CN110907894A - Remote control type life detection device and detection method thereof - Google Patents
Remote control type life detection device and detection method thereof Download PDFInfo
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- G—PHYSICS
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- 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
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- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
The embodiment of the invention discloses a remote control type life detection device and a detection method thereof, relating to the technical field of detection, wherein the device comprises: the controller is used for receiving a control signal of a PC (personal computer) end and controlling the action of the unmanned aerial vehicle by utilizing the control signal; the audio sensor array is used for picking up audio signals of a target to be searched and rescued, and the audio sensor array, the signal processing and collecting module and the data transmission module are electrically connected in sequence; the data transmission module is used for transmitting data to the PC terminal. The embodiment of the invention can solve the problems that the life detector in the prior art is limited in use scene and low in detection efficiency.
Description
Technical Field
The embodiment of the invention relates to the technical field of detection, in particular to a remote control type life detection device and a detection method thereof.
Background
The rescue work for people in danger is a mission-oriented and arduous work, and particularly for the people in the environment conditions such as a fire scene with shelters or seriously influencing the sight, the people need to be rescued, the camera is shielded by the dense smoke, the infrared detection is interfered, and when the radar detection is carried out in a plurality of fire buildings, a plurality of interference factors seriously influence the rescue efficiency. In addition, most of the current life detectors need to be held by hands, probe rods are arranged on some probe parts, the detection environment, the detection space and the detection distance of the probe rods are greatly limited, and some detectors can be detected only after moving victims enter the visual field of a camera lens or a sensor, so that the detection efficiency is very low.
Although the commonly used radar detector scans a detection area, it is difficult to detect all-around and without dead angles even when there is an obstacle.
Therefore, it is necessary to design and manufacture a detection device capable of achieving simple, effective and rapid positioning under the harsh environments of poor line of sight, much interference, limited detection distance and the like.
Disclosure of Invention
Therefore, the embodiment of the invention provides a remote control type life detection device and a detection method thereof, which aim to solve the problems that the life detection device in the prior art is limited in use scene and low in detection efficiency.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
according to a first aspect of embodiments of the present invention, there is provided a remotely controlled life detection apparatus,
the device comprises: the controller is used for receiving a control signal of a PC (personal computer) end and controlling the action of the unmanned aerial vehicle by utilizing the control signal; the audio sensor array is used for picking up audio signals of a target to be searched and rescued, and the audio sensor array, the signal processing and collecting module and the data transmission module are electrically connected in sequence; the data transmission module is used for transmitting data to the PC terminal.
Further, the audio sensor array employs a two-dimensional audio array.
Further, the audio sensor array is associated with a strapdown inertial navigation system for determining the motion track and the change speed of the audio sensor array in motion.
Further, the signal processing and collecting module comprises an STM32 single chip microcomputer, and is used for carrying out analog-to-digital conversion on the audio signals picked up by the audio sensor array and collecting the audio signals.
Further, the data transmission module adopts a highly integrated GSM module.
Furthermore, the audio sensor array and the data transmission module are in data transmission with the cloud platform, and the cloud platform sends data to the PC side.
According to a second aspect of embodiments of the present invention, there is provided a remote-controlled fire detection method,
the method comprises the following steps: the audio sensor array picks up audio signals of the personnel to be searched and rescued and transmits the audio signals to the signal processing and collecting module; the signal processing and acquisition module performs analog-to-digital conversion on the audio signal, acquires data and transmits the data to the data transmission module; the data transmission module transmits the acquired audio signals to the PC end through the cloud platform, and meanwhile, the motion trail and the change speed of the audio sensor array are acquired through the strapdown inertial navigation system, uploaded to the cloud platform and then transmitted to the PC end; the PC end processes the audio signal and the motion trail and the change speed of the audio sensor array to generate a control signal and transmits the control signal to the controller; the controller controls the air route of the unmanned aerial vehicle so as to approach the personnel to be searched and rescued.
Further, the method comprises: positioning the audio signals of the search and rescue personnel by adopting a sound source positioning algorithm based on a microphone array; the relative conversion is carried out on the sound source coordinate and the audio sensor array coordinate by using an array coordinate conversion method.
The embodiment of the invention has the following advantages:
the embodiment of the invention realizes the movement of the audio sensor array by controlling the air route of the unmanned aerial vehicle, utilizes the moving audio sensor array to pick up the audio signal of the static person to be searched and rescued, uses the singlechip to process and collect the audio signal, utilizes the GSM technology to realize the relatively long-distance data transmission, and utilizes the three-dimensional coordinate conversion to realize the coordinate conversion of the audio sensor array and the sound source so as to be suitable for the existing algorithm. The remote control type detection of the life detection instrument can be realized, the life detection instrument can be conveniently and quickly thrown into a target area to be detected, the upper favorable space of a fire scene can be utilized to detect to a large extent, the search and rescue range can be changed or adjusted quickly at any time according to needs, the problem of positioning blind areas caused by barrier shielding can be solved, the detection distance is long, and the life positioning and searching function is better realized.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
Fig. 1 is a schematic structural connection diagram of a remote control type life detection device according to embodiment 1 of the present invention;
fig. 2 is a step diagram of a remote control life detection method according to embodiment 2 of the present invention;
in the figure: controller 01, unmanned aerial vehicle 02, audio sensor array 03, signal processing and acquisition module 04, data transmission module 05, cloud platform 06, PC end 07
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
An embodiment of the present invention provides a remote control type life detection device, and referring to fig. 1, the device includes: controller 01, unmanned aerial vehicle 02, audio sensor array 03, signal processing and collection module 04, data transmission module 05 and PC end 07, controller 01 is used for controlling unmanned aerial vehicle 02's flight course according to PC end 07's control signal, audio sensor array 03 is installed on unmanned aerial vehicle 02, and be connected with signal processing and collection module 04 electricity, signal processing and collection module 04 and data transmission module 05 electricity are connected, data transmission module 05 carries out data transmission through cloud platform 06 and PC end 07.
Specifically, controller 01 accessible wireless communication technology realizes with PC end 07's communication to and the control of unmanned aerial vehicle 02, realize that unmanned aerial vehicle 02 carries out the on-the-spot search and rescue work of complex environment search and rescue, if can be used to have shelter from the thing or in the search and rescue place under the environmental condition of seriously influencing the sight, like the search and rescue to the visitor of getting lost in the deep mountain that the fog is diffused, the location of locating the personnel wherein in the rain and snow weather is with accurate rescue, the search of the object of sound production under water, search and rescue to missing personnel in the smoke and dust environment, security protection personnel are to hiding the evasion or the arrest of criminal suspects that have shelter from the thing space etc..
The audio sensor array 03 is used for picking up an audio signal of a target to be searched and rescued, and an existing single-microphone system can obtain a sound signal meeting the requirement of voice recognition under the conditions of low noise, no reverberation and close distance from a sound source. However, if the sound source is far from the microphone and there is a lot of noise, multi-path reflection and reverberation in the real environment, the quality of the picked-up signal is degraded, which may seriously affect the voice recognition rate. Moreover, the signal received by a single microphone is superimposed by a plurality of sound sources and ambient noise, and it is difficult to separate the sound sources. This makes it impossible to locate and separate the sound sources, which is important because there is also a superposition of one type of sound that is not noise, but is suppressed in speech recognition, i.e. the interference of human voice, which obviously cannot recognize more than two sounds simultaneously. The limitations of a single microphone are highlighted. To address these limitations of single microphones, methods of speech processing using microphone arrays are time-consuming. The microphone array is composed of a group of microphones arranged according to a certain geometric structure, and the following algorithm can perform space-time processing on sound signals picked up by the microphone array in different spatial directions, so that the functions of noise suppression, reverberation removal, human voice interference suppression, sound source direction finding, sound source tracking, array gain and the like are realized, the processing quality of a voice signal is further improved, and the voice recognition rate under a real environment is improved. For a one-dimensional array, two-dimensional has a more significant advantage. Therefore, the audio sensor array 03 in this embodiment employs a two-dimensional audio array.
The audio sensor array 03 picks up the audio signals of the person to be searched and rescued, and after the audio signals are processed and collected by the single chip microcomputer, sound source positioning needs to be carried out according to the audio signals. Wherein Beam Forming is widely applied due to the advantage of far-field measurement accuracy. Compared with the DOA technology, the beam forming algorithm is based on signals received by array elements on an array sensor, and the algorithm selects a proper weighting vector for the array output to compensate the propagation delay of each array element, so that the array output can be superposed in the same direction in a certain expected direction, thereby realizing directional positioning of the original signals, having better precision and application range, in turn causing the array to generate a main lobe beam in the direction, and inhibiting interference to a certain extent in a certain direction. A beam forming based approach is preferred.
However, the conventional array is a microphone audio array which is not moved to locate a moving sound source, but the present embodiment is a microphone array which is not moved to locate a stationary sound source, that is, a moving microphone array is used to locate a stationary sound source, so that the conventional algorithm cannot be directly used, and coordinate conversion is required to convert the relative coordinates of the conventional algorithm into conventional coordinates.
If carry out coordinate conversion to audio sensor array 03, then need obtain audio signal's coordinate, consequently this embodiment adopts strapdown inertial navigation system to gather unmanned aerial vehicle 02's coordinate, because audio sensor array 03 installs on unmanned aerial vehicle 02, the coordinate of unmanned aerial vehicle 02 who gathers is audio sensor array 03's coordinate promptly. The audio sensor array 03 is associated with the strapdown inertial navigation system, and is used for measuring the motion track and the change speed of the audio sensor array 03 in motion, transmitting the measured motion track and the change speed to the cloud platform 06, and then sending data to the PC terminal 07.
After obtaining the coordinates of the audio sensor array 03, coordinate transformation is performed by using a three-dimensional transformation method, and generally more than 3 coincident points are required by using a common point, that is, a point location having both WGS84 rectangular coordinates and rectangular coordinates of local coordinates, and a translation parameter, a rotation parameter, and a scale factor converted from one system to another system are obtained by performing calculation using a boolean or other model. The method specifically comprises the following steps: calculating the gravity center of the common point, calculating translation parameters between the WGS84 and the local ellipsoid, applying map projection to WGS84 coordinate points, determining two-dimensional conversion parameters, and establishing an elevation interpolation model. This is a three-dimensional conversion method in the prior art, and will not be described herein in detail.
After the coordinate transformation, the sound source is located by using the above mentioned sound source location algorithm based on the microphone array.
The signal picked up by the audio sensor array 03 is an analog signal, and the single audio sensor has only a signal pickup function and can identify the signal but has no signal acquisition function, so that the signal processing and acquisition module 04 with an analog-to-digital conversion function is required to acquire data. Since 3 built-in ADC controllers of STM32F407ZGT6 series single-chip microcomputer can be used independently or in a dual/triple mode to improve the sampling rate, the ADC is a 12-bit successive approximation type analog-digital converter which has 19 channels and can measure signals of 16 external sources, 2 internal sources and a Vbat channel, and the maximum conversion rate is 2.4Mhz, the converter has a very strong analog-digital conversion function. Because the signal processing and acquisition module 04 is small in size, easy to operate and portable compared with the acquisition card, the STM32 single-chip microcomputer is preferable for the signal processing and acquisition module 04 in the embodiment. It should be noted that the signal processing and acquiring module in this embodiment includes, but is not limited to, an STM32 single chip microcomputer, and other types of single chip microcomputers or components having similar functions, such as an FPGA, may also be used.
And then the data transmission module 05 is used for transmitting the data to the cloud platform 06 and then to the PC terminal 07, and the data transmission module 05 adopts a highly integrated GSM module.
The embodiment of the invention realizes the movement of the audio sensor array by controlling the air route of the unmanned aerial vehicle, utilizes the moving audio sensor array to pick up the audio signal of the static person to be searched and rescued, uses the singlechip to process and collect the audio signal, utilizes the GSM technology to realize the relatively long-distance data transmission, and utilizes the three-dimensional coordinate conversion to realize the coordinate conversion of the audio sensor array and the sound source so as to be suitable for the existing algorithm. The remote control type detection of the life detection instrument can be realized, the life detection instrument can be conveniently and quickly thrown into a target area to be detected, the upper favorable space of a fire scene can be utilized to detect to a large extent, the search and rescue range can be changed or adjusted quickly at any time according to needs, the problem of positioning blind areas caused by barrier shielding can be solved, the detection distance is long, and the life positioning and searching function is better realized.
In accordance with the above embodiments, an embodiment of the present invention provides a remote-control fire detection method, and referring to fig. 2, the method includes:
the audio sensor array 03 picks up audio signals of the person to be searched and rescued and transmits the audio signals to the signal processing and acquisition module 04;
the signal processing and acquisition module 04 performs analog-to-digital conversion on the audio signal, outputs a digital signal, acquires the digital signal through an A/D port of the single chip microcomputer, and transmits the digital signal to the data transmission module 05;
the data transmission module 05 transmits the audio signal to the PC terminal 07 through the cloud platform 06, acquires the motion track and the change speed of the audio sensor array 03 through the strapdown inertial navigation system, uploads the motion track and the change speed to the cloud platform 06, and then transmits the motion track and the change speed to the PC terminal 07;
the PC terminal 07 processes the audio signal and the motion trajectory and the change speed of the audio sensor array 03 to generate a control signal, and transmits the control signal to the controller 01; specifically, PC end 07 combines the sound source positioning algorithm based on microphone array to calculate the position of sound source according to the motion track and the change speed of audio sensor array 03, again according to the position of sound source and unmanned aerial vehicle 02's position generation azimuth control signal, and the staff carries out unmanned aerial vehicle 02's action according to this control signal, makes unmanned aerial vehicle 02 be close to the personnel of treating search and rescue, realizes searching and rescuing.
The strapdown inertial navigation system is a frameless system and consists of three rate gyroscopes, three linear accelerometers and a microcomputer. Navigation parameters such as the attitude, the ground speed, the longitude and latitude and the like of the carrier can be accurately provided. For a strapdown inertial navigation system, the role and concept of the platform is embodied in the computer, which is a directional cosine array written in the computer. The acceleration and angular acceleration of the inertial element directly mounted on the carrier relative to the inertial space are components along the axis of the carrier, and these components are converted into the desired components in the computer coordinate system by passing them through a coordinate conversion direction cosine array. If the matrix can describe the relation between the carrier and the geographic coordinate system, the acceleration and the angular velocity relative to the inertial space measured by the carrier coordinate system can be converted to obtain the acceleration and the angular velocity components along the geographic coordinate system, and after the acceleration and the angular velocity components with known directions exist, the navigation computer can solve the required navigation and attitude parameters according to the corresponding mechanical equation.
In the method, the audio signals of the search and rescue personnel are positioned by adopting a sound source positioning algorithm based on a microphone array; the sound source coordinates and the coordinates of the audio sensor array 03 are relatively converted by an array coordinate conversion method.
The embodiment of the invention realizes the movement of the audio sensor array by controlling the air route of the unmanned aerial vehicle, picks up and collects the audio signals of static personnel to be searched and rescued by utilizing the moving audio sensor array and the singlechip, realizes the coordinate conversion of the audio sensor array and a sound source by utilizing three-dimensional coordinate conversion, and is suitable for the existing algorithm. The remote control type detection of the life detection instrument can be realized, the life detection instrument can be conveniently and quickly thrown into a target area to be detected, the upper favorable space of a fire scene can be utilized to detect to a large extent, the search and rescue range can be changed or adjusted quickly at any time according to needs, the problem of positioning blind areas caused by barrier shielding can be solved, the detection distance is long, and the life positioning and searching function is better realized.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (8)
1. A remotely controlled life detection device, said device comprising: a controller, an unmanned aerial vehicle, an audio sensor array, a signal processing and collecting module and a data transmission module,
the controller is used for receiving a control signal of the PC end and controlling the action of the unmanned aerial vehicle by utilizing the control signal;
the audio sensor array is used for picking up audio signals of a target to be searched and rescued, and the audio sensor array, the signal processing and collecting module and the data transmission module are electrically connected in sequence;
the data transmission module is used for transmitting data to the PC terminal.
2. The remotely controlled life detection device of claim 1, wherein said audio sensor array is a two-dimensional audio array.
3. The remotely controlled life detection device of claim 1, wherein the audio sensor array is associated with a strapdown inertial navigation system for determining the motion trajectory and rate of change of the audio sensor array in motion.
4. The remote life detection device as claimed in claim 1, wherein said signal processing and acquisition module comprises STM32 single chip microcomputer for analog-to-digital conversion and acquisition of audio signals picked up by the audio sensor array.
5. The remote life detection device of claim 1, wherein said data transmission module is a highly integrated GSM module.
6. The remote life detection device as claimed in claim 1, wherein the audio sensor array and the data transmission module are both in data transmission with a cloud platform, and the cloud platform sends data to the PC.
7. A method of remotely controlling fire detection, the method comprising:
the audio sensor array picks up audio signals of the personnel to be searched and rescued and transmits the audio signals to the signal processing and collecting module;
the signal processing and acquisition module performs analog-to-digital conversion on the audio signal, acquires data and transmits the data to the data transmission module;
the data transmission module transmits the acquired audio signals to the PC end through the cloud platform, and meanwhile, the motion trail and the change speed of the audio sensor array are acquired through the strapdown inertial navigation system, uploaded to the cloud platform and then transmitted to the PC end;
the PC end processes the collected audio signals and the motion trail and the change speed of the audio sensor array to generate control signals, and the control signals are transmitted to the controller;
the controller controls the air route of the unmanned aerial vehicle so as to approach the personnel to be searched and rescued.
8. A remote fire detection method as claimed in claim 7, wherein the method comprises:
positioning the audio signals of the search and rescue personnel by adopting a sound source positioning algorithm based on a microphone array; the relative conversion is carried out on the sound source coordinate and the audio sensor array coordinate by using an array coordinate conversion method.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111624412A (en) * | 2020-04-21 | 2020-09-04 | 北京信息科技大学 | Lightning connection point positioning method, system, equipment and readable storage medium |
| CN112607023A (en) * | 2020-12-31 | 2021-04-06 | 三峡大学 | Unmanned aerial vehicle rescue device and method based on sound wave positioning |
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| CN108053824A (en) * | 2017-12-11 | 2018-05-18 | 河海大学文天学院 | A kind of patrol rescue unmanned plane and its method of work based on voice signal |
| CN211627805U (en) * | 2019-11-11 | 2020-10-02 | 北京信息科技大学 | Remote control type life detection device |
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- 2019-11-11 CN CN201911095818.5A patent/CN110907894A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108053824A (en) * | 2017-12-11 | 2018-05-18 | 河海大学文天学院 | A kind of patrol rescue unmanned plane and its method of work based on voice signal |
| CN211627805U (en) * | 2019-11-11 | 2020-10-02 | 北京信息科技大学 | Remote control type life detection device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111624412A (en) * | 2020-04-21 | 2020-09-04 | 北京信息科技大学 | Lightning connection point positioning method, system, equipment and readable storage medium |
| CN111624412B (en) * | 2020-04-21 | 2022-04-08 | 北京信息科技大学 | Lightning connection point positioning method, system, equipment and readable storage medium |
| CN112607023A (en) * | 2020-12-31 | 2021-04-06 | 三峡大学 | Unmanned aerial vehicle rescue device and method based on sound wave positioning |
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