Survivor search apparatus and survivor search method

Abstract

A survivor search apparatus is disclosed. According to one embodiment of the present disclosure, the survivor search apparatus is provided, the survivor search apparatus comprising: a housing which is elongated in the first axial direction, and which has an opening formed on one surface perpendicular to the first axial direction; a moving part, which includes a first plate formed to be perpendicular to the first axial direction and a second plate extended from the first plate in the first axial direction, one portion of the second plate passing through the opening so as to be inserted into the housing; a thermal imaging camera which passes through the center of the first plate and the opening, and of which a lens part is disposed in front of the opening and the optical axis of the lens part is formed in the first axis direction; a power generation part for moving the moving part in the first axis direction; a plurality of microphones each including a microphone connected to the first plate by using a respective hinge shaft from among a plurality of first hinge shafts; and a processor for calculating the position of a sound source that is generating sound on the basis of the sound detected by the plurality of microphones, wherein each of the plurality of microphones rotates around a respective hinge shaft from among the plurality of first hinge shafts by means of the movement of the moving part.

Description

Survivor search device and survivor search method

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

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

[0003] In the event of a disaster, rapid survivor search and rescue are essential. In disaster situations such as building collapses, it can be difficult to determine the location of survivors and the actual situation with the naked eye. Understanding the disaster site is crucial to preventing potential secondary damage during disaster recovery and rescue efforts.

[0004] Disaster sites often require assessing the situation in confined spaces. Consequently, a small exploration device capable of entering these confined spaces in place of a human operator is required. Specifically, a small exploration device capable of entering a confined space measuring approximately 15 cm in width and height is needed.

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

[0006] When using directional microphones to locate a specific object, the problem arises of the need for multiple microphones to improve accuracy. With only a small number of microphones, accuracy deteriorates due to the characteristic of directional microphones, which only collect sound from specific directions. Therefore, devices that estimate location using directional microphones inevitably become larger due to the large number of microphones.

[0007] Thus, miniaturization of a device for estimating sound source location and its performance are a trade-off. A device or method that can be miniaturized without compromising its location estimation performance is needed.

[0008] In addition, a method is required to provide a miniaturized device that can be equipped with various sensors while being efficiently placed.

[0009] Accordingly, the present disclosure is intended to solve these problems, and its main purpose is to provide a survivor search device with only a minimum number of microphones for miniaturization.

[0010] Additionally, the main purpose is to improve the accuracy of survivor search devices.

[0011] Additionally, the main purpose is to provide visualization of the situation at the disaster site by deploying various types of sensors.

[0012] Additionally, it is designed to be rotatable, with the primary purpose of providing a microphone that unfolds when sound needs to be collected and folds up when entering a tight space.

[0013] According to one embodiment of the present disclosure for achieving the above object, a survivor search device comprises: a housing formed to extend in a first axial direction and having an opening formed on one surface perpendicular to the first axial direction; a moving unit including a first plate formed to be perpendicular to the first axial direction and a second plate formed to extend from the first plate in the first axial direction, wherein a portion of the second plate penetrates the opening and is inserted into the inside of the housing; a thermal imaging camera formed to penetrate the center of the first plate and the opening, wherein a lens portion is disposed in front of the opening and an optical axis of the lens portion is formed in the first axial direction; a power generation unit configured to move the moving unit in the first axial direction; a plurality of microphones including respective microphones connected to the first plate using respective hinge axes of a plurality of first hinge axes; A survivor search device is provided, including a processor that calculates the location of a sound source from which the sound is 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 these purposes, 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 for displaying the location of the sound source on a screen.

[0015] According to one embodiment of the present disclosure for achieving the above object, a method for searching for survivors using a survivor search device is provided, comprising: a process in which the thermal imaging camera captures a thermal image; a process in which the plurality of microphones detect sound; a process in which the processor calculates the location of a sound source from which the sound is generated based on the sound detected by the plurality of microphones; and a process in which the processor displays information on a disaster site on a screen of a thermal image display, wherein the information on the disaster site includes at least one of a thermal image of the disaster site, sound by the voice of a human survivor, the location of the sound source, and information on the location of the survivor.

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

[0017] Additionally, it has the effect of improving the accuracy of survivor search devices.

[0018] Additionally, it has the effect of being able to penetrate narrow spaces and search for survivors.

[0019] Additionally, by deploying various types of sensors, it is possible to provide visualization of the situation at the disaster site.

[0020] Additionally, the multiple microphones are configured to be rotatable, allowing multiple microphones to be unfolded when sound needs to be collected, and multiple microphones to be folded when entering a narrow space.

[0021] FIG. 1 is a functional block diagram of a survivor search system according to one embodiment of the present disclosure.

[0022] FIG. 2 is a diagram illustrating a screen of a survivor thermal image display according to one embodiment of the present disclosure.

[0023] FIG. 3 is a perspective view illustrating a survivor search device and a small robot according to one embodiment of the present disclosure.

[0024] FIG. 4 is an exploded perspective view of a survivor search device according to one embodiment of the present disclosure.

[0025] FIG. 5 is a diagram illustrating a plurality of microphones according to one embodiment of the present disclosure.

[0026] FIG. 6 is a perspective view of a survivor search device according to one embodiment of the present disclosure.

[0027] FIG. 7 is a perspective view illustrating a case where multiple microphones according to one embodiment of the present disclosure are completely folded.

[0028] FIG. 8 is a drawing illustrating rotation of a plurality of microphones by a power generation unit according to one embodiment of the present disclosure.

[0029] FIG. 9 is a flowchart illustrating the operation process of a survivor search system according to one embodiment of the present disclosure.

[0030] FIG. 10 is a flowchart illustrating a process of detecting information at a disaster site by a survivor search system according to one embodiment of the present disclosure.

[0031] Hereinafter, some embodiments of the present disclosure will be described in detail using exemplary drawings. When designating components in each drawing, it should be noted that, where possible, identical components are given the same reference numerals, even if they appear in different drawings. Furthermore, when describing the present disclosure, detailed descriptions of related known structures or functions will be omitted if they are deemed to obscure the gist of the present disclosure.

[0032] In describing the components of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only intended to distinguish the components from other components, and the nature, order, or sequence of the components are not limited by the terms.

[0033] When a component is described as being 'connected', 'coupled' or 'connected' to another component, it should be understood that the component may be directly connected or connected to that other component, but that another component may also be 'connected', 'coupled' or 'connected' between the components.

[0034] Throughout the specification, when a part is said to 'include' or 'have' a component, this does not mean that it excludes other components, but rather that it may include other components, unless otherwise specifically stated.

[0035] The terms ‘unit’, ‘module’, etc., used in the specification mean a unit that processes at least one function or operation, which may be implemented by hardware, software, or a combination of hardware and software.

[0036] Unless stated otherwise, the description of any one embodiment is intended to be applicable to other embodiments.

[0037] The following description of the invention, together with the accompanying drawings, is intended to explain exemplary embodiments of the invention and is not intended to represent the only embodiments in which the invention may be practiced.

[0038] FIG. 1 is a functional block diagram of a survivor search system according to one embodiment of the present disclosure.

[0039] FIG. 2 is a diagram illustrating a screen of a survivor thermal image display according to one embodiment of the present disclosure.

[0040] FIG. 3 is a perspective view illustrating a survivor search device and a small robot according to one embodiment of the present disclosure.

[0041] 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 a small-sized robot (20) using a small-sized robot controller (30). The small-sized robot (20) uses the survivor searching apparatus (10) to scout the interior of a narrow space at a disaster site and search for survivors.

[0042] A survivor search device (10) can be mounted on a small robot (20). The survivor search device (10) can collect all or part of information (hereinafter, “disaster site information”) about a thermal image, an optical image, sound by the voice of a human survivor, the location of a sound source, the location of a survivor, carbon dioxide, carbon monoxide, ammonia, nitrogen dioxide, etc., using a plurality of sensors. Here, the location of a sound source refers to the location where the sound by the voice of a human survivor is generated. The survivor search device (10) can identify the location of a survivor based on the location of the sound source.

[0043] The survivor search device (10) communicates with the small robot (20) using wired or wireless means. The survivor search device (10) transmits the collected disaster site information to the small robot (20).

[0044] A small robot (20) is a robot for exploring the interior of a narrow space at a disaster site. A survivor search device (10) is mounted on the small robot (20). 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 mounted on the small robot (20), the total height may be 14 cm or less. The small robot (20) can enter a narrow space of 15 cm in height and 15 cm in width or less while the survivor search device (10) is mounted. The small robot (20) is not limited to the shape and size disclosed in the drawing.

[0045] 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 on the disaster site collected by the survivor search device (10) to the small robot controller (30).

[0046] A small robot controller (30) communicates with the small robot (20) and / or the survivor search device (10) and controls 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 a 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 a sound source on the screen. The optical display (33) can display an optical image of the disaster site.

[0047] An operator controlling a survivor search system (1) can control a small robot (20) deployed in a narrow space while looking at a thermal image display (31) and / or an optical display (33).

[0048] The directions used in this specification are defined. The direction parallel to the longitudinal direction of the housing (100) is defined as the first axial direction. That is, the first axial direction means the x-axis direction disclosed in FIG. 6 or FIG. 7. The first axial direction is the horizontal direction, including both the (+) direction and the (-) direction of the x-axis. The second axial direction means the y-axis direction. The second axial direction is the vertical direction, including both the (+) direction and the (-) direction of the y-axis. The third axial direction means the z-axis direction. The third axial direction is the height direction, including both the (+) direction and the (-) direction of the z-axis.

[0049] Define the front and rear. With respect to the x-axis direction disclosed in FIG. 6 or FIG. 7, the lens unit (210) of the thermal image camera (200) to be described later is positioned in front of the power generation unit (950) to be described later.

[0050] FIG. 3 is a perspective view illustrating a survivor search device and a small robot according to one embodiment of the present disclosure.

[0051] FIG. 4 is an exploded perspective view of a survivor search device according to one embodiment of the present disclosure.

[0052] FIG. 5 is a diagram illustrating a plurality of microphones according to one embodiment of the present disclosure.

[0053] FIG. 6 is a perspective view of a survivor search device according to one embodiment of the present disclosure.

[0054] FIG. 7 is a perspective view illustrating a case where multiple microphones according to one embodiment of the present disclosure are completely folded.

[0055] FIG. 8 is a drawing illustrating rotation of a plurality of microphones by a power generation unit according to one embodiment of the present disclosure.

[0056] Referring to FIGS. 1 to 8, the survivor search device (10) includes all or part of 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).

[0057] The housing (100) includes an internal storage space. The housing (100) can be mounted on a small robot (20). The shape of the housing (100) can be a shape for mounting on a small robot (20). The shape of the housing (100) is not limited to the shape disclosed in the drawing.

[0058] According to one embodiment, the housing (100) can be manufactured to have a width of 154.5 mm, a length of 54.5 mm, and a height of 54.5 mm. In this way, the survivor search device (10) according to the present disclosure can be manufactured in a small size, and is optimized for entering narrow spaces.

[0059] 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 drawing.

[0060] According to one embodiment of the present disclosure, the thermal imaging camera (200) may be exposed to the outside of the housing (100) by at least a portion penetrating 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.

[0061] 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. Using an independent channel can improve data processing speed.

[0062] When using a thermal imaging camera (200), it is possible to secure a view of a disaster site with poor visibility and facilitate the search for survivors.

[0063] A plurality of microphones (300) are arranged to surround the thermal imaging camera (200). Each of the plurality of microphones (300) is arranged at the same distance from the thermal imaging camera (200). Each of the plurality of microphones (300) may be arranged at the same distance from the nearest neighboring microphone. That is, by efficiently arranging the plurality of microphones (300) in a narrow space, miniaturization of the survivor search device (10) is realized. The shape of the plurality of microphones (300) is not limited to the shape disclosed in the drawing.

[0064] A plurality of microphones (300) detect sounds emitted by a survivor. The plurality of microphones (300) may be placed outside the housing (100). When placed outside the housing (100), it is easy to collect sounds.

[0065] According to one embodiment of the present disclosure, the plurality of microphones (300) may be omnidirectional microphones that uniformly detect ambient sounds from all directions. An omnidirectional microphone is a microphone that uniformly collects sounds from all directions. When an omnidirectional microphone is used, the number of microphones mounted on the device can be minimized. Since an omnidirectional microphone uniformly collects sounds from all directions, unlike a directional microphone, there is no need to place multiple microphones. When an omnidirectional microphone is used, noise is removed using a sound source location estimation algorithm and a band pass filter (BPF). In other words, only sounds in a frequency band corresponding to a human voice can be collected while placing a minimum number of microphones.

[0066] All or some of the multiple microphones (300) can detect sounds in a specific frequency band. The specific frequency band may be the frequency band of the human voice. By detecting sounds corresponding to the frequency band of the human voice, the location of the sound source and the location of the survivor are identified.

[0067] The number and arrangement of multiple microphones (300) are not limited by the disclosure of the drawing.

[0068] The first microphone (300A) to the fourth microphone (300D) can be used to detect sounds corresponding to a specific frequency band. The specific frequency band may be the frequency band of a human voice. For example, if the frequency band of a human voice corresponds to 300 Hz to 3000 Hz, the first microphone (300A) to the fourth microphone (300D) can detect sounds in a frequency band corresponding to 300 Hz to 3000 Hz. The frequency bands that the first microphone (300A) to the fourth microphone (300D) can detect are not limited to the above-described range and may have other ranges.

[0069] According to one embodiment of the present disclosure, the plurality of microphones (300) may be MEMS microphones (Micro-Electro-Mechanical Systems microphones). Since MEMS microphones are smaller than conventional microphones, miniaturization of the survivor detection device (10) is possible when using MEMS microphones. MEMS microphones offer greater design freedom than analog microphones. The shape and arrangement of the MEMS microphones are not limited to the drawings.

[0070] The carbon dioxide sensor (400) is disposed inside the housing (100). According to one embodiment of the present disclosure, at least a portion of the carbon dioxide sensor (400) may penetrate one surface of the housing (100) and be exposed to the outside of the housing (100). When at least a portion is exposed to the outside, carbon dioxide can be easily collected. The carbon dioxide sensor (400) can detect carbon dioxide emitted from a human. Based on the detected carbon dioxide, the survival of the human can be determined. The shape of the carbon dioxide sensor (400) is not limited to the shape disclosed in the drawing.

[0071] The gas sensor (500) is placed inside the housing (100). At least a portion of the gas sensor (500) may penetrate one surface of the housing (100) and be exposed to the outside of the housing (100). When at least a portion of the gas sensor (500) 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.

[0072] The gas situation 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 placed in the survivor search device (10).

[0073] According to one embodiment, the carbon dioxide sensor (400) and the gas sensor (500) may be arranged to penetrate the same surface 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, and the survivor detection device (10) may be miniaturized.

[0074] The substrate is placed inside or outside the housing (100). The substrate may be configured to have a plurality of elements mounted thereon. The substrate may be a printed circuit board (PCB).

[0075] The substrate is placed inside the housing (100). The substrate is preferably designed to be smaller than a certain size to maximize space utilization. Preferably, the substrate's dimensions may be within a range where the horizontal length does not exceed 50 mm and the vertical length does not exceed 50 mm.

[0076] In one embodiment, the substrate may be attached to one surface 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).

[0077] According to one embodiment, the survivor search device (10) can be powered by a small robot (20). In this way, the number of components accommodated inside the housing (100) can be minimized, thereby minimizing the overall size of the survivor search device (10).

[0078] 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 mounted element and the shape of the housing (100).

[0079] The processor is positioned on one side of the substrate. The processor calculates the location of the sound source based on the sounds detected by the multiple microphones (300). The location of the sound source calculated by the processor can be displayed on the screen of the thermal image display (31) and / or the optical display (33).

[0080] According to one embodiment of the present disclosure, the processor can calculate the azimuth angle and the altitude angle for the location of the sound source based on the acoustic information detected by the plurality of microphones (300). The azimuth and the altitude angle can be used to calculate the location and / or the direction of the sound source, and the calculated location and / or the direction of the sound source can be displayed on the screen of the thermal image display (31) and / or the optical display (33).

[0081] In one embodiment, the processor may calculate an azimuth angle relative to the location of the sound source based on sounds detected by the first microphone (300A) and the second microphone (300B). In one embodiment, the processor may calculate an elevation angle relative to the location of the sound source based on sounds detected by the third microphone (300C) and the fourth microphone (300D).

[0082] The plurality of microphones (300) of the survivor search device (10) according to the present disclosure are configured to rotate.

[0083] According to one embodiment, the housing (100) may be formed to extend in a first axial direction. The housing (100) may include an opening (110) on one surface perpendicular to the first axial direction.

[0084] According to one embodiment, the moving part (910) can move in the first axial direction. The moving part (910) can move along the rail part (940) to be described later. The moving part (910) can include a first plate (911) and a second plate (913). The first plate (911) can be formed to be perpendicular to the first axial direction. The second plate (913) can be formed to extend in the first axial direction from the first plate (911). A portion of the second plate (913) can be inserted into the inside of the housing (100) by penetrating the opening (110).

[0085] The thermal imaging camera (200) may be positioned to penetrate the center and opening (110) of the first plate (911). The lens unit (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 first axis direction.

[0086] The power generation unit (950) may be configured to move the moving unit (910) in the first axial direction. According to one embodiment, the power generation unit (950) may include an actuator (951) and a first bracket (953), etc.

[0087] According to one embodiment, the actuator (951) may be positioned at the rear of the thermal imaging camera (200) and configured to extend or contract in the first axis direction by driving a motor (not shown). When the actuator (951) extends, the moving unit (910) moves forward. When the actuator (951) contracts, the moving unit (910) moves backward.

[0088] 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 utilize the rail portion (940) to move the moving portion (910).

[0089] The rail unit (940) may be configured to receive power from the first bracket (953) and move the moving unit (910). The rail unit (940) may be coupled to the second plate (913). The rail unit (940) may be coupled to the first bracket (953). The rail unit (940) may extend in the first axial direction to guide the movement of the moving unit (910) in the first axial direction. The rail unit (940) may be arranged inside or outside the housing. The rail unit (940) may be attached to a side wall formed inside the housing (100). The rail units (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) interposed therebetween.

[0090] According to one embodiment, the rail portion (940) may be a slide rail. An inner rail (941) of the slide rail may be coupled with a second plate (913) and a first bracket (953), and an outer rail (943) of the slide rail may be coupled with a housing (100). When the length of the actuator (951) increases, the inner rail (941) slides forward by 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) may rotate about the first hinge axis (961) to unfold. As disclosed in the drawing, when the slide rails are placed on both sides of the thermal imaging camera (200), there is an effect of minimizing shaking when the moving part (910) moves.

[0091] The components included in the power generation unit (950), the shapes of the components, and the joint structure between the components are not limited by the disclosure of the drawing. For example, the power generation unit (950) is illustrated as using the first bracket (953) and the rail unit (940) to transmit the power of the actuator (951) to the moving unit (910), but it is also possible to configure the power to be transmitted without using the first bracket (953) and / or the rail unit (940).

[0092] For example, the actuator (951) may be configured to move the moving part (910) by directly applying an external force to the moving part (910). In this case, the actuator (951) may be arranged to apply an external force to the first plate (911) and / or the second plate (913).

[0093] Each microphone of the plurality of microphones (300) may be connected to the first plate (911) using one of the plurality of first hinge axes (961). When the moving part (910) moves, each of the plurality of microphones (300) may be configured to rotate around the first hinge axle (961).

[0094] The 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 the second axis direction with the thermal imaging camera (200) therebetween. The third microphone (300C) and the fourth microphone (300D) may be spaced apart from each other along the third axis direction with the thermal imaging camera (200) therebetween. According to one embodiment, an imaginary 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.

[0095] A plurality of microphones (300) may be arranged at equal intervals. The positions of the plurality of microphones (300) may be determined by the positions of the plurality of first hinge axes (961). Among the plurality of first hinge axes (961), a hinge axis connected to the first microphone (300A) may be parallel to the third axis direction. Among the plurality of first hinge axes (961), a hinge axis connected to the second microphone (300B) may be parallel to the third axis direction. Among the plurality of first hinge axes (961), a hinge axis connected to the third microphone may be parallel to the second axis direction. Among the plurality of first hinge axes (961), a hinge axis connected to the fourth microphone may be parallel to the second axis direction.

[0096] The size of the angle between the central axis (310) and the optical axis (220) of the plurality of microphones (300) may be larger as the first plate (911) is positioned closer to the opening (110). The size of the angle between the central axis (310) and the optical axis (220) of the plurality of microphones (300) may be any one of 0° to 90° depending on the position on the first plate (911).

[0097] 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 vary depending on the position of the first plate (911).

[0098] For example, when multiple microphones (300) are fully spread out and the central axes (310) of the first microphone (300A) to the fourth microphone (300D) are 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.

[0099] According to one embodiment, a third plate (920) may be attached to one end of the thermal imaging camera (200). The third plate (920) may be positioned in front of the first plate (911), but may be parallel to the first plate (911). The third plate (920) may have a hole formed in the center so that the lens unit (210) is exposed to the outside. The third plate (920) may be coupled to a plurality of rotation guide units (930) using a plurality of third hinge axes (963).

[0100] According to one embodiment, the plurality of rotation guide parts (930) may be connected to the third plate (920) using the plurality of third hinge axes (963). Each of the plurality of rotation guide parts (930) may be connected to each of the plurality of microphones (300) using each hinge axis of the plurality of second hinge axes (962). When the moving part (910) moves, each of the plurality of rotation guide parts (930) may rotate around each hinge axis of the plurality of third hinge axes (963) to guide the rotational direction of each of the plurality of microphones (300).

[0101] According to one embodiment, the size of the angle between one surface of each of the plurality of rotation guide parts (930) and the optical axis (220) may become smaller as the first plate (911) gets closer to the opening (110). The size of the angle between one surface of each of the plurality of rotation 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).

[0102] Below, the rotation of multiple microphones (300) is described in detail.

[0103] The first plate (911) of the moving unit (910) can move in the first axis direction by the power generating unit (950). In this case, the first plate (911) can move using the rail unit (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 units (930) rotate around the plurality of third hinge axes (963), and guide the rotational direction of the plurality of microphones (300) using the plurality of second hinge axes (962). Based on the first axis direction, the plurality of third hinge axes (963) are located in front of the plurality of first hinge axes (961).

[0104] Each of the plurality of microphones (300) may be configured to unfold more as the first plate (911) gets closer to 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 plurality of microphones (300) is fully unfolded, and the central axis (310) of each of the plurality of microphones (300) may be parallel to the optical axis (220) of the thermal imaging camera (200). When each of the plurality of microphones (300) is fully unfolded (FIGS. 3, 4, 5, and 8), the coordinate values ​​of the plurality of third hinge axes (963) and the plurality of second hinge axes (962) with respect to the x-axis are the same. When each of the plurality of microphones (300) is fully unfolded, each microphone is directed toward the front of the survivor search device (10), and it becomes easy to collect sound generated from the front of the survivor search device (10).

[0105] Each of the plurality of microphones (300) may be configured to fold as the first plate (911) moves away from the third plate (920). For example, when the first plate (911) moves rearward as much as possible, each of the plurality of microphones (300) is completely folded (Fig. 7), and the central axis (310) of each of the plurality of microphones (300) may 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 positioned forward relative to the first axis direction than the plurality of second hinge axes (962).

[0106] When each of the plurality of microphones (300) is not fully unfolded or fully folded (Fig. 6), the angle between the central 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 positioned forward of the plurality of second hinge axes (962) with respect to the first axis direction.

[0107] The movement of the first plate (911) will be described. The first plate (911) moves along the first axis direction by the power generation unit (950). One side of the first plate (911) facing forward is defined as the front side of the first plate (911), and the other side of the first plate (911) facing backward is defined as the rear side of the first plate (911).

[0108] 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).

[0109] As the first plate (911) moves forward from the fully folded state (Fig. 7) of the plurality of microphones (300), the plurality of microphones (300) unfold more.

[0110] FIG. 6 illustrates the appearance of multiple microphones (300) when the front of the first plate (911) located at x1 in FIG. 7 moves by d3 so that the front of the first plate (911) is located at x2.

[0111] When the front of the first plate (911) moves by d4 and is 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 spread out (Figs. 3, 4, 5 and 8).

[0112] When a plurality of microphones (300) and a plurality of rotational guides (930) rotate due to the movement of the moving part (910), the rotational directions of the plurality of microphones (300) and the plurality of rotational guides (930) are opposite to each other. This will be described 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 rotational guide (930) connected to the second microphone (300B) rotates in the (-) Rz direction around the third hinge axis (963).

[0113] When a plurality of microphones (300) and a plurality of rotation guide parts (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).

[0114] Each rotation guide part of the plurality of rotation guide parts (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).

[0115] The survivor search device (10) according to the present disclosure is a miniaturized device, but can accurately estimate the location of a sound source. This will be described in detail.

[0116] Microphones used to detect the location of sound sources have lower detection accuracy as the spacing between them becomes narrower. Consequently, the smaller the device, the lower its detection performance. Therefore, conventional devices face limitations in miniaturization. This limitation in miniaturization makes it difficult to enter confined spaces and to detect survivors.

[0117] Unlike conventional devices, the survivor search device (10) according to the present disclosure can minimize the volume by folding the plurality of microphones (300) in order to enter a narrow space. When estimating the location of a sound source, the survivor search device (10) can increase the distance between the plurality of microphones (300) by unfolding 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 can achieve miniaturization of the device required for entering a narrow space by configuring the plurality of microphones (300) to be rotatable, and can secure the distance between the plurality of microphones (300) required for accurate detection of the location of a survivor. According to one embodiment, the distance (d1, d2, FIG. 5) between the centers of each microphone (300) can be 8 cm or more.

[0118] FIG. 9 is a flowchart illustrating the operation process of a survivor search system according to one embodiment of the present disclosure.

[0119] FIG. 10 is a flowchart illustrating a process of detecting information at a disaster site by a survivor search system according to one embodiment of the present disclosure.

[0120] Referring to FIGS. 1 to 10, the survivor searching system (survivor searching system, 1) according to the present disclosure can search for survivors by manipulating a small robot (20) after infiltrating it into a narrow space. The operating process of the survivor searching system (1) is not limited to the order disclosed in FIGS. 9 and 10. For example, each of the processes disclosed in FIGS. 9 and 10 can be performed in parallel. For example, it is also possible to perform only some of the processes disclosed in FIGS. 9 and 10.

[0121] The survivor search system (1) can detect information about a disaster site using a survivor search device (10) (S100). To detect information about the disaster site, the survivor search system (1) can capture thermal images (S110). Thermal images can secure a field of view in a disaster site with poor visibility and enable the search for survivors.

[0122] The survivor search system (1) can capture optical images (S120). The optical images can be used to complement thermal images. For example, optical and thermal images can be merged to create a single image. This can provide more accurate visual information about the disaster site.

[0123] The survivor search system (1) can detect sound (S130). The sound to be collected is the sound of the voice of a human survivor. The survivor search system (1) can detect carbon dioxide emitted by a human (S140). Based on the detected carbon dioxide, the survival 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 gas, the gaseous state at the disaster site can be identified. The survivor search system (1) can identify the presence of a dangerous explosive gas. According to one embodiment, the gas sensor (500) and the carbon dioxide sensor (400) can be spaced apart from each other along the first axis. According to one embodiment, a portion of the gas sensor (500) and the carbon dioxide sensor (400) can penetrate the upper surface of the housing (100) and be exposed to the outside of the housing (100).

[0124] 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 steps S110 to S160 is not limited to the order disclosed in FIG. 10. For example, the steps S110 to S160 can all be performed simultaneously.

[0125] The survivor search system (1) can transmit information on a disaster site detected by the survivor search device (10) to a small robot (20) (S200). The survivor search system (1) can transmit information on a disaster site to a 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 on the disaster site on a screen of a thermal image display (31) and / or an 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 a sound source on the screen of the thermal image display (31). In this case, the location of the sound source can be displayed on the thermal image displayed on the screen of the thermal image display (31) as disclosed in FIG. 2.

[0126] An operator controlling a survivor search system (1) can control a small robot (20) while viewing the screen of a thermal imaging display (31) and / or an optical display (33). For example, the small robot (20) can be moved toward a portion where the location of a sound source from which sound is generated is indicated, and the presence of survivors can be searched for.

[0127] Although the flowchart of the present disclosure describes each process as being executed sequentially, this is merely an illustrative description of the technical idea of ​​some embodiments of the present invention. In other words, those skilled in the art to which some embodiments of the present invention pertain may modify and apply various modifications and variations, such as changing and executing the processes described in the flowchart without departing from the essential characteristics of some embodiments of the present invention, or executing one or more of the processes in parallel. Therefore, the flowchart is not limited to a chronological order.

[0128] The above description is merely an example of the technical idea of ​​the present embodiment, and those skilled in the art will appreciate that various modifications and variations can be made without departing from the essential characteristics of the present embodiment. Therefore, the present embodiments are not intended to limit the technical idea of ​​the present embodiment, but rather to explain it, and the scope of the technical idea of ​​the present embodiment is not limited by these embodiments. The scope of protection of the present embodiment should be interpreted by the claims below, and all technical ideas within a scope equivalent thereto should be interpreted as being included in the scope of rights of the present embodiment.

[0129] (Explanation of symbols)

[0130] 1: Survivor Search System

[0131] 10: Survivor Search Device

[0132] 20: Small robot

[0133] 30: Small robot controller

[0134] 31: Thermal imaging display

[0135] 33: Optical display

[0136] 100: Housing

[0137] 110: Opening

[0138] 200: Thermal imaging camera

[0139] 210: Lens section

[0140] 220: Optical axis

[0141] 300: Revenge of the Mic

[0142] 310: The center axis of the microphone

[0143] 400: Carbon dioxide sensor

[0144] 500: Gas sensor

[0145] 910: Moving Department

[0146] 911: Plate 1

[0147] 913: Second Plate

[0148] 920: Third Plate

[0149] 930: Multiple rotation guides

[0150] 940: Rail section

[0151] 941: Inner rail

[0152] 943: Outer Rail

[0153] 950: Power generation unit

[0154] 951: Actuator

[0155] 953: First bracket

[0156] 961: Multiple first hinge axes

[0157] 962: Multiple second hinge axes

[0158] 963: Multiple third hinge axes

[0159]

[0160] CROSS-REFERENCE TO RELATED APPLICATION

[0161] This patent application is filed in Korea on October 30, 2023 under patent application number

[0162] This application claims priority to Patent Application No. 10-2023-0146625, the entire contents of which are incorporated herein by reference.

Claims

1. In the survivor search device, A housing formed to be elongated in the first axis direction and having an opening formed on one surface perpendicular to the first axis direction; A moving part including a first plate formed to be perpendicular to the first axial direction and a second plate formed to extend 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 that penetrates the center of the first plate and the opening, has a lens portion positioned in front of the opening, and has an optical axis of the lens portion formed in the first axis direction; A power generating unit configured to move the moving unit in the first axis direction; A plurality of microphones, each microphone being connected to the first plate using each hinge axis of the plurality of first hinge axes; A processor that calculates the location of a sound source from which the sound is generated based on the sound detected by the plurality of microphones, A survivor search device, wherein each of the plurality of microphones is configured to rotate around each hinge axis of the plurality of first hinge axes by movement of the moving part.

2. In paragraph 1, The above plurality of microphones include first to fourth microphones that are spaced apart from each other, The first microphone and the second microphone are arranged spaced apart from each other along a second axis direction perpendicular to the first axis direction with the thermal imaging camera interposed therebetween, A survivor search device in which 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 interposed therebetween.

3. In paragraph 2, Among the plurality of first hinge axes, the hinge axis connected to the first microphone and the hinge axis connected to the second microphone among the plurality of first hinge axes are parallel to the third axis direction, A survivor search device, wherein 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.

4. In paragraph 1, A survivor search device, wherein the size of the angle between the central axis of each of the plurality of microphones and the optical axis is larger the closer the first plate is positioned to the opening.

5. In paragraph 4, A survivor search device, wherein the size of the angle between the central axis of each of the plurality of microphones and the optical axis is any one of 0° to 90° depending on the position of the first plate.

6. In paragraph 1, The above plurality of microphones are MEMS microphones (Micro-Electro-Mechanical Systems microphones), The above multiple microphones are survivor search devices that detect only sounds in a specific frequency band.

7. In paragraph 1, Further comprising a gas sensor and a carbon dioxide sensor spaced apart from each other along the first axis direction, A survivor detection device in which the gas sensor and the carbon dioxide sensor are partially exposed to the outside of the housing by penetrating the other surface of the housing.

8. In paragraph 2, A survivor search device in which the processor calculates the azimuth and elevation angles of the location of the sound source based on the sounds detected by the plurality of microphones.

9. In paragraph 8, The above processor, Calculate the azimuth for the location of the sound source based on the sound detected by the first microphone and the second microphone, A survivor search device that calculates an elevation angle for the location of the sound source based on the sound detected by the third microphone and the fourth microphone.

10. In paragraph 2, 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 vary depending on the position of the first plate. A survivor search device, wherein when the central 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.

11. In paragraph 1, Further comprising a rail portion that is formed to be coupled with the second plate and extend in the first axis direction, A survivor search device, wherein the rail section is configured to guide the movement of the moving section.

12. In paragraph 1, The power generation unit is arranged at the rear of the thermal imaging camera and includes an actuator that extends or contracts in the first axis direction by motor driving. A survivor search device in which the above moving part moves forward when the actuator extends and moves backward when the actuator contracts.

13. In paragraph 3, further comprising a third plate attached to one end of the thermal imaging camera and parallel to the first plate; The third plate is a survivor search device having a hole formed in the center so that the lens portion is exposed to the outside.

14. In paragraph 13, Further comprising a plurality of rotation guide parts connected to the third plate using each hinge axis of the plurality of third hinge axes, Each of the plurality of rotation guide parts is connected to each of the plurality of microphones using each hinge axis of the plurality of second hinge axes, A survivor search device in which each of the plurality of rotation guide parts guides the rotation direction of each of the plurality of microphones by rotating around each of the plurality of third hinge axes when the moving part moves.

15. In paragraph 14, A survivor search device, wherein the size of the angle between one surface of each of the plurality of rotation guide parts and the optical axis becomes smaller as the first plate gets closer to the opening.

16. In paragraph 15, A survivor search device, wherein the size of the angle between one side of each of the plurality of rotation guide parts and the optical axis is any one of 0° to 90° depending on the position of the first plate.

17. Survivor search device according to paragraph 1; A small robot equipped with the above survivor search device; and Including a small robot controller for controlling the above small robot, The above small robot controller is a survivor search system including a thermal imaging display that displays the location of the sound source on the screen.

18. In a method for searching for survivors using a survivor search device according to Article 1, The process of the above thermal imaging camera capturing a thermal image; The process of detecting sound by the above multiple microphones; A process in which the processor calculates the location of the sound source from which the sound is generated based on the sound detected by the plurality of microphones; and Including the process of displaying information of a disaster site on the screen of a thermal imaging display, Information on the above disaster site is: A method comprising at least one of a thermal image of a disaster scene, sound by the voice of a human survivor, the location of the sound source, and information about the location of the survivor.

Images