Dual-communication intelligent fire fighting equipment with high-precision indoor positioning function

Abstract

The invention discloses dual-communication intelligent fire fighting equipment with a high-precision indoor positioning function in the field of intelligent distress systems. The dual-communication intelligent fire fighting equipment comprises a microprocessor, a power supply, an interaction function module, a positioning function module, an acquisition function module, an audio function module, a communication function module and an alarm function module. The system has the functions of accurate positioning and efficient communication, provides accurate indoor and outdoor positioning capability by combining the ATGM336H positioning module and the UWB positioning technology, and ensures that firefighters can be accurately positioned in real time no matter the firefighters are in the indoor environment, the underground environment or the outdoor environment. For indoor positioning, especially indoor positioning, initial position calculation is realized through PDOA and DS-TWR algorithms, and then an adaptive Kalman filtering algorithm with memory attenuation is used as a post-processing link to realize indoor centimeter-level high-precision positioning.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent distress system, in particular to a double-communication intelligent fire-fighting equipment with high-precision indoor positioning function. BACKGROUND

[0002] With the advancement of modern urbanization, the frequency of disasters such as fires is increasing year by year, especially in urban high-rise buildings, underground spaces, and complex debris environments, fire rescue missions become increasingly difficult. In these environments, firefighters often face a series of problems such as unstable signals, difficult positioning, and communication interruptions. The signal shielding and multipath effect caused by non-line-of-sight (NLOS) environments significantly increases the positioning error and communication difficulty.

[0003] Disadvantages and negative effects of current technology: 1. Insufficient positioning accuracy: Most current firefighter positioning devices rely on GPS technology. GPS can provide relatively accurate positioning information in outdoor environments, but in indoor, underground, or multi-obstacle environments, GPS signals cannot be effectively covered. Especially in complex and crowded environments such as fire scenes and debris, there are a lot of non-line-of-sight (NLOS) problems, and signals are blocked by walls, smoke, and obstacles, which seriously affect signal reception and positioning accuracy. Therefore, traditional GPS or Wi-Fi-based positioning systems are difficult to provide accurate positioning information in these environments, which makes it difficult for the command center to keep track of the location of firefighters in real time, and thus affects the efficiency and accuracy of rescue operations.

[0004] 2. Limitations of single communication mode: Most current firefighter terminal devices use a single communication mode, such as 4G or LORA communication. However, these single communication modes often perform poorly in complex environments. In cities, although 4G networks have high transmission speeds, in complex buildings at fire scenes, due to signal attenuation and reflection, stable communication may not be guaranteed. In remote mountainous or forest environments, public communication networks are not well covered, and low-power technologies such as LORA are suitable for long-distance communication, but their bandwidth and transmission rate are insufficient to meet complex communication needs. The limitations of this communication mode lead to a lag in information between firefighters and the command center, affecting real-time decision-making and the efficiency of rescue operations.

[0005] 3. Insufficient penetration of alarm signals: The noise level at a fire scene is usually very high, with factors such as flame burning, explosion sound, building collapse, and equipment operation making the scene a high-noise environment. The alarm sound pressure level of existing firefighter distress equipment is insufficient to effectively penetrate the noise, resulting in the firefighter's distress signal not being received in time.

[0006] 4. The device responds to the shortcomings of the positioning system: in the fire scene, firefighters face extremely high risks, especially when entering closed buildings or ruins for rescue. Existing devices often lack real-time response capabilities, and once the firefighter is in danger (such as sudden disconnection, falling, injury, etc.), the device cannot quickly detect and notify the command center. In addition, traditional devices often rely on a single alarm mechanism when in danger, and fail to combine the positioning system for accurate rescue. This leads to a huge challenge in obtaining the location of the firefighter in danger in time and organizing effective rescue in fire and other disaster scenes. SUMMARY

[0007] In view of the shortcomings of the prior art, the purpose of the present application is to provide a dual-communication intelligent fire-fighting device with high-precision indoor positioning function to solve the problems raised in the background art.

[0008] The purpose of the present application can be achieved by the following technical solutions: A dual-communication intelligent fire-fighting device with high-precision indoor positioning function, comprising a microprocessor, a power supply, an interactive function module, a positioning function module, a collection function module, an audio function module, a communication function module, and an alarm function module. The interactive function module comprises an LCD display screen, a key, a Bluetooth module, and a storage module. The positioning function module comprises a satellite positioning module and a UWB positioning module. The collection function module comprises a barometer, a temperature collector, an attitude collector, and a voltage collector. The audio function module comprises an audio power amplifier, a broadcast chip, and a speech codec. The communication function module comprises an LORA and a 4G network module, and is in communication with the rear command center. The alarm function module comprises a buzzer and a flashing light.

[0009] Preferably, the satellite positioning module uses an ATGM336H positioning module for outdoor positioning.

[0010] Preferably, the UWB positioning module uses a UWB chip DW3220, combined with a PDOA algorithm and a DS-TWR algorithm to achieve high-precision relative positioning.

[0011] Preferably, after the UWB positioning module outputs the raw position solution data, a memory attenuation adaptive Kalman filter algorithm is added as a post-processing link. A memory attenuation factor is introduced into the traditional Kalman filter, so that the historical state covariance decreases over time. According to the actual measurement residual, the process noise and observation noise parameters are adaptively adjusted to dynamically optimize the smoothing and real-time response capability of the filter.

[0012] Preferably, when the device is in a strong signal area, 4G communication is preferentially enabled; when the device enters an area with weaker signals, LORA is automatically enabled.

[0013] Preferably, the power supply supplies power to the interaction function module, the positioning function module, the acquisition function module, the audio function module, the communication function module and the alarm function module.

[0014] Preferably, the storage module is used to store data, including position information, posture monitoring data and communication logs.

[0015] The beneficial effects of the present application are: The system has precise positioning and efficient communication functions, combines the ATGM336H positioning module and UWB positioning technology, provides precise indoor and outdoor positioning capability, and ensures that firefighters can be positioned in real time and accurately whether they are in indoor, underground or outdoor environments. Especially for indoor positioning, PDOA and DS-TWR algorithms are used to realize preliminary position calculation, and then a memory decay adaptive Kalman filter algorithm is used as a post-processing link to realize high-precision positioning of centimeters indoors.

[0016] The system has the adaptability of dual communication mode: 4G and LORA dual communication mode ensures the communication stability and reliability of the device in various environments, and ensures timely and effective information transmission.

[0017] The system has intelligent alarm and rapid response: through the accelerometer monitoring posture change and intelligent distress mechanism, the device can automatically trigger the alarm and provide real-time position information when the firefighter is in danger, ensuring that the rescue is started in time.

[0018] The system has intelligent function and man-machine interaction: providing real-time data storage and wireless burning function, increasing the adaptability and intelligent level of the device, and improving the simplicity and safety of operation. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0020] Figure 1 is a module structure diagram of a dual-communication intelligent fire-fighting device with high-precision indoor positioning function in the embodiment of the present application; Figure 2 is a PDOA positioning principle model diagram in the embodiment of the present application; Figure 3 is a DS-TWR ranging model diagram in the embodiment of the present application; Figure 4 is a schematic diagram of a power tree design structure in the embodiment of the present application. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0022] Please refer to Figure 1 The embodiment provides a double-communication intelligent fire-fighting equipment with high-precision indoor positioning function, which comprises a microprocessor, a power supply, an interactive function module, a positioning function module, a collection function module, an audio function module, a communication function module and an alarm function module. The interactive function module comprises an LCD display screen, a key, a Bluetooth module and a storage module. The positioning function module comprises a satellite positioning module and a UWB positioning module. The collection function module comprises a barometer, a temperature collector, a posture collector and a voltage collector. The audio function module comprises an audio power amplifier, a broadcast chip and a speech codec. The communication function module comprises an LORA and a 4G network module, and is connected with a rear command center. The alarm function module comprises a buzzer and a flashing light.

[0023] The STM32L051R8T6 is used as the main control chip. The UWB chip DW3220 is used in combination with the RF front-end chip (PA+LNA) SW8112QF chip and the PDOA and DS-TWR algorithms to achieve indoor high-precision positioning. The ATGM336H positioning module is used to achieve outdoor positioning. The 4G module AIR780E and the LORA module E22-400T30S are used to realize the dual communication mode with the command end of the rear field. The three-axis acceleration sensor LIS3DH2 is used to realize personnel posture detection, and the barometer is used to realize height detection. The FLASH storage module W25Q32 is used to realize information storage. The Bluetooth module HLK-B40 is used to realize wireless programming of the single-chip microcomputer program. The segment code LCD is used in combination with the HT1621B driving chip to realize human-computer interaction. The voice encoding and decoding chip WT2605 is used in combination with the microphone input and the 4G module to realize 4G intercom. The voice broadcast chip WT588F is used in combination with the audio power amplifier chip LM4871 to realize voice broadcast. The BP1360 constant current source chip drives high-brightness LEDs in combination with a buzzer boost circuit to realize sound and light alarm. The temperature acquisition circuit detects the temperature, and the voltage acquisition circuit detects the lithium battery capacity. The Hall sensor circuit cooperates with the card with a magnet to realize the power-on and power-off of the equipment. The overall equipment is powered by a 7.4V lithium battery, which is reduced to 3.9V by MP1584, reduced to 5V by MP2307, and reduced to 3.3V by XC6228.

[0024] The system uses the ATGM336H positioning module for outdoor positioning. This module is a powerful multi-constellation satellite positioning module with low power consumption, fast startup, high sensitivity, and high precision. It can adapt to various complex environmental positioning needs. By supporting four satellite systems (GPS, Beidou, GLONASS, and Galileo) and A-GNSS technology, it can provide efficient and accurate positioning services in various application scenarios, ensuring stable positioning of firefighters in outdoor environments, especially in urban environments and open areas.

[0025] In complex indoor environments, the system uses the UWB chip DW3220 in combination with the PDOA (Phase Difference of Arrival) algorithm and the DS-TWR (Double-Sided Two-Way Ranging) algorithm to achieve high-precision relative positioning. By using the UWB signal in combination with the PA+LNA RF front-end chip of model SW8112Q, the device can provide centimeter-level accurate positioning, especially suitable for environments such as fire scenes and ruins where GPS or Beidou signals cannot be received, ensuring that firefighters can be tracked in real time in complex environments.

[0026] Please refer to Figure 2 PDOA algorithm principle, as shown in the figure, which shows two base station antennas A , B , with a baseline length of dThe tag (target to be positioned) sends a UWB signal, which is received by two antennas at the same time, but due to the difference in spatial distance, a phase difference is generated. The signal is transmitted from the tag, passes through two paths of different lengths to reach the antennas A 、 B , the path length difference is p .

[0027] The path difference calculation process is as follows: The distance between antennas A 、 B is d , the path length of the signal from the tag to reach antennas A 、 B is p , according to the geometric relationship, the length difference of the two paths is:

[0028] where, is the angle of the target (tag) relative to the baseline direction of the base station antenna, which describes the direction of the signal from the target to the base station antenna relative to the line connecting the two antennas.

[0029] The relationship between the phase difference and the path difference is as follows: The phase difference (in radians) of the signal reaching A and B is:

[0030] where, is the phase difference, is the signal wavelength, is the distance between the two antennas, is the target direction angle.

[0031] The direction angle is calculated as follows:

[0032] The measured phase difference can be used to deduce the target direction.

[0033] The core of the PDOA positioning method is to measure the phase difference of the signals received by the two antennas to deduce the direction of the target signal (direction angle). The path lengths of the signals from the target to the two antennas are different, resulting in different phases of the received signals. By knowing the distance between the antennas and measuring the phase difference, the direction of the signal (i.e. the angle position of the target) can be deduced.

[0034] Please refer to Figure 3 for the principle of DS-TWR (Double-Sided Two-Way Ranging) algorithm: DS-TWR is used to measure the distance between two devices, by sending and receiving signals to each other, eliminating the errors of both hardware delay, clock drift, etc., to achieve high-precision ranging. Both devices count time, through multiple communication, combined with the local record of each timestamp, to solve the real signal propagation time T prop The timing flow is analyzed as follows: First signal round trip: Device A sends the first signal, records the sending time T1 , Device B receives the signal, records the receiving time T2 .

[0035] Second signal round trip: Device B waits and sends the reply signal, records the sending time T3 , Device A receives the reply signal, records the receiving time T4。

[0036] Third signal round trip: Device A sends the signal again, records the sending time T5 , Device B receives the signal, records the receiving time T6 .

[0037] The formula derivation and distance calculation are as follows: According to the timestamps of the three round trips, the clock offset can be eliminated, and the actual propagation time can be calculated:

[0038] Where c is the speed of light (electromagnetic wave propagation speed).

[0039] In order to further improve the positioning continuity and robustness of the firefighter terminal in complex dynamic environment, the application adds a memory decay adaptive Kalman filter algorithm as a post-processing link after the UWB positioning module (combined with PDOA and DS-TWR algorithm) outputs the original position calculation data. This algorithm introduces a memory decay factor into the traditional Kalman filter, so that the historical state covariance decreases with time, significantly enhancing the system's response to new observation data. It can quickly fade the influence of historical abnormalities on the current position in the case of firefighter motion state mutation, signal interruption / reconnection, NLOS, etc., and realize intelligent smoothing correction of positioning data.

[0040] This algorithm can also adaptively adjust process noise and observation noise parameters based on actual measurement residuals, dynamically optimize the smoothing and real-time response capabilities of the filter, and further improve positioning accuracy in complex indoor environments. Through this post-processing mechanism, firefighter terminal equipment can still output highly reliable and continuous location information under various extreme conditions (such as sudden obstruction, violent movement of personnel, and brief communication interruptions), providing solid data support for command and dispatch and emergency rescue.

[0041] The device integrates an AIR780E 4G communication module and an E22-400T30S LoRa communication module, and can automatically switch communication modes according to the current environment. 4G communication is suitable for urban environments and scenarios with high data transmission requirements, providing high-speed data transmission capabilities to ensure that the command center can receive real-time location information from firefighters and conduct dispatch and command.

[0042] LORA ensures that even when 4G signal is lost, the device can still communicate with the backend over long distances.

[0043] The device can intelligently switch communication modes based on real-time signal strength, bandwidth requirements, or device battery level. When the device is in a strong signal area (such as in a city or on a high floor), 4G communication is prioritized to ensure efficient data transmission. When the device enters a weak signal area, LoRa is automatically activated to ensure continuous low-power, long-distance communication.

[0044] Dual communication redundancy enhances system reliability. In the event of unstable or lost 4G signal, LORA will continue to provide communication support to avoid communication interruptions during rescue operations.

[0045] The switching mechanism is implemented through a built-in environment-aware algorithm. The device detects changes in network signal and automatically adjusts its communication method. The threshold for signal strength changes can be set during the design phase, optimizing the switching strategy according to different usage scenarios.

[0046] In certain specific situations, the device allows for manual switching. For example, during emergency command and dispatch operations in a 4G coverage area, users can choose to manually switch to 4G mode to ensure that high bandwidth requirements are met. In other situations, LoRa will automatically take over communication.

[0047] The device has a built-in LISH3DH2 triaxial accelerometer for real-time monitoring of firefighters' posture and condition. When the accelerometer detects that a firefighter has been stationary for an extended period (such as falling or losing consciousness), the device will automatically trigger an alarm and enter UWB tag mode.

[0048] The UWB mode of this device has two modes, the default mode is the base station mode, that is, when the firefighter's motion state is normal, the device is in the base station mode. If the firefighter is detected by the accelerometer for a long time, the device enters the trigger mode, that is, the tag mode.

[0049] In base station mode, the device receives and measures the UWB signals of other devices in tag mode, calculates the distance and angle of the tag based on PDOA and DS-TWR algorithms, and then sends the relative position information to the command terminal through the wireless module (4G or LORA). The command platform sends commands to the base stations based on the positioning information received from the base stations, thereby launching the rescue.

[0050] Indoor positioning mode summary: The device defaults to base station mode when starting, responsible for receiving UWB signals from other devices and performing positioning calculations. When the accelerometer detects that the firefighter has been stationary for a long time (such as falling or losing consciousness), the device automatically switches to tag mode and starts transmitting UWB signals. Other devices still in base station mode receive the tag signal and calculate the position of the device through relative positioning algorithms, and then transmit the positioning information to the command center.

[0051] The device is equipped with high-brightness LEDs and a buzzer, which are controlled by a constant-current source drive chip model BP1360 to control the brightness of the LEDs and a boost circuit for the buzzer, achieving efficient audible and visual alarms. The alarm signal can be clearly transmitted in a high-noise fire environment, ensuring that other team members can quickly find the firefighter in distress.

[0052] The device is equipped with a voice codec chip and an audio amplifier, which can perform instant voice communication through 4G voice intercom. In addition, it is also equipped with a voice playback chip, which can play specific voice prompts through the audio amplifier, providing additional voice alarm support.

[0053] Please refer to Figure 4 The device uses a 7.4V lithium battery, which is converted to 3.9V by a DCDC model MP1584 to power the 4G module, an AB class voice amplifier chip model LM4871, and a voice codec chip model WT2605.

[0054] The 7.4V is converted to 5V by a DCDC model MP2307 to power the LORA module.

[0055] Then use a model XC6228 LDO to 3.9V to 3.3V for single-chip microcomputer, satellite positioning module, FLASH chip, Bluetooth module, barometer, temperature acquisition circuit, MIC bias circuit, key, three-axis accelerometer, voice broadcast chip, segment code display screen drive chip HT1621B power supply.

[0056] In addition, it is necessary to use another XC6228 LDO for UWB chip and SW8112QF radio frequency front-end chip power supply. The reason for using a separate LDO is that the SW8112QF+UWB chip has a large working current in the transmission mode.

[0057] The driving chip BP1360 of the highlight LED, the buzzer driving circuit, the backlight board driving circuit of the segment code LCD, and the battery capacity acquisition circuit are directly connected to the 7.4V output of the lithium battery.

[0058] In addition, the total power supply control circuit of the device uses an LDO chip with extremely low static current, SGM2200-3.0, to supply power to the Hall sensor switch circuit port, thereby realizing the power-on and power-off of the card with a magnet.

[0059] The built-in FLASH chip in the device is used to store data, including position information, attitude monitoring data, communication logs, etc., to ensure that data can still be recorded completely in extreme environments for later analysis and processing.

[0060] Since the device shell has waterproof requirements, subsequent program upgrades for the device will use the Bluetooth module for wireless programming to ensure that the device can obtain the latest software version and function optimization in a timely manner.

[0061] The system is equipped with a segment code LCD display screen, providing an intuitive man-machine interface. Through the LCD screen, firefighters can view the working status of the device, battery capacity, positioning accuracy, and other information in real time.

[0062] The system has precise positioning and efficient communication functions, combining ATGM336H positioning module and UWB positioning technology to provide precise indoor and outdoor positioning capabilities, ensuring that firefighters can be located in real time and accurately whether they are in indoor, underground, or outdoor environments. Especially for indoor positioning, PDOA and DS-TWR algorithms are used to achieve preliminary position calculation, and then a memory decay adaptive Kalman filter algorithm is used as a post-processing link to achieve high-precision indoor positioning at the centimeter level.

[0063] The system has the adaptability of dual communication mode: 4G and LORA dual communication mode ensures the communication stability and reliability of the device in various environments, ensuring timely and effective information transmission.

[0064] The system has intelligent alarm and rapid response: through the accelerometer monitoring posture changes and intelligent distress mechanism, the device can automatically trigger alarm and provide real-time location information when the firefighter is in danger, ensuring timely rescue.

[0065] The system has intelligent function and human-computer interaction: providing real-time data storage and wireless burning function, increasing the adaptability and intelligent level of the device, and improving the simplicity and safety of operation.

[0066] In the description of the present specification, the description of the terms "one embodiment", "example", "specific example" and the like means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0067] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0068] The present application is described with reference to flowcharts and / or block diagrams according to the method, equipment (system) and computer program product of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device that implements the functions specified in the flowchart and / or block diagram. Figure 1 The function specified in one flow or multiple flows and / or blocks Figure 1 The device that realizes the function specified in one block or multiple blocks.

[0069] These computer program instructions can also be stored in a computer readable storage medium that can guide the computer or other programmable data processing device to work in a specific way, so that the instructions stored in the computer readable storage medium produce a product including instruction devices, which realize the functions specified in the flowchart and / or block diagram. Figure 1 The function specified in one flow or multiple flows and / or blocks Figure 1 The device that realizes the function specified in one block or multiple blocks.

[0070] These computer program instructions can also be loaded into a computer or other programmable data processing devices, so that a series of operational steps are generated to realize the computer-implemented processes in the computer or other programmable devices, and the instructions executed in the computer or other programmable devices provide operational steps for implementing the functions of the flow Figure 1 The flow or multiple flows and / or the functions specified in the block Figure 1 The steps of the function specified in the block or multiple blocks.

[0071] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, but not to limit it, although the above embodiments of the present application have been described in detail, those skilled in the art should understand that: the specific embodiments of the present application can be modified or replaced by the equivalent, without departing from the spirit and scope of the present application, any modification or equivalent replacement, which should be covered in the protection scope of the claims of the present application.

Claims

1. A dual-communication intelligent fire-fighting device with high-precision indoor positioning function, characterized in that, It includes a microprocessor, power supply, interactive function module, positioning function module, data acquisition function module, audio function module, communication function module, and alarm function module; The interactive function module includes an LCD display screen, buttons, a Bluetooth module, and a storage module; The positioning function module includes a satellite positioning module and a UWB positioning module; The data acquisition module includes a barometer, a temperature acquisition device, an attitude acquisition device, and a voltage acquisition device. The audio function module includes an audio amplifier, a broadcast chip, and a voice codec. The communication module includes LoRa and 4G network modules, and is connected to the back-end command center; The alarm function module includes a buzzer and a strobe light.

2. The dual-communication intelligent fire-fighting equipment with high-precision indoor positioning function according to claim 1, characterized in that, The satellite positioning module uses the ATGM336H positioning module for outdoor positioning.

3. The dual-communication intelligent fire-fighting equipment with high-precision indoor positioning function according to claim 1, characterized in that, The UWB positioning module uses the UWB chip DW3220 and combines the PDOA algorithm and DS-TWR algorithm to achieve high-precision relative positioning.

4. A dual-communication intelligent fire-fighting device with high-precision indoor positioning function according to claim 3, characterized in that, After the UWB positioning module outputs the original position calculation data, an adaptive Kalman filter algorithm with memory attenuation is added as a post-processing step. A memory attenuation factor is introduced into the traditional Kalman filter, so that the historical state covariance decreases over time. Based on the actual measurement residuals, the process noise and observation noise parameters are adaptively adjusted to dynamically optimize the smoothness and real-time response capability of the filter.

5. A dual-communication intelligent fire-fighting device with high-precision indoor positioning function according to claim 1, characterized in that, When the device is in a strong signal area, 4G communication is enabled first; when the device enters a weak signal area, LoRa is automatically enabled.

6. A dual-communication intelligent fire-fighting device with high-precision indoor positioning function according to claim 1, characterized in that, The power supply provides power to the interactive function module, positioning function module, data acquisition function module, audio function module, communication function module, and alarm function module.

7. A dual-communication intelligent fire-fighting device with high-precision indoor positioning function according to claim 1, characterized in that, The storage module is used to store data, including location information, attitude monitoring data, and communication logs.

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