evenly distributed around the firefighter's chest to scan potential obstacles and generate a spatial distribution map of the obstacles, and transmit it to the information processing module 8; a power module 3 is located in the firefighter's backpack 5 to provide power support for the equipment; a vibration motor 10 includes a shell of a motor body 10, and a power supply terminal 15 is connected to the shell for connection with the power module 3; the motor 10 includes a permanent magnet The motor 10 comprises a magnet 11 and a coil 12, a rotating shaft 13 is provided at the center of the motor 10, and an eccentric block 14 is provided on one side of the rotating shaft, and vibration is generated by the rotation of the eccentric block; a power cord 16 is extended from the outside of the motor 10 for connecting to an information processing module 8; the information processing module 8 is integrated on the firefighter's belt 9, receives data from the infrared sensor 2 and the ultrasonic sensor 4, generates fire source and obstacle information through data fusion technology, and converts the result into a real-time feedback signal; the vibration feedback system comprises a vibration device 6 installed on the wristbands 7 of the firefighter's forearms, which transmits different warning information by changing the intensity and frequency of the vibration.

[0006] When the sensor detects a fire source or obstacle ahead, the information is processed and transmitted to the feedback module, which then generates corresponding vibrations to alert the firefighters. For example, if there is a fire source ahead, the wristband will produce continuous and strong vibrations to remind the firefighters to quickly avoid it; if there is an obstacle, it will use slight intermittent vibrations to indicate its distance and direction. This method reduces visual interference and can ensure that firefighters are not disturbed by too much information in low visibility or high temperature environments and focus on actual operations. At the same time, the fire scene environment is extremely noisy, and the noises such as flame burning, equipment operation and personnel communication are intertwined. Sound signals are often drowned out or interfered, making it difficult for firefighters to accurately judge the dangerous situation around them. Using only vibration prompts instead of sound prompts can effectively avoid information loss or misunderstanding, and ensure that firefighters can still clearly perceive important warning signals in high noise environments. Transmitting information through the vibration feedback system can not only effectively avoid noise interference, but also directly guide firefighters to respond quickly in emergencies, thereby improving rescue efficiency and safety.

[0007] The specific module details are as follows:

[0008] First, the infrared ranging module is Figure 3 The figure shows the working principle of the infrared sensor, including the emission, reflection and reception of infrared signals. This module is used to detect the direction and distance of the fire source. Infrared sensors (such as non-contact infrared temperature sensors such as MLX90614) can calculate the distance and direction of the target object (i.e. the fire source) based on the time difference between the emitted infrared light and the reflected signal.

[0009] The overall structure of the equipment is as follows Figure 1 As shown in the figure, infrared sensors are evenly distributed around the firefighter's helmet. In order to cover a 360-degree detection range, 12 infrared ranging sensors with a detection angle of approximately 30° are used. In this way, infrared sensors can be used to detect heat sources in the environment, helping firefighters to effectively detect fire sources in smoke or low-visibility environments and provide real-time feedback on the location.

[0010] Second, the ultrasonic ranging module is Figure 4 The figure shows the process of ultrasonic emission, propagation, reflection and reception, focusing on the propagation and ranging principles of the signal. This module is used to detect the distance of the obstacle in front to prevent collision. The ultrasonic sensor (such as the HC-SR04 module) transmits and receives ultrasonic signals, measures the time difference from the emission to the reception of the signal, and measures the distance between the obstacle and the equipment in real time. The specific working principle of ultrasonic ranging technology is as follows:

[0011]

[0012] Where D is the distance, T is the time difference between transmission and reception, and V is the speed of ultrasound (about 340 m / s in air).

[0013] The overall structure of the equipment is as follows Figure 1 As shown in the figure, ultrasonic sensors are evenly installed around the chest and back of firefighters. In order to achieve all-round obstacle detection, 8 ultrasonic sensors with a detection angle of approximately 45° are planned to be used. The specific sensor coverage angle range and number can be adjusted as appropriate. This helps firefighters avoid possible obstacles and effectively prevents firefighters from encountering accidents.

[0014] Third, the information processing module such as Figure 5 The figure shows the data flow of the information processing module, including the reception, processing, fusion and transmission of infrared and ultrasonic data. This module is the core of the individual firefighting and rescue navigation equipment. It is responsible for receiving data from sensors (infrared and ultrasonic sensors) and performing data fusion processing, calculating the direction, distance and location of the fire source and obstacles in real time, and controlling the feedback system to provide real-time feedback to firefighters.

[0015] The overall structure of the equipment is as follows Figure 1 As shown, the information processing module is intended to be installed on the firefighter's belt, and an embedded system (such as Arduino, STM32 or other microcontrollers) is used to receive, process and transmit data. The corresponding algorithm is passed to the module, which can comprehensively process the measurement results of multiple sensors, accurately judge the safety status of the firefighter's location, and determine the exact location of the fire source and obstacles. Then the data is processed according to the preset algorithm to generate a feedback signal.

[0016] Fourth, the feedback module is as follows Figure 6 The figure shows the composition and working principle of the feedback module. The fire source location and obstacle information calculated by the processing module are fed back to the firefighters using tactile vibration feedback. Figure 1 As shown, tactile feedback generates vibration signals of different intensities and frequencies by wearing a vibration device (such as a vibration motor or servo motor) on the arm when an obstacle approaches or a fire source is locked. For example, the closer the obstacle detected by ultrasound, the stronger the vibration, helping firefighters avoid dangerous areas. The feedback module can provide more intuitive and accurate information in complex environments, especially when firefighters have limited vision or need to concentrate, tactile feedback can ensure that the transmission of information is not affected by environmental factors.

[0017] Fifth, the battery and charging system Fig.10 The figure shows how each module in the individual firefighting and rescue navigation equipment obtains power supply, including the power module (such as a battery), the power management unit, and the power supply connection relationship between each sensor and feedback module. This part is designed to provide a long-term and stable power supply for the equipment. The equipment has a built-in high-capacity rechargeable battery (such as a lithium battery) with a fast charging function. The battery design takes into account that firefighters may need to work for a long time in an emergency, so it has a high capacity and long-lasting power supply capability. This part can ensure that the equipment continues to work in high-intensity rescue missions, and through a convenient charging system, it ensures that the equipment can be quickly restored to use in an emergency.

[0018] The beneficial effects of the present invention are: through the combined application of infrared and ultrasonic ranging, it is possible to quickly locate the fire source and detect obstacles in real time, reduce the judgment time of firefighters and effectively avoid accidents in complex environments. In addition, tactile feedback ensures that firefighters can still effectively receive information in low visibility or dangerous environments. More importantly, the navigation equipment is designed to be lightweight and wearable, which is convenient for firefighters to wear for a long time when performing tasks without adding too much burden.

[0019] With reference to the following description and accompanying drawings, the embodiments of the present invention are disclosed in detail, indicating the way in which the principles of the present invention can be adopted. It should be understood that the embodiments of the present invention are not limited in scope. Within the scope of the terms of the appended claims, the embodiments of the present invention include many changes, modifications and equivalents. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the equipment of the present invention.

[0021] Figure 2 It is a structural diagram of the vibration device in the present invention.

[0022] Figure 3This is a working principle diagram of the infrared ranging module of the present invention.

[0023] Figure 4 This is a working principle diagram of the ultrasonic ranging module in the present invention.

[0024] Figure 5 This is a framework diagram of the information processing module in the present invention.

[0025] Figure 6 It is a schematic diagram of the feedback module of the present invention.

[0026] Figure 7 It is a system working flow diagram of the present invention.

[0027] Figure 8 It is a schematic diagram of fire source positioning of the present invention.

[0028] Fig. 9 Schematic diagram of obstacle detection and avoidance of the present invention.

[0029] Fig.10 This is a structural diagram of the power supply system of the present invention. DETAILED DESCRIPTION

[0030] With reference to the accompanying drawings, the above and other features of the present invention become apparent through the following text description. In the description and the accompanying drawings, specific embodiments of the present invention are specifically disclosed, which invent the principles of the present invention in which the present invention can be adopted, and some embodiments, it should be understood that the present invention is not limited to the described embodiments, on the contrary, the present invention includes all modifications, variations and equivalents falling within the scope of the attached claims.

[0031] The embodiment of the present invention provides a navigation device suitable for individual firefighting and rescue, which combines infrared ranging and ultrasonic ranging technology to help firefighters locate fire sources and detect obstacles at complex fire scenes. The specific implementation of the present invention will be described in detail below, including the hardware configuration, workflow, data processing and feedback mechanism of the system.

[0032] Step 101: Initialize the device and ensure that all modules are working properly. Start the navigation equipment and check the connection status of the infrared and ultrasonic sensors. Set system parameters, including sampling frequency, measurement range and accuracy. Initialize the feedback module to ensure that the vibration feedback function is normal.

[0033] In terms of system parameters, the specific arrangements are as follows:

[0034] like Figure 8As shown, the infrared ranging module intends to use an infrared sensor with a detection angle of about 30°, set the detection distance to 0.5 meters to 10 meters, and the detection accuracy to ±0.5℃-±1℃. In fire source detection, excessively high temperature accuracy requirements may lead to increased processing complexity, and the fire source usually has a large temperature difference with the ambient temperature. Moderate accuracy (such as ±1℃) is sufficient to ensure the accurate positioning of the fire source and the identification of the heat source. The short-distance lower limit (0.5 meters) can ensure that firefighters can accurately locate the heat source when approaching the fire source, and the long-distance upper limit (10 meters) can provide sufficient detection distance in an environment with less smoke to identify distant fire sources in advance. In large spaces (such as warehouses or forest fires), it is possible to consider expanding the measurement range by adding multiple infrared sensors or using telephoto infrared sensors.

[0035] like Fig. 9 As shown, the ultrasonic ranging module intends to use an ultrasonic sensor with a detection angle of about 45°, set the detection distance to 0.2 meters to 5 meters, and the detection accuracy to ±1cm-±2cm. In obstacle detection, the firefighters move at a low speed at the fire scene, and maintaining centimeter-level accuracy is sufficient to ensure that firefighters can effectively avoid obstacles in emergency environments and reduce the risk of collision. The short-range lower limit (0.2 meters) ensures that close-range obstacles around firefighters can be detected, especially in confined spaces. The long-range upper limit (5 meters) provides sufficient warning time to avoid collisions in high-speed movement or complex environments. If applied to a wider area (such as a large building), it is possible to consider expanding the detection range through a combination of multiple sensors or laser ranging technology.

[0036] Step 102: Data collection, obtain the data of the current environment from the infrared and ultrasonic sensors. The infrared sensor continuously scans the current environment, detects the infrared radiation intensity in different directions and records the temperature data in each direction. The ultrasonic sensor periodically emits ultrasonic waves and receives reflected signals, measures the reflection time difference, calculates the distance to the obstacle, and records the data.

[0037] Step 201: Process the data obtained from the infrared sensor to determine the location and intensity of the fire source. Input the collected data of the infrared sensor into the embedded processor. Analyze the infrared radiation intensity through the algorithm to identify the heat source. Calculate the azimuth angle and distance of the fire source to determine the coordinates of the fire source.

[0038] Step 202: Process the data obtained from the ultrasonic sensor to determine the location of the obstacle. The processor receives the distance measurement data from the ultrasonic sensor. Calculate the distance of the obstacle in each direction. Mark the dangerous area, and record a warning signal if the obstacle distance is lower than the set safety threshold.

[0039] Step 203: Data fusion, fusion of infrared and ultrasonic data to generate a comprehensive environmental model. According to the sensor's directional data, through the data fusion algorithm, the data of the two sensors are combined using the weighted average method to obtain the precise location of the fire source and obstacle. And set the priority, the fire source location takes priority, but the obstacle alarm takes priority in dangerous situations.

[0040] Step 301: Locate the fire source through data fusion results, accurately calculate the position and direction of the fire source, and generate fire source location data. Determine the direction and distance of the fire source based on the measurement data of the infrared sensor. Perform triangulation in the processing module to obtain the accurate coordinates of the fire source.

[0041] Step 302: Based on the data fusion results, the position and distance of surrounding obstacles are accurately calculated to avoid collisions between firefighters. The ultrasonic sensor scans the surrounding environment, detects and calculates the distance of obstacles, calibrates the detection results, and provides real-time location.

[0042] Step 303: The feedback mechanism is activated, and information is transmitted to the firefighters through tactile feedback based on the location of the fire source and the information of the obstacle. If the fire source or obstacle is approached, the tactile feedback device (such as an arm or waist vibrator) is activated, and the vibration intensity increases as the distance decreases, ensuring that information is transmitted in a timely manner in a complex environment.

[0043] Step 302: Feedback intensity adjustment, dynamically adjusting the feedback intensity according to the distance between the fire source and the obstacle. The closer to the fire source or obstacle, the stronger the vibration intensity.

[0044] Step 401: Real-time information update and circulation. The system collects infrared and ultrasonic data in a cycle multiple times per second, updates the environmental map in real time, and dynamically adjusts the feedback information. During the entire rescue process, the data is continuously monitored and updated.

Claims

1. A navigation device suitable for individual firefighting and rescue, characterized in that: The infrared sensor (2) is mounted around the firefighter's helmet (1) to detect the heat of the fire source and transmit the detected fire source data to the information processing module (8); the ultrasonic sensor (4) is evenly distributed around the chest of the firefighter to scan potential obstacles and generate a spatial distribution map of the obstacles, and transmit it to the information processing module (8); the power module (3) is located in the firefighter's backpack (5) to provide power support for the equipment; the vibration motor (10) includes a shell of the motor body (10), the shell is connected to a power supply terminal (15) for connecting to the power module (3); the motor (10) includes a permanent magnet (11) and a coil (12) The motor (10) has a rotating shaft (13) at the center thereof, and an eccentric block (14) is provided on one side of the rotating shaft, and vibration is generated by the rotation of the eccentric block; a power line (16) is extended from the outside of the motor (10) for connecting to an information processing module (8); the information processing module (8) is integrated on the firefighter's belt (9), receives data from an infrared sensor (2) and an ultrasonic sensor (4), generates fire source and obstacle information through data fusion technology, and converts the result into a real-time feedback signal; the vibration feedback system includes a vibration device (6) installed at the wristbands (7) on both forearms of the firefighter, and transmits different warning information by changing the intensity and frequency of the vibration.

2. The navigation equipment suitable for individual fire fighting and rescue according to claim 1, characterized in that: The information processing module (8) receives data from the infrared sensor (2) and the ultrasonic sensor (4), uses a data fusion algorithm to optimize the positioning accuracy of the fire source and the accuracy of obstacle detection in real time, and generates a feedback signal to further guide the actions of firefighters.

3. The navigation equipment suitable for individual fire fighting and rescue according to claim 1, characterized in that: The fire source data detected by the infrared sensor (2) includes the location and intensity of the fire source.

4. The navigation equipment suitable for individual fire fighting and rescue according to claim 1, characterized in that: The data fusion technology includes a weighted average method.

5. The navigation equipment suitable for individual fire fighting and rescue according to claim 1, characterized in that: The fire source and obstacle information includes the fire source location, intensity information and obstacle distance and direction information.

6. The navigation equipment suitable for individual fire fighting and rescue according to claim 1, characterized in that: The different warning messages are transmitted by changing the intensity and frequency of the vibration, including: if there is a fire source ahead, a continuous strong vibration prompt is generated; if an obstacle is detected, an intermittent vibration prompt is generated to indicate its position and distance.

7. The navigation equipment suitable for individual fire fighting and rescue according to claim 1, characterized in that: The generation of the spatial distribution map of obstacles comprises: an ultrasonic sensor (4) transmits and receives ultrasonic signals, measures the time difference between the transmission and reception of the signals, detects the distance of the obstacles in real time, and generates the spatial distribution map of the obstacles.

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