CN105388458A - Spherical sensor and detecting system - Google Patents
Spherical sensor and detecting system Download PDFInfo
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- CN105388458A CN105388458A CN201510811196.7A CN201510811196A CN105388458A CN 105388458 A CN105388458 A CN 105388458A CN 201510811196 A CN201510811196 A CN 201510811196A CN 105388458 A CN105388458 A CN 105388458A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/20—Position of source determined by a plurality of spaced direction-finders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/183—Emergency, distress or locator beacons
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Abstract
The invention discloses a spherical sensor. The spherical sensor comprises at least two sound collection modules which are arranged in different orientations in a spherical housing and are used for collecting sound signals in preset ranges and sending the sound signals to a sound intensity detection module. The sound intensity detection module is used for detecting the sound intensity of the sound signals collected by different sound collection modules and sending the sound intensity to a central processing module. The central processing module is used for judging the orientation of the sound collection module corresponding to the sound signal highest in sound intensity and sending out a movement control instruction for moving towards the orientation. A movement control module is used for controlling the spherical sensor to move towards the orientation according to the movement control instruction. The invention further discloses a detecting system which is capable of rapidly finding a target object in a complex environment.
Description
Technical field
The present invention relates to detecting field, particularly relate to a kind of spherical sensor and detecting system.
Background technology
Spherical sensor is by camera being installed in a spherical shell detecting instrument realizing detecting, because spherical sensor bulk is little, portable, and enter in narrow and small or complicated space by the method for throwing, be thus applicable to cave, the detection of disaster field or other complicated geographical environments and investigation.
In the ruins that the disasteies such as earthquake cause, carry out the wounded when succouring, due to the complexity that environment facies are worked as, barrier is ubiquitous, how in the geographical environment of complexity, to search out the problem that the wounded are overriding concerns rapidly.Although existing spherical sensor can to enter in ruins and to gather corresponding image to obtain the situation in ruins, but spherical sensor itself does not also know the particular location of the wounded, although can move and search by controlling spherical sensor, but when space, ruins is larger or landform more complicated time, the longer time may be needed just to search out the wounded, be unfavorable for rescuing in time.
Summary of the invention
The object of the present invention is to provide a kind of spherical sensor and detecting system, in complex environment, the wounded can be found fast, thus launch rescue action in time.
The invention provides a kind of spherical sensor, comprise spherical shell and be arranged at least two sound acquisition module, intensity of sound detection module, central processing module and the motion-control module in described spherical shell, wherein:
At least two described sound acquisition module, are arranged in the different azimuth in described spherical shell, for gathering the voice signal in preset range, and described voice signal are sent to described intensity of sound detection module;
Described intensity of sound detection module, for detecting the intensity of sound of the voice signal that alternative sounds acquisition module gathers, and sends to described central processing module by described intensity of sound;
Described central processing module, for judging the orientation at the sound acquisition module place that the maximum voice signal of intensity of sound is corresponding, and sends the motion control instruction of carrying out towards described orientation moving to described motion-control module;
Described motion-control module, moves along described orientation for controlling described spherical sensor according to described motion control instruction.
Preferably, described sound acquisition module is mini microphone, and at least two described sound acquisition module are fixed on the different azimuth on the inwall of described spherical shell.
Preferably, described spherical sensor also comprises image capture module, for gathering the view data in the visual field.
Preferably, described image capture module is fish eye lens.
Preferably, described spherical sensor also comprises signal transmitting and receiving module and sound broadcasting module,
Described signal transmitting and receiving module, for receiving the voice signal that outside control terminal sends;
Described sound broadcasting module, for playing the voice signal from described control terminal of described signal transmitting and receiving module transfer.
Preferably, described spherical sensor also comprises orientation detection module;
Described orientation detection module, for determine described image capture module current towards; Wherein, described orientation detection module and described image capture module have identical towards, and by obtain self towards determine described image capture module current towards.
Preferably, described orientation detection module is gyroscope.
Preferably, described spherical sensor also comprises expansion plate, described spherical shell comprises the first hemisphere and the second hemisphere, described image capture module is arranged in the first hemisphere of described spherical shell, described expansion plate is arranged in the second hemisphere of described spherical shell, and the center of gravity of described spherical sensor is positioned at the space that described second hemisphere is formed.
Preferably, described spherical sensor also comprises at least one light source, and described light source is arranged on described first hemisphere, and around described image capture module.
Present invention also offers a kind of detecting system, comprise control terminal and above-mentioned spherical sensor.
The spherical sensor that the embodiment of the present invention provides and detecting system, the intensity of sound of the voice signal that multiple sound acquisition module gathers is detected by described intensity of sound detection module, described central processing module determines the relative orientation of described spherical sensor and sound source according to intensity of sound, and control described spherical sensor constantly near sound source by sending the motion control instruction of carrying out moving towards described relative orientation, thus can to sound source, make rescue personnel can launch rescue action in time by fast searching in environment with a varied topography.
Accompanying drawing explanation
Fig. 1 is the structural representation of the spherical sensor that the embodiment of the present invention provides.
Fig. 2 is the structural representation arranging multiple sound acquisition module on spherical shell.
Fig. 3 is the structural representation arranging image capture module and light source on spherical shell.
Fig. 4 is the internal module connection diagram of the spherical sensor that the embodiment of the present invention provides.
Fig. 5 is the schematic diagram in the center of gravity district of the spherical sensor that the embodiment of the present invention provides.
Fig. 6 is the structural representation of the detecting system that the embodiment of the present invention provides.
Fig. 7 is the schematic diagram of the display interface of the control terminal shown in Fig. 6.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Refer to Fig. 1, the spherical sensor of the one that the embodiment of the present invention provides, described spherical sensor 100 comprises spherical shell 10 and is arranged at least two sound acquisition module 20, intensity of sound detection module 30, central processing module 40 and the motion-control module 50 in described spherical shell 10, wherein:
Described spherical shell 10, for accommodating described sound acquisition module 20, intensity of sound detection module 30, central processing module 40 and motion-control module 50.
Particularly; described spherical shell 10 can by having stronger waterproof, the material of shake-proof ability makes (as metal or alloy material etc.); thus the modules of protection inside is from the infringement of the impurity such as external force and aqueous vapor; and described spherical shell 10 is arranged to chondritic, described spherical sensor 100 can be made to roll with less friction force.
Described at least two sound acquisition module 20, are arranged in the different azimuth in described spherical shell 10, for gathering the voice signal in preset range, and described voice signal are sent to described intensity of sound detection module 30.
In embodiments of the present invention, described sound acquisition module 10 can be a mini microphone, and it can be fixed on the inwall of described spherical shell 10, and gathers the voice signal in preset range.
In embodiments of the present invention, especially, for the situation of succouring in the ruins of causing in disaster, because the wounded are often positioned at ruins, call for help, due to blocking of ground iff by simple, rescue personnel can't hear the emergency sound of the wounded, the wounded also can't hear the sound of rescue personnel, cannot realize exchanging of the wounded and rescue personnel, be unfavorable for bailout expansion.The embodiment of the present invention, by increasing described sound acquisition module 10 in described spherical shell 10, when described spherical sensor 100 is positioned at ruins, can gather the voice signal of the wounded.
In embodiments of the present invention, in order to determine the relative orientation of described spherical sensor 100 and sound source (as the wounded), the quantity of described sound acquisition module 20 is multiple, and these sound acquisition module 20 are distributed on the diverse location of described spherical sensor 100.Such as, as shown in Figure 2, described sound acquisition module 20 is fixed on the inwall of described spherical shell 10, and is positioned at different orientation.Such as, orientation, four, all directions can be arranged at respectively, certainly, in order to obtain more accurate azimuth information, also can in the southeast, northeast, each orientation such as northwest arrange multiple sound acquisition module 20, the present invention is not specifically limited.
Particularly, time in sound collection process, due to sound propagate in atmosphere time, the distance of its intensity of sound and sound source is inversely proportional to, thus, can learn the nearest of sound acquisition module 20 that the voice signal with maximum acoustic intensity is corresponding and sound source, namely namely the orientation at this sound acquisition module 20 place is roughly the orientation at described sound source place.
Described intensity of sound detection module 30, for detecting the intensity of sound of the voice signal that alternative sounds acquisition module 20 gathers, and sends to described central processing module 40 by described intensity of sound.
In embodiments of the present invention, described intensity of sound detection module 30 can be a decibelmeter or other are for detecting the circuit of intensity of sound, it can be used for the voice signal that described in reception, at least two sound acquisition module 20 gather, and detects the intensity of sound of described voice signal.
In embodiments of the present invention, described intensity of sound, after the intensity of sound detecting each voice signal, is sent to central processing module 40 by described intensity of sound detection module 30 in the lump.
Described central processing module 40, for judging the orientation at the sound acquisition module place that the maximum voice signal of intensity of sound is corresponding, and sends the motion control instruction of carrying out towards orientation, place moving to described motion-control module 50.
In embodiments of the present invention, described central processing module 40 can be a central processing unit (CPU, CentralProcessingUnit) or micro-control unit (MicrocontrollerUnit; MCU), it can prestore the orientation at each sound acquisition module 20 place, such as, can be numbered each sound acquisition module 20, the corresponding orientation of each numbering.After described central processing module 40 receives the intensity of sound of described intensity of sound detection module 30 transmission, described central processing module 40 judges the maximal value in these intensities of sound, and after obtaining the orientation at sound acquisition module 20 place corresponding to the maximum voice signal of intensity of sound, send the motion control instruction of carrying out towards described orientation moving to described motion-control module 50.Such as, that supposes that described central processing module 40 judges the sound acquisition module 20 that the voice signal of the maximal value in these intensities of sound is corresponding is numbered 1, and the orientation being numbered 1 correspondence is direction, due east, then described motion-control module 50 sends the motion control instruction of carrying out towards due east moving.
Described motion-control module 50, moves for controlling described spherical sensor 100 according to described motion control instruction.
In embodiments of the present invention, described motion-control module 50 can be combined by motor and corresponding movement arm and control described spherical sensor 100 entirety and move.As described in motion-control module 50 can according to as described in motion control instruction control as described in spherical sensor 100 carry out the rolling of all directions, and the mode of motion such as original place rotation.
In embodiments of the present invention, particularly, in an application scenarios, after the transmission of sound signals that multiple sound acquisition module 20 gathers gives described intensity of sound detection module 30, described intensity of sound detection module 30 detects the intensity of sound of described voice signal, the orientation with sound acquisition module 20 place of maximum acoustic intensity is obtained again by described central processing module 40, and send the motion control instruction of to carry out towards orientation, place moving to described motion-control module 50, described motion-control module 50 controls described spherical sensor 100 entirety according to described motion control instruction and moves, with continuous near sound source.Wherein, in motion process, described central processing module 40 can be revised the orientation of motion in real time, ensures the position advancing to sound source place with the shortest path, thus launches rescue action in time.
In sum, the spherical sensor 100 that the embodiment of the present invention provides, the intensity of sound of the voice signal that multiple sound acquisition module 20 gathers is detected by described intensity of sound detection module 30, described central processing module 40 determines the relative orientation of described spherical sensor 100 and sound source according to intensity of sound, and control described spherical sensor 100 constantly near sound source by sending the motion control instruction of carrying out moving towards orientation, place, can to sound source, make rescue personnel can launch rescue action in time by fast searching in environment with a varied topography.
See also Fig. 3 and Fig. 4, it should be noted that, in embodiments of the present invention, described spherical sensor 100 also comprises image capture module 60 and signal transmitting and receiving module 70, wherein:
Described image capture module 60, for gathering the view data in the visual field.
Described signal transmitting and receiving module 70, for giving outside control terminal by described image data transmission.
Particularly, described image capture module 60 can gather the view data in the visual field, and by described signal transmitting and receiving module 70 by described image data transmission to control terminal, described control terminal receives and shows view data, thus the current environment of described spherical sensor 100 can be obtained, so can control described spherical sensor 100 avoiding obstacles and move.
It should be noted that, in embodiments of the present invention, described image capture module 60 can be fish eye lens, described fish-eye focal length can be 16mm or shorter, its have visual angle close to or equal the wide-angle lens of 180 °, so can not need to arrange multiple common lens by means of only a fish eye lens just can obtain large-scale visual angle, save electric quantity consumption and reduce the volume of spherical sensor 100 entirety, for the situation that complex environment obstacle is intensive provides image acquisition condition more easily.
It should be noted that, in embodiments of the present invention, described signal transmitting and receiving module 70 can be WiFi module, 2G module, 3G module, 4G module, bluetooth module etc., the present invention is not specifically limited, in addition, the voice signal that described sound acquisition module 20 gathers also is transferred to described control terminal by described signal transmitting and receiving module 70, thus rescue personnel can link up according to described voice signal and the wounded, and understands wounded's real-time condition.
It should be noted that, in embodiments of the present invention, described spherical sensor 100 also comprises at least one light source 80, and described light source 80 is arranged on described spherical shell 10, and around described image capture module 60.Described light source 80 can be LED, and it can be described image capture module 60 and provides lighting condition in dark surrounds, ensures that image capture module 60 can carry out image acquisition under the illumination of appropriateness.
It should be noted that, in embodiments of the present invention, described spherical sensor 100 also comprises sound broadcasting module 90.Described sound broadcasting module 90 can be loudspeaker, wherein, described signal transmitting and receiving module 70 also can receive the voice signal that described control terminal sends, described sound broadcasting module 90 can be used for playing described voice signal, so, rescue personnel exchanges with the wounded by described sound broadcasting module 90, obtains the present situation of the wounded, to formulate rescue strategies.
It should be noted that, in embodiments of the present invention, described spherical sensor 100 also comprises orientation detection module 91, described orientation detection module 91 for determine described image capture module 60 current towards.
Particularly, described orientation detection module 91 can be a gyroscope, and when its principle of work is objects at high speed rotation, angular momentum is very large, and turning axle can stablize sensing direction always.Due to described orientation detection module 91 and described image capture module 60 have identical towards, thus described orientation detection module 91 towards i.e. described image capture module 60 current towards.
In embodiments of the present invention, described spherical sensor 100 also comprises power module 92, and described central processing module 40 is electrically connected with described sound acquisition module 20, intensity of sound detection module 30, central processing module 40, motion-control module 50, image capture module 60, signal transmitting and receiving module 70, sound broadcasting module 90, orientation detection module 91 and power module 92.In embodiments of the present invention, described central processing module 40 is the control axis system of described spherical sensor 100, also be the control center of logical gate, various signal (as voice signal, view data) and steering order (as motion control instruction) be all by as described in central processing module 40 process after send to corresponding module again.
See also Fig. 5, it should be noted that, described spherical sensor 100 also comprises expands plate 93, described spherical shell 10 comprises the first hemisphere and the second hemisphere, described image capture module 60 is arranged in the first hemisphere of described spherical shell 10, described expansion plate 93 and described power module 92 are arranged in the second hemisphere of described spherical shell 10, and the space making the center of gravity of described spherical sensor 100 be positioned at described second hemisphere to be formed.So, the camera lens part of described image capture module 60 can be ensured all the time upward.
See also Fig. 6, the embodiment of the present invention also provides a kind of detecting system, and described detecting system comprises the spherical sensor 100 described in control terminal 200 and above-mentioned any embodiment.Described spherical sensor 100 can to described control terminal transmission voice signal, intensity of sound and view data, described control terminal 200 can be used for receiving described voice signal, intensity of sound and view data, and carries out the display of view data, the broadcasting etc. of voice signal.
As shown in Figure 7, Fig. 7 is the display interface of described control terminal 200, corresponding control knob is provided with in display interface, rescue personnel can according to control knob to described spherical sensor 100 sending controling instruction, as spherical sensor 100 as described in controlling carries out taking pictures, records a video, opens light source 80, cuts out light source 80 etc., in addition, also can obtain the azimuthal coordinates of described spherical sensor 100 motion, thus the azimuthal coordinates of sound source (i.e. the wounded) can be found, so, achieve and rescue fast.
The above is the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications are also considered as protection scope of the present invention.
Claims (10)
1. a spherical sensor, is characterized in that, comprises spherical shell and is arranged at least two sound acquisition module, intensity of sound detection module, central processing module and the motion-control module in described spherical shell, wherein:
At least two described sound acquisition module, are arranged in the different azimuth in described spherical shell, for gathering the voice signal in preset range, and described voice signal are sent to described intensity of sound detection module;
Described intensity of sound detection module, for detecting the intensity of sound of the voice signal that alternative sounds acquisition module gathers, and sends to described central processing module by described intensity of sound;
Described central processing module, for judging the orientation at the sound acquisition module place that the maximum voice signal of intensity of sound is corresponding, and sends the motion control instruction of carrying out towards described orientation moving to described motion-control module;
Described motion-control module, moves along described orientation for controlling described spherical sensor according to described motion control instruction.
2. spherical sensor according to claim 1, is characterized in that, described sound acquisition module is mini microphone, and at least two described sound acquisition module are fixed on the different azimuth on the inwall of described spherical shell.
3. spherical sensor according to claim 1, is characterized in that, described spherical sensor also comprises image capture module, for gathering the view data in the visual field.
4. spherical sensor according to claim 3, is characterized in that, described image capture module is fish eye lens.
5. spherical sensor according to claim 1, is characterized in that, described spherical sensor also comprises signal transmitting and receiving module and sound broadcasting module;
Described signal transmitting and receiving module, for receiving the voice signal that outside control terminal sends;
Described sound broadcasting module, for playing the voice signal from described control terminal of described signal transmitting and receiving module transfer.
6. the spherical sensor according to claim 3 or 4, is characterized in that, described spherical sensor also comprises orientation detection module;
Described orientation detection module, for determine described image capture module current towards; Wherein, described orientation detection module and described image capture module have identical towards, and by obtain self towards determine described image capture module current towards.
7. spherical sensor according to claim 6, is characterized in that, described orientation detection module is gyroscope.
8. the spherical sensor according to claim 3 or 4, it is characterized in that, described spherical sensor also comprises expansion plate, described spherical shell comprises the first hemisphere and the second hemisphere, described image capture module is arranged in the first hemisphere of described spherical shell, described expansion plate is arranged in the second hemisphere of described spherical shell, and the center of gravity of described spherical sensor is positioned at the space that described second hemisphere is formed.
9. spherical sensor according to claim 8, is characterized in that, described spherical sensor also comprises at least one light source, and described light source is arranged on described first hemisphere, and around described image capture module.
10. a detecting system, is characterized in that, comprises control terminal and the spherical sensor as described in claim 1 to 9 any one.
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| CN108428330A (en) * | 2018-03-22 | 2018-08-21 | 安徽八六物联科技有限公司 | A kind of united prior-warning device of acousto-optic |
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| CN111142070A (en) * | 2018-11-02 | 2020-05-12 | 广州灵派科技有限公司 | Sound source-based tracking system, tracking method and video system |
| CN111538352A (en) * | 2020-04-10 | 2020-08-14 | 南京信息职业技术学院 | Sound searching guide method |
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