CN207037464U - Life detection and environmental data collecting search and rescue car after a kind of calamity of controlled in wireless - Google Patents
Life detection and environmental data collecting search and rescue car after a kind of calamity of controlled in wireless Download PDFInfo
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- CN207037464U CN207037464U CN201720669610.XU CN201720669610U CN207037464U CN 207037464 U CN207037464 U CN 207037464U CN 201720669610 U CN201720669610 U CN 201720669610U CN 207037464 U CN207037464 U CN 207037464U
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- main control
- control chip
- host computer
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Abstract
The utility model discloses life detection after a kind of calamity of controlled in wireless and environmental data collecting to search and rescue car.The utility model includes main control chip, power module, automatic obstacle-avoiding and range finder module, motor drive module, IMAQ and face detection module, smog and Carbon Monoxide Detection module, flame detection modules, ambient light detection module, lighting module, Temperature and Humidity module, pyroelectricity life detection module, wifi communication modules, environment scene feature drafting module.The utility model small volume, the unapproachable dangerous narrow space of people can be entered and carry out detection and rescue, employ the automatic obstacle-avoiding solution of autonomous Design, realize the avoidance in complicated landform, meanwhile under the scene that obstacle avoidance system can not be handled, mode of operation can be switched to manually operated, it can continue effectively to be searched and rescued, reduce casualties to greatest extent.
Description
Technical field
It the utility model is related to intelligent miniature car field, specifically a kind of scene number that the adverse circumstances such as can gather after calamity
The search and rescue car of controlled in wireless is carried out according to passing host computer operation back and being communicated by wifi.
Background technology
In recent years, as the frequent natural calamities such as earthquake all over the world occur, timely and effectively Post disaster relief has extremely
Important meaning.China is also very weak in terms of disaster emergency rescue technique at present, relies primarily on manpower, rescue dogs and life
Order detection device and carry out life detection.Manpower and detection dog detection efficient are lower, and are influenceed seriously by periphery situation.
Existing life detecting device there is had a great influence by site environment, search space scope is small, search speed is slow,
The shortcomings of lacking fast positioning ability, it much can not meet the need that the trapped personnel of ruins pile things on after calamity is quickly searched and rescued on a large scale
Ask.And as the popularization of Internet of Things and the height of instrument and meter are intelligent, the working method of traditional approach is gradually run
Cover.
The content of the invention
The utility model is in view of the shortcomings of the prior art, there is provided life detection and environment number after a kind of calamity of controlled in wireless
Car is searched and rescued according to collection.
The utility model uses layered structure, and car body uses metal structure, and illuminating lamp, car body bottom are provided with front of car body
Portion is installed by direct current generator and crawler belt.
Vehicle body first layer, installation No. four infrared sensors, the ultrasonic range finder sensor of both sides, motor drive ic and flame
Sensor.
The vehicle body second layer, installation main control chip, Temperature Humidity Sensor and pyroelectricity life detection sensor.
Vehicle body third layer, installation Smoke Sensor, carbon monoxide transducer, ambient light sensor, camera, head, swash
Optical radar sensor and light compensating lamp.
Described Smoke Sensor, carbon monoxide transducer and master control 100 connects, and is carried out by the respective pins of main control chip
Work triggering and reception detection signal are simultaneously passed back host computer by wifi and shown with visual information.
Described flame sensor is connected with main control chip, is operated triggering by the respective pins of main control chip and is received
Detection signal is simultaneously passed back host computer by wifi and shown with visual information.
Described ambient light sensor is connected with main control chip, is operated triggering by the respective pins of main control chip and is connect
Receive detection signal and host computer is passed back by wifi and shown with visual information.
The both positive and negative polarity of described illuminating lamp power pins connection corresponding with main control chip, when illumination value is less than setting value
When, automatically open up illuminating lamp.
Described Temperature Humidity Sensor is connected with main control chip, is operated triggering by the respective pins of main control chip and is connect
Receive detection signal and host computer is passed back by wifi and shown with visual information.
Described pyroelectricity biosensor is connected with main control chip, and triggering is operated by the respective pins of main control chip
With receive detection signal and host computer is passed back by wifi and shown with visual information.
Described camera is arranged on head, the USB interface connection of camera and main control chip, steering wheel and the electricity of head
Machine driving chip respective pins connect；The image information collected is real-time transmitted to host computer by wifi and shown by camera,
Face datection is carried out to the scene image collected in host computer, after detecting face, sent by host computer to main control chip
Signal, the steering wheel of head is adjusted, in order to gather the image of multiple angles, preferably observes the vital signs of the wounded.
Described laser radar is connected with main control chip, and the radar range finding data collected in real time are sent into host computer
On, and structure map is modeled to neighbouring environment in real time, is shown in a manner of visual, it is clear and intuitive.
Described No. four infrared sensors detect the barrier of front and both sides in real time, real-time by ultrasonic range finder sensor
Detect the lateral extent of barrier two and host computer is transferred to by wifi and show.
Furtherly, the utility model uses model airplane battery, the power supply port of main control chip is connected with model airplane battery, motor
The power supply port of driving chip is connected with model airplane battery, and remaining equipment is triggered by the respective pins of main control chip
Furtherly, the PWM leads pin corresponding with motor drive ic of two direct current generators in the utility model
Pin connection occurs for the pwm signal of connection, motor drive ic and main control chip；Pwm signal is produced using main control chip, is passed through
Motor drive ic is powered to direct current generator, and can carry out speed governing by adjusting PWM dutycycle
The utility model uses all kinds of the environmental index sensors and camera of degree of precision, can real-time precise acquisition
The environmental datas such as disaster scenarios it in space, such as pernicious gas, humiture, flame, light, left and right distance, image scene, to scheme
The visualization of the forms such as table is shown on the mobile devices such as computer and iPad, effectively can provide support for follow-up rescue worker.
The utility model uses track structure, can tackle a variety of rough topographys such as field, disaster field, climbing capacity
It is more excellent.
The utility model small volume, the unapproachable dangerous narrow space of people can be entered and carry out detection and rescue, adopted
With automatic obstacle-avoiding solution, the avoidance in complicated landform is realized, meanwhile, can under the scene that obstacle avoidance system can not be handled
It is manually operated so that mode of operation to be switched to, it can continue effectively to be searched and rescued, reduce casualties to greatest extent.
The utility model can be adopted according to the light on and off of ambient light intensity automatic-control illumination lamp for half-light environment hypograph
Collecting system provides passive light source, while also have sent signal to trapped personnel.
The utility model possesses image capturing system, employs the high-definition camera and light compensating lamp of low-light (level), and utilizes
Illuminator is as passive light source, under the low scene of dim, visibility, the collection realtime graphic that can relatively stablize, and pass through
Wifi passes host computer back, in order to which rescue worker more directly observes field condition and does subsequent treatment.
The utility model possesses laser radar and independently builds drawing system, gathers radar scanning data in real time, and will in host computer
Ranging information under 0-360 degree environment is shown in plan view, clear and intuitive, can effectively help rescue worker
Understand the landform and environmental information near the wounded, take more preferable search and rescue scheme, save rescue time.
Brief description of the drawings
Fig. 1 is power supply connection diagram；
Fig. 2 is obstacle avoidance module operating diagram；
Fig. 3 is the utility model hardware module connection diagram；
Fig. 4 is that system centre handles schematic diagram.
Embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail.
As illustrated, the present embodiment, which provides one kind, is based on Embedded environmental data collecting post-disaster search and rescue car, including：Master control
Chip, power module, automatic obstacle-avoiding and range finder module, motor drive module, IMAQ and face detection module, smog and one
Carbonoxide detection module, flame detection modules, ambient light detection module, lighting module, Temperature and Humidity module, pyroelectricity life
Detection module, wifi communication modules, environment scene feature drafting module.
The search and rescue car is designed using layered structure in appearance, and car body uses metal structure, photograph is provided with front of car body
Bright lamp 110, vehicle bottom installation direct current generator 103 and crawler belt.In vehicle body first layer, installation No. four infrared sensors 101, both sides
Ultrasonic range finder sensor 102, motor drive ic 104, flame sensor 108；In the vehicle body second layer, installation master control 100, electricity
Pond 105, Temperature Humidity Sensor 111, pyroelectricity life detection sensor 112；In vehicle body third layer, installation Smoke Sensor 106,
Carbon monoxide transducer 107, ambient light sensor 109, camera 113, head 114, laser radar sensor 115, light compensating lamp
116。
Power module：Using model airplane battery 105, the power supply port of master control 100 is connected with battery 105, motor is driven into core
The power supply port of piece 104 is connected with battery 105, and remaining equipment can be triggered by the respective pins of master control 100.
Automatic obstacle-avoiding and range finder module：Main control chip 100 is connected with battery 105, by four road IR evading obstacle sensors 101
It is connected with master control 100, both sides ultrasonic range finder sensor 102 is connected with master control 100.Examined in real time by No. four infrared sensors 101
The barrier of front and both sides is surveyed, the lateral extent of barrier two is detected in real time by ultrasonic range finder sensor 102 and is passed by wifi
It is defeated to be shown to host computer.Both sides ultrasonic range finder sensor 102 is that may be present during to avoid hypotelorism interferes with each other, setting one
Threshold value is determined, when two lateral extents are more than threshold value, using ultrasonic range finder sensor 102 and the middle gained of two-way infrared sensor 101
Level signal carry out binary coding, and when both sides ranging is from less than threshold value, then carry out two using the infrared signal in four tunnels
Scale coding, totally 16 kinds of situations as obtained by Unified coding, automatically selects walking scheme.When sensor passes low level back, table
Show and detect barrier, if left side is infrared（Ultrasound）Signal is L, and the infrared ultrasonic signal in right side is R, and middle infrared signal is M1,
M2, binary coding is carried out to it by L, M1, M2, R order and walking scheme is as follows：0000, retreat；0001, turn right；
0010, retreat；0011, turn right；0100, retreat；0101, turn right；0110, advance；0111, turn right；1000, retreat；1001, it is right
Turn；1010, turn left；1011, turn right；1100, turn left；1101, turn left；1110, turn left；1111, advance.
Motor drive module：The PWM leads of two direct current generators 103 are connected with 104 corresponding pin of motor drive ic
Connect, motor drive ic 104 is connected with battery 105, and the pwm signal of motor drive ic 104 and master control 100 occurs pin and connected
Connect.Suitable pwm signal is produced using master control 100, direct current generator 103 is powered by motor drive ic 104, and can
Speed governing is carried out by the dutycycle for adjusting PWM.
Smog and Carbon Monoxide Detection module：Smoke Sensor 106 and carbon monoxide transducer 107 and master control 100 are connected
Connect, be operated triggering by the respective pins of master control 100 and received detection signal and host computer is passed back and with visual by wifi
Change presentation of information.
Flame detection modules：Flame sensor 108 is connected with master control 100, is operated by the respective pins of master control 100
Triggering and reception detection signal are simultaneously passed back host computer by wifi and shown with visual information.
Ambient light detection module：Ambient light sensor 109 is connected with master control 100, carried out by the respective pins of master control 100
Work triggering and reception detection signal are simultaneously passed back host computer by wifi and shown with visual information.
Lighting module：The both positive and negative polarity of front illumination 110 is connected with 100 corresponding power pins of master control, by above-mentioned
Ambient light detection module obtains the presentation of information that quantizes in host computer, sets certain threshold value, when illumination value be less than threshold value, oneself
It is dynamic to open illuminating lamp.
Temperature and Humidity module：Temperature Humidity Sensor 111 is connected with master control 100, carried out by the respective pins of master control 100
Work triggering and reception detection signal are simultaneously passed back host computer by wifi and shown with visual information.
Pyroelectricity life detection module：Pyroelectricity biosensor 112 is connected with master control 100, by the corresponding of master control 100
Pin is operated triggering and receives detection signal and pass host computer back by wifi and shown with visual information.
IMAQ and face detection module：Camera 113 is arranged on head 114, by camera 113 and master control
100 USB interface connection, the steering wheel of head 114 is connected with the respective pins of motor drive ic 104.The image that will be collected
Information is real-time transmitted to host computer by wifi and shown, scene graph that can be with the method for image procossing to collecting in host computer
As carrying out Face datection, combined with above-mentioned pyroelectricity life detection module, improve the efficiency of life detection.After detecting face,
Signal is sent to master control 100 by host computer, the steering wheel of head 114 can be adjusted, in order to gather multiple angles
Image, preferably observe the vital signs of the wounded.
Laser radar independently builds drawing system：Laser radar 115 is connected with master control 100, the radar collected in real time is surveyed
It is sent to away from data on host computer, and structure map is modeled to neighbouring environment in real time, is shown in a manner of visual,
It is clear and intuitive.And it control radar can be tested the speed open and close on host computer, the parameter such as adjustment scan frequency, have and well may be used
Control property, more preferably gathered data.
It is understood that above with respect to specific descriptions of the present utility model, it is merely to illustrate the utility model and is not
The technical scheme described by the utility model embodiment is limited to, it will be understood by those within the art that, still can be with
The utility model is modified or equivalent substitution, to reach identical technique effect；As long as satisfaction uses needs, all in this reality
Within new protection domain.
Claims (3)
1. life detection and environmental data collecting search and rescue car after a kind of calamity of controlled in wireless, using layered structure, car body is using gold
Belong to structure, it is characterised in that：Illuminating lamp, vehicle bottom installation direct current generator and crawler belt are installed in front of car body；
Vehicle body first layer, installation No. four infrared sensors, the ultrasonic range finder sensor of both sides, motor drive ic and flame sensing
Device；
The vehicle body second layer, installation main control chip, Temperature Humidity Sensor and pyroelectricity life detection sensor；
Vehicle body third layer, installation Smoke Sensor, carbon monoxide transducer, ambient light sensor, camera, head, laser thunder
Up to sensor and light compensating lamp；
Described Smoke Sensor, carbon monoxide transducer and master control connects, and is operated by the respective pins of main control chip tactile
Hair and reception detection signal are simultaneously passed back host computer by wifi and shown with visual information；
Described flame sensor is connected with main control chip, is operated triggering by the respective pins of main control chip and is received and detected
Signal is simultaneously passed back host computer by wifi and shown with visual information；
Described ambient light sensor is connected with main control chip, is operated triggering by the respective pins of main control chip and is received and examined
Survey signal and host computer is passed back by wifi and shown with visual information；
The power pins connection corresponding with main control chip of the both positive and negative polarity of described illuminating lamp, when illumination value is less than setting value, from
It is dynamic to open illuminating lamp；
Described Temperature Humidity Sensor is connected with main control chip, is operated triggering by the respective pins of main control chip and is received and examined
Survey signal and host computer is passed back by wifi and shown with visual information；
Described pyroelectricity biosensor is connected with main control chip, is operated triggering by the respective pins of main control chip and is connect
Receive detection signal and host computer is passed back by wifi and shown with visual information；
Described camera is arranged on head, and the USB interface connection of camera and main control chip, steering wheel and the motor of head drive
Dynamic chip respective pins connection；The image information collected is real-time transmitted to host computer by wifi and shown by camera, upper
Position machine carries out Face datection to the scene image collected, and after detecting face, signal is sent to main control chip by host computer,
The steering wheel of head is adjusted, in order to gather the image of multiple angles, preferably observes the vital signs of the wounded；
Described laser radar is connected with main control chip, and the radar range finding data collected in real time are sent on host computer, and
Structure map is modeled to neighbouring environment in real time, is shown in a manner of visual, clear and intuitive；
Described No. four infrared sensors detect the barrier of front and both sides in real time, are detected in real time by ultrasonic range finder sensor
The lateral extent of barrier two is simultaneously transferred to host computer by wifi and shown.
2. life detection and environmental data collecting search and rescue car after the calamity of controlled in wireless according to claim 1, its feature exists
In：Using model airplane battery, the power supply port of main control chip is connected with model airplane battery, power supply port and the model plane electricity of motor drive ic
Pond is connected, and remaining equipment is triggered by the respective pins of main control chip.
3. life detection and environmental data collecting search and rescue car after the calamity of controlled in wireless according to claim 1, its feature exists
In：The PWM leads pin connection corresponding with motor drive ic of two direct current generators, motor drive ic and main control chip
Pin connection occurs for pwm signal；Pwm signal is produced using main control chip, direct current generator is supplied by motor drive ic
Electricity, and speed governing can be carried out by adjusting PWM dutycycle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720669610.XU CN207037464U (en) | 2017-06-09 | 2017-06-09 | Life detection and environmental data collecting search and rescue car after a kind of calamity of controlled in wireless |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720669610.XU CN207037464U (en) | 2017-06-09 | 2017-06-09 | Life detection and environmental data collecting search and rescue car after a kind of calamity of controlled in wireless |
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| Publication Number | Publication Date |
|---|---|
| CN207037464U true CN207037464U (en) | 2018-02-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720669610.XU Expired - Fee Related CN207037464U (en) | 2017-06-09 | 2017-06-09 | Life detection and environmental data collecting search and rescue car after a kind of calamity of controlled in wireless |
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| CN (1) | CN207037464U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015591A (en) * | 2018-08-31 | 2018-12-18 | 兰州石化职业技术学院 | A kind of digitlization security protection Detecting Robot |
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2017
- 2017-06-09 CN CN201720669610.XU patent/CN207037464U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015591A (en) * | 2018-08-31 | 2018-12-18 | 兰州石化职业技术学院 | A kind of digitlization security protection Detecting Robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180223 Termination date: 20190609 |