Survivor Detection Apparatus And Method

Abstract

Initiate the survivor search device. According to one embodiment of the present disclosure, a survivor search device comprises: a housing formed to be elongated in a first axial direction and having an opening formed on one surface perpendicular to the first axial direction; a moving part including a first plate formed perpendicular to the first axial direction and a second plate formed extending from the first plate in the first axial direction, wherein a part of the second plate is configured to penetrate the opening and be inserted into the inside of the housing; a thermal imaging camera penetrating the center of the first plate and the opening, wherein a lens part is positioned in front of the opening and the optical axis of the lens part is formed in the first axial direction; a power generating part configured to move the moving part in the first axial direction; a plurality of microphones each including a microphone connected to the first plate using each hinge axis of a plurality of first hinge axes; and a processor that calculates the location of a sound source where sound is being generated based on sound detected by the plurality of microphones, wherein each of the plurality of microphones is configured to rotate around each hinge axis of the plurality of first hinge axes by the movement of the moving part.

Description

Technology Field

[0001] The present disclosure relates to a survivor search device and a survivor search method. Background Technology

[0002] The content described in this section merely provides background information regarding the present disclosure and does not constitute prior art.

[0003] In the event of a disaster, rapid search for and rescue of survivors is required. In disaster sites, such as those involving building collapses, it is difficult to determine the location of survivors and the situation at the site visually. It is important to assess the situation at the disaster site to prevent secondary damage that may occur during recovery efforts and rescue operations.

[0004] Disaster sites often require assessing the situation in confined spaces. Accordingly, there is a need for a small search device capable of infiltrating these confined spaces in place of a person. Specifically, a small search device is required that can infiltrate a confined space with a width and height of approximately 15 cm each. Technical features related to this are described in Korean Registered Patent Publication No. 10-2391825, etc.

[0005] One method to locate a specific object emitting sound is to use a directional microphone capable of identifying sound. A directional microphone is a microphone that collects sound from a specific direction. Based on the collected sound, a directional microphone can estimate the location of the sound source. By using a directional microphone, the location of a survivor can be estimated.

[0006] When using directional microphones to locate a specific object, there is a problem in that multiple microphones must be deployed to improve accuracy. This is because accuracy decreases if only a small number of microphones are provided, due to the nature of directional microphones which collect sound only from a specific direction. Consequently, devices that estimate location using directional microphones inevitably become larger in overall size due to the need for multiple microphones.

[0007] As such, there is a trade-off between the miniaturization of a sound source location estimation device and the performance of the location estimation. A device or method is required that allows for miniaturization without compromising location estimation performance.

[0008] In addition, a method is required to provide a device that is miniaturized through efficient placement while incorporating various sensors. The problem to be solved

[0009] Accordingly, the present disclosure aims to solve these problems and has the primary purpose of providing a survivor search device equipped with only a minimal number of microphones for miniaturization.

[0010] In addition, the primary purpose is to improve the accuracy of the survivor search device.

[0011] In addition, the primary purpose is to visualize and provide the situation at the disaster site by deploying various types of sensors.

[0012] In addition, the main purpose is to provide a microphone that is configured to rotate, unfolds when sound needs to be collected, and folds when entering a confined space. means of solving the problem

[0013] According to one embodiment of the present disclosure for achieving such an objective, a survivor search device comprises: a housing formed to be elongated in a first axial direction and having an opening formed on one surface perpendicular to the first axial direction; a moving part comprising a first plate formed perpendicular to the first axial direction and a second plate formed extending from the first plate in the first axial direction, wherein a portion of the second plate is configured to penetrate the opening and be inserted into the interior of the housing; a thermal imaging camera penetrating the center of the first plate and the opening, wherein a lens part is positioned in front of the opening and the optical axis of the lens part is formed in the first axial direction; a power generating part configured to move the moving part in the first axial direction; and a plurality of microphones each comprising a microphone connected to the first plate using each hinge axis of a plurality of first hinge axes. A survivor search device is provided, comprising a processor that calculates the location of a sound source where the sound is being generated based on the sound detected by the plurality of microphones, wherein each of the plurality of microphones is configured to rotate around each hinge axis of the plurality of first hinge axes by the movement of the moving part.

[0014] According to one embodiment of the present disclosure for achieving such an objective, a survivor search system is provided comprising: a survivor search device; a small robot equipped with the survivor search device; and a small robot controller for controlling the small robot, wherein the small robot controller includes a thermal image display that displays the location of the sound source on a screen.

[0015] According to one embodiment of the present disclosure for achieving the purpose, a method for searching for a survivor using a survivor search device comprises: a process in which a thermal imaging camera captures a thermal imaging image; a process in which a plurality of microphones detect sound; a process in which a processor calculates the location of a sound source where the sound is generated based on the sound detected by the plurality of microphones; and a process in which information of a disaster site is displayed on a thermal imaging display screen, wherein the information of the disaster site includes at least one of a thermal imaging image of the disaster site, sound caused by the voice of a human survivor, the location of a sound source, and information regarding the location of a survivor. Effects of the invention

[0016] As described above, according to the present embodiment, there is an effect of providing a miniaturized survivor search device that includes a plurality of sensors.

[0017] In addition, it has the effect of improving the accuracy of the survivor search device.

[0018] In addition, it has the effect of being able to infiltrate a confined space and search for survivors.

[0019] In addition, by deploying various types of sensors, it is effective to provide a visual representation of the situation at the disaster site.

[0020] In addition, multiple microphones are configured to be rotatable, so that multiple microphones can be unfolded when sound needs to be collected, and multiple microphones can be folded when entering a confined space. Brief explanation of the drawing

[0021] FIG. 1 is a functional block diagram of a survivor search system according to one embodiment of the present disclosure. FIG. 2 is a drawing illustrating a screen of a survivor thermal image display according to one embodiment of the present disclosure. FIG. 3 is a perspective view illustrating a survivor search device and a small robot according to one embodiment of the present disclosure. FIG. 4 is an exploded perspective view of a survivor search device according to one embodiment of the present disclosure. FIG. 5 is a drawing illustrating a plurality of microphones according to one embodiment of the present disclosure. FIG. 6 is a perspective view of a survivor search device according to one embodiment of the present disclosure. FIG. 7 is a perspective view illustrating a case where a plurality of microphones according to one embodiment of the present disclosure are completely folded. FIG. 8 is a drawing illustrating the rotation of a plurality of microphones by a power generation unit according to one embodiment of the present disclosure. FIG. 9 is a flowchart illustrating the operation process of a survivor search system according to one embodiment of the present disclosure. FIG. 10 is a flowchart illustrating the process of a survivor search system according to one embodiment of the present disclosure detecting information at a disaster site. Specific details for implementing the invention

[0022] Some embodiments of the present disclosure are described in detail below with reference to exemplary drawings. It should be noted that in assigning reference numerals to the components of each drawing, the same components are given the same reference numeral whenever possible, even if they are shown in different drawings. Furthermore, in describing the present disclosure, if it is determined that a detailed description of related known components or functions could obscure the essence of the present disclosure, such detailed description is omitted.

[0023] In describing the components of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are used merely to distinguish the components from other components, and the essence, order, or sequence of the components is not limited by the terms.

[0024] Where it is stated that one component is 'connected', 'combined', or 'joined' to another component, it should be understood that while the component may be directly connected or joined to the other component, another component may also be 'connected', 'combined', or 'joined' between each component.

[0025] Throughout the specification, when a part is described as 'including' or 'equipped' with a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but may include additional components.

[0026] Terms such as 'part', 'module', etc., as described in the specification refer to a unit that processes at least one function or operation, and this may be implemented in hardware, software, or a combination of hardware and software.

[0027] It should be noted that, unless otherwise stated, the description of any one embodiment may also apply to other embodiments.

[0028] The description of the invention disclosed below, together with the accompanying drawings, is intended to describe exemplary embodiments of the invention and is not intended to represent the only embodiment in which the invention may be practiced.

[0029] FIG. 1 is a functional block diagram of a survivor search system according to one embodiment of the present disclosure.

[0030] FIG. 2 is a drawing illustrating a screen of a survivor thermal image display according to one embodiment of the present disclosure.

[0031] FIG. 3 is a perspective view illustrating a survivor search device and a small robot according to one embodiment of the present disclosure.

[0032] Referring to FIGS. 1 to 3, a survivor searching system (1) includes a survivor searching apparatus (10), a small-sized robot (20), and a small-sized robot controller (30). The survivor searching system (1) is a system that controls the small-sized robot (20) using the small-sized robot controller (30). The small-sized robot (20) performs the role of scouting the interior of a narrow space at a disaster site and searching for survivors using the survivor searching apparatus (10).

[0033] The survivor search device (10) can be mounted on a small robot (20). The survivor search device (10) can collect all or part of information regarding the thermal image, optical image, sound from the voice of a human survivor, sound source location, location of the survivor, carbon dioxide, carbon monoxide, ammonia, nitrogen dioxide, etc. of the disaster site using multiple sensors (hereinafter referred to as "information of the disaster site"). Here, the sound source location refers to the location where sound from the voice of a human survivor is generated. The survivor search device (10) can determine the location of the survivor based on the sound source location.

[0034] The survivor search device (10) communicates with the small robot (20) using wired or wireless means. The survivor search device (10) transmits information about the disaster site collected to the small robot (20).

[0035] The small robot (20) is a robot for exploring the interior of a narrow space at a disaster site. The small robot (20) is equipped with a survivor search device (10). According to one embodiment of the present disclosure, the height of the small robot (20) may be 8 to 9 cm. When the survivor search device (10) is equipped on the small robot (20), the total height may be 14 cm or less. The small robot (20) can enter a narrow space with a height of 15 cm and a width of 15 cm or less while equipped with the survivor search device (10). The small robot (20) is not limited to the shape and size disclosed in the drawings.

[0036] The small robot (20) can communicate with the survivor search device (10) and / or the small robot controller (30). The small robot (20) can transmit information about the disaster site collected by the survivor search device (10) to the small robot controller (30).

[0037] The small robot controller (30) communicates with the small robot (20) and / or the survivor search device (10) to control the small robot (20) and / or the survivor search device (10). The small robot controller (30) includes all or part of a thermal image display (31) and an optical image display (33). The small robot controller (30) receives information about the disaster site from the small robot (20) and displays it on the thermal image display (31) and / or the optical display (33). As disclosed in FIG. 2, the thermal image display (31) can display a thermal image of the disaster site on the screen. The thermal image display (31) can display the location of the sound source on the screen. The optical display (33) can display an optical image of the disaster site.

[0038] An operator controlling the survivor search system (1) can control a small robot (20) placed in a confined space while looking at a thermal image display (31) and / or an optical display (33).

[0039] The directions used in this specification are defined. A direction parallel to the longitudinal direction of the housing (100) is defined as the first axial direction. That is, the first axial direction refers to the x-axis direction disclosed in FIG. 6 or FIG. 7. The first axial direction is the transverse direction and includes both the (+) and (-) directions of the x-axis. The second axial direction refers to the y-axis direction. The second axial direction is the vertical direction and includes both the (+) and (-) directions of the y-axis. The third axial direction refers to the z-axis direction. The third axial direction is the height direction and includes both the (+) and (-) directions of the z-axis.

[0040] The front and rear are defined. With respect to the x-axis direction disclosed in FIG. 6 or FIG. 7, the lens unit (210) of the thermal image camera (200) described later is positioned in front of the power generation unit (950) described later.

[0041] FIG. 3 is a perspective view illustrating a survivor search device and a small robot according to one embodiment of the present disclosure.

[0042] FIG. 4 is an exploded perspective view of a survivor search device according to one embodiment of the present disclosure.

[0043] FIG. 5 is a drawing illustrating a plurality of microphones according to one embodiment of the present disclosure.

[0044] FIG. 6 is a perspective view of a survivor search device according to one embodiment of the present disclosure.

[0045] FIG. 7 is a perspective view illustrating a case where a plurality of microphones according to one embodiment of the present disclosure are completely folded.

[0046] FIG. 8 is a drawing illustrating the rotation of a plurality of microphones by a power generation unit according to one embodiment of the present disclosure.

[0047] Referring to FIGS. 1 through 8, the survivor search device (10) comprises a housing (100), a thermal imaging camera (200), a plurality of microphones (300), a carbon dioxide sensor (400), a gas sensor (500), a pair of optical cameras (not shown), a substrate (not shown), a processor (not shown), a moving unit (910), a third plate (920), a plurality of rotation guide units (930), a rail unit (940), a power generation unit (950), a plurality of first hinge axes (961), a plurality of second hinge axes (962), and a plurality of third hinge axes (963), all or part of.

[0048] The housing (100) includes an internal receiving space. The housing (100) can be mounted on a small robot (20). The shape of the housing (100) may be a shape for mounting on the small robot (20). The shape of the housing (100) is not limited by the shape disclosed in the drawing.

[0049] According to one embodiment, the housing (100) can be manufactured with a width of 154.5 mm, a length of 54.5 mm, and a height of 54.5 mm. As such, the survivor search device (10) according to the present disclosure can be manufactured in a compact size, making it optimized for entering narrow spaces.

[0050] A thermal imaging camera (200) is a camera that detects and visualizes the heat of an object. According to one embodiment of the present disclosure, the shape of the thermal imaging camera (200) is not limited to the shape disclosed in the drawings.

[0051] According to one embodiment of the present disclosure, a thermal imaging camera (200) may be exposed to the outside of the housing (100) by penetrating at least one surface of the housing (100). The lens of the thermal imaging camera (200) may be exposed to the outside of the housing (100) by penetrating one surface of the housing (100). When the lens is exposed to the outside of the housing (100), it is easy to collect thermal images.

[0052] According to one embodiment of the present disclosure, a thermal image detected by a thermal imaging camera (200) can be transmitted to a small robot (20). In this case, the thermal image can be transmitted using a channel different from the channel transmitting the location of the sound source. When using an independent channel, the data processing speed can be improved.

[0053] When using a thermal imaging camera (200), it is possible to secure a view of the disaster site with poor visibility, and there is an effect of making it easier to search for survivors.

[0054] Multiple microphones (300) are arranged to surround the thermal imaging camera (200). Each of the multiple microphones (300) is spaced apart from the thermal imaging camera (200) by the same amount of distance. Each of the multiple microphones (300) may be spaced apart from the nearest microphone by the same amount of distance. That is, by efficiently arranging multiple microphones (300) within a confined space, the miniaturization of the survivor search device (10) is achieved. The shape of the multiple microphones (300) is not limited to the shape disclosed in the drawing.

[0055] Multiple microphones (300) detect sound emitted by a survivor. Multiple microphones (300) may be placed outside the housing (100). When placed outside the housing (100), it is easy to collect sound.

[0056] According to one embodiment of the present disclosure, a plurality of microphones (300) may be omnidirectional microphones that uniformly detect ambient sound from all directions. An omnidirectional microphone is a microphone that uniformly collects sound from all directions. When using omnidirectional microphones, the number of microphones mounted on the device can be minimized. Since omnidirectional microphones collect sound from all directions uniformly, unlike directional microphones, there is no need to place multiple microphones. When using omnidirectional microphones, noise is removed using a sound source location estimation algorithm and a band-pass filter (BPF). That is, only a minimum number of microphones are placed, and only sound in the frequency band corresponding to the human voice can be collected.

[0057] All or part of the multiple microphones (300) can detect sound in a specific frequency band. The specific frequency band may be the frequency band of a human voice. By detecting sound corresponding to the frequency band of a human voice, the location of the sound source and the location of the survivor are identified.

[0058] The number and arrangement of multiple microphones (300) are not limited by the disclosure of the drawing.

[0059] Sound corresponding to a specific frequency band can be detected using the first microphone (300A) to the fourth microphone (300D). The specific frequency band may be the frequency band of a human voice. For example, if the frequency band of a human voice is 300 Hz to 3000 Hz, the first microphone (300A) to the fourth microphone (300D) can detect sound in the frequency band corresponding to 300 Hz to 3000 Hz. The frequency band that the first microphone (300A) to the fourth microphone (300D) can detect is not limited to the range described above and may have other ranges.

[0060] According to one embodiment of the present disclosure, a plurality of microphones (300) may be MEMS microphones (Micro-Electro-Mechanical Systems microphones). Since MEMS microphones are smaller than general microphones, miniaturization of the survivor search device (10) is possible when using MEMS microphones. MEMS microphones have a higher degree of design freedom compared to analog microphones. The shape and arrangement of MEMS microphones are not limited to those in the drawings.

[0061] A carbon dioxide sensor (400) is placed inside a housing (100). According to one embodiment of the present disclosure, at least a portion of the carbon dioxide sensor (400) may penetrate one side of the housing (100) and be exposed to the outside of the housing (100). When at least a portion is exposed to the outside, it is easy to collect carbon dioxide. The carbon dioxide sensor (400) can detect carbon dioxide generated from a human. Based on the detected carbon dioxide, the survival status of the human can be determined. The shape of the carbon dioxide sensor (400) is not limited to the shape disclosed in the drawings.

[0062] The gas sensor (500) is placed inside the housing (100). At least a portion of the gas sensor (500) may penetrate one side of the housing (100) and be exposed to the outside of the housing (100). When at least a portion is exposed to the outside of the housing (100), it is easy to collect gas. The shape of the gas sensor (500) is not limited to the shape disclosed in the drawing.

[0063] Gas conditions at a disaster site can be identified using a gas sensor (500). According to one embodiment of the present disclosure, the gas sensor (500) may be configured to detect carbon monoxide, ammonia, nitrogen dioxide, butane gas, etc., but is not necessarily limited thereto. The type of gas required for detection varies depending on the type and situation of the disaster site. Various types of gas sensors (500) may be installed in the survivor search device (10).

[0064] According to one embodiment, the carbon dioxide sensor (400) and the gas sensor (500) may be positioned to penetrate the same side of the housing (100). The carbon dioxide sensor (400) and the gas sensor (500) may penetrate the upper surface of the housing (100). In this case, space utilization is optimized so that the survivor search device (10) can be miniaturized.

[0065] The substrate is placed inside or outside the housing (100). The substrate may be configured to mount a plurality of components. The substrate may be a Printed Circuit Board (PCB).

[0066] The substrate is placed inside the housing (100). It is desirable for the substrate to be designed to be smaller than a certain size to maximize space utilization. Preferably, the dimensions of the substrate may be within a range where the horizontal length does not exceed 50 mm and the vertical length does not exceed 50 mm.

[0067] According to one embodiment, the substrate may be attached to one side of the housing (100). For example, the substrate may be attached to the bottom surface of the housing (100) or to the rear surface of the housing (100).

[0068] According to one embodiment, the survivor search device (10) can receive power from a small robot (20). In this way, the number of parts housed inside the housing (100) can be minimized, thereby reducing the overall size of the survivor search device (10).

[0069] The shape of the substrate is not limited to the shape disclosed in the drawing. The shape of the substrate may be changed depending on the type of component to be mounted and the shape of the housing (100).

[0070] A processor is placed on one side of the substrate. The processor calculates the location of the sound source based on the sound detected by a plurality of microphones (300). The location of the sound source calculated by the processor can be displayed on the screen of a thermal image display (31) and / or an optical display (33).

[0071] According to one embodiment of the present disclosure, a processor can calculate an azimuth angle and an altitude angle for the location of a sound source based on acoustic information detected by a plurality of microphones (300). Using the azimuth angle and the altitude angle, the location of the sound source and / or the direction of the sound source can be calculated, and the calculated location of the sound source and / or the direction of the sound source can be displayed on the screen of a thermal image display (31) and / or an optical display (33).

[0072] According to one embodiment, the processor can calculate the azimuth angle for the location of the sound source based on the sound detected by the first microphone (300A) and the second microphone (300B). According to one embodiment, the processor can calculate the elevation angle for the location of the sound source based on the sound detected by the third microphone (300C) and the fourth microphone (300D).

[0073] A plurality of microphones (300) of the survivor search device (10) according to the present disclosure are configured to rotate.

[0074] According to one embodiment, the housing (100) may be formed to be extended in a first axial direction. The housing (100) may include an opening (110) on one surface perpendicular to the first axial direction.

[0075] According to one embodiment, the moving part (910) can move in a first axial direction. The moving part (910) can move along a rail part (940) to be described later. The moving part (910) may include a first plate (911) and a second plate (913). The first plate (911) may be formed perpendicular to the first axial direction. The second plate (913) may be formed extending from the first plate (911) in the first axial direction. A portion of the second plate (913) may penetrate the opening (110) and be inserted into the inside of the housing (100).

[0076] The thermal imaging camera (200) may be positioned to penetrate the center and the opening (110) of the first plate (911). The lens portion (210) of the thermal imaging camera (200) may be positioned in front of the opening (110). The optical axis (220) of the thermal imaging camera (200) may be formed in the direction of the first axis.

[0077] The power generation unit (950) may be configured to move the moving unit (910) in a first axial direction. According to one embodiment, the power generation unit (950) may include an actuator (951) and a first bracket (953), etc.

[0078] According to one embodiment, the actuator (951) may be positioned at the rear of the thermal imaging camera (200) and configured to extend or retract in the first axial direction by driving a motor (not shown). When the actuator (951) extends, the moving part (910) moves forward. When the actuator (951) retracts, the moving part (910) moves backward.

[0079] According to one embodiment, the first bracket (953) can be coupled with an actuator (951) and a rail portion (940). The first bracket (953) can receive power from the actuator (951). The first bracket (953) can use the rail portion (940) to move the moving portion (910).

[0080] The rail section (940) may be configured to receive power from the first bracket (953) to move the moving section (910). The rail section (940) may be coupled with the second plate (913). The rail section (940) may be coupled with the first bracket (953). The rail section (940) may be formed to extend in the first axial direction to guide the movement of the moving section (910) in the first axial direction. The rail section (940) may be positioned inside or outside the housing. The rail section (940) may be attached to a side wall formed inside the housing (100). The rail section (940) may be a pair, and may be positioned one on each side of the thermal imaging camera (200) with the thermal imaging camera (200) in between.

[0081] According to one embodiment, the rail portion (940) may be a slide rail. The inner rail (941) of the slide rail is coupled with the second plate (913) and the first bracket (953), and the outer rail (943) of the slide rail may be coupled with the housing (100). When the length of the actuator (951) increases, the inner rail (941) slides forward by means of the first bracket (953), and the second plate (913) attached to the inner rail (941) also moves forward. The first plate (911) connected to the second plate (913) also moves forward, and the plurality of microphones (300) can be unfolded by rotating around the first hinge axis (961). As disclosed in the drawing, when slide rails are positioned on both sides relative to the thermal imaging camera (200), the shaking is minimized when the moving part (910) moves.

[0082] The components included in the power generation unit (950), the shape of the components, and the coupling structure between the components are not limited by the disclosure of the drawings. For example, although the power generation unit (950) is shown as using a first bracket (953) and a rail unit (940) to transmit power from the actuator (951) to the moving unit (910), it is also possible to configure it to transmit power without using the first bracket (953) and / or the rail unit (940).

[0083] For example, the actuator (951) may be configured to move the moving part (910) by applying an external force directly to the moving part (910). In this case, the actuator (951) may be positioned to apply an external force to the first plate (911) and / or the second plate (913).

[0084] Each microphone of the plurality of microphones (300) can be connected to the first plate (911) using any one of the plurality of first hinge axes (961). When the moving part (910) moves, each of the plurality of microphones (300) can be configured to rotate around the first hinge axis (961).

[0085] A plurality of microphones (300) may include a first microphone (300A) to a fourth microphone (300D). The first microphone (300A) and the second microphone (300B) may be spaced apart from each other along a second axis direction with the thermal imaging camera (200) in between. The third microphone (300C) and the fourth microphone (300D) may be spaced apart from each other along a third axis direction with the thermal imaging camera (200) in between. According to one embodiment, a virtual straight line passing through the center of the first microphone (300A) and the center of the second microphone (300B) and a straight line passing through the center of the third microphone (300C) and the center of the fourth microphone (300D) may be perpendicular to each other.

[0086] Multiple microphones (300) may be arranged at equal intervals. The positions of the multiple microphones (300) may be determined by the positions of the multiple first hinge axes (961). Among the multiple first hinge axes (961), the hinge axis connected to the first microphone (300A) may be parallel to the third axis direction. Among the multiple first hinge axes (961), the hinge axis connected to the second microphone (300B) may be parallel to the third axis direction. Among the multiple first hinge axes (961), the hinge axis connected to the third microphone may be parallel to the second axis direction. Among the multiple first hinge axes (961), the hinge axis connected to the fourth microphone may be parallel to the second axis direction.

[0087] The size of the angle between the center axis (310) of the plurality of microphones (300) and the optical axis (220) may be larger as the first plate (911) is positioned closer to the opening (110). The size of the angle between the center axis (310) of the plurality of microphones (300) and the optical axis (220) may be any one of 0° to 90° depending on the position of the first plate (911).

[0088] The distance (d1) between the center of the first microphone (300A) and the center of the second microphone (300B), and the distance (d2) between the center of the third microphone (300C) and the center of the fourth microphone (300D) can vary depending on the position of the first plate (911).

[0089] For example, when multiple microphones (300) are fully extended and the center axis (310) of the first microphone (300A) to the fourth microphone (300D) is parallel to the optical axis (220), the distance (d1) between the center of the first microphone (300A) and the center of the second microphone (300B) and the distance (d2) between the center of the third microphone (300C) and the center of the fourth microphone (300D) may be 8 cm.

[0090] According to one embodiment, the third plate (920) may be attached to one end of the thermal imaging camera (200). The third plate (920) may be located in front of the first plate (911) and may be parallel to the first plate (911). The third plate (920) may have a hole formed in the center so that the lens portion (210) is exposed to the outside. The third plate (920) may be coupled with a plurality of rotation guide portions (930) using a plurality of third hinge axes (963).

[0091] According to one embodiment, a plurality of rotation guide members (930) may be connected to a third plate (920) using a plurality of third hinge axes (963). Each of the plurality of rotation guide members (930) may be connected to each of the plurality of microphones (300) using each hinge axis of a plurality of second hinge axes (962). When the moving member (910) moves, each of the plurality of rotation guide members (930) may rotate around each hinge axis of a plurality of third hinge axes (963) to guide the rotation direction of each of the plurality of microphones (300).

[0092] According to one embodiment, the size of the angle between each surface of a plurality of rotational guide parts (930) and the optical axis (220) may be smaller as the first plate (911) is closer to the opening (110). The size of the angle between each surface of a plurality of rotational guide parts (930) and the optical axis (220) may be any one of 0° to 90° depending on the position of the first plate (911).

[0093] Below, the rotation of multiple microphones (300) will be explained in detail.

[0094] The first plate (911) of the moving part (910) can be moved in the first axis direction by means of the power generation part (950). In this case, the first plate (911) can be moved using the rail part (940). When the first plate (911) moves, each of the plurality of microphones (300) rotates around the plurality of first hinge axes (961). When each of the plurality of microphones (300) rotates, the plurality of rotation guide parts (930) rotate around the plurality of third hinge axes (963), and guide the rotation direction of the plurality of microphones (300) using the plurality of second hinge axes (962). With respect to the first axis direction, the plurality of third hinge axes (963) are located in front of the plurality of first hinge axes (961).

[0095] Each of the multiple microphones (300) can be configured to unfold more as the first plate (911) approaches the third plate (920). For example, when the first plate (911) moves forward as far as possible and comes into contact with the third plate (920), each of the multiple microphones (300) unfolds completely, and the center axis (310) of each of the multiple microphones (300) may be parallel to the optical axis (220) of the thermal imaging camera (200). When each of the multiple microphones (300) unfolds completely (Figs. 3, 4, 5 and 8), the coordinate values ​​for the x-axis of the multiple third hinge axes (963) and the multiple second hinge axes (962) are identical to each other. When each of the multiple microphones (300) unfolds completely, each microphone is oriented toward the front of the survivor search device (10), and becomes a shape that facilitates the collection of sound generated from the front of the survivor search device (10).

[0096] Each of the plurality of microphones (300) can be configured to fold as the first plate (911) moves further away from the third plate (920). For example, when the first plate (911) moves as far back as possible, each of the plurality of microphones (300) is completely folded (Fig. 7), and the center axis (310) of each of the plurality of microphones (300) can be perpendicular to the optical axis (220) of the thermal imaging camera (200). When each of the plurality of microphones (300) is completely folded (Fig. 7), the plurality of third hinge axes (963) are located further forward than the plurality of second hinge axes (962) with respect to the first axis direction.

[0097] When each of the plurality of microphones (300) is not fully unfolded or not fully folded (Fig. 6), the angle between the center axis (310) of each of the plurality of microphones (300) and the optical axis (220) of the thermal imaging camera (200) has a value greater than 0° and less than 90°. In this case, the plurality of third hinge axes (963) are located forward of the plurality of second hinge axes (962) with respect to the first axis direction.

[0098] The movement of the first plate (911) is described. The first plate (911) moves along the first axis direction by the power generation unit (950). One side of the first plate (911) that faces forward is defined as the front of the first plate (911), and the other side of the first plate (911) that faces backward is defined as the rear of the first plate (911).

[0099] In FIG. 7, the positions with respect to the x-axis are indicated as x1, x2, and x3, respectively. When the front of the first plate (911) is located at x1, the plurality of microphones (300) are in a completely folded state (Fig. 7).

[0100] As the first plate (911) moves further forward from the state where the multiple microphones (300) are completely folded (Fig. 7), the multiple microphones (300) are unfolded further.

[0101] FIG. 6 illustrates the appearance of a plurality of microphones (300) when the front of the first plate (911), which was located at x1 in FIG. 7, is moved by d3 so that the front of the first plate (911) is located at x2.

[0102] When the front of the first plate (911) is moved by d4 and positioned at x3, the front of the first plate (911) comes into contact with the rear of the third plate (920) and the plurality of microphones (300) are fully unfolded (Figs. 3, 4, 5 and 8).

[0103] When a plurality of microphones (300) and a plurality of rotation guides (930) rotate due to the movement of the moving part (910), the rotation directions of the plurality of microphones (300) and the plurality of rotation guides (930) are opposite to each other. This is explained based on the second microphone (300B). When the first plate (911) moves forward, the second microphone (300B) rotates in the (+) Rz direction around the first hinge axis (961). When the first plate (911) moves forward, the rotation guide (930) connected to the second microphone (300B) rotates in the (-) Rz direction around the third hinge axis (963).

[0104] When a plurality of microphones (300) and a plurality of rotating guides (930) rotate due to the movement of the moving part (910), a plurality of second hinge axes (962) rotate around a plurality of third hinge axes (963).

[0105] Each rotation guide of the plurality of rotation guides (930) rotates around the third hinge axis (963), and guides the rotation direction of each microphone (300) using the second hinge axis (962) connected to each microphone (300).

[0106] The survivor search device (10) according to the present disclosure is a miniaturized device, but it can accurately estimate the location of the sound source. This will be explained in detail.

[0107] For microphones used to detect the location of a sound source, the accuracy of detection decreases as the spacing between the microphones becomes narrower. As such, since the performance of a sound source location detection device deteriorates as its size decreases, conventional devices have had limitations in miniaturization. Due to these limitations in miniaturization, conventional devices faced problems such as difficulty entering confined spaces and difficulty in searching for survivors.

[0108] Unlike conventional devices, the survivor search device (10) according to the present disclosure can minimize its volume by folding a plurality of microphones (300) to enter a confined space. When estimating the location of a sound source, the survivor search device (10) can unfold the plurality of microphones (300) to increase the distance between the plurality of microphones (300). By increasing the distance between the plurality of microphones (300), the location of the sound source can be detected more accurately. That is, the survivor search device (10) according to the present disclosure is configured so that the plurality of microphones (300) can rotate, thereby achieving the miniaturization of the device required to enter a confined space and securing the distance between the plurality of microphones (300) required for accurate detection of the survivor's location. According to one embodiment, the distance between the centers of each microphone (300) (d1, d2, FIG. 5) may be 8 cm or more.

[0109] FIG. 9 is a flowchart illustrating the operation process of a survivor search system according to one embodiment of the present disclosure.

[0110] FIG. 10 is a flowchart illustrating the process of a survivor search system according to one embodiment of the present disclosure detecting information at a disaster site.

[0111] Referring to FIGS. 1 through 10, a survivor searching system (1) according to the present disclosure can search for a survivor by infiltrating a small robot (20) into a confined space and then controlling the small robot (20). The operation process of the survivor searching system (1) is not limited by the order disclosed in FIGS. 9 and FIGS. 10. For example, each of the processes disclosed in FIGS. 9 and FIGS. 10 may be performed in parallel. For example, it is also possible to perform only some of the processes disclosed in FIGS. 9 and FIGS. 10.

[0112] The survivor search system (1) can detect information about the disaster site using the survivor search device (10) (S100). In order to detect information about the disaster site, the survivor search system (1) can take a thermal image (S110). Through the thermal image, a view of the disaster site with poor visibility can be secured, and survivors can be searched.

[0113] The survivor search system (1) can capture optical images (S120). The optical images can be used to complement thermal images. For example, the optical images and thermal images can be merged to create a single image. In this case, it has the effect of providing more accurate visual information about the disaster site.

[0114] The survivor search system (1) can detect sound (S130). The sound to be collected is sound produced by the voice of a human survivor. The survivor search system (1) can detect carbon dioxide generated by a human (S140). Based on the detected carbon dioxide, the survival status of the human can be determined. The survivor search system (1) can detect gases other than carbon dioxide (S150). For example, one or more of carbon monoxide, nitrogen dioxide, ammonia, and butane gas can be detected (S150). Based on the detected gases, the gas conditions at the disaster site can be determined. The survivor search system (1) can determine whether there is a dangerous explosive gas. According to one embodiment, the gas sensor (500) and the carbon dioxide sensor (400) may be spaced apart from each other along a first axis direction. According to one embodiment, a portion of the gas sensor (500) and the carbon dioxide sensor (400) may penetrate the upper surface of the housing (100) and be exposed to the outside of the housing (100).

[0115] The survivor search system (1) can calculate the location of the sound source (S160). Specifically, the survivor search system (1) can calculate the azimuth and elevation angles based on the detected sound and calculate the location of the sound source. The order of S110 to S160 is not limited to the order disclosed in FIG. 10. For example, the processes of S110 to S160 can all be performed simultaneously.

[0116] The survivor search system (1) can transmit information about the disaster site detected by the survivor search device (10) to the small robot (20) (S200). The survivor search system (1) can transmit information about the disaster site to the small robot controller (30) using the survivor search device (10) and / or the small robot (20) (S300). The survivor search system (1) can display information about the disaster site on the screen of the thermal image display (31) and / or optical display (33) formed on the small robot controller (30) (S400). The survivor search system (1) can display an optical image on the screen of the optical display (33). The survivor search system (1) can display a thermal image on the screen of the thermal image display (31). The survivor search system (1) can display the location of the sound source on the screen of the thermal image display (31). In this case, as disclosed in FIG. 2, the location of the sound source can be displayed on the thermal image displayed on the screen of the thermal image display (31).

[0117] An operator controlling the survivor search system (1) can control the small robot (20) while viewing the screen of the thermal image display (31) and / or optical display (33). For example, the small robot (20) can be moved toward a part where the location of a sound source is indicated, and the presence of a survivor can be searched.

[0118] Although the flowchart of this disclosure describes each process as being executed sequentially, this is merely an illustrative explanation of the technical concept of some embodiments of the present invention. In other words, a person skilled in the art to which some embodiments of the present invention pertain can modify and adapt the process described in the flowchart in various ways, such as by changing the process or executing one or more of the processes in parallel, without departing from the essential characteristics of some embodiments of the present invention; therefore, the flowchart is not limited to a chronological order.

[0119] The above description is merely an illustrative explanation of the technical concept of the present embodiment, and a person skilled in the art to which the present embodiment belongs would be able to make various modifications and variations within the scope of the essential characteristics of the present embodiment. Accordingly, the present embodiments are intended to explain, not limit, the technical concept of the present embodiment, and the scope of the technical concept of the present embodiment is not limited by these embodiments. The scope of protection of the present embodiment shall be interpreted by the claims below, and all technical concepts within an equivalent scope shall be interpreted as being included within the scope of rights of the present embodiment. Explanation of the symbols

[0121] 1: Survivor Search System 10: Survivor Search Device 20: Small robot 30: Small robot controller 31: Thermal imaging display 33: Optical display 100: Housing 110: Opening 200: Thermal imaging camera 210: Lens unit 220: Optical axis 300: Multiple microphones 400: Carbon dioxide sensor 500: Gas sensor 910: Moving part 911: First plate 913: 2nd Plate 920: 3rd Plate 930: Multiple rotating guide sections 940: Rail section 941: Inner rail 943: Outer rail 950: Power generation unit 951: Actuator 953: First bracket 961: Multiple first hinge axes 962: Multiple second hinge axes 963: Multiple third hinge axes 310: Microphone's central axis

Claims

Claim 1 A survivor search device comprising: a housing formed to be elongated in a first axial direction and having an opening formed on one surface perpendicular to the first axial direction; a moving part comprising a first plate formed perpendicular to the first axial direction and a second plate formed extending from the first plate in the first axial direction, wherein a portion of the second plate is configured to penetrate the opening and be inserted into the interior of the housing; a thermal imaging camera penetrating the center of the first plate and the opening, wherein a lens part is positioned in front of the opening and the optical axis of the lens part is formed in the first axial direction; a power generation part configured to move the moving part in the first axial direction; a plurality of microphones each comprising a microphone connected to the first plate using each hinge axis of a plurality of first hinge axes; and a processor that calculates the location of a sound source where the sound is being generated based on the sound detected by the plurality of microphones, wherein each of the plurality of microphones is configured to rotate around each hinge axis of the plurality of first hinge axes by the movement of the moving part. Claim 2 A survivor search device according to claim 1, wherein the plurality of microphones includes first to fourth microphones spaced apart from each other, wherein the first microphone and the second microphone are spaced apart from each other along a second axis direction perpendicular to the first axis direction with the thermal imaging camera in between, and the third microphone and the fourth microphone are spaced apart from each other along a third axis direction perpendicular to the first axis direction and the second axis direction with the thermal imaging camera in between. Claim 3 A survivor search device according to claim 2, wherein the hinge axis connected to the first microphone among the plurality of first hinge axes and the hinge axis connected to the second microphone among the plurality of first hinge axes are parallel to the third axis direction, and the hinge axis connected to the third microphone among the plurality of first hinge axes and the hinge axis connected to the fourth microphone among the plurality of first hinge axes are parallel to the second axis direction. Claim 4 A survivor search device according to claim 1, wherein the magnitude of the angle between the center axis of each of the plurality of microphones and the optical axis is larger as the first plate is positioned closer to the opening. Claim 5 A survivor search device according to claim 4, wherein the angle between the center axis of each of the plurality of microphones and the optical axis is one of 0° to 90° depending on the position of the first plate. Claim 6 In claim 1, the plurality of microphones are MEMS (Micro-Electro-Mechanical Systems) microphones, and the plurality of microphones detect only sound in a specific frequency band, a survivor search device. Claim 7 A survivor search device according to claim 1, further comprising a gas sensor and a carbon dioxide sensor spaced apart from each other along the first axis direction, wherein a portion of the gas sensor and the carbon dioxide sensor penetrates the other surface of the housing and is exposed to the outside of the housing. Claim 8 In claim 2, the processor calculates an azimuth and an elevation angle for the location of the sound source based on the sound detected by the plurality of microphones, a survivor search device. Claim 9 A survivor search device according to claim 8, wherein the processor calculates an azimuth angle for the location of the sound source based on the sound detected by the first microphone and the second microphone, and calculates an elevation angle for the location of the sound source based on the sound detected by the third microphone and the fourth microphone. Claim 10 A survivor search device according to claim 2, wherein the distance between the center of the first microphone and the center of the second microphone and the distance between the center of the third microphone and the center of the fourth microphone varies according to the position of the first plate, and when the center axes of the first to fourth microphones are parallel to the optical axis, the distance between the center of the first microphone and the center of the second microphone and the distance between the center of the third microphone and the center of the fourth microphone is 8 cm. Claim 11 A survivor search device according to claim 1, further comprising a rail portion formed to be coupled with the second plate and extending in the first axial direction, wherein the rail portion is configured to guide the movement of the moving portion. Claim 12 A survivor search device according to claim 1, wherein the power generation unit comprises an actuator positioned behind the thermal imaging camera and extending or retracting in the first axis direction by motor driving, and the moving unit moves forward when the actuator extends and moves backward when the actuator retracts. Claim 13 A survivor search device according to claim 3, further comprising a third plate attached to one end of the thermal imaging camera and parallel to the first plate, wherein the third plate has a hole formed in the center so that the lens portion is exposed to the outside. Claim 14 A survivor search device according to claim 13, further comprising a plurality of rotation guide members connected to the third plate using each hinge axis of a plurality of third hinge axes, wherein each of the plurality of rotation guide members is connected to each of the plurality of microphones using each hinge axis of a plurality of second hinge axes, and each of the plurality of rotation guide members rotates around each hinge axis of the plurality of third hinge axes to guide the rotation direction of each of the plurality of microphones when the moving member moves. Claim 15 A survivor search device according to claim 14, wherein the size of the angle between each of the plurality of rotational guide parts and the optical axis becomes smaller as the first plate is closer to the opening. Claim 16 A survivor search device according to claim 15, wherein the angle between one surface of each of the plurality of rotational guide parts and the optical axis is any one of 0° to 90° depending on the position of the first plate. Claim 17 A survivor search system comprising: a survivor search device according to claim 1; a small robot equipped with the survivor search device; and a small robot controller for controlling the small robot, wherein the small robot controller includes a thermal image display that displays the location of the sound source on a screen. Claim 18 A method for searching for a survivor using a survivor search device according to claim 1, comprising: a process in which a thermal imaging camera captures a thermal imaging image; a process in which a plurality of microphones detect sound; a process in which a processor calculates the location of a sound source where the sound is generated based on the sound detected by the plurality of microphones; and a process in which information of a disaster site is displayed on a thermal imaging display screen, wherein the information of the disaster site includes at least one of a thermal imaging image of the disaster site, sound caused by the voice of a human survivor, the location of a sound source, and information regarding the location of a survivor.

Images