CN208207607U - A kind of search and rescue system and trolley based on sound and light detecting - Google Patents
A kind of search and rescue system and trolley based on sound and light detecting Download PDFInfo
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- CN208207607U CN208207607U CN201820815316.XU CN201820815316U CN208207607U CN 208207607 U CN208207607 U CN 208207607U CN 201820815316 U CN201820815316 U CN 201820815316U CN 208207607 U CN208207607 U CN 208207607U
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Abstract
The utility model belongs to search and rescue equipment technical field, more particularly to a kind of novel search and rescue system and trolley based on sound and light detecting.Including sound detection module, voice signal enhanced processing module, infrared detection module, fingerprint identification module, ultrasonic obstacle avoidance module, GPS positioning module, GPRS module, microcontroller, trolley drive module and client terminal；The sound detection module connects microcontroller by voice signal enhanced processing module；Infrared detection module, fingerprint identification module, ultrasound measurement module, GPS positioning module, GPRS module and trolley drive module are separately connected on microcontroller again；The client terminal and GPRS module communication connection.So that the search and rescue system based on sound and light detecting is not only provided with the function of detection human body infrared, but also be provided with the function of sound detection, investigative range is wider, and accuracy is higher.
Description
Technical field
The utility model belongs to search and rescue equipment technical field, more particularly to a kind of novel search and rescue system based on sound and light detecting
System and trolley.
Background technique
In recent years, the various frequent natural calamities such as earthquake, mud-rock flow occur, and consequent is house collapse, personnel's quilt
Ruins are buried, and the life security of personnel is by serious threat.The practical experience of the multiple disaster relief shows the timely hair of trapped person
Existing and accurate positionin, is the key that pick-up operation can quickly and effectively be unfolded.Traditional is searched based on manpower hauling type or blanket type
Not only inefficiency is rescued, but also secondary collapsing may be caused, constitutes potential life threat for being rescued personnel and rescue worker.
It is low to search and rescue accuracy, and can not examine to sound for search and rescue trolley in the prior art, poor anti jamming capability
It surveys.Such as the Chinese utility model patent patent No. 2017203473171, it is automatic to disclose a kind of SCM Based indicator of trapped personnel
Search and rescue trolley.Because it is only provided with human body infrared detecting module, can only be detected by human body infrared detecting module by rescuer
Member, thus its to search and rescue ranges limited, and interfered vulnerable to various heat sources and sunlight source, when meeting barrier penetration power nor
It is often limited, and do not have sound-detection ability, it is limited to search and rescue ability, and accuracy is not high enough.
Utility model content
The utility model provides a kind of novel search and rescue system and trolley based on sound and light detecting, solves in the prior art
Search and rescue system, search and rescue the defect of poor accuracy.
Specific technical solution is that a kind of search and rescue system based on sound and light detecting, including sound detection module, voice signal are put
Big processing module, infrared detection module, fingerprint identification module, ultrasonic obstacle avoidance module, GPS positioning module, GPRS module, microcontroller, trolley drive mould
Block and client terminal；The sound detection module connects microcontroller by voice signal enhanced processing module；On microcontroller
It is separately connected infrared detection module, fingerprint identification module, ultrasound measurement module, GPS positioning module, GPRS module and trolley drive module again；The visitor
Family terminal and GPRS module communication connection.The sound detection module is used to acquire the voice signal of surrounding；Voice signal amplification
Processing module is used to voice signal amplifying processing；Infrared detection module, fingerprint identification module is used to detect the infrared ray of human body sending, in turn
Realize the detection to human body；Ultrasonic obstacle avoidance module is used to detect effective mesh in sound detection module or infrared detection module, fingerprint identification module
After mark, for the small front side of real-time detection, whether there is or not barriers, when having detected barrier, can send obstacle information to micro-control
Device processed；GPS positioning module is for positioning the location information of trolley；GPRS module is used for will be based on the search and rescue of sound and light detecting
System and external client's terminal carry out communication connection.Microcontroller is used to analyzing and processing data and issues execute order；Trolley drives
Dynamic model block is used to receive the drive command of microcontroller sending and trolley is driven to be moved.
The sound detection module is four, and the surrounding of trolley is arranged in；The voice signal enhanced processing module is
TS472 chip；It is described ultrasound obstacle avoidance module and infrared detection module, fingerprint identification module be three, ultrasonic obstacle avoidance module be arranged in trolley two sides and
Front end.
The search and rescue system based on sound and light detecting further includes warning note device.
Warning note device is buzzer.
The pyroelectric infrared sensor is RE200B；Signal processor is BIS0001.
A kind of search and rescue trolley based on sound and light detecting, is arranged the above-mentioned search and rescue system based on sound and light detecting on trolley.
The utility model has the advantages that passing through the setting of sound detection module, voice signal enhanced processing module and infrared detection module, fingerprint identification module, make
Search and rescue system based on sound and light detecting, which is not only provided with, detects human body infrared function, but also is provided with the function of sound detection
Can, investigative range is wider, more accurately；By setting four for sound detection module and the surrounding of trolley being arranged in, thus
It can more facilitate to judge the positional relationship between trolley and sound source；The use of TS472 chip makes whole system to sound
Acquisition anti-interference is stronger, and investigative range is bigger；Keep whole system outward element less by the use of BIS0001, system knot
Structure is simpler compact；The use of HC-SR04 keeps the search and rescue system based on sound and light detecting more preferable to the evading property of barrier, detection
Range is bigger.
Detailed description of the invention
In order to illustrate more clearly of the technical solution of the utility model, attached drawing needed for embodiment description will be made below
It is simple to introduce, it should be apparent that, the drawings in the following description are merely some embodiments of the present invention, common to this field
For technical staff, without creative efforts, it can also be obtained according to these attached drawings other attached drawings, these
The technical solution that attached drawing is directly obtained should also belong to the protection scope of the utility model.
Fig. 1 is the structural block diagram of the search and rescue system described in the utility model based on sound and light detecting.
Fig. 2 is voice signal enhanced processing function structure chart described in the utility model.
Fig. 3 is the circuit structure diagram of infrared detection module, fingerprint identification module described in the utility model.
Specific embodiment
To keep the above objects, features, and advantages of the utility model more obvious and easy to understand, below to the utility model
Specific embodiment elaborate.It is practical in order to fully understand to be explained in the following description many details
It is novel.But the utility model can be implemented with being much different from other way described herein, those skilled in the art can
To do similar improvement without prejudice to the utility model connotation, therefore the utility model is not by following public specific reality
Apply the limitation of mode.
It cries for help because people can make a sound when by danger, and capable of emitting human body infrared, therefore the application devises one
Money can be detected human body sound source, and the search and rescue trolley of detectable human body infrared, specific embodiment are as follows.
Embodiment 1, as shown in Figure 1, Figure 2, Figure 3 shows, the search and rescue system based on sound and light detecting, including sound detection module, sound
It is sound signal enhanced processing module, infrared detection module, fingerprint identification module, ultrasonic obstacle avoidance module, GPS positioning module, GPRS module, microcontroller, small
Vehicle drive module and client terminal；The search and rescue system based on sound and light detecting is arranged on trolley, and trolley uses three wheeler,
Front-wheel is a universal wheel, and two rear-wheels are driven by the ferromagnetic motor of two 5V respectively.The sound detection module passes through sound
Signal enhanced processing module connects microcontroller；On microcontroller again be separately connected infrared detection module, fingerprint identification module, ultrasound measurement module,
GPS positioning module, GPRS module and trolley drive module；The client terminal and GPRS module communication connection.The sound inspection
Survey the voice signal that module is used to acquire surrounding；Voice signal enhanced processing module is used to voice signal amplifying processing；
Infrared detection module, fingerprint identification module is used to detect the infrared ray of human body sending, and then realizes the detection to human body；Ultrasonic obstacle avoidance module is used for
After sound detection module or infrared detection module, fingerprint identification module detect effective target, for the small front side of real-time detection, whether there is or not obstacles
Object can send obstacle information to microcontroller when having detected barrier；GPS positioning module is used for the position to trolley
Information is positioned；GPRS module is used to the search and rescue system based on sound and light detecting and external client's terminal carrying out communication connection.
Microcontroller is used to analyzing and processing data and issues execute order；Trolley drive module is used to receive the driving of microcontroller sending
It orders and trolley is driven to be moved.
The sound detection module, can be provided using Shenzhen Tian Shikai Electronics Co., Ltd. have all referring to, it is high
Sensitivity microphone CZ-034A, can use multiple each orientation that trolley is arranged in, and CZ-034A has the frequency response of 20-20kHz
Range, the sensitivity of -35dB, clarity is good, and low-frequency effect is good.So as to the voice signal of real-time monitoring ambient enviroment, when
When detecting voice signal, microcontroller by the time difference between receiving four microphones of processing, come converse with sound source away from
From, pitch angle and azimuth, to judge the position of sound source.
Voice signal enhanced processing module selects the TS472 chip of ST Microelectronics (ST), which supplies
Electricity, there is low-down noise and a distortion, 40khz responsive bandwidth, can fully differential/output, be widely used in sound collection identification,
The occasions such as video conference.In microphone array, four tunnels use identical circuit structure, i.e. Differential Input, Single-end output, signal band
Width is 20-20kHz as microphone, and the gain of signal selects 30dB.Physical circuit as shown in Fig. 2, wherein Cin, Cout,
Rout, co-determination minimum cutoff are 20Hz, and C2 determines that highest cutoff frequency is 20kHz, and Rgs determines gain amplifier
30dB.It is sent into the comparator being made of LM393 through the amplified voice signal of TS472, the reference voltage of comparator is by adjustable
Potentiometer VR1 is determined, when effective voice signal arrives, LM393 overturning one high level of output send rear class microcontroller to ring
It answers.
The infrared detection module, fingerprint identification module uses pyroelectric infrared sensor RE200B.The principle of infrared detector is that human body has perseverance
Fixed body temperature can issue 10 μm of specific wavelength or so of infrared ray generally at 37 degree or so, and infrared detector is exactly by detecting people
10 μm or so of infrared ray of body transmitting and work.Optical system is mainly used for the acquisition of life entity infrared radiation signal
And the intensity of interference signal is reduced as far as possible.Collected infrared radiation signal is transmitted to infrared spy by optical system
It surveys on device.10 μm or so of infrared ray of human-body emitting gathers in infrared induction source after being enhanced by Fresnel optical filter.It is red
Outer induction source generallys use pyroelectricity element, and this element will lose when receiving human infrared radiation temperature and changing
Charge balance discharges charge outward, generates electric signal.Signal amplifier puts the electric signal that infrared detector conveying comes
Greatly, and it is delivered to signal processor.Signal processor reserves output port.Pyroelectric infrared sensor RE200B substrate material is
Silicon, substrate thickness 0.5mm, 7-14 μm of operation wavelength, mean transmissivity > 75%, output signal > 2.5V, operating voltage 2.2-
15V is the signal receiving part point of entire circuit.Part uses high performance dedicated integrated processing chip BIS0001, inside
The units such as operational amplifier, voltage comparator, state controller, back off timer and blocking time timer are integrated with, are used
When only need external a small amount of element just to may make up infrared human body heat releasing detection module.A luxuriant and rich with fragrance alunite has been filled when use in front of RE200B
Your lens, the relative motion between the mobile formation and detected human body of trolley, the infrared ray that human body is released after Fresnel Lenses,
The dynamic impulse form signal for forming alternately variation, to enhance its energy amplitude.Infrared circuit schematic diagram is such as
Shown in Fig. 3.The pulse signal that pyroelectric sensor is sent out is sent into 14 feet of BIS0001, in inside after the first order is with mutually amplifying, then
Through C2, second level amplification is sent into R4 coupling, and R8, C3 are the feedback elements of first order amplifying circuit, and R5, C1 are second level amplification electricity
The feedback element on road, by the amplified signal of two-stage, portion generates effective triggering after the processing of two-way amplitude discrimination in the chip
Signal VS deactivation back off timer, R3, C5 determine that output delay time, R6, C4 determine triggering blocking time.The application
In take output delay time about 1.1 seconds, trigger about 1.1 milliseconds of locking time.
The ultrasound obstacle avoidance module preferably selects the HC-SR04 commercially obtained,
HC-SR04 detection range 2cm-450cm, induction angle can be monitored in real time in system moving process less than 15 degree
There is clear when having detected barrier in front of system, target is arrived at by obstacle avoidance algorithm cut-through object.The ultrasound
Obstacle avoidance module may be that can be realized other modular structures of ultrasonic avoidance, as gloomy electronics plastic cement Co., Ltd of section of the city Dong Wan is raw
The avoiding obstacles by supersonic wave drive module of production；Or the ultrasonic obstacle avoidance module of Yu Sijie Electronics Co., Ltd. of the city Dong Wan production all may be used；Cause
It can be directly commercially available on the market for ultrasonic obstacle avoidance module, and its structure has disclosed, and its operation method, usage
And connection relationship has been common knowledge to those skilled in the art, therefore the tool of details are not described herein ultrasonic obstacle avoidance module
Body structure.
The user terminal can be mobile phone, plate, notebook, PC machine etc..
Microcontroller uses the AURIX microcontroller of scientific & technical corporation of section of Infineon, can directly be commercially available on the market,
Or select STM32F407.The GPS module can be selected the UBX-M8030GPS module in ring day century or select JS-M710
Locating module.GPRS module selects the G340GPRS module of prompt wheat communication；Trolley drive module selects L298 module, can be direct
It is commercially available on the market.Because of AURIX microcontroller, UBX-M8030GPS module, JS-M710 locating module, G340GPRS
Module and L298 module can be obtained directly by purchase, and the structure of these devices be all it is known, herein no longer in detail
Its specific structure is repeated, the application is the simple application to its each device, and related software program is all existing module
Known software, therefore the not improvement in terms of design software.
By the setting of sound detection module, voice signal enhanced processing module and infrared detection module, fingerprint identification module, make based on acousto-optic
The search and rescue system of detection, which is not only provided with, detects human body infrared function, but also is provided with the function of sound detection, detects model
It encloses more extensively, more accurately；The use of TS472 chip keeps whole system stronger to the acquisition anti-interference of sound, and investigative range is more
Greatly.
Embodiment 2, based on the above technical solution, the sound detection module are four, and the four of trolley are arranged in
Week, so as to so that trolley detects the sound source of four different directions, while the different sound sources that can be arrived according to four orientation detections again
Time difference judge the position and direction of sound source；The voice signal enhanced processing module is TS472 chip；The ultrasound is kept away
Barrier module and infrared detection module, fingerprint identification module are three, and the two sides and front end of trolley are arranged in ultrasonic obstacle avoidance module.Three infrared detection moulds
Block is mounted on the front of trolley with 90 ° of angular separation, as trolley moves together, to effectively pass through infrared source signal
BIS0001 forms pulse signal, then passes to the interrupt pin of STM32F407 microprocessor, STM32F407 microprocessor again
The azimuth information of infrared radiation source is judged by judging number of pins.The search and rescue system based on sound and light detecting further includes warning note
Device.Further, the warning note device is buzzer.The circuit structure diagram of infrared detection module, fingerprint identification module is as shown in Figure 3 herein
It repeats no more.By the setting of sound detection module, voice signal enhanced processing module and infrared detection module, fingerprint identification module, make based on acousto-optic
The search and rescue system of detection, which is not only provided with, detects human body infrared function, but also is provided with the function of sound detection, detects model
It encloses more extensively, to significantly increase the rapidity and validity to human testing；The use of TS472 chip makes whole system to sound
Acquisition anti-interference it is stronger, investigative range is bigger；Keep whole system outward element less by the use of BIS0001, system
Structure is simpler compact；The use of HC-SR04 keeps the search and rescue system based on sound and light detecting more preferable to the evading property of barrier, visits
It is bigger to survey range；By the design of warning note device, alarm can be issued when detecting human body, it is more convenient to use.Cause
It is to have selected the detection side of two kinds of characteristics of human body of sound detection module and infrared detection module, fingerprint identification module for the major design point of the application
Formula is searched and rescued to realize, is only just searched and rescued by infrared detection module, fingerprint identification module to solve search and rescue system and trolley in the prior art
The drawbacks of, so for being not need to make the creative labor to those skilled in the art involved in other the application
The more minutia that can be realized as, then this repeats no more its subtleer structure.Such as microcontroller, ultrasonic obstacle avoidance module
Deng, because its product can directly be bought, and its circuit structure is also known, so people from this field was said originally, these
Details are not described herein for the specific structure of hardware.
A kind of search and rescue trolley based on sound and light detecting of embodiment 3, installs base on the search and rescue trolley based on sound and light detecting
In the search and rescue system of sound and light detecting, by the driving for connecting trolley based on the trolley drive module of the search and rescue system of sound and light detecting
Motor, thus forward-reverse and direction of advance to realize trolley, to by the search and rescue system based on sound and light detecting and search and rescue small
Vehicle is combined, and conventional motor driven trolley can be selected in the trolley of searching and rescuing, and the trolley of the type has had very in the market
It is more, and its specific structure is also disclosed in the Chinese utility model patent patent No. 2017203473171, therefore herein no longer
The specific structure of trolley is described in detail.To by the combination of search and rescue system based on sound and light detecting and search and rescue trolley so as to
The position for constantly adjusting trolley in real time by the search and rescue system based on sound and light detecting after the information for detecting staff for help, makes
Trolley rushes to indicator of trapped personnel position as early as possible, and indicator of trapped personnel location information is passed through GPRS module in time and feeds back to user terminal.
Trolley uses three wheeler, and front-wheel is a universal wheel, and two rear-wheels are driven by the ferromagnetic motor of two 5V respectively, the drive of motor
Dynamic to use L298N module, driving power can be used 7.2V rechargeable lithium battery, be controlled by STM32F407 microprocessor defeated
The frequency and duty ratio of pwm signal out, then realize by L298N module the control of small vehicle speed and moving direction.The application
The search and rescue system based on sound and light detecting is mainly arranged on the search and rescue trolley based on sound and light detecting, is searched to realize
It rescues.By the setting of sound detection module, voice signal enhanced processing module and infrared detection module, fingerprint identification module, make based on sound and light detecting
Search and rescue system, which is not only provided with, detects human body infrared function, but also is provided with the function of sound detection, and investigative range is wider,
It is more accurate；The use of TS472 chip keeps whole system stronger to the acquisition anti-interference of sound, and investigative range is bigger；Pass through
The use of BIS0001 keeps whole system outward element less, and system structure is simpler compact；The use of HC-SR04 makes to be based on
The search and rescue system of sound and light detecting is more preferable to the evading property of barrier, and investigative range is bigger.
Working principle, the search and rescue system based on sound and light detecting are arranged on the search and rescue trolley based on sound and light detecting, base
Two-wheeled is independent motor driven after the search and rescue trolley of sound and light detecting, and driving circuit uses L298N module, and driving power can adopt
With 7.2V rechargeable lithium battery.After trolley enters detection zone, each detection module can detecting real-time whether have a signal arrival, one
Denier receives useful signal, and microprocessor STM32F407 is by calculating and logic judgment, and then decision goes out the fortune of next step trolley
Flowing mode is no in time to send relevant information etc. to outside.It is exemplified below: when sound source generates voice signal around trolley, four
Sound detection module can be acquired and handle to voice signal, and due to installation site difference, four are adopted sound module acquisition sound
Different at the time of sound signal, microprocessor STM32F407 passes through software by the time difference between four road signals of measurement, in inside
Operation, so that it may obtain the distance between current sound source and trolley and position relation.It is different that microprocessor internal generates two-way
Signal respectively drives motor, keeps trolley mobile to target direction.In moving process, ultrasonic wave module real-time detection and ambient
The distance between body relationship, if encountering obstacle, microprocessor can control trolley drive module control trolley it is mobile then around
Obstacle is crossed, and guarantees that trolley returns on initial motion profile；Simultaneously after sound source, microprocessor calls GPS positioning
The current location information that module obtains, and be sent on matching client terminal such as mobile phone by GPRS module, thus
Complete location tasks.If not having sound-source signal around trolley, trolley can be mobile with a fixed mode pitch of the laps, this movement
Trolley head mounted infrared detection module, fingerprint identification module RE200B acquires infrared source information in the process, is provided with because RE200B is three
Fixed angle, and each RE200B has corresponding pin to connect with microprocessor, therefore can be by the way which infrared inspection judged
The infrared source information that detects of module RE200B is surveyed to determine the general direction of infrared radiation source, thus further assist detecting, from
And enhance the rapidity and validity to human testing, if detecting effective infrared signal, trolley can be with this signal
Foundation, gradually lean on close-target, in approach process, ultrasonic distance measuring module also ensure that obstacle keep away around with effectively lean on
Closely.
Claims (6)
1. a kind of search and rescue system based on sound and light detecting, it is characterised in that: including sound detection module, voice signal enhanced processing
Module, infrared detection module, fingerprint identification module, ultrasonic obstacle avoidance module, GPS positioning module, GPRS module, microcontroller, trolley drive module and visitor
Family terminal；The sound detection module connects microcontroller by voice signal enhanced processing module；On microcontroller again respectively
Connect infrared detection module, fingerprint identification module, ultrasound measurement module, GPS positioning module, GPRS module and trolley drive module；The client terminal
With GPRS module communication connection.
2. the search and rescue system according to claim 1 based on sound and light detecting, it is characterised in that: the sound detection module is
Four, the surrounding of trolley is set；The voice signal enhanced processing module is TS472 chip；It is described ultrasound obstacle avoidance module and
Infrared detection module, fingerprint identification module is three, and three ultrasonic obstacle avoidance modules are separately positioned on the two sides and front end of trolley.
3. the search and rescue system according to claim 2 based on sound and light detecting, it is characterised in that: described based on sound and light detecting
Search and rescue system further includes warning note device.
4. the search and rescue system according to claim 3 based on sound and light detecting, it is characterised in that: warning note device is buzzing
Device.
5. the search and rescue system according to claim 4 based on sound and light detecting, it is characterised in that: pyroelectric infrared sensor is
RE200B；Signal processor is BIS0001.
6. a kind of search and rescue trolley based on sound and light detecting, it is characterised in that: be arranged on the search and rescue trolley based on sound and light detecting
There is the search and rescue system based on sound and light detecting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820815316.XU CN208207607U (en) | 2018-05-29 | 2018-05-29 | A kind of search and rescue system and trolley based on sound and light detecting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820815316.XU CN208207607U (en) | 2018-05-29 | 2018-05-29 | A kind of search and rescue system and trolley based on sound and light detecting |
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| Publication Number | Publication Date |
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| CN208207607U true CN208207607U (en) | 2018-12-07 |
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| CN201820815316.XU Expired - Fee Related CN208207607U (en) | 2018-05-29 | 2018-05-29 | A kind of search and rescue system and trolley based on sound and light detecting |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111823996A (en) * | 2020-06-29 | 2020-10-27 | 江门职业技术学院 | Special rescue vehicle with excavation detection function |
| CN113813537A (en) * | 2021-10-25 | 2021-12-21 | 西安文理学院 | Flame detection robot |
-
2018
- 2018-05-29 CN CN201820815316.XU patent/CN208207607U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111823996A (en) * | 2020-06-29 | 2020-10-27 | 江门职业技术学院 | Special rescue vehicle with excavation detection function |
| CN111823996B (en) * | 2020-06-29 | 2021-09-21 | 江门职业技术学院 | Special rescue vehicle with excavation detection function |
| CN113813537A (en) * | 2021-10-25 | 2021-12-21 | 西安文理学院 | Flame detection robot |
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