CN116506574B - Life detection device and detection method thereof - Google Patents
Life detection device and detection method thereof Download PDFInfo
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- CN116506574B CN116506574B CN202310463990.1A CN202310463990A CN116506574B CN 116506574 B CN116506574 B CN 116506574B CN 202310463990 A CN202310463990 A CN 202310463990A CN 116506574 B CN116506574 B CN 116506574B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/08—Protocols for interworking; Protocol conversion
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
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Abstract
A life detection device comprises a control module, a video acquisition module, a wireless image transmission module, a protocol conversion module, a steering engine driving module, a steering engine module, a motor driving module and a power conversion module; the control module controls the steering engine module through the steering engine driving module, and the steering engine module drives the video acquisition module to mechanically move; the control module controls the wireless image transmission module to work through the protocol conversion module so as to realize that video data acquired by the video acquisition module are sent out in a wireless signal mode; the life detection device can intelligently drive and run through the wireless control signal of the rear control center to replace fire rescue workers to enter a severe life detection environment, life detection is realized through a video detection mode, command interaction and data transmission of the life detection device and the rear control center are realized through the wireless transmission module, the control module serves as the control center, and each module is scheduled to work orderly to realize corresponding functions.
Description
Technical Field
The invention belongs to the technical field of fire rescue, and particularly relates to a life detection device and a detection method thereof.
Background
The application of the existing video life detection device is mainly realized based on the fact that fire rescue workers physically arrive at the scene to manually operate the video life detection device, and the operation is not intelligent enough; when a life detection task is executed in a disaster accident, many rescue sites have bad environments, narrow spaces and personal safety threats, and the conventional video life detection device seriously depends on the site operation of fire rescue workers, so that the safety is insufficient, the application efficiency is limited, and the execution of the life detection task becomes very difficult.
Disclosure of Invention
The invention aims to provide a life detection device which is based on motor-driven robots, steering engine multi-angle adjustment and video exploration technology to realize video life detection tasks of trapped people in disaster accidents, can replace fire rescue workers to enter a severe rescue site to develop video life detection, realizes angle adjustment of a video acquisition module by controlling the steering engine, further realizes multi-angle video life detection tasks, is flexible and reliable in application, improves self safety of the fire rescue workers, and improves life detection efficiency in complex environments.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a life detection device comprises a control module, a video acquisition module, a wireless image transmission module, a protocol conversion module, a steering engine driving module, a steering engine module, a motor driving module and a power conversion module; the control module is connected with the protocol conversion module, the steering engine driving module and the motor driving module; the control module controls the steering engine module through the steering engine driving module, and the steering engine module drives the video acquisition module to perform mechanical movement, so that the control of the video angle is realized; the control module controls the wireless image transmission module to work through the protocol conversion module so as to realize that video data acquired by the video acquisition module are sent out in a wireless signal mode; the power conversion module is used for supplying power to the control module, the steering engine driving module, the motor driving module and the wireless image transmission module.
The control module comprises a chip STM32F103V8, and pins 61, 62, 64 and 65 of the chip STM32F103V8 are correspondingly connected with pins 2, 1, 9 and 10 of a chip U9 in the steering engine driving module; pin 57 of chip STM32F103V8 is correspondingly connected with the DATA end in the protocol conversion module; pins 34, 35, 36 and 37 of chip STM32F103V8 are correspondingly connected with pins 3 and 2 of chip U4 and pins 3 and 2 of chip U8 in the motor driving module; pins 72 and 76 of chip STM32F103V8 are connected with pins 2 and 3 of U15 for program downloading and configuration; pins 12 and 13 of a chip STM32F103V8 are connected in parallel with X2 and X2 serving as external clock sources of the chip STM32F103V8, and capacitors C20 and C15 serving as signal filtering capacitor units; the capacitor C16 is connected in parallel with the two ends of the pins 10 and 11 of the chip STM32F103V8 to form a signal filtering capacitor unit; the capacitor C17 is connected in parallel with two ends of pins 21 and 20 of a chip STM32F103V8 to form a signal filtering capacitor unit; the capacitor C18 is connected in parallel with two ends of pins 22 and 19 of a chip STM32F103V8 to form a signal filtering capacitor unit; the capacitor C19 is connected in parallel with two ends of pins 28 and 27 of a chip STM32F103V8 to form a signal filtering capacitor unit; the capacitor C21 is connected in parallel with two ends of pins 50 and 49 of a chip STM32F103V8 to form a signal filtering capacitor unit; the capacitor C22 is connected in parallel with two ends of pins 75 and 74 of a chip STM32F103V8 to form a signal filtering capacitor unit; the capacitor C23 is connected in parallel with two ends of pins 100 and 99 of a chip STM32F103V8 to form a signal filtering capacitor unit; an initial boot configuration circuit is formed by resistor R10 and connector U16 connected to pin 94 of STM32F103V 8; an indication circuit is formed by a resistor R11 and a light emitting diode LED0 and is connected to the pin 66 of STM32F103V 8.
The steering engine driving module comprises a chip U9, the model number is 74HC126D, pins 1, 2, 10 and 9 of the steering engine driving module are connected with pins 62, 61, 65 and 64 of a chip STM32F103V8 and used for receiving and transmitting steering engine driving data and interacting instructions, and the steering engine driving module is powered by a power supply conversion module 3.3VCC and GND signals; meanwhile, the steering engine driving module is connected with the steering engine module through connectors U11 and U12, a pin 3 in the connectors U11 and U12 is used for signal transmission respectively, pins 1 and 2 supply power to the steering engine module, the power supply voltage is 5V, and the power supply comes from the power supply conversion module.
The motor driving module comprises chips U4 and U8, the chips are A4950, the pins 2, 3 and U8 of the chips U4 are connected with the pins 35, 34, 37 and 36 of the chips STM32F103V8 correspondingly and used for transmitting power driving control signals, the resistor R2 is used as a matching resistor of the U4, the resistor R4 is used as a matching resistor of the U8, the pins 6 and 8 of the U2 are connected with the pins 2 and 1 of the motor U5 correspondingly, the pins 6 and 8 of the U8 are connected with the pins 2 and 1 of the motor U7 correspondingly, the capacitors C1 and C2 are filter capacitors, and the VBAT, 5VCC and GND are provided by the power conversion module.
The protocol conversion module comprises resistors R5, R6 and R7 and a triode Q1, the resistors R5, R6, R7 and Q1 form a reverse circuit, and the pin 57 of the STM32F103V8 is connected with the pin 9 of the wireless image transmission module to realize SBUS protocol communication, so that the image transmission work of the wireless image transmission module is controlled.
The steering engine module comprises a connector U11 and a connector U12, a pin 3 of the connector U11 and a pin 3 of the connector U12 are respectively connected with pins 3 and 8 of a chip U9 in the steering engine driving module, driving control of the steering engine driving module on the steering engine module is achieved, pins 2 and 1 of the U11 and the U12 are respectively 5VCC and GND, and power is supplied by the power supply conversion module.
The wireless image transmission module comprises an image transmission unit U13, an external antenna E1 and an external antenna E2, wherein pins 10 and 11 of the image transmission unit U13 are respectively and correspondingly connected with the E1 and the E2 and are used for transmitting wireless signals; pin 9 of the image transmission unit U13 is correspondingly connected with pin 57 of STM32F103V8 and is used for transmitting control signals; pins 1, 2, 3, 4, 5, 6, 7 and 8 of the image transmission unit U13 are correspondingly connected with pins 1, 2, 3, 4, 5, 6, 7 and 8 of the camera unit U14 in the video acquisition module, and are used for video image data transmission and power supply of 12V power signals.
The video acquisition module comprises a unit U14, pins 1, 2, 3, 4, 5, 6, 7 and 8 of the unit U are correspondingly connected with pins 1, 2, 3, 4, 5, 6, 7 and 8 of an image transmission unit U13 in the wireless image transmission module, the function that video data acquired by the video acquisition module are sent out in a wireless signal mode through the wireless image transmission module is achieved, and meanwhile 12V and GND supply power for the video acquisition module.
The power conversion module comprises a connector U3, a chip U1 (LM 2576-12.0), a chip U2 (LM 2576-5.0) and a chip U6 (LM 2576-3.3), wherein the switch S1 is a power signal switch, the resistors R1 and R3 form a matching resistor, the output voltage signal VBAT is output, and the diode D1 is in unidirectional conduction to prevent surge; the capacitors C9 and C10 are used as filtering capacitors at the input end of the U1, the inductor L1, the diode D2, the capacitor C3 and the capacitor C6 form an output end filtering rectifier circuit, and the output signal 12VCC is output; meanwhile, 12VCC is used as a U2 input signal, capacitors C4 and C7 are used as input end filter circuits, an output end filter rectifying circuit is formed by an inductor L2, a diode D3, a capacitor C5 and a capacitor C8, and a signal 5VCC is output; meanwhile, 5VCC is used as an input signal of U6, C11 and C12 are used as input filter capacitors, an inductor L3, a capacitor C13, a capacitor C14 and a diode D4 form a U6 output filter rectifying circuit, and a signal 3.3VCC is output; to this end, the power conversion module forms VBAT, 12VCC, 5VCC, 3.3VCC to supply power to the respective modules.
The embodiment of the invention also provides a method for detecting by using the life detection device, which comprises the following steps: after receiving the control instruction, the life detection device enters a designated area; and after receiving the detection instruction, the life detection device makes corresponding action according to the detection instruction and uploads the shot image information in real time.
Further, after the life detection device receives the detection motion instruction, making a corresponding motion action according to the detection motion instruction includes: and after receiving the video angle adjusting instruction, adjusting the angle of the video acquisition module according to the video angle adjusting instruction.
The life detection device can replace fire rescue workers to enter some severe rescue sites with narrow spaces and personal safety threat on one hand, execute video life detection tasks, and can effectively improve the safety and emergency treatment efficiency of the fire rescue workers; on the other hand, the steering engine multi-angle adjustment and video exploration technology is adopted to realize the video life detection function, so that multi-angle video life detection tasks can be realized, and the flexibility and reliability of video life detection application can be effectively improved.
Drawings
FIG. 1 is a schematic diagram of a life detection device according to an embodiment of the present invention;
FIG. 2 is a schematic circuit diagram of a control module according to an embodiment of the present invention;
FIG. 3 is a schematic circuit diagram of a radar module according to an embodiment of the present invention;
FIG. 4 is a schematic circuit diagram of a power driving module according to an embodiment of the present invention;
fig. 5 is a schematic circuit diagram of a wireless communication module according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a power module for generating a 5V voltage according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a power module for generating 3.3V voltage according to an embodiment of the present invention;
FIG. 8 is a schematic circuit diagram of a program configuration module according to an embodiment of the present invention;
FIG. 9 is a schematic circuit diagram of a first power conversion module according to an embodiment of the invention;
fig. 10 is a schematic circuit diagram of a second power conversion module according to an embodiment of the invention.
Detailed Description
The invention will be further described with reference to the drawings and examples. Where the description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the invention. Rather, they are merely examples of apparatus consistent with aspects of the invention as detailed in the accompanying claims.
As shown in fig. 1, a life detection device of the present embodiment includes: the system comprises a control module, a video acquisition module, a wireless image transmission module, a protocol conversion module, a steering engine driving module, a steering engine module, a motor driving module and a power conversion module; the control module is connected with the protocol conversion module, the steering engine driving module and the motor driving module; the control module controls the steering engine module through the steering engine driving module, and the steering engine module drives the video acquisition module to perform mechanical movement, so that the control of the video angle is realized; the control module controls the wireless image transmission module to work through the protocol conversion module, so that video data acquired by the video acquisition module are sent out in a wireless signal (for example, 2.4G) mode; the power conversion module is used for supplying power to the control module, the steering engine driving module, the motor driving module and the wireless image transmission module.
The specific working principle is as follows: the control module controls the motor driving module to drive the motor to rotate, so that the robot moves to a target place, then controls the steering engine driving module to drive the steering engine module to rotate, the steering engine module rotates to drive the video acquisition module to rotate in a following way, and therefore adjustment of a video acquisition angle is achieved.
As shown in fig. 2, a schematic circuit diagram of a control module according to an embodiment of the present invention is shown. The control module comprises a chip STM32F103V8, and pins 61, 62, 64 and 65 of the chip STM32F103V8 are correspondingly connected with pins 2, 1, 9 and 10 of a chip U9 in the steering engine driving module; pin 57 of chip STM32F103V8 is correspondingly connected with the DATA end in the protocol conversion module; pins 34, 35, 36 and 37 of chip STM32F103V8 are correspondingly connected with pins 3 and 2 of chip U4 and pins 3 and 2 of chip U8 in the motor driving module; pins 72 and 76 of chip STM32F103V8 are connected with pins 2 and 3 of U15 for program downloading and configuration; pins 12 and 13 of a chip STM32F103V8 are connected in parallel with X2 and X2 serving as external clock sources of the chip STM32F103V8, and capacitors C20 and C15 serving as signal filtering capacitor units; the capacitor C16 is connected in parallel with the two ends of the pins 10 and 11 of the chip STM32F103V8 to form a signal filtering capacitor unit; the capacitor C17 is connected in parallel with two ends of pins 21 and 20 of a chip STM32F103V8 to form a signal filtering capacitor unit; the capacitor C18 is connected in parallel with two ends of pins 22 and 19 of a chip STM32F103V8 to form a signal filtering capacitor unit; the capacitor C19 is connected in parallel with two ends of pins 28 and 27 of a chip STM32F103V8 to form a signal filtering capacitor unit; the capacitor C21 is connected in parallel with two ends of pins 50 and 49 of a chip STM32F103V8 to form a signal filtering capacitor unit; the capacitor C22 is connected in parallel with two ends of pins 75 and 74 of a chip STM32F103V8 to form a signal filtering capacitor unit; the capacitor C23 is connected in parallel with two ends of pins 100 and 99 of a chip STM32F103V8 to form a signal filtering capacitor unit; an initial boot configuration circuit is formed by resistor R10 and connector U16 connected to pin 94 of STM32F103V 8; an indication circuit is formed by a resistor R11 and a light emitting diode LED0 and is connected to the pin 66 of STM32F103V 8.
In this embodiment, the main advantages of the selected chip STM32F103V8 include: the system has the advantages of strong real-time performance, extremely high performance, rich on-chip IO interfaces, abundant interrupt resources, excellent synchronous working mechanism, powerful software support, abundant software packages and comprehensive technical documents, and has the abnormal processing functions of power failure, storage errors, operation overflow and the like.
As shown in fig. 3, a schematic circuit diagram of the steering engine driving module of the present embodiment is shown. The steering engine driving module comprises a chip U9, the model number is 74HC126D, pins 1, 2, 10 and 9 of the steering engine driving module are connected with pins 62, 61, 65 and 64 of a chip STM32F103V8 and used for receiving and transmitting steering engine driving data and command interaction, and the steering engine driving module is powered by power supply conversion modules 3.3VCC and GND signals; meanwhile, the steering engine driving module is connected with the steering engine module through a connector U11 and a connector U12, wherein a pin 3 in the connector U11 and a pin 3 in the connector U12 are respectively used for signal transmission, pins 1 and 2 supply power to the steering engine module, the power supply voltage is 5V, and the power supply is from the power supply conversion module.
As shown in fig. 4, a schematic circuit diagram of the motor driving module of the present embodiment is shown. The motor driving module comprises a chip U4 and a chip U8 which are A4950, pins 2, 3 and U8 pins 2, 3 of the chip U4 are correspondingly connected with pins 35, 34, 37 and 36 of a chip STM32F103V8 and are used for transmitting power driving control signals, a resistor R2 is used as a matching resistor of the chip U4, a resistor R4 is used as a matching resistor of the chip U8, U2 pins 6 and 8 are correspondingly connected with pins 2 and 1 of a motor U5, U8 pins 6 and 8 are correspondingly connected with pins 2 and 1 of a motor U7, capacitors C1 and C2 are filter capacitors, and VBAT, 5VCC and GND are provided by the power conversion module.
As shown in fig. 5, a schematic circuit diagram of the protocol conversion module of the present embodiment is shown. The protocol conversion module comprises resistors R5, R6 and R7 and a triode Q1, the resistors R5, R6, R7 and Q1 form a reverse circuit, and the pin 57 of the STM32F103V8 is connected with the pin 9 of the wireless image transmission module to realize SBUS protocol communication, so that the image transmission work of the wireless image transmission module is controlled.
As shown in fig. 6, a schematic circuit diagram of the steering engine module of the present embodiment is shown. The steering engine module comprises a connector U11 and a connector U12, a pin 3 of the connector U11 and a pin 3 of the connector U12 are respectively connected with pins 3 and 8 of a chip U9 in the steering engine driving module, driving control of the steering engine driving module on the steering engine module is achieved, pins 2 and 1 of the U11 and the U12 are respectively 5VCC and GND, and power is supplied by the power supply conversion module.
Fig. 7 is a schematic circuit diagram of a wireless transmission module according to an embodiment of the present invention. The wireless image transmission module comprises an image transmission unit U13, an external antenna E1 and an external antenna E2, wherein pins 10 and 11 of the image transmission unit U13 are respectively and correspondingly connected with the E1 and the E2 and are used for transmitting wireless signals; pin 9 of the image transmission unit U13 is correspondingly connected with pin 57 of STM32F103V8 and is used for transmitting control signals; pins 1, 2, 3, 4, 5, 6, 7 and 8 of the image transmission unit U13 are correspondingly connected with pins 1, 2, 3, 4, 5, 6, 7 and 8 of the camera unit U14 in the video acquisition module, and are used for video image data transmission and power supply of 12V power signals.
As shown in fig. 8, a schematic circuit diagram of the video capturing module of the present embodiment is shown. The video acquisition module comprises a camera unit U14, pins 1, 2, 3, 4, 5, 6, 7 and 8 of the camera unit U are correspondingly connected with pins 1, 2, 3, 4, 5, 6, 7 and 8 of an image transmission unit U13 of the wireless image transmission module, the function that video data acquired by the video acquisition module are sent out in a wireless signal mode through the wireless image transmission module is achieved, and meanwhile 12V and GND supply power for the video acquisition module.
As shown in fig. 9 and 10, a schematic circuit diagram of the power conversion module of the present embodiment is shown. The power conversion module comprises a connector U3, a chip U1 (LM 2576-12.0), a chip U2 (LM 2576-5.0) and a chip U6 (LM 2576-3.3), wherein the switch S1 is a power signal switch, the resistors R1 and R3 form a matching resistor, the output voltage signal VBAT is outputted, and the diode D1 is conducted unidirectionally to prevent surge; the capacitors C9 and C10 are used as filtering capacitors at the input end of the U1, the inductor L1, the diode D2, the capacitor C3 and the capacitor C6 form an output end filtering rectifier circuit, and the output signal 12VCC is output; meanwhile, 12VCC is used as a U2 input signal, capacitors C4 and C7 are used as input end filter circuits, an output end filter rectifying circuit is formed by an inductor L2, a diode D3, a capacitor C5 and a capacitor C8, and a signal 5VCC is output; meanwhile, 5VCC is used as an input signal of U6, C11 and C12 are used as input filter capacitors, an inductor L3, a capacitor C13, a capacitor C14 and a diode D4 form a U6 output filter rectifying circuit, and a signal 3.3VCC is output; to this end, the power conversion module forms VBAT, 12VCC, 5VCC, 3.3VCC to supply power to the respective modules.
The working principle of the life detection device of the present embodiment is illustrated as follows: firstly, a rear-end control center sends motion and video instructions to a life detection device with controllable video angles in the embodiment through wireless signals (such as 2.4G), a wireless image transmission module of the life detection device with controllable video angles in the embodiment receives aerial 2.4G wireless signals, the analyzed motion and video instruction data are sent to a control module through a protocol conversion module, the control module controls a motor driving module to work according to the motion instruction data, the motor driving module works, the life detection device carries out expected motion, the control module controls a steering engine driving module to work according to the video instruction data, the steering engine driving module drives 2 steering engine modules to work, the angle change of a video acquisition module is achieved, meanwhile, the video acquisition module sends video data to a wireless image transmission module, the wireless image transmission module transmits the video data in the form of 2.4G wireless signals, and the rear-end control center receives the aerial 2.4G wireless signals, namely the video data of a front-end life detection device.
In this embodiment, a video camera (not shown in the figure) is installed on the video acquisition module, the video acquisition module is connected with 2 steering engine modules through 2 rotating mechanical structures (1 level, 1 vertical), and each steering engine module controls one rotating mechanical structure to rotate, so that the regulation and control of the horizontal and vertical angles of the video acquisition module are realized, and the angle of the video acquisition module can be changed.
For example, if a rescue worker at the rear end control center wants to see a video picture corresponding to an angle of 30 degrees horizontally and 60 degrees vertically, the control center sends a control instruction to the front life detection device, the instruction content is that the horizontal steering engine module rotates by 30 degrees, the vertical steering engine module rotates by 60 degrees, after receiving the control instruction, the front life detection device controls the steering engine driving module to drive 2 steering engine modules to move, drives the horizontal steering engine module to rotate by 30 degrees and drives the vertical steering engine module to rotate by 60 degrees, at the moment, the video picture collected by the video collection module is the video picture corresponding to an angle of 30 degrees horizontally and 60 degrees vertically, and autonomous control of the video angle is realized. Compared with the conventional video life detection method, the life detection device has remarkable advantages in application flexibility and application safety, and on one hand, the life detection device can replace rescue workers to enter an accident scene to execute life detection tasks at a dangerous accident scene, so that personal safety of the rescue workers is guaranteed; on the other hand, rescue personnel can control autonomous movement of the front-end life detection device and flexible control of video angles at the rear-end control center according to video pictures, so that flexible application of video life detection technology is realized.
In practical application, the motor driving module in the life detection device of the embodiment drives the motor to rotate, and wheels or caterpillar tracks can be arranged on the motor, so that the movement of the life detection device is realized. On one hand, the system can replace fire rescue workers to enter some severe rescue sites with narrow spaces and personal safety threat, execute video life detection tasks, and can effectively improve the safety and emergency treatment efficiency of the fire rescue workers; on the other hand, the steering engine multi-angle adjustment and video exploration technology is adopted to realize the video life detection function, so that multi-angle video life detection tasks can be realized, and the flexibility and reliability of video life detection application can be effectively improved.
Practical application scene of utilizing life detection device of this embodiment to detect: the method can comprise geological disaster sites such as earthquakes, debris flows, landslides and the like, and other dangerous environment life detection application scenes such as urban fire accident sites and the like which are inconvenient for rescue workers to enter.
The embodiment also provides a method for detecting by using the life detection device, and in some accident sites with high danger and inconvenient entry of rescue workers, firstly, the life detection device and the control center are started, and the rescue workers control the life detection device to advance towards the inside of the accident site through the control center. And then, outputting a wireless control instruction through the control center to guide the life detection device to enter the severe environment area to execute the life detection task. Rescue workers control the life detection device to cruise and detect in a front-end environment severe area through a video means at the rear end through a control center, video angles are changed aiming at some key detection targets so as to improve life detection efficiency and accuracy, and finally task targets of life detection in severe environments are realized. The technical method for executing the video life detection task in the dangerous area instead of the rescue workers provided by the embodiment of the invention has flexible and controllable life detection video angle and has great significance on the rapid development of life detection technology.
Specifically, after the life detection device receives a control instruction, a control module in the life detection device controls a motor driving module to drive a motor to rotate, then drives a crawler connected with the motor to move, and finally realizes the integral movement of the life detection device and enters a designated area; and after receiving the detection instruction, the life detection device makes corresponding action according to the detection instruction and uploads the shot image information in real time.
In this embodiment, the life detection device continuously adjusts the motion position according to the instruction of the control center, meanwhile, the life detection device continuously transmits the front video data to the rear control center, the rear end rescue personnel control the life detection device to advance to some target positions according to the video picture of the control center, after the life detection device reaches the target positions, the rescue personnel send the instruction to control the steering engine driving module to drive the 2 steering engine modules to rotate respectively through the control center, and then the adjustment of the angle of the video acquisition module is realized, and finally the life detection with controllable video angle is realized.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all technical features thereof can be replaced by others within the spirit and principle of the present invention; such modifications and substitutions do not depart from the scope of the invention.
Claims (10)
1. A life detection device comprising: the system comprises a control module, a video acquisition module, a wireless image transmission module, a protocol conversion module, a steering engine driving module, a steering engine module, a motor driving module and a power conversion module; the control module is connected with the protocol conversion module, the steering engine driving module and the motor driving module; the control module controls the steering engine module through the steering engine driving module, and the steering engine module drives the video acquisition module to mechanically move; the control module controls the wireless image transmission module to work through the protocol conversion module so as to send out the video data acquired by the video acquisition module in a wireless signal mode; the power supply conversion module supplies power to the control module, the steering engine driving module, the motor driving module and the wireless image transmission module,
the control module comprises a chip STM32F103V8, the steering engine driving module comprises a chip U9, the model is 74HC126D, and pins 61, 62, 64 and 65 of the chip STM32F103V8 are correspondingly connected with pins 2, 1, 9 and 10 of the chip U9 in the steering engine driving module; the pin 57 of the chip STM32F103V8 is correspondingly connected with the DATA end in the protocol conversion module; the motor driving module comprises a chip U4 and a chip U8, and the model is A4950; pins 34, 35, 36 and 37 of the chip STM32F103V8 are correspondingly connected with pins 3 and 2 of a chip U4 and pins 3 and 2 of the chip U8 in the motor driving module; pins 72, 76 of the chip STM32F103V8 are connected to pins 2, 3 of U15,
the method is used for program downloading and configuration; pins 12 and 13 of the chip STM32F103V8 are connected in parallel with X2 and X2 serving as external clock sources of the chip STM32F103V8, and capacitors C20 and C15 serving as signal filtering capacitor units; the capacitor C16 is connected in parallel with two ends of pins 10 and 11 of the chip STM32F103V8 to form a signal filtering capacitor unit; the capacitor C17 is connected in parallel with two ends of pins 21 and 20 of the chip STM32F103V8 to form a signal filtering capacitor unit; the capacitor C18 is connected in parallel with two ends of pins 22 and 19 of the chip STM32F103V8 to form a signal filtering capacitor unit; the capacitor C19 is connected in parallel with two ends of pins 28 and 27 of the chip STM32F103V8 to form a signal filtering capacitor unit; the capacitor C21 is connected in parallel with two ends of pins 50 and 49 of the chip STM32F103V8 to form a signal filtering capacitor unit; the capacitor C22 is connected in parallel with two ends of pins 75 and 74 of the chip STM32F103V8 to form a signal filtering capacitor unit; the capacitor C23 is connected in parallel with two ends of pins 100 and 99 of the chip STM32F103V8 to form a signal filtering capacitor unit; an initial boot configuration circuit is formed by resistor R10 and connector U16 connected to pin 94 of chip STM32F103V 8; an indication circuit is formed by a resistor R11 and a light emitting diode LED0, connected to the pin 66 of the chip STM32F103V 8.
2. A life detection device according to claim 1, wherein: the steering engine driving module comprises a chip U9, the model number is 74HC126D, pins 1, 2, 10 and 9 of the chip U9 are connected with pins 62, 61, 65 and 64 of a chip STM32F103V8 and used for receiving and transmitting steering engine driving data and interacting instructions, and the steering engine driving module is powered by the power supply conversion module 3.3VCC and GND signals; meanwhile, the steering engine driving module is connected with the steering engine module through a connector U11 and a connector U12, wherein pins 3 of the connector U11 and the connector U12 are respectively used for signal transmission, pins 1 and 2 of the connector U11 and the connector U12 supply power for the steering engine module, the power supply voltage is 5V, and the power supply comes from the power supply conversion module.
3. A life detection device according to claim 1, wherein: the chip U4 and the chip U8 in the motor driving module are A4950, the power conversion module comprises a chip U2, and the chip U2 is LM2576-5.0; pins 2 and 3 of the chip U4 and pins 2 and 3 of the chip U8 are correspondingly connected with pins 35, 34, 37 and 36 of the chip STM32F103V8 and are used for transmitting power driving control signals, a resistor R2 is used as a matching resistor of the chip U4, a resistor R4 is used as a matching resistor of the chip U8, pins 6 and 8 of the chip U2 are correspondingly connected with pins 2 and 1 of the motor U5, pins 6 and 8 of the chip U8 are correspondingly connected with pins 2 and 1 of the motor U7, capacitors C1 and C2 are filter capacitors, and VBAT, 5VCC and GND are provided by the power conversion module.
4. A life detection device according to claim 1, wherein: the protocol conversion module comprises resistors R5, R6 and R7 and a triode Q1, wherein the resistors R5, R6 and R7 and the triode Q1 form a reverse circuit, and the pin 57 of the chip STM32F103V8 is connected with the pin 9 of the wireless image transmission module to realize SBUS protocol communication, so that the image transmission work of the wireless image transmission module is controlled.
5. A life detection device according to claim 1, wherein: the steering engine module comprises a connector U11 and a connector U12, a pin 3 of the connector U11 is connected with pins 3 and 8 of a chip U9 in the steering engine driving module respectively, driving control of the steering engine driving module on the steering engine module is achieved, pins 2 and 1 of the connector U11 and the connector U12 are 5VCC and GND respectively, and power is supplied by the power supply conversion module.
6. A life detection device according to claim 1, wherein: the wireless image transmission module comprises an image transmission unit U13, an external antenna E1 and an external antenna E2, wherein pins 10 and 11 of the image transmission unit U13 are respectively and correspondingly connected with the E1 and the E2 and are used for transmitting wireless signals; the pin 9 of the image transmission unit U13 is correspondingly connected with the pin 57 of the chip STM32F103V8 and is used for transmitting control signals; pins 1, 2, 3, 4, 5, 6, 7 and 8 of the image transmission unit U13 are correspondingly connected with pins 1, 2, 3, 4, 5, 6, 7 and 8 of the camera unit U14 in the video acquisition module, and are used for video image data transmission and power supply of 12V power signals.
7. The life detection device of claim 6, wherein: pins 1, 2, 3, 4, 5, 6, 7 and 8 of the camera unit U14 in the video acquisition module are correspondingly connected with pins 1, 2, 3, 4, 5, 6, 7 and 8 of the image transmission unit U13 in the wireless image transmission module, so that the function that video data acquired by the video acquisition module are sent out in a wireless signal mode through the wireless image transmission module is realized, and 12V and GND supply power for the video acquisition module.
8. A life detection device according to any one of claims 1-7, wherein: the power conversion module comprises a connector U3, a chip U1, a chip U2 and a chip U6, wherein the chip U1 is LM2576-12.0, the chip U6 is LM2576-3.3, the switch S1 is a power signal switch, the resistors R1 and R3 form a matching resistor, a voltage signal VBAT is output, and the diode D1 is in unidirectional conduction; the capacitors C9 and C10 are used as input end filter capacitors of the chip U1, the inductor L1, the diode D2, the capacitor C3 and the capacitor C6 form an output end filter rectifying circuit, and the output signal 12VCC is output; meanwhile, 12VCC is used as an input signal of the chip U2, capacitors C4 and C7 are used as input end filter circuits, an output end filter rectifying circuit is formed by an inductor L2, a diode D3, a capacitor C5 and a capacitor C8, and a signal 5VCC is output; meanwhile, 5VCC is used as an input signal of the chip U6, C11 and C12 are used as input end filter capacitors, an inductor L3, a capacitor C13, a capacitor C14 and a diode D4 form an output end filter rectifying circuit of the chip U6, and a signal 3.3VCC is output; the power conversion modules form VBAT, 12VCC, 5VCC and 3.3VCC for supplying power to each module.
9. A method of detecting using the life detection device of any of claims 1-8, comprising: after receiving the control instruction, the life detection device enters a designated area; and after receiving the detection instruction, the life detection device makes corresponding action according to the detection instruction and uploads the shot image information in real time.
10. The method of claim 9, wherein:
after the life detection device receives the detection instruction, the corresponding actions according to the detection instruction comprise: and after receiving the video angle adjusting instruction, adjusting the angle of the video acquisition module according to the video angle adjusting instruction.
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