Fire-fighting robot with sound source localization function

Abstract

The utility model discloses a fire-fighting robot with a sound source localization function. The fire-fighting robot comprises a fire-fighting robot body, a sound source localizer arranged in the fire-fighting robot body and fire-fighting robot controller equipment, the sound source locator comprises a first MPU unit and a plurality of microphone devices; the plurality of microphone devices are respectively arranged in different directions of the sound source positioning device, and the plurality of microphone devices are electrically connected with the first MPU unit; the microphone device is used for transmitting sound signals acquired in real time to the first MPU unit; the sound source locator is fixed on the fire-fighting robot body; a first MPU unit of the sound source locator and a main controller of the fire-fighting robot transmit information through a communication module; the output end of the main controller of the fire-fighting robot body is electrically connected with a chassis motor and an arm motor of the fire-fighting robot; according to the invention, the main controller of the fire-fighting robot can automatically and quickly move to the vicinity of the sound source according to the obtained positioning information of the sound source positioner, so that the rescue efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of fire-fighting robots, and particularly to a fire-fighting robot with a sound source localization function. Background Art

[0002] In modern fire-fighting and rescue operations, with the continuous progress of technology and the increasing demand for intelligence, fire-fighting robots have become an important tool for improving rescue efficiency and ensuring the safety of fire-fighters. Especially in complex or dangerous rescue environments, the role of fire-fighting robots is particularly important.

[0003] As Figure 1 shown, existing fire-fighting robots are equipped with sound source locators. The localization information is sent to a mobile terminal through the sound source locator, so that fire-fighters can control the mobile fire-fighting robot according to the localization information. This method requires fire-fighters to operate the robot remote controller while checking, and the operator needs to switch back and forth between the mobile terminal display and the robot remote controller, seriously affecting the operation efficiency and being not conducive to the principle of seizing every minute and second at the rescue scene, thus affecting the progress of the rescue. Utility Model Content

[0004] Based on this, in view of the above technical problems, a fire-fighting robot with a sound source localization function is provided to solve the problem of low rescue efficiency of existing fire-fighting robots.

[0005] A fire-fighting robot with a sound source localization function includes: a fire-fighting robot body, a sound source locator arranged inside the fire-fighting robot body, and a fire-fighting robot controller device;

[0006] The sound source locator includes a first MPU unit and a plurality of microphones; the plurality of microphones are respectively arranged in different orientations of the sound source locator, and the plurality of microphones are electrically connected to the first MPU unit; the microphones are used for transmitting the real-time collected sound signals to the first MPU unit;

[0007] The sound source locator is fixed on the fire-fighting robot body; the first MPU unit of the sound source locator and the main controller of the fire-fighting robot body perform information transmission by using a communication module; the output end of the main controller of the fire-fighting robot body is electrically connected to the chassis motor and the arm motor of the fire-fighting robot respectively.

[0008] In the above solution, optionally, the fire-fighting robot control device includes a second MPU unit;

[0009] The first MPU unit of the sound source locator is communicatively connected to the second MPU unit of the fire-fighting robot control device; the fire-fighting robot controller device includes a display;

[0010] The second MPU unit of the fire-fighting robot control device is communicatively connected to the main controller of the fire-fighting robot body.

[0011] In the above solution, further optionally, the fire-fighting robot controller device further includes a display and a button unit;

[0012] The output end of the second MPU unit of the fire-fighting robot controller is connected to the display;

[0013] The output end of the second MPU unit of the fire-fighting robot controller is connected to the button unit.

[0014] In the above solution, optionally, the communication module includes CAN communication and wireless communication.

[0015] In the above solution, optionally, the first MPU unit adopts the RK3588 model.

[0016] In the above solution, optionally, the multiple microphone devices and the first MPU unit perform data interaction in an I2S manner.

[0017] In the above solution, optionally, the sound source locator further includes a data storage unit, the data storage unit is electrically connected to the first MPU unit, and the data storage unit is used to record the positioning information in real time.

[0018] In the above solution, optionally, the data storage unit adopts an SD card.

[0019] This application has at least the following beneficial effects:

[0020] In this application, by arranging a sound source locator inside the fire-fighting robot and connecting the first MPU unit of the sound source locator to the main controller of the fire-fighting robot, the main controller of the fire-fighting robot can obtain the positioning information of the sound source locator, so that the main controller of the fire-fighting robot can quickly move to the vicinity of the sound source according to the sound source data. Thus, this application not only improves the rescue efficiency and reduces the losses caused by the delay of rescue operations.

[0021] At the same time, the first MPU unit of the sound source locator is also connected to the second MPU unit of the remote fire-fighter control device, so that the remote fire-fighter control device can view the positioning information, and manual control of the robot's movement can also be realized. Description of the Drawings

[0022] Figure 1 It is the circuit schematic diagram of the sound source locator in the prior art;

[0023] Figure 2This application provides a circuit schematic diagram of a fire-fighting robot with a sound source localization function for an embodiment of the present application. Detailed implementation manners

[0024] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0025] This application introduces a sound source locator for a fire-fighting robot. Based on microphone array technology and CAN bus technology, the sound source locator can quickly send the localization information of the sound source to the robot main controller through the CAN bus, thereby helping the fire-fighting robot to more accurately find the people in need of rescue.

[0026] In one embodiment, as Figure 2 shown, a fire-fighting robot with a sound source localization function is provided, including: a fire-fighting robot body, a sound source locator arranged inside the fire-fighting robot body, and a fire-fighting robot controller device;

[0027] The sound source locator includes a first MPU unit and a plurality of microphones; the plurality of microphones are respectively arranged in different orientations of the sound source locator, and the plurality of microphones are electrically connected to the first MPU unit; the microphones are used to transmit the real-time collected sound signals to the first MPU unit;

[0028] The sound source locator is fixed on the fire-fighting robot body; the first MPU unit of the sound source locator and the main controller of the fire-fighting robot body use a communication module for information transmission; the output ends of the main controller of the fire-fighting robot body are respectively electrically connected to the chassis motor and the arm motor of the fire-fighting robot.

[0029] Specifically, the sound source locator uses a microphone array for sound source localization. By calculating the angle between the sound source and the array, it realizes the tracking of the target sound source based on TDOA (Time Difference Of Arrival). The microphone array is not only responsible for collecting sound signals, but also can effectively extract the signals of the target sound source from multiple directions and suppress noise through advanced signal processing technologies such as beamforming technology, significantly improving the voice interaction effect in real application scenarios.

[0030] After the MPU of the sound source locator finishes processing the sound source data, it directly transmits the sound source position data to the robot main controller through the CAN bus. The robot main controller quickly moves to the vicinity of the sound source according to the sound source data. The utility model not only improves the rescue efficiency, but also helps to protect the safety of rescue personnel and reduce the losses caused by the delay of rescue operations, having important social value and broad application prospects.

[0031] In the above-mentioned fire-fighting robot with the function of sound source positioning, by arranging a sound source locator inside the fire-fighting robot and connecting the first MPU unit of the sound source locator with the main controller of the fire-fighting robot, the main controller of the fire-fighting robot can obtain the positioning information of the sound source locator, so that the main controller of the fire-fighting robot can quickly move to the vicinity of the sound source according to the sound source data. Thus, this application not only improves the rescue efficiency and reduces the losses caused by the delay of rescue operations.

[0032] In one embodiment, the fire-fighting robot control device includes a second MPU unit;

[0033] The first MPU unit of the sound source locator is communicatively connected to the second MPU unit of the fire-fighting robot control device; the fire-fighting robot controller device includes a display;

[0034] The second MPU unit of the fire-fighting robot control device is communicatively connected to the main controller of the fire-fighting robot body.

[0035] In this embodiment, the first MPU unit of the sound source locator is connected to the second MPU unit of the remote fire-fighter control device, so that the remote fire-fighter control device can view the positioning information, and manual control of the robot's movement can also be achieved.

[0036] In one embodiment, the fire-fighting robot controller device further includes a display and a key unit;

[0037] The output end of the second MPU unit of the fire-fighting robot controller is connected to the display;

[0038] The output end of the second MPU unit of the fire-fighting robot controller is connected to the key unit.

[0039] In one embodiment, the communication module includes CAN communication and wireless communication.

[0040] Specifically, the sound source locator includes a first MPU unit and the main controller of the fire-fighting robot body can be simultaneously connected by wire, and CAN communication is realized by using the CAN interface; at the same time, a wireless communication module can be used, such as 4G communication, Bluetooth communication, etc.; through dual communication, the reliability of the positioning information transmission during the operation of the fire-fighting robot can be ensured.

[0041] In one embodiment, the first MPU unit is of the RK3588 model.

[0042] In one embodiment, data interaction between the multiple microphone devices and the first MPU unit is performed in the I2S manner.

[0043] In one embodiment, the sound source locator further includes a data storage unit, which is electrically connected to the first MPU unit and is used to record the positioning information in real time.

[0044] In one embodiment, the data storage unit uses an SD card.

[0045] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0046] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the utility model patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A fire-fighting robot with a sound source localization function, characterized in that, Including: A fire-fighting robot body, a sound source locator arranged inside the fire-fighting robot body, and a fire-fighting robot controller device; The sound source locator includes a first MPU unit and a plurality of microphones; the plurality of microphones are respectively arranged in different orientations of the sound source locator, and the plurality of microphones are electrically connected to the first MPU unit; the microphones are used to transmit the real-time collected sound signals to the first MPU unit; The sound source locator is fixed on the fire-fighting robot body; the first MPU unit of the sound source locator and the main controller of the fire-fighting robot body perform information transmission by using a communication module; the output ends of the main controller of the fire-fighting robot body are respectively electrically connected to the chassis motor and the arm motor of the fire-fighting robot.

2. The fire-fighting robot with a sound source localization function according to claim 1, characterized in that, The fire-fighting robot control device includes a second MPU unit; The first MPU unit of the sound source locator is communicatively connected to the second MPU unit of the fire-fighting robot control device; the fire-fighting robot controller device includes a display; The second MPU unit of the fire-fighting robot control device is communicatively connected to the main controller of the fire-fighting robot body.

3. The fire-fighting robot with a sound source localization function according to claim 2, characterized in that, The fire-fighting robot controller device further includes a display and a key unit; The output end of the second MPU unit of the fire-fighting robot controller is connected to the display; The output end of the second MPU unit of the fire-fighting robot controller is connected to the key unit.

4. The fire-fighting robot with a sound source localization function according to claim 1, characterized in that, The communication module includes CAN communication and wireless communication.

5. The fire-fighting robot with a sound source localization function according to claim 1, characterized in that, The first MPU unit adopts the RK3588 model.

6. The fire-fighting robot with a sound source localization function according to claim 1, characterized in that, The plurality of microphone devices and the first MPU unit perform data interaction in an I2S manner.

7. The fire-fighting robot with a sound source localization function according to claim 1, characterized in that, The sound source locator further includes a data storage unit, the data storage unit is electrically connected to the first MPU unit, and the data storage unit is used to record the positioning information in real time.

8. The fire-fighting robot with a sound source localization function according to claim 7, characterized in that, The data storage unit adopts an SD card.

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