CN205450778U - Rescue robot based on sound direction - Google Patents
Rescue robot based on sound direction Download PDFInfo
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- CN205450778U CN205450778U CN201620250619.2U CN201620250619U CN205450778U CN 205450778 U CN205450778 U CN 205450778U CN 201620250619 U CN201620250619 U CN 201620250619U CN 205450778 U CN205450778 U CN 205450778U
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Abstract
The utility model provides a rescue robot based on sound direction, including data acquisition module, control system, display module, motor driver module, GPS positioner, wireless transmission module. Rescue robot carries out the tracking location according to the acoustic information that sound intensity detection module detected to show self positional information wireless transmission to the host computer. The utility model overcomes the hardware and the comparatively complicated drawback of software design of tradition sound direction design the new mode that provides for rescue robot based on sound direction.
Description
Technical field
This utility model relates to intelligent voice control field, is specifically related to a kind of rescue robot guided based on sound.
Background technology
In recent years, domestic and international earthquake, mine disaster, fire etc. are natural or non-natural disaster occurs again and again.The research and development of sound guidance system have important practical significance in searching sign of life, and deliverer can know the address location of life by sound transducer, and then utilizes GPS location to find trapped personnel.Sound guides main Types at present two kinds: a kind of is to control robot by the order of voice recognition chip identification people；Another kind is to place multiple acoustic receiver device and discharger around robot, and the time interval being launched reception acoustic signals by robot is judged position, controls robot.The hardware of these robots is complex with the design of software.
The utility model proposes brand-new scheme, sound guidance robot is designed, this sound guidance system is made to have following functions: to judge the source direction of sound, the direction that robot will travel can be shown by LCD, it is controlled motor making robot travel towards sound source, and after finding sound source, sends sound source position information.Realize sound source position is detected, and the function that target is tracked.
Utility model content
The purpose of this utility model is to provide a kind of rescue robot guided based on sound, to solve the above-mentioned multinomial defect caused in prior art.
A kind of rescue robot guided based on sound, it is characterised in that: including:
Data acquisition module: being used for receiving acoustical signal in appointment passband, and compare, input is connected with robot, and outfan is connected with control system；
Control system: use the ARM7 microprocessor with LPC2132 as core, for receiving sound intensity detection module and the signal of GPS locating module, control motor positive and inverse, and send positional information, input is connected with data acquisition module and GPS positioner, and outfan is connected with display module, motor drive module, wireless transport module；
Display module: being used for showing robot direct of travel, input is connected with control system；
Motor drive module: be used for controlling motor positive and inverse, to realize robot left-hand rotation, to turn right, advances, retreats, and input is connected with control system；
GPS positioner: for location quick to robot, follows the tracks of, and input is connected with robot；
Wireless transport module: for transferring robot positional information, input is connected with control system；
Handheld device: be used for receiving and show robot location's information.
Preferably, described data acquisition module includes:
Sound intensity probe: with Electret condenser microphone as main element, is used for detecting acoustical signal, and realizes the conversion of acoustoelectric signal；
Average circuit: for obtaining the meansigma methods of two sound intensitys in left and right；
Comparator: for the power of relatively each sound intensity.
Data acquisition module is made up of three Electret condenser microphones.When electret diaphragm runs into acoustic vibration, cause the electric field at electric capacity two ends to change, thus create the alternating voltage changed with sound wave change.Obtain the meansigma methods of the two voltage with the summing circuit of amplifier composition, compare with two magnitudes of voltage respectively by meansigma methods the most again, thus judge that the sound of which direction is strong.Receiving robot afterbody sound intensity signal with the 3rd Electret condenser microphone, peace average ratio relatively, judges which direction sound of robot front and back is strong.
Preferably, described wireless transport module includes:
3G module, uses longitude and latitude star boat JWOD2, it is provided that RS232 standard interface, is directly connected with subscriber equipment, it is achieved transmission-receiving function；
WIFI module, in the place having WIFI signal, directly automatically switches to WIFI pattern, effectively reduces real-time Transmission cost；
Antenna, using model is CZ-GSM-CDMATS012 high-gain sucker antenna, and the main rate of maximum work reaches 100W.
The utility model has the advantage of: 1, overcome the drawback that the hardware of conventional acoustic guiding is complex with software design；2, using Sound intensity probe, both need not sound identification module, it is not required that acoustic emission module, system is simple and reliable；3, can real-time reception machine people's movement locus, facilitate rescue personnel's very first time implement rescue.
Accompanying drawing explanation
Fig. 1 is a kind of rescue robot structured flowchart guided based on sound of this utility model.
Detailed description of the invention
For the technological means making this utility model realize, creation characteristic, reach purpose and be easy to understand with effect, below in conjunction with detailed description of the invention, this utility model is expanded on further.
According to one embodiment of this utility model, as it is shown in figure 1, this utility model provides a kind of rescue robot guided based on sound, including data acquisition module, control system, display module, motor drive module, GPS positioner, wireless transport module.
Described data acquisition module includes: Sound intensity probe: with Electret condenser microphone as main element, is used for detecting acoustical signal, and realizes the conversion of acoustoelectric signal；Average circuit: for obtaining the meansigma methods of two sound intensitys in left and right；Comparator: for the power of relatively each sound intensity.Data acquisition module is made up of three Electret condenser microphones.When electret diaphragm runs into acoustic vibration, cause the electric field at electric capacity two ends to change, thus create the alternating voltage changed with sound wave change.Obtain the meansigma methods of the two voltage with the summing circuit of amplifier composition, compare with two magnitudes of voltage respectively by meansigma methods the most again, thus judge that the sound of which direction is strong.Receiving robot afterbody sound intensity signal with the 3rd Electret condenser microphone, peace average ratio relatively, judges which direction sound of robot front and back is strong.
Described control system uses the ARM7 microprocessor with LPC2132 as core, is used for receiving sound intensity detection module information, and control motor positive and inverse is to reach to control robot motion direction, and sends data to liquid crystal display screen display robot motion direction；Receive the positional information of the collection of GPS positioner and sent by wireless transport module.
Described display module uses 1206 LCDs, is used for showing that robot direct of travel, display information are provided by described control system.
Described motor drive module uses L298N to be used for controlling motor positive and inverse, finally realizes robot and turns left, turns right, advances, retreats.
Described GPS positioner: for location quick to robot, follows the tracks of simultaneously, and the Position, Velocity and Time information required for the extraction of gps satellite receiver module forms packet in conjunction with robot identity information, then mails to handheld device by wireless transport module.
Described wireless transport module includes: 3G module, uses longitude and latitude star boat JWOD2, it is provided that RS232 standard interface, is directly connected with subscriber equipment, it is achieved transmission-receiving function；WIFI module, in the place having WIFI signal, directly automatically switches to WIFI pattern, effectively reduces real-time Transmission cost；Antenna, using model is CZ-GSM-CDMATS012 high-gain sucker antenna, and the main rate of maximum work reaches 100W.
Described handheld device is used for receiving and show robot location's information.
Three Sound intensity probes being made up of electret are used to gather the acoustic information that sound source sends, through comparator relatively after transmit a signal to the control system that is made up of ARM7 to realize the location to target, sent signal control motor by control system to run, control system sends a signal to display screen simultaneously, display robot direction of advance, makes robot advance to target.GPS alignment system Real-time Collection robot location's information, and transmit to control system, control system positional information is transmitted to handheld device by wireless transport module, to grasp robot motion's track at any time.
The sequencing of above example only for ease of describing, does not represent the quality of embodiment.
As known by the technical knowledge, this utility model can be realized by the embodiment of other essence without departing from its spirit or essential feature.Therefore, embodiment disclosed above, for each side, all it is merely illustrative, is not only.All all it is included in the utility model in the range of this utility model or being equal to the change in the range of this utility model.
Claims (3)
1. the rescue robot guided based on sound, it is characterised in that: including:
Data acquisition module: being used for receiving acoustical signal in appointment passband, and compare, input is connected with robot, and outfan is connected with control system；
Control system: use the ARM7 microprocessor with LPC2132 as core, for receiving sound intensity detection module and the signal of GPS locating module, control motor positive and inverse, and send positional information, input is connected with data acquisition module and GPS positioner, and outfan is connected with display module, motor drive module, wireless transport module；
Display module: being used for showing robot direct of travel, input is connected with control system；
Motor drive module: be used for controlling motor positive and inverse, to realize robot left-hand rotation, to turn right, advances, retreats, and input is connected with control system；
GPS positioner: for location quick to robot, follows the tracks of, and input is connected with robot；
Wireless transport module: for transferring robot positional information, input is connected with control system；
Handheld device: be used for receiving and show robot location's information.
A kind of rescue robot guided based on sound the most according to claim 1, it is characterised in that described data acquisition module includes:
Sound intensity probe: with Electret condenser microphone as main element, is used for detecting acoustical signal, and realizes the conversion of acoustoelectric signal；
Average circuit: for obtaining the meansigma methods of two sound intensitys in left and right；
Comparator: for the power of relatively each sound intensity.
A kind of rescue robot guided based on sound the most according to claim 1, it is characterised in that described wireless transport module includes:
3G module, uses longitude and latitude star boat JWOD2, it is provided that RS232 standard interface, is directly connected with subscriber equipment, it is achieved transmission-receiving function；
WIFI module, in the place having WIFI signal, directly automatically switches to WIFI pattern, effectively reduces real-time Transmission cost；
Antenna, using model is CZ-GSM-CDMATS012 high-gain sucker antenna, and the main rate of maximum work reaches 100W.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620250619.2U CN205450778U (en) | 2016-03-29 | 2016-03-29 | Rescue robot based on sound direction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620250619.2U CN205450778U (en) | 2016-03-29 | 2016-03-29 | Rescue robot based on sound direction |
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| Publication Number | Publication Date |
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| CN205450778U true CN205450778U (en) | 2016-08-10 |
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| CN201620250619.2U Expired - Fee Related CN205450778U (en) | 2016-03-29 | 2016-03-29 | Rescue robot based on sound direction |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107544504A (en) * | 2017-09-26 | 2018-01-05 | 河南科技学院 | A kind of disaster area rescue robot Autonomous Exploration and method towards complex environment |
-
2016
- 2016-03-29 CN CN201620250619.2U patent/CN205450778U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107544504A (en) * | 2017-09-26 | 2018-01-05 | 河南科技学院 | A kind of disaster area rescue robot Autonomous Exploration and method towards complex environment |
| CN107544504B (en) * | 2017-09-26 | 2020-08-21 | 河南科技学院 | Disaster area rescue robot autonomous detection system and method for complex environment |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160810 Termination date: 20170329 |
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| CF01 | Termination of patent right due to non-payment of annual fee |