A multi-sensor fusion life detection positioning system and positioning method

Abstract

A multi-sensor fusion life detection and positioning system and positioning method, the system includes: a radar detection unit, which is used to provide real-time detection data for the calculation of the three-dimensional positioning coordinates of the life body under the ruins, and send it to the data transmission unit; a micro-vibration detection unit, which is used to detect vibration signals; an audio and video detection unit, which is used to provide real-time detection data of images and sound waves for the life body under the ruins, to view the actual environment under the ruins, the position of the life body and vital signs information, and provide more accurate rescue information through real-time dialogue; a data transmission unit, which is used to receive the detection data sent by the radar detection unit, the micro-vibration detection unit and the audio and video detection unit, and forward it; a detection display terminal, which is used to display the detection process and detection result information in real time and dynamically. The method is implemented based on the above system. The present invention has the advantages of simple operation, wide application range, and can greatly improve the accuracy of life detection and positioning.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of life detection, and in particular to a multi-sensor fusion life detection positioning system and a positioning method. Background Art

[0002] The current earthquake rescue life detection equipment in China mainly includes two-dimensional radar life detectors, audio and video detectors, and vibration audio life detectors. These devices generally have problems such as high false alarm rate and inaccurate positioning, and cannot meet the requirements of fast and accurate rescue at the rescue site.

[0003] The radar life detection and positioning system based on the Doppler effect principle can penetrate several meters or even tens of meters of stone or concrete obstacles to detect and locate survivors under the rubble. However, in actual operation, this method that relies solely on radar detection has the following problems:

[0004] Radar life detection and positioning determines whether there are living things under the ruins and their location after performing algorithmic analysis on the reflected electromagnetic waves. However, due to the complex environment under the ruins, including various media such as stones, concrete, bricks, tiles, and steel bars, all of which will have different degrees of reflection on electromagnetic echoes, resulting in differences between the signals received by the electromagnetic receiver and the actual existence. The detection results will have multiple targets with different signal strengths, making it difficult to determine the specific location of real life, increasing the difficulty of earthquake rescue;

[0005] The ability of radar waves to penetrate ruins is limited. When the ruins are thick and the media types are complex, the target echo signal will be extremely weak, so that the receiver cannot receive the effective target echo; especially when there are metal materials such as steel plates under the ruins, electromagnetic waves will not be able to penetrate, and the radar life detection method cannot work under such circumstances.

[0006] When radar detects the existence of living things under the rubble, it is impossible to enter the rubble to check and confirm the status of the living things and achieve real-time communication, making it difficult to obtain information about the rescue targets, greatly reducing the efficiency of the rescue. Summary of the invention

[0007] The technical problem to be solved by the present invention is: in view of the technical problems existing in the prior art, the present invention provides a multi-sensor fusion life detection and positioning system which is easy to operate, has a wide range of applications, and can greatly improve the accuracy of life detection and positioning.

[0008] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0009] A multi-sensor fusion life detection and positioning system, comprising:

[0010] A radar detection unit is used to provide real-time detection data for the calculation of the three-dimensional positioning coordinates of the living body under the ruins and send it to the data transmission unit;

[0011] A micro-vibration detection unit, used to detect vibration signals and send them to a data transmission unit;

[0012] The audio and video detection unit is used to provide real-time image and sound wave detection data for life forms under the ruins, to check the actual environment under the ruins, the location of life forms and vital signs, and to provide more accurate rescue information through real-time dialogue. The detection data is sent to the data transmission unit wirelessly;

[0013] A data transmission unit, used to receive detection data sent by the radar detection unit, the micro-vibration detection unit and the audio and video detection unit, and forward it to the detection display terminal by wireless means;

[0014] The detection display terminal is used to dynamically display the detection process and detection result information in real time.

[0015] As a further improvement of the system of the present invention: the radar detection unit is an ultra-wideband radar, the detection surface is placed in a specific range, and multi-directional range detection is gradually performed.

[0016] As a further improvement of the system of the present invention: the micro-vibration detection unit includes at least two or four micro-vibration sensors, which are used to provide two types of detection data; one is the prior data of the system's operating environment, and the prior data reflects the environmental characteristics of the equipment, also known as calibration data, which is completed before detecting the orientation of the vibration source and is the basis for determining the orientation of the vibration source; the other is real-time detection data used to calculate the orientation of the impact vibration source under the ruins.

[0017] As a further improvement of the system of the present invention: the detection and display terminal includes a data processing unit and a control display unit, the data processing unit is used to receive the real-time detection data sent by the data transmission unit, and obtain the respective detection results; the control display unit is used to control the working mode of the micro-vibration detection unit to be a calibration mode or a detection mode, and to control the detection process and detection time of the radar detection unit and the micro-vibration detection unit, and to control and display the image and play the sound audio and video detection unit.

[0018] As a further improvement of the system of the present invention: the radar detection unit, the micro-vibration detection unit and the audio and video detection unit are arranged in the same area.

[0019] The present invention further provides a positioning method based on the above detection and positioning system, comprising the following steps:

[0020] Step S1: Arrange equipment and determine thresholds;

[0021] Step S2: Determine the position of the life form; operate the detection control terminal to start the detection mode, analyze the vibration signals under the ruins detected by the micro-vibration sensors in different positions in real time to obtain the vibration characteristic values ​​of each channel, compare the vibration characteristic values ​​of each channel with the thresholds generated in the respective S1 steps, and obtain whether there are life forms under the ruins in each position and the probability thereof. The detection results of each micro-vibration sensor are displayed on the detection display terminal and the position of the life form is marked;

[0022] Step S3: Determine the three-dimensional coordinates of the living body;

[0023] Step S4: Check and monitor the state of the life body; the detection process and detection results are displayed in real time and dynamically on the detection display terminal.

[0024] As a further improvement of the method of the present invention: the number of the micro-vibration sensors is determined according to the on-site ruins environment and the detection range, and a suitable calibration and life detection space range is selected for sensor deployment. The calibration space is selected based on the principle that there is no obvious vibration source nearby.

[0025] As a further improvement of the method of the present invention: the step S3 comprises:

[0026] Step S301: The two-dimensional position coordinates of the life form under the ruins detected by the radar detection unit, where two-dimensional refers to the depth and lateral position, are combined with the life form orientation information detected in step S2 to exclude false targets among multiple life form targets that may appear in radar detection due to complex environments. The placement posture of the radar detection unit this time is the first posture;

[0027] Step S302: placing the radar detection unit in a second posture, performing secondary detection on the screened life target, and determining the three-dimensional position coordinates of the target, wherein the second posture is perpendicular to the first posture on the same plane.

[0028] As a further improvement of the method of the present invention: Step S4 comprises:

[0029] Step S401: Determine the three-dimensional coordinates of the living body in combination with step S3, and search for the gap position of the ruins on the ruins above the coordinates;

[0030] Step S402: inserting the probe of the audio and video detection unit from the gap in the ruins into the ruins, and viewing and monitoring through the control display terminal; adjusting the depth and angle of the probe insertion according to the image and sound, and gradually approaching the living body;

[0031] Step S403: The probe of the audio and video detection unit approaches the life form, checks the state of the life form and the internal situation of the ruins through images, and communicates with the life form to formulate the best rescue plan.

[0032] As a further improvement of the method of the present invention: the determination of the orientation of the living body is based on the threshold value generated in step S1.

[0033] Compared with the prior art, the advantages of the present invention are:

[0034] 1. The multi-sensor fusion life detection and positioning system and positioning method of the present invention integrates radar, micro-vibration and audio and video life detection technologies. The radar detection unit, micro-vibration equipment and audio and video equipment can be deployed in the same area for detection, and the positioning information of the life body determined by the micro-vibration equipment is compared and analyzed with the positioning information of the life body determined by the radar detection unit, most of the virtual targets are eliminated, and the life body is locked in a smaller and more accurate area. At the same time, through audio and video technology, the audio and video sensor is sent from the gap to the inside of the ruins to view the video image and communicate with the life body in real time, accurately grasp the real situation inside the trapped area, and maximize the detection and rescue effect.

[0035] 2. The multi-sensor fusion life detection and positioning system and positioning method of the present invention can not only make up for the inherent defects of single radar life detection technology or single micro-vibration detection technology or single audio and video detection technology, but also have the advantages of wide space-time coverage area, high measurement dimension, good performance stability and target space resolution, and can obtain more comprehensive and accurate information on life forms and disaster relief site environment, providing decision-making basis for formulating efficient and feasible rescue plans, shortening rescue time and reducing disaster losses.

[0036] 3. The multi-sensor fusion life detection and positioning system and positioning method of the present invention have the characteristics of simple operation, fast detection speed, rapid locking, accurate positioning, etc., and the flexibility of the system is increased by adopting a wireless networking method. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the topological structure of the positioning system of the present invention.

[0038] Figure 2 It is a schematic diagram of the workflow of the positioning method of the present invention.

[0039] Legend:

[0040] 1. Radar detection unit; 2. Micro-vibration detection unit; 3. Audio and video detection unit; 4. Data transmission unit; 5. Detection display terminal; 51. Data processing unit; 52. Control display unit. DETAILED DESCRIPTION

[0041] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0042] like Figure 1As shown, the multi-sensor fusion life detection and positioning system of the present invention includes:

[0043] The radar detection unit 1 is used to provide real-time detection data for the calculation of the three-dimensional positioning coordinates of the living body under the ruins, and send it to the data transmission unit 4.

[0044] The micro-vibration detection unit 2 is used to detect the vibration signal and send it to the data transmission unit 4.

[0045] The audio and video detection unit 3 is used to provide real-time image and sound wave detection data for living things under the ruins, so as to view the actual environment under the ruins, the location of living things and vital signs, and provide more accurate rescue information through real-time dialogue. The detection data is sent to the data transmission unit 4 wirelessly.

[0046] The data transmission unit 4 is used to receive the detection data sent by the radar detection unit 1, the micro-vibration detection unit 2 and the audio and video detection unit 3, and forward it to the detection display terminal 5 in a wireless manner.

[0047] The detection display terminal 5 is used to dynamically display the detection process and detection result information in real time.

[0048] In a specific application example, the radar detection unit 1 can use an ultra-wideband radar according to actual needs, and the detectable surface can be placed within a specific range to gradually perform multi-directional detection, and its detection data is sent to the data transmission unit 4 wirelessly.

[0049] In a specific application example, the micro-vibration detection unit 2 includes at least two or four micro-vibration sensors, which are used to provide two types of detection data. One is the prior data of the system usage environment, and the other is the real-time detection data used to calculate the orientation of the impact vibration source under the ruins. The prior data reflects the environmental characteristics of the equipment, also known as calibration data, which needs to be completed before detecting the orientation of the vibration source and is the basis for determining the orientation of the vibration source.

[0050] In a specific application example, when the micro-vibration detection unit 2 detects the vibration source position, the sensor can be arranged in a suitable space according to the sensor's sensing radius range and the number of sensors. For example, four sensors can be arranged at four centers or two centers on the ground of four 5X5 or two 5X10 spaces, and each sensor is independent of each other and has no functional difference, and its detection data is sent to the data transmission unit 4 wirelessly.

[0051] In a specific application example, as a preferred solution, the radar detection unit 1, the micro-vibration detection unit 2 and the audio and video detection unit 3 need to be arranged in the same area.

[0052] In a specific application example, the data transmission unit 4 can be selected according to actual needs, such as selecting a device with a wireless routing function, such as a wireless AP.

[0053] In a specific application instance, the detection display terminal 5 can be selected according to actual needs, that is, a pad or a laptop computer is used, and the radar detection unit 1, the micro-vibration detection unit 2 and the audio and video detection unit 3 are all wirelessly connected to the data transmission unit 4, which increases the flexibility of the system. The wireless method can be a WIFI wireless network connection.

[0054] In a specific application example, the detection and display terminal 5 includes a data processing unit 51 and a control and display unit 52, wherein the data processing unit 51 is used to receive real-time detection data sent by the data transmission unit 4, and call the corresponding algorithm to perform data analysis to obtain respective detection results; the control and display unit 52 can be used to control whether the working mode of the micro-vibration detection unit 2 is a calibration mode or a detection mode, can control the detection process and detection time of the radar detection unit 1 and the micro-vibration detection unit 2, and can control and display images and play sound and audio and video detection units 3.

[0055] As can be seen from the above, the present invention integrates radar, micro-vibration and audio and video life detection technologies, and can deploy radar detection unit 1, micro-vibration unit 2 and audio and video unit 3 in the same area for detection, compare and analyze the life body positioning information determined by micro-vibration unit 2 with the life body positioning information determined by radar detection unit 1, eliminate most virtual targets, and lock the life body in a smaller and more accurate area. At the same time, through audio and video technology, the audio and video unit 3 can go deep into the ruins from the gap to view the video image and communicate with the life body in real time, accurately grasp the real situation inside the trapped area, and maximize the detection and rescue effect.

[0056] This method can not only make up for the inherent defects of single radar life detection technology, single micro-vibration detection technology or single audio and video detection technology, but also has the advantages of wide space-time coverage area, high measurement dimension, good performance stability and target space resolution, and can obtain more comprehensive and accurate information on living organisms and disaster relief site environment, providing decision-making basis for formulating efficient and feasible rescue plans, shortening rescue time and reducing disaster losses.

[0057] like Figure 2 As shown, the present invention further provides a positioning method based on the above positioning system, the steps of which include:

[0058] Step S1: Arrange equipment and determine thresholds;

[0059] The layout of the micro-vibration detection unit 2 is to determine the number of micro-vibration sensors 2 according to the on-site ruins environment and the detection range, and select the appropriate calibration and life detection space range for sensor layout. The principle of selecting the calibration space is that there is no obvious vibration source nearby. Considering the complexity of the post-earthquake environment, it is generally recommended to select 2 or 4 sensors. After the detection personnel operate the detection display terminal 5 to collect calibration data and complete the calibration mode to generate the threshold, the micro-vibration detection unit 2 is respectively arranged at 4 centers or 2 center positions on the ground of 4 spaces of about 5X5 or 2 spaces of about 5X10. The threshold reflects the characteristics of the environment;

[0060] The radar detection unit 1 is arranged so that the detection surface is placed facing the detection area at the center of the same detection area of ​​about 10X10 as the micro-vibration sensor, so as to save manpower input during the detection process and facilitate operation.

[0061] The detection process and detection time of the micro-vibration detection unit 2 and the radar detection unit 1 can be set by the detection personnel controlling the detection display terminal 5 .

[0062] Step S2: Determine the position of the living body;

[0063] The determination of the position of the living body is based on the threshold value generated in step S1. The detection control terminal 5 is operated to start the detection mode. The vibration signals under the ruins detected in real time by the micro-vibration sensors 2 in different positions are analyzed to obtain the vibration characteristic values ​​of each channel. The vibration characteristic values ​​of each channel are compared with the threshold values ​​generated in the respective S1 steps to obtain whether there are living bodies under the ruins in each position and the probability of them. The detection results of each micro-vibration sensor 2 can be displayed on the detection display terminal 5 and the position of the living body can be marked.

[0064] The commonly used vibration signal analysis method currently used is to use wavelet analysis to remove noise and combine it with the classic Geiger method to analyze the vibration signal, so as to effectively locate the vibration source.

[0065] Step S3: Determine the three-dimensional coordinates of the living body;

[0066] Step S301: The two-dimensional position coordinates of the life form under the ruins detected by the radar detection unit 1, where two-dimensional refers to the depth and lateral position, are combined with the life form orientation information detected in step S2 to exclude false targets among multiple life form targets that may appear in the radar detection due to the complex environment. The placement posture of the radar detection unit 1 this time is the first posture;

[0067] Step S302: placing the radar detection unit 1 in a second posture, performing secondary detection on the screened living body target, and determining the three-dimensional position coordinates of the target, wherein the second posture is perpendicular to the first posture on the same plane.

[0068] Step S4: Check and monitor the state of the life form;

[0069] Step S401: Determine the three-dimensional coordinates of the living body in combination with step S3, and search for the gap position of the ruins on the ruins above the coordinates;

[0070] Step S402: insert the probe of the audio and video detection unit 3 from the gap in the ruins into the ruins, and monitor and listen through the control display terminal 5 at the same time; adjust the depth and angle of the probe insertion according to the image and sound, and gradually approach the living body;

[0071] Step S403: Finally, the probe of the audio and video detection unit 3 approaches the life form, checks the life form's state and the internal situation of the ruins through images, and communicates with the life form to formulate the best rescue plan. The detection process and detection results can be displayed in real time on the detection display terminal 5.

[0072] The above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should be regarded as the protection scope of the present invention.

Claims

1. A multi-sensor fusion life detection and positioning system, characterized in that: include: A radar detection unit (1) is used to provide real-time detection data for calculating the three-dimensional positioning coordinates of the living body under the ruins, and send it to the data transmission unit (4); A micro-vibration detection unit (2) is used to detect vibration signals and send them to a data transmission unit (4); the micro-vibration detection unit (2) includes at least two or four micro-vibration sensors, and a suitable calibration and life detection space range is selected for sensor deployment. The calibration space is selected based on the principle that there is no obvious vibration source nearby. The micro-vibration sensor is used to provide two types of detection data; one is a priori data of the system use environment, which reflects the environmental characteristics of the device, also known as calibration data, which is completed before detecting the vibration source orientation and is the basis for determining the vibration source orientation; the other is real-time detection data used to calculate the vibration source orientation under the ruins; The audio and video detection unit (3) is used to provide real-time image and sound wave detection data for the life under the ruins, so as to check the actual environment under the ruins, the location of the life and vital signs, and provide more accurate rescue information through real-time dialogue. The detection data is sent to the data transmission unit (4) by wireless means; A data transmission unit (4) is used to receive detection data sent by the radar detection unit (1), the micro-vibration detection unit (2) and the audio and video detection unit (3), and forward the detection data to the detection display terminal (5) in a wireless manner; The detection display terminal (5) is used to dynamically display the detection process and detection result information in real time. After the detection personnel operate the detection display terminal (5) to collect calibration data and complete the calibration mode to generate a threshold, the micro-vibration detection unit (2) is deployed, and the threshold reflects the characteristics of the environment. The determination of the position of the living body is based on the generated threshold. The detection control terminal (5) is operated to start the detection mode, and the vibration signals under the ruins detected in real time by the micro-vibration sensors (2) at different positions are analyzed to obtain the vibration characteristic values ​​of each position. The vibration characteristic values ​​of each position are compared with the threshold values ​​generated by each position to obtain whether there is a living body under the ruins at each position and the probability thereof. The detection results of each micro-vibration sensor (2) are displayed on the detection display terminal (5) and the position of the living body is marked.

2. The multi-sensor fusion life detection and positioning system according to claim 1, characterized in that: The radar detection unit (1) is an ultra-wideband radar, the detection surface of which is placed within a specific range and gradually performs multi-directional range detection.

3. The multi-sensor fusion life detection and positioning system according to claim 1, characterized in that: The detection display terminal (5) comprises a data processing unit (51) and a control display unit (52). The data processing unit (51) is used to receive real-time detection data sent by the data transmission unit (4) and obtain respective detection results; the control display unit (52) is used to control whether the working mode of the micro-vibration detection unit (2) is a calibration mode or a detection mode, and to control the detection process and detection time of the radar detection unit (1) and the micro-vibration detection unit (2), and to control and display images and play sound audio and video detection units (3).

4. The multi-sensor fusion life detection and positioning system according to claim 1, 2 or 3, characterized in that: The radar detection unit (1), the micro-vibration detection unit (2) and the audio and video detection unit (3) are arranged in the same area.

5. A positioning method based on the positioning system according to any one of claims 1 to 4, characterized in that the steps include: Step S1: Arrange equipment and determine thresholds; Step S2: Determine the position of the living body; The detection control terminal (5) is operated to start the detection mode, and the vibration signals under the ruins detected in real time by the micro-vibration sensors (2) at different positions are analyzed to obtain the vibration characteristic values ​​of each position, and the vibration characteristic values ​​of each position are compared with the threshold values ​​generated in the respective S1 steps to obtain whether there are living bodies under the ruins at each position and the probability thereof. The detection results of each micro-vibration sensor (2) are displayed on the detection display terminal (5) and the position of the living body is marked; Step S3: Determine the three-dimensional coordinates of the living body; Step S4: Check and monitor the state of the life body; the detection process and detection results are displayed in real time and dynamically on the detection display terminal (5).

6. The positioning method according to claim 5, characterized in that: The number of the micro-vibration sensors (2) is determined according to the on-site ruins environment and the detection range, and a suitable calibration and life body detection space range is selected for sensor deployment. The principle for selecting the calibration space is that there is no obvious vibration source nearby.

7. The positioning method according to claim 5, characterized in that: The step S3 comprises: Step S301: The two-dimensional position coordinates of the life form under the ruins detected by the radar detection unit (1), where the two-dimensional refers to the depth and the lateral position, are combined with the life form orientation information detected in step S2 to exclude false targets among the multiple life form targets that may appear in the radar detection due to the complex environment. The placement posture of the radar detection unit (1) is the first posture. Step S302: placing the radar detection unit (1) in a second posture, performing secondary detection on the selected life target, and determining the three-dimensional position coordinates of the target, wherein the second posture is perpendicular to the first posture on the same plane.

8. The positioning method according to claim 5, characterized in that: The step S4 comprises: Step S401: Determine the three-dimensional coordinates of the living body in combination with step S3, and search for the gap position of the ruins on the ruins above the coordinates; Step S402: inserting the probe of the audio and video detection unit (3) from the gap in the ruins into the ruins, and viewing and monitoring through the control display terminal (5); adjusting the depth and angle of the probe insertion according to the image and sound, and gradually approaching the living body; Step S403: The probe of the audio and video detection unit (3) approaches the living being, checks the state of the living being and the internal conditions of the ruins through images, and communicates with the living being to formulate the best rescue plan.

9. The positioning method according to claim 5, characterized in that: The determination of the orientation of the living body is based on the threshold value generated in step S1.

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