CN207367052U - A kind of life detection car, wearable device and virtual reality detection system - Google Patents
A kind of life detection car, wearable device and virtual reality detection system Download PDFInfo
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- CN207367052U CN207367052U CN201721054695.7U CN201721054695U CN207367052U CN 207367052 U CN207367052 U CN 207367052U CN 201721054695 U CN201721054695 U CN 201721054695U CN 207367052 U CN207367052 U CN 207367052U
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Abstract
A kind of life detection car, wearable device and virtual reality detection system, life detection car includes vehicle main body, life-detection instrument, sensor assembly, at least four cameras and processor, vehicle main body is provided with the running assembly of driving life detection car traveling, and processor is connected with running assembly, life-detection instrument, sensor assembly and all cameras.The surrounding environment image that can be shot due to the application by the range information and camera for sign of life, the life detection car that sensor assembly detects and the surrounding objects that life-detection instrument detects, under the control of a processor, so that direction automatic running of the life detection car towards sign of life, search person in distress and its accurate location, rescue personnel is allowed in the place away from hazardous environment, the information that life detection car is passed back can be received by wearable device, understand site environment as on the spot in person, the decision of next step action is precisely made, reduces unnecessary casualties.
Description
Technical field
The present invention relates to disaster assistance equipment technology field, and in particular to a kind of life detection car, wearable device and void
Intend real detection system.
Background technology
The generation of natural calamity brings the event of huge economic losses and casualties, common natural calamity bag to the mankind
Include geological disaster, such as earthquake, landslide, mud-rock flow；Meteorological disaster, such as bloods and droughts, cold wave, typhoon；Oceanic disasters etc..
When disaster occurs, the life of people is most important, how to hold disaster relief obtain gold 72 it is small when, save as far as possible
More life are top priorities.Existing rescue mode generally requires rescue personnel and enters disaster field, manually searches life
Sign.But due to the environmental hazard of rescue site, secondary disaster can all occur at any time, and there are huge for the personal safety to rescue personnel
It is big to threaten.
The content of the invention
In order to protect the safety of rescue personnel, the application provides a kind of life detection car, wearable device and virtual reality
Detection system, the life detection car can detect sign of life automatically into hazardous environment, search out the position of person in distress, allow rescue
Personnel in the place away from hazardous environment, it is on the spot in person as understand scene, then while reduce unnecessary casualties, and
When, accurately rescued, it is as far as possible to save more life more.
According in a first aspect, provide a kind of life detection car in a kind of embodiment, including：
Vehicle main body, is provided with the running assembly of driving life detection car traveling, wherein, running assembly includes at least wheel；
Life-detection instrument, is arranged in vehicle main body, for detecting sign of life, and exports corresponding data, the data packet
Include sign of life characteristic information and its azimuth information；
Sensor assembly, is arranged in vehicle main body, and the sensor assembly includes at least：Radar and ultrasonic sensor,
For detecting the range information of life detection car and surrounding objects；
At least four cameras, are arranged in vehicle main body, for shooting the image of surrounding environment；
Processor, be arranged at in vehicle main body, with the running assembly, life-detection instrument, sensor assembly and at least four
A camera is connected, and for receiving the data of life-detection instrument output, according to the azimuth information, controls the running assembly
Action is so as to drive life detection car towards sign of life direction running；And the distance for being detected according to the sensor assembly is believed
Breath and the view data of at least four camera shooting, are positioned and are built map, for life probe vehicles planning traveling road
Line, controls life detection car automatic running；It is additionally operable to from described image data, identifies the image of people.
According to second aspect, a kind of wearable device is provided in a kind of embodiment, including：
Data reception module, for receiving the person in distress and its position letter that life detection car identifies as described in relation to the first aspect
Breath；
VR display modules, are connected with the data reception module, for rebuilding the person in distress in reality environment
And its positional information, and carry out video playing.
According to the third aspect, a kind of virtual reality detection system is provided in a kind of embodiment, including as described in relation to the first aspect
Life detection car and the wearable device as described in second aspect.
According to above-described embodiment, the life that can be detected due to the life detection car that the application provides by life-detection instrument
The environmental view of range information and the camera shooting of sign, the life detection car of sensor assembly detection and surrounding objects
Picture, under the control of a processor so that life detection car searches person in distress and its standard towards the direction automatic running of sign of life
True position, allow rescue personnel away from hazardous environment place, it is on the spot in person as understand site environment, precisely make in next step
The decision of action, reduces unnecessary casualties.
Brief description of the drawings
Fig. 1 is a kind of life detection bassinet structure schematic diagram that a kind of embodiment provides；
Fig. 2 is a kind of a kind of composition frame chart of life detection car of offer of embodiment；
Fig. 3 is camera, processor and the data outputting module group of a kind of a kind of life detection car of offer of embodiment
Into block diagram；
Fig. 4 is a kind of a kind of composition frame chart for wearable device that embodiment provides；
Fig. 5 is a kind of virtual reality detection system that the application provides.
Embodiment
The present invention is described in further detail below by embodiment combination attached drawing.Wherein different embodiments
Middle similar component employs associated similar element numbers.In the following embodiments, many detailed descriptions be in order to
The application is better understood.However, those skilled in the art can be without lifting an eyebrow recognize, which part feature
It is dispensed, or can be substituted by other elements, material, method in varied situations.In some cases, this Shen
Please relevant certain operations not in the description show or describe, this is the core in order to avoid the application by mistake
More descriptions are flooded, and to those skilled in the art, be described in detail these relevant operations be not it is necessary, they
The general technology knowledge of description and this area in specification can completely understand relevant operation.
In addition, feature described in this description, operation or feature can combine to form respectively in any suitable way
Kind embodiment.Meanwhile each step in method description or action can also can be aobvious and easy according to those skilled in the art institute
The mode carry out order exchange or adjustment seen.Therefore, the various orders in specification and drawings are intended merely to clearly describe a certain
A embodiment, is not meant to be necessary order, wherein some sequentially must comply with unless otherwise indicated.
Please refer to Fig.1 and Fig. 2, a kind of life detection car provided for the application, including：Vehicle main body 1, life-detection instrument
70th, sensor assembly 50, at least four cameras 20 and processor 10.
Vehicle main body 1 is provided with the running assembly 60 of driving life detection car traveling.Wherein, running assembly 60 includes at least car
Wheel 61, in some embodiments, wheel 61 is universal wheel, wheel 61 can 360 degree flexibly turn to.
Life-detection instrument 70 is arranged in vehicle main body 1, for detecting sign of life, and is exported corresponding data and is stated data and include
Sign of life characteristic information and its azimuth information, wherein, sign of life characteristic information includes at least：Respiratory characteristic or infra-red radiation
Feature.As long as any object temperature can all produce infra-red radiation more than absolute zero, human body is also the natural source of infrared radiation.
But the infrared signature of human body is different from the infrared signature of surrounding environment, infrared life-detection instrument is exactly it using them
Between difference, the target to be searched for and background are separated in a manner of imaging.Moaned by the faint such as captive of Underground
The audio frequency sound and vibration wave of generation such as chant, call out, creeping, beaing, life-detection instrument 70 may determine that life whether there is.
Sensor assembly 50 is arranged in vehicle main body 1, and sensor assembly 50 includes at least：Radar and ultrasonic sensor,
For detecting the range information of life detection car and surrounding objects.Different from this passive avoidance mode of infrared obstacle avoidance, the application
Using avoiding obstacles by supersonic wave and radar avoidance, avoiding obstacles by supersonic wave can monitor long range ultrasonic sensor in real time, be life detection
Car searches for open path.When with a certain distance from life detection car also has from barrier, ultrasonic sensor is just able to detect that phase
Information is closed, and control life detection car leaves accordingly；Radar avoidance can be considered at the same time due to the distance measurement technique based on laser
Required precision and rate request, and laser radar is adusk more preferable apart from detection result, is relatively suitable for disaster assistance
Environment, because disaster assistance usually needs to carry out in the bad environment of light.
At least four cameras 20 are arranged in vehicle main body 1, for shooting the image of surrounding environment.Do not stayed extremely to shoot
Angle, which is fish-eye camera, and sliceable captured image is 360 degree of images of panorama, it is thus understood that
The situation of every nook and cranny around life detection car, avoids the occurrence of the situation that person in distress is missed rescue.
Processor 10 be arranged at in vehicle main body, with running assembly 60, life-detection instrument 70, sensor assembly 50 and at least
Four cameras 20 are connected, and for receiving the data of the output of life-detection instrument 70, according to the azimuth information, control running assembly
60 actions are so as to drive life detection car towards sign of life direction running；And the distance for being detected according to sensor assembly 50 is believed
Breath and the view data of at least four camera 20 shooting, are positioned and are built map, for life probe vehicles planning traveling road
Line, controls life detection car automatic running；It is additionally operable to from the view data of at least four camera 20 shooting, identifies people
Image.
It can be seen from the above that the life detection car provided due to the application can by sign of life that life-detection instrument detects,
The surrounding environment image of range information and the camera shooting of the life detection car and surrounding objects of sensor assembly detection, is locating
Under the control for managing device so that life detection car searches person in distress and its accurate location towards the direction automatic running of sign of life,
Allow rescue personnel away from hazardous environment place, it is on the spot in person as understand site environment, precisely make next step action
Determine, reduce unnecessary casualties.
In some embodiments, vehicle main body 1 includes front and rear, and front and rear is respectively arranged with two cameras, its
In, the view data of the camera shooting at anterior camera and rear portion can spell after merging algorithm for images is handled
Practice midwifery and give birth to 360 degree of images of a panorama, therefore, the view data of at least four cameras 20 shooting of the application is through image mosaic
After can produce at least two panoramas, 360 degree of images.In the specific implementation, the master for two cameras that front and rear is set respectively
Optical axis is horizontal direction.
Specifically, include with reference to figure 2, processor 10：Object-recognition unit 17 and unmanned unit 18.Target identification list
The view data that member 17 is shot according to camera 20, identifies person in distress and its positional information.Unmanned unit 18 includes SLAM
Module, the life detection car and the range information of surrounding objects and be somebody's turn to do that unmanned unit 18 can be detected according to sensor assembly 50
The image of at least four cameras 20 shooting, is positioned and is built map, and plans travel route, control row for life probe vehicles
Sail component 60 and carry out corresponding actions so that life detection car automatic running.In some embodiments, processor 10 further includes：Avoidance
Unit 19, avoidance unit 19 are used for the range information of the life detection car and surrounding objects detected according to sensor assembly 50, hair
Go out control signal control running assembly 60 and acted timely avoidance accordingly.
As shown in Fig. 2, the life detection car of the application further includes：Data outputting module 40, data outputting module 40 and place
Reason device 10 is connected, for being wirelessly transferred the person in distress recognized and its positional information.
With reference to figure 3, in some embodiments, the life detection car of the application further includes：GPS positioning module 30, GPS positioning
Module 30 is connected with processor 10, for obtaining the current geographic position information of life detection car in real time；Wherein, processor 10
Further include：Image processing module 12, deep learning module 13 and depth of field detection module 14.
Image processing module 12 is used to obtain the view data that all cameras 20 are shot, and utilizes existing image mosaic
Algorithm carries out image mosaic, generates at least two panoramas, 360 degree of images.In one embodiment, image processing module 12 also wraps
Vision module is included, which is used for before the image that image processing module 12 shoots all cameras 20 splices,
First carry out pretreatment of the anti-distortion with going noise.
Deep learning module 13 is connected with image processing module 12, for using deep learning algorithm according to this at least two
A 360 degree of images of panorama, identify person in distress's image and its local environment image.The concept of deep learning comes from artificial neural network
Research, be to establish, simulate the neutral net that human brain carries out analytic learning, data are explained by imitating the mechanism of human brain,
Deep learning forms more abstract high-rise expression attribute classification or feature by combining low-level feature, to find view data
Distributed nature represents, person in distress is preset in image so as to identify.
360 degree of images of panorama that foregoing image processing module 12 generates, are the image of 2D, can not therefrom know each identification
The depth of view information of person in distress out, can not just extrapolate the specific locus of each object.Depth of field detection module 14 and figure
As processing module 12 is connected with deep learning module 13, compares at least two panorama, 360 degree of images, utilize triangle imaging method
Then, the depth of view information for the person in distress that deep learning module 13 recognizes can be obtained.According to the depth of view information, so that it may calculate person in distress
With the relative position information of life detection car, the geographical location information for the life detection car that GPS positioning module 30 obtains is being combined,
It can obtain the accurate geographical location information of person in distress.For example, the current geographic position of life detection car is<xa,ya,za>, and meet
The depth of view information of dangerous person is<xb,yb,zb>, then the accurate geographical location of person in distress is<xa+xb,ya+yb, za+zb>.
In one embodiment, processor 10 further includes：Data Integration module 16, Data Integration module 16 and deep learning mould
Block 13, depth of field detection module 14 are connected with GPS positioning module 30, are recognized according to the deep learning module 13 in danger
The current geographic position information that the depth of view information and GPS positioning module 30 that person, depth of field detection module 14 are calculated obtain, utilizes
Existing video production algorithm, generates 360 degree of video flowings of a panorama, and 360 degree of video flowings of the panorama include the sign of person in distress
Information and geographical location information.During specific embodiment, 360 degree of video fluxions of the panorama are wirelessly transferred by data outputting module 40
According to.Processor 10, which further includes, builds mapping module so that the beacon information and its geographical location information of person in distress is in video with ground
The formal presentation of figure.
It can be seen from the above that the application on 360 degree of videos of panorama by being superimposed current geographic position information, person in distress indicates letter
Breath and depth of view information and person in distress's local environment information, can help rescue personnel to face it in the place away from hazardous environment, body
Scene is understood as border, the position in danger of precise positioning person in distress, makes more rationally efficient rescue deployment, avoid the occurrence of
Unnecessary casualties, ensures the personal safety of rescue personnel.
With reference to figure 4, correspondingly, the application also provides a kind of wearable device, including：Data reception module 24 and VR are shown
Show module 20, regular display 21 is further included in some embodiments, the following detailed description of.
Data reception module 24 is used to receive person in distress and its positional information that above-mentioned life detection car identifies.At some
In embodiment, reception is that above-mentioned data outputting module 40 is wirelessly transferred and to include the beacon information of person in distress and geographical location
360 degree of video flowings of panorama of information.
VR display modules 20 are used to rebuild person in distress's information and its positional information in reality environment, and carry out video
Play.In certain embodiments, the beacon information and geographical location information of person in distress is included for being rebuild in reality environment
360 degree of video flowings of panorama, and carry out video playing.
Common display module 21 is connected with data reception module 24, for playing the panorama 360 by regular display
Video flowing is spent, so that rescue personnel observes the position of person in distress.
By dressing the wearable device (such as VR glasses), it may be such that rescue personnel demarcates the position of person in distress in advance, obtain
Accurately rescue information is taken, avoids entering hazardous environment rashly, unpredictable dangerous situation occurs, cause the unnecessary person
Injures and deaths.
With reference to figure 5, based on above-mentioned life detection car and wearable device, present invention also provides a kind of detection of virtual reality
System, the virtual reality detection system include：Above-mentioned life detection car and wearable device.
In conclusion in conclusion the virtual reality detection system can by wearable device receive life detection car without
360 degree video flowings of panorama of line transmission, local net cast person in distress outside remote hazardous environment environmental aspect in danger,
Site environment is understood as on the spot in person, and real-time rescue site map can be established so that rescue personnel has rescue site
It is apparent from, so as to precisely make the decision of next step action, avoids the occurrence of unnecessary casualties.
Use above specific case is illustrated the present invention, is only intended to help and understands the present invention, not limiting
The system present invention.For those skilled in the art, according to the thought of the present invention, can also make some simple
Deduce, deform or replace.
Claims (7)
- A kind of 1. life detection car, it is characterised in that including：Vehicle main body, is provided with the running assembly of driving life detection car traveling, wherein, running assembly includes at least wheel；Life-detection instrument, is arranged in vehicle main body, for detecting sign of life, and exports corresponding data, and the data include life Order sign characteristic information and its azimuth information；Sensor assembly, is arranged in vehicle main body, and the sensor assembly includes at least：Radar and ultrasonic sensor, are used for Detect the range information of life detection car and surrounding objects；At least four cameras, are arranged in vehicle main body, for shooting the image of surrounding environment；Processor, is arranged at in vehicle main body, being taken the photograph with the running assembly, life-detection instrument, sensor assembly and at least four As head is connected, for receiving the data of life-detection instrument output, according to the azimuth information, the running assembly is controlled to act So as to drive life detection car towards sign of life direction running；And for according to the sensor assembly detect range information and The view data of at least four cameras shooting, is positioned and is built map, and travel route, control are planned for life probe vehicles Life detection car automatic running processed；It is additionally operable to from described image data, identifies the image of people.
- 2. life detection car as claimed in claim 1, it is characterised in that further include：Data outputting module, the data output Module is connected with processor, for being wirelessly transferred the person in distress recognized and its positional information.
- 3. life detection car as claimed in claim 1, it is characterised in that further include：GPS positioning module, the GPS positioning mould Block is connected with processor, for obtaining the current geographic position information of life detection car in real time.
- 4. life detection car as claimed in claim 1, it is characterised in that the processor is used to be detected according to sensor assembly Life detection car and surrounding objects range information, send control signal control running assembly and carry out corresponding action avoidance.
- 5. life detection car as claimed in claim 1, it is characterised in that the vehicle main body includes front and rear, it is anterior and Rear portion is respectively arranged with two cameras, wherein, the picture number of the camera shooting at anterior camera and rear portion According to that can produce 360 degree of images of a panorama after image mosaic, the view data of at least four cameras shooting is through image At least two panoramas, 360 degree of images can be produced after splicing.
- A kind of 6. wearable device, it is characterised in that including：Data reception module, for receiving person in distress and its position letter that life detection car as claimed in claim 1 identifies Breath；VR display modules, are connected with the data reception module, for rebuilding person in distress's information in reality environment And its positional information, and carry out video playing.
- 7. a kind of virtual reality detection system, it is characterised in that including life detection car as claimed in claim 1 and such as right It is required that the wearable device described in 6.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107329478A (en) * | 2017-08-22 | 2017-11-07 | 深圳普思英察科技有限公司 | A kind of life detection car, wearable device and virtual reality detection system |
| US10390003B1 (en) | 2016-08-29 | 2019-08-20 | Perceptln Shenzhen Limited | Visual-inertial positional awareness for autonomous and non-autonomous device |
| US10437252B1 (en) | 2017-09-08 | 2019-10-08 | Perceptln Shenzhen Limited | High-precision multi-layer visual and semantic map for autonomous driving |
| US10794710B1 (en) | 2017-09-08 | 2020-10-06 | Perceptin Shenzhen Limited | High-precision multi-layer visual and semantic map by autonomous units |
| CN112379384A (en) * | 2020-11-10 | 2021-02-19 | 浙江华消科技有限公司 | Object position determining method and device |
| US11328158B2 (en) | 2016-08-29 | 2022-05-10 | Trifo, Inc. | Visual-inertial positional awareness for autonomous and non-autonomous tracking |
| US11774983B1 (en) | 2019-01-02 | 2023-10-03 | Trifo, Inc. | Autonomous platform guidance systems with unknown environment mapping |
| US11842500B2 (en) | 2016-08-29 | 2023-12-12 | Trifo, Inc. | Fault-tolerance to provide robust tracking for autonomous and non-autonomous positional awareness |
| US11953910B2 (en) | 2016-08-29 | 2024-04-09 | Trifo, Inc. | Autonomous platform guidance systems with task planning and obstacle avoidance |
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2017
- 2017-08-22 CN CN201721054695.7U patent/CN207367052U/en active Active
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10390003B1 (en) | 2016-08-29 | 2019-08-20 | Perceptln Shenzhen Limited | Visual-inertial positional awareness for autonomous and non-autonomous device |
| US11328158B2 (en) | 2016-08-29 | 2022-05-10 | Trifo, Inc. | Visual-inertial positional awareness for autonomous and non-autonomous tracking |
| US11842500B2 (en) | 2016-08-29 | 2023-12-12 | Trifo, Inc. | Fault-tolerance to provide robust tracking for autonomous and non-autonomous positional awareness |
| US11900536B2 (en) | 2016-08-29 | 2024-02-13 | Trifo, Inc. | Visual-inertial positional awareness for autonomous and non-autonomous tracking |
| US11953910B2 (en) | 2016-08-29 | 2024-04-09 | Trifo, Inc. | Autonomous platform guidance systems with task planning and obstacle avoidance |
| CN107329478A (en) * | 2017-08-22 | 2017-11-07 | 深圳普思英察科技有限公司 | A kind of life detection car, wearable device and virtual reality detection system |
| US10437252B1 (en) | 2017-09-08 | 2019-10-08 | Perceptln Shenzhen Limited | High-precision multi-layer visual and semantic map for autonomous driving |
| US10794710B1 (en) | 2017-09-08 | 2020-10-06 | Perceptin Shenzhen Limited | High-precision multi-layer visual and semantic map by autonomous units |
| US11774983B1 (en) | 2019-01-02 | 2023-10-03 | Trifo, Inc. | Autonomous platform guidance systems with unknown environment mapping |
| CN112379384A (en) * | 2020-11-10 | 2021-02-19 | 浙江华消科技有限公司 | Object position determining method and device |
| CN112379384B (en) * | 2020-11-10 | 2024-04-09 | 浙江华消科技有限公司 | Object position determining method and device |
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