Fire-fighting positioning system based on combination of INS, 5G and unmanned aerial vehicle

Abstract

The utility model discloses a fire-fighting positioning system based on INS, 5G and unmanned aerial vehicle combination, which belongs to the technical field of fire-fighting positioning technology and comprises a rotor unmanned aerial vehicle and a positioning terminal. The rotor unmanned aerial vehicle is provided with a 5G base station and a first camera module, and the first camera module is arranged on a holder of the rotor unmanned aerial vehicle; data acquired by the first camera module is wirelessly transmitted through the 5G base station; the positioning terminal comprises a microprocessor module mounted in the shell, and a display screen, a first Bluetooth module and a 5G communication module which are electrically connected with the microprocessor module; the inertial navigation system module, the second camera and the second Bluetooth module are mounted on the fire fighting helmet; the inertial navigation system module and the second camera are electrically connected with the second Bluetooth module, and the first Bluetooth module is in communication connection with the second Bluetooth module. According to the utility model, firefighters can be assisted to perceive on-site conditions and positions, and the positioning precision and reliability in a fire environment can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of fire fighting positioning, and more specifically, to a fire fighting positioning system based on the combination of INS, 5G and unmanned aerial vehicles (UAVs). Background Art

[0002] Fire fighting positioning is an important technology, which can help firefighters find their own and their companions' positions in a complex fire scene and perceive the surrounding environmental information, so as to improve the rescue efficiency and safety. However, when a fire breaks out in a building, there is often a large amount of thick smoke. It is not easy to distinguish directions inside the building itself. Firefighters are affected by the black smoke, resulting in blocked vision and extremely difficult to distinguish the correct direction, which poses a great obstacle to firefighters quickly positioning their own positions and carrying out fire fighting and rescue work.

[0003] Currently, the commonly used fire fighting positioning technologies include ultrasonic, Bluetooth, infrared, radio frequency identification and ultra-wideband technologies. However, these technologies mostly rely on pre-deployed infrastructure, which may be damaged or fail in a fire, resulting in positioning failure or inaccuracy. There are also those who apply these technologies to the equipment carried by firefighters. For example, the fire fighting positioning and monitoring system disclosed in the Chinese patent with the publication number CN 220894979U sets up equipment carried by firefighters, and the positioning unit includes: GPS / Beidou satellite positioning module, UWB positioning module and BT positioning module, and communicates with the fire fighting information management system based on a 4G / 5G module, etc. Although the positioning of the 5G module has higher accuracy, it is easily affected by non-line-of-sight (NLOS), resulting in a decrease in accuracy. Summary of the Utility Model

[0004] Aiming at the above problems, the purpose of the utility model is to provide a fire fighting positioning system based on the combination of INS, 5G and UAVs, which can assist firefighters in perceiving the on-site situation and their positions, and improve the positioning accuracy and reliability in a fire environment.

[0005] In order to achieve these purposes of the utility model, a fire fighting positioning system based on the combination of INS, 5G and UAVs provided by the utility model includes: a rotary-wing UAV and a positioning terminal;

[0006] The rotary-wing UAV is provided with a 5G base station and a first camera module, and the first camera module is arranged on the gimbal of the rotary-wing UAV; the data collected by the first camera module is wirelessly transmitted through the 5G base station;

[0007] The positioning terminal includes a microprocessor module (MCU) installed in the housing, as well as a display screen, a first Bluetooth module, and a 5G communication module electrically connected to the microprocessor module (MCU); and an inertial navigation system module (INS module), a second camera, and a second Bluetooth module installed on the fire helmet; the inertial navigation system module (INS module), the second camera, and the second Bluetooth module are electrically connected, and the first Bluetooth module communicates with the second Bluetooth module to send the positioning data of the inertial navigation system module (INS module) and the image data of the second camera module to the microprocessing module, and then sends them to the rotor UAV through the 5G communication module. The display screen is electrically connected to the microprocessor module for displaying the data collected by the first camera module.

[0008] In this implementation, the inertial navigation system module (INS module) is used to collect the positioning data of the firefighter, the second camera collects the image data of the first perspective of the firefighter on the scene, and the first camera of the UAV collects the image data of the aerial perspective. The data is transmitted in real time through 5G communication technology. The combination of the three improves the real-time positioning accuracy and reliability of the fire scene. The firefighter can obtain real-time aerial perspective image information of the fire scene, such as the fire situation, smoke, obstacles, etc., improving the firefighter's situation awareness, position awareness, and response capabilities.

[0009] Preferably, it further includes a command center. The command center communicates with the 5G base station through the 5G communication module, and the data collected by the rotor UAV and the positioning terminal is sent to the command center. The command center is provided with a data fusion unit, a three-dimensional reconstruction unit, and a real-time processing unit. The positioning information of the 5G communication module and the INS module positioning information are fused by extended Kalman filter to obtain more accurate firefighter positioning information. Then, the command center will perform conventional three-dimensional environment modeling based on the image data of the second camera on the fire helmet, and then further fuse the firefighter's positioning information with the three-dimensional environment modeling to obtain the environmental and location information of the firefighter at the disaster site. Then, the command center sends this information to the firefighter's positioning terminal through the 5G communication network deployed by the rotor UAV and displays it on the display screen of the positioning terminal, so that the firefighter can understand the environmental situation where he is located in real time, and the command center can deploy better rescue for the firefighter.

[0010] Preferably, the gimbal is controlled by the main control module of the UAV. The main control module is electrically connected to the 5G base station, and the main control module wirelessly sends the data collected by the camera through the 5G base station.

[0011] Preferably, the fuselage of the rotor UAV is in a cylindrical shape. The 5G base station is arranged on the top of the UAV fuselage, and an omnidirectional antenna is installed in the center of the top of the 5G base station.

[0012] Preferably, the 5G base station and the drone fuselage are set as a detachable structure. The 5G base station has a hemispherical casing, and a conical recess is provided at the center of the bottom of the casing. A conical protrusion is provided at the center of the top of the drone fuselage. When the 5G base station is installed on the top of the drone fuselage, the conical recess and the conical protrusion are sleeved and matched. Such a matching structure makes the structure stable and concentric after the two are installed.

[0013] Preferably, the conical protrusion includes a conical boss and a rubber layer wrapped on the surface of the conical boss. The rubber layer has elasticity, and after being pressed, the conical recess and the conical protrusion are tightly fitted without loosening, and has a shock-absorbing effect.

[0014] Preferably, the outer casing is set as a watch structure for easy wearing. The outer casing has an installation space. An insulating base is provided at the bottom of the installation space, and a transparent cover plate is provided at the top. The insulating base is a plate structure and is made of insulating materials such as fiberglass and asbestos.

[0015] Preferably, mounting posts are respectively provided at the four corners and the middle of the installation space. The mounting posts are of a cylindrical structure and are divided into two upper and lower sections. The upper section is thin and the lower section is thick.

[0016] Preferably, the front display part of the display screen is attached to the transparent cover plate of the plastic outer casing. The MCU, the Bluetooth module, and the 5G communication module are electrically connected to the display screen and integrated on a circuit board. The Bluetooth module and the 5G communication module are located below the display screen. The circuit board is provided with mounting holes corresponding to the mounting posts. The diameter of the lower section of the mounting post is larger than that of the mounting hole. After the circuit board is installed on the mounting post, the lower section supports the circuit board, making the circuit board suspended and not in contact with the outer casing, reducing the transfer of external heat to the circuit board and protecting the circuit board.

[0017] Preferably, the camera is installed on the top of the fire helmet, and other parts except the camera lens are protected by high-strength plastic. The INS module and the Bluetooth module are installed inside the helmet and are electrically connected to the second camera.

[0018] The utility model has at least the following beneficial effects:

[0019] 1. The utility model uses the inertial navigation system module (INS module) to collect the positioning data of the firefighter, the second camera to collect the video data of the first perspective of the firefighter on the scene, and the first camera of the drone to collect the video data of the aerial perspective. The data is transmitted in real time through 5G communication technology. The firefighter can obtain the aerial perspective image information of the fire scene in real time, such as the fire situation, smoke, obstacles, etc., improving the firefighter's situation awareness, position awareness and response ability. The combination of INS, 5G and the drone improves the real-time positioning accuracy and reliability of the fire scene.

[0020] 2. The utility model is provided with an INS module, a 5G module and a drone combination. The 5G positioning technology is applied to the drone fire positioning. Without the need to pre-deploy infrastructure, the drone can build a 5G network anytime and anywhere to provide high-speed, stable and low-latency positioning and communication services, solve the problem that the positioning of the ground 5G module is easily affected by non-line-of-sight (NLOS), and achieve high-speed data transmission with the positioning terminal and the command center, such as video, voice, text, etc., improving the guidance and coordination ability of the fire command center.

[0021] Other advantages, objectives and features of the utility model will be partially reflected by the following description, and partially will also be understood by those skilled in the art through the research and practice of the utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 Schematic diagram of the structure of the rotor drone of the fire positioning system based on the combination of INS, 5G and drone according to the utility model;

[0023] Figure 2 Schematic diagram of the disassembled structure of the rotor drone according to the utility model;

[0024] Figure 3 Schematic diagram of the structure of the positioning terminal according to the utility model;

[0025] Figure 4 Schematic diagram of the structure of the shell of the positioning terminal according to the utility model;

[0026] Figure 5 Schematic diagram of the structure of the circuit board according to the utility model;

[0027] Figure 6 Schematic diagram of the structure of the fire helmet according to the utility model;

[0028] Figure 7 Frame diagram of the fire positioning system based on the combination of INS, 5G and drone according to the utility model. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] The following further describes the utility model in detail with examples, so that those skilled in the art can implement it with reference to the text of the specification.

[0030] It should be understood that the terms such as "having", "comprising" and "including" used herein do not exclude the presence or addition of one or more other elements or their combinations.

[0031] The terms "first", "second", etc. in the description and claims of this application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of this application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of the same type, and do not limit the number of objects. For example, the first object can be one or more. In addition, "and / or" in the description and claims means at least one of the connected objects, and the character " / ", generally indicates that the associated objects before and after are in an "or" relationship.

[0032] As Figures 1 - 6 shown, a fire positioning system based on the combination of INS, 5G, and UAVs of the present utility model includes: a rotor UAV 1 and a positioning terminal 2, where:

[0033] The UAV 1 is a multi-rotor UAV, with a 5G base station 3 provided at the top. There is also an omnidirectional antenna 4 vertically upward on the top of the UAV 1. A first camera 5 is installed at the front end of the UAV 1. The first camera 5 is connected to the UAV 1 through a pan-tilt 6 suitable for driving the first camera 5 to rotate. The positioning terminal 2 is wrapped and protected by a heat-resistant and drop-resistant plastic shell 7, and a display screen 8, a microprocessing module MCU 9, a first Bluetooth module 10, and a 5G communication module 11 are installed inside the shell 7. The positioning terminal 2 also includes an inertial navigation system module INS module 12, a second camera 13, and a second Bluetooth module 14 installed on a fire helmet; the INS module 12, the second camera, and the second Bluetooth module 14 are electrically connected, and the first Bluetooth module 10 communicates with the second Bluetooth module 14, for sending the positioning data of the inertial navigation system module (INS module) and the image data of the second camera module to the microprocessing module MCU 9, and then sending them to the rotor UAV 1 through the 5G communication module 11. The display screen 8 is electrically connected to the microprocessor module, for displaying the data collected by the first camera module.

[0034] In this embodiment, the inertial navigation system module (INS module) is used to collect the positioning data of the firefighter, the second camera collects the image data of the first perspective of the firefighter at the scene, and the first camera of the UAV collects the image data of the aerial perspective. The data is transmitted in real time through 5G communication technology. The combination of the three improves the real-time positioning accuracy and reliability of the fire scene. The firefighter can obtain real-time aerial perspective image information of the fire scene, such as the fire situation, smoke, obstacles, etc., improving the firefighter's situation awareness, position awareness, and response ability.

[0035] In use, the drone 1 hovers at a designated position in advance to conduct surveys and monitoring of the disaster area, while building a high-speed and stable 5G communication network for the disaster area. Then, the drone 1 sends the disaster environment captured by the first camera 5 to the positioning terminal through 5G communication.

[0036] As Figure 7 shown, in another embodiment, the fire positioning system based on the combination of INS, 5G, and drone further includes a command center, which is provided with a data fusion unit, a three-dimensional reconstruction unit, and a real-time processing unit, respectively used for data fusion, three-dimensional environment modeling, and real-time rescue deployment. In use, the drone 1 sends the disaster environment captured by the first camera 5 to the command center through 5G communication. The command center then deploys the rescue operation in advance according to the received video data, facilitating the efficient dispatching of firefighters by the command center and the risk prevention and control of fire-fighting operations, and realizing precise rescue and real-time monitoring of the disaster area.

[0037] In another embodiment, as Figure 2 shown, the 5G base station 3 of the present utility model and the fuselage of the drone 1 are set as a detachable structure. The 5G base station 3 has a hemispherical housing. In the legend, the inner wall of the lower part of the hemispherical housing is provided with threads, and the edge of the top 101 of the fuselage of the drone is provided with matching threads, forming a detachable structure that can be disassembled and assembled by screwing. In the legend, a conical recess (not shown) is provided at the center of the bottom of the housing, and a conical protrusion 102 is provided at the center of the top 101 of the fuselage of the drone 1. When the 5G base station 3 is installed on the top of the drone fuselage, the conical recess is socketed and matched with the conical protrusion 102. Such a matching structure makes the two stable and concentric after installation.

[0038] Further, in another embodiment, as Figure 2 shown, the conical protrusion 102 includes a conical boss 103 and a rubber layer 104 wrapped on the surface of the conical boss 103. The rubber layer 104 has elasticity, and after being compressed, it makes the conical recess and the conical protrusion fit tightly without loosening, and has a shock-absorbing effect.

[0039] In another embodiment, as Figures 3 - 6 shown, the positioning terminal 2 of the present utility model is composed of two parts:

[0040] The first part is composed of a display screen 8 module, an MCU 9, a first Bluetooth module 10, and a 5G communication module 11. This part is protected by a heat-resistant and drop-resistant plastic shell 7, as Figure 3 and 4As shown, the plastic housing 7 supports a watch structure that is convenient to wear, and the plastic housing 7 includes two parts, a transparent cover plate 15 and a base 16. The base 16 is provided with a heat insulation material layer, such as fiberglass, asbestos, etc., which not only has a heat insulation effect but also can shock-absorb. The transparent cover plate 15 closes and seals the plastic housing 7.

[0041] The second part is the second camera 13, INS module 12, and second Bluetooth module 14 installed on the fire helmet. The second camera 13 is installed on the top of the fire helmet. The INS module 12 and the second Bluetooth module 14 are built inside the fire helmet. The second camera 13, INS module 12, and second Bluetooth module 14 are electrically connected. The first Bluetooth module is communicatively connected to the second Bluetooth module.

[0042] In another embodiment, as Figure 4 shown, the housing 7 has an installation space. The base 16 is located at the bottom of the installation space, and five cylindrical installation posts 17 are provided in the installation space.

[0043] As Figure 5 shown, the MCU 9, the first Bluetooth module 10, and the 5G communication module 11 are electrically connected to the display screen 8 and integrated on a circuit board 18. The first Bluetooth module 10 and the 5G communication module are installed below the display screen 8. The circuit board 18 is provided with five installation holes corresponding to the installation posts 17. The lower diameter of the installation posts is larger than that of the installation holes. After the circuit board 18 is installed on the housing 7, the upper sections of the installation posts pass through the installation holes and are fixed. The lower sections of the installation posts support the circuit board, making the circuit board 18 suspended and not in contact with the housing 7, reducing the transfer of external heat to the circuit board and protecting the circuit board 18.

[0044] An implementation process of the present utility model is as follows:

[0045] First, fly the drone 1 to the disaster area in advance. Deploy a stable and high-speed 5G communication network through the 5G base station 3 installed on the drone 1, and use the first camera on the drone 1 to understand important information such as the disaster situation and the locations of affected people in advance; Wear the plastic shell 7 on the hands of firefighters. The plastic shell 7 is used to protect the stable operation of the internal equipment of the positioning terminal 2. The display screen 8 module can be used to display the information sent by the drone and the command center, realizing the command of the command center to the firefighters and the perception of the environment by the firefighters. The MCU 9 is used to process the data collected by each module and drive the display screen 8 to display information. The first Bluetooth module 14 is used to send the data of the camera and the INS module 12 installed on the fire helmet to the second Bluetooth module 10. The second Bluetooth module 10 is used to transmit the received data to the MCU 9. The 5G communication module 11 is used to send the data collected by the MCU 9 and receive the information sent by the command center through the 5G base station of the drone 1, and transmit the received information to the MCU 9. The 5G communication module 11 is also used to obtain 5G positioning parameters while communicating with the drone 1, and then calculate the accurate position information of the firefighters by resolving the obtained parameters. The camera on the fire helmet is used to collect the environmental information of the firefighters. The INS module 12 is used to calculate the direction and attitude of the firefighters. After the parameters of the INS module 12 are resolved by the inertial navigation algorithm, the accurate position information of the firefighters can be obtained. The command center then performs extended Kalman filter fusion on the position information resolved by the 5G positioning of the firefighters and the position information resolved by the INS module 12 to obtain more accurate firefighter positioning data. Then, the command center sends the position information of the firefighters and the three-dimensional modeling environmental information obtained from the camera data to the positioning terminal 2 of the firefighters through the 5G communication network deployed by the drone 1 and displays it on the display screen 8, facilitating the firefighters to master the environmental situation of the disaster area and the command center to perform real-time dynamic positioning of the firefighters, realizing the accurate positioning, efficient command and risk prevention and control of the command center for the firefighters.

[0046] Although the implementation schemes of the present utility model have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes. It can be fully applied to various fields suitable for the present utility model. For those familiar with the field, additional modifications can be easily achieved.

Claims

1. A fire positioning system based on the combination of INS, 5G, and drones, characterized in that, Including: A rotary-wing unmanned aerial vehicle and a positioning terminal; The rotary-wing unmanned aerial vehicle is provided with a 5G base station and a first camera module, and the first camera module is arranged on the gimbal of the rotary-wing unmanned aerial vehicle; The data collected by the first camera module is wirelessly transmitted through the 5G base station; The positioning terminal includes a microprocessor module installed in a housing, a display screen, a first Bluetooth module and a 5G communication module electrically connected to the microprocessor module; and an inertial navigation system module, a second camera and a second Bluetooth module installed on a fire helmet; the inertial navigation system module, the second camera and the second Bluetooth module are electrically connected, and the first Bluetooth module communicates with the second Bluetooth module.

2. The fire positioning system based on the combination of INS, 5G and UAVs according to claim 1, characterized in that, The 5G base station and the unmanned aerial vehicle body are set as a detachable structure. The 5G base station has a hemispherical housing, and a conical recess is arranged at the center of the bottom of the housing, and the conical recess is sleeved and matched with a conical protrusion.

3. The fire positioning system based on the combination of INS, 5G, and UAVs according to claim 2, wherein The conical protrusion includes a conical boss and a rubber layer wrapped on the surface of the conical boss.

4. The fire positioning system based on the combination of INS, 5G and UAVs according to claim 1, characterized in that, The housing is set as a watch structure for easy wearing. The housing has an installation space, a heat insulation base is arranged at the bottom of the installation space, and a transparent cover plate is arranged at the top.

5. The fire positioning system based on the combination of INS, 5G and UAVs according to claim 4, characterized in that, Installation columns are respectively arranged at the four corners and the middle of the installation space. The installation columns are of a cylindrical structure and are divided into upper and lower sections. The upper section is thin and the lower section is thick.

6. The fire positioning system based on the combination of INS, 5G, and drones according to claim 4, characterized in that The front display part of the display screen is attached to the transparent cover plate of the plastic housing. The microprocessor module, the first Bluetooth module and the 5G communication module are electrically connected to each other and integrated on a circuit board; the first Bluetooth module and the 5G communication module are located below the display screen. The circuit board is provided with installation holes corresponding to the installation columns. The diameter of the lower section of the installation column is larger than that of the installation holes. After the circuit board is installed on the installation column, the lower section supports the circuit board, making the circuit board suspended.

7. The fire positioning system based on the combination of INS, 5G, and drones according to claim 4, wherein, The second camera is installed on the top of the fire helmet, and the inertial navigation system module and the second Bluetooth module are installed inside the helmet and are electrically connected to the second camera.

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