• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a device and a method for determining whether a living person has been buried in collapsed ground. The device consists of a rod provided with a receiver unit and a signal processing unit. The receiver unit is intended to receive reflected radar signals transmitted form a radar transmitting antenna and transfer these signals to the signal processing unit. The signal processing unit which is provided with specific detection units determines whether the received signal have been Doppler shifted. By determining that the device can decide whether the Doppler shift depends on the moving chest of a breathing person buried alive.
    公开号:SE1100177A1
    申请号:SE1100177
    申请日:2011-03-11
    公开日:2012-09-12
    发明作者:Staffan Abrahamson
    申请人:Totalfoersvarets Forskningsins；
    IPC主号:
    专利说明:

    Phenomena that occur when a source moves relative to the signal transmitting device. This leads to shifts in the frequency or wavelength received relative to that transmitted. When Doppler displacement becomes relevant when objects move relative to the signal source, a detection of Doppler displacement in the reflected signal corresponds to objects in the race masses moving. What the present invention is looking for are such Doppler displacements that occur in connection with very small movements in the object. This may, for example, be such small movements that occur during breathing when the chest rises relative to the signal source.
    Due to these extremely small relative movements, a signal processing that is very sensitive is required. The present invention includes a signal processing unit having such functions.
    Prior art In the approaches to detecting people in landslides, it is already known to use radar. In the methods known in the art, it is recommended, among other things, to arrange radar on helicopters, send radar signals into the ground and receive the reflected signals. These are analyzed to examine whether the electromagnetic wave has spread towards a discontinuity in the masses. Such a discontinuity could be a buried person. One problem with this method is that the discontinuity can be something other than one person. Therefore, this method is most suitable in applications with snow masses where one can expect the landslide mass to be fairly homogeneous and where any discontinuities with a fairly high probability consist of people buried in the snow. A problem with helicopter-borne systems intended to detect Doppler displacements as advocated in the present invention is that the vibrations and movements of the helicopter in practice make it impossible to detect small displacements. The difficulty of shielding the surroundings also has a negative effect.
    The invention overcomes this problem by actively looking for objects in the moving masses and does not depend on the fact that the mass itself is homogeneous. Furthermore, the relative smallness of the invention allows the rescue personnel themselves to carry it during a rescue operation and thus control where in the area to look for the landslides. This makes it an excellent tool in the event that circumstances do not allow, for example, helicopters to carry the radar system. Something that, for example, becomes relevant in war situations. Overall, the invention provides both a reliable and easy-to-handle system that can be used to complement helicopter-borne systems and used alone on site.
    Brief description of the units of the invention Before a more detailed description of the invention is given, here follows a brief review of the components included in the invention and which are necessary for the device to be able to detect the small Doppler shifts that occur when, for example, the chest is raised during inhalation and exhalation. . As the respiratory movements cause extremely small Doppler displacements, signal processing functions are used that are designed to detect such small changes and sort out such Doppler-displaced signals that can probably not be traced to chest movements, for example the Doppler displacement that arises from rat movement in the racial mass.
    These signal processing functions are called base detection and additional detection and will be described below.
    The components and units included in a device according to the invention will be described functionally and therefore a definition of the terms used will first be given.
    By radar transmitting device is meant an antenna and microwave part according to, for example, Figure 4, this constitutes a conventional design. The parameter that is important for the present use is that it can be adapted to transmit radar of such frequency that the required penetration depth can be achieved. Generally, a frequency of 300 MHz to 10 GHz is required. The frequency is suitably adapted to the ground conditions prevailing in the scanned area. The radar emitting and radar-generated antenna is advantageously powered by a battery, which means that the device according to the invention can be made wireless. Alternatively, the rod can of course be connected to a power source via cable. However, this can cause some problems as, for example, sharp stones in the landslide can damage the cable.
    By bandpass filter, which is included in the receiver device according to claim 1, is meant a device which sorts out certain specific frequencies. In the present case, the incoming signal (that is, the signal reflected from the object in the landslides) will be filtered so that only the Doppler frequencies will be signal processed. Usually these frequencies are in the band 0.03 to 10 Hz. The term detector or derivative-detector refers to a signal processing unit which is essential for the detection and which is designed to continuously compare the amplitude of the signal, thereby creating a derivative (slope of the curve) which reflects the frequency change of the signal. By continuous is meant here that the signal is sampled many times over a short time interval, for example 100 times per second. It is on the basis of these samples that a comparison is made and a derivative is obtained. The derivatives of the amplitude are zero, positive or negative. In order to obtain relevant information about the derivative for the detection, this signal processing unit also creates an absolute amount of the derivative. To reduce the fluctuations of the derivatives and any errors in the event of multiples of the Doppler frequency versus the sampling frequency, this specific signal processing unit is also designed to average this amount (usually 2-5 times).
    A decision process refers to a signal processing unit that sets a threshold level in the processor that corresponds to the level of background interference being exceeded. In order for a detection of a person to be considered to exist, the value of the derivative obtained from the detector must exceed the said set level. This level thus constitutes a threshold value for a possible detection.
    By presentation device is meant a device which presents the result of the signal processing to a user. This device can, for example, consist of a display, but it can also be a presentation based on sound.
    By DFT is meant Discrete Fourier Transform which transforms the incoming signal to the frequency domain. FFT refers to Fast Fourier Transform, which is a fast calculation form of DFT.
    Frequency / Amplitude detector refers to a device that here detects the frequency changes or amplitude changes of the signal.
    Figures Figure 1 schematically shows the device in use. 10 15 20 25 30 35 5 Figure 2 schematically shows how the respiration of a human affects reflected radar signals Figure 3 shows the section division of the rod as well as the sector division. The figure shows two sectors. An enlargement of the section shows parts of three sectors. In the second enlarged segment, it is schematically given how an alarm informs the user of the direction and depth of the detection.
    Figure 4 shows a variant of the antenna and the microwave part of the radar emitting device according to the present invention. both base detection and additional detection which steps are used to determine if they Figure 5 shows a flow chart of the signal processing steps for the received reflected signals are Doppler shifted.
    Detailed description of the invention and preferred embodiments The invention consists of a rod provided with receivers with associated signal processing unit intended to receive reflected radar signals transmitted by a radar-generating and radar-transmitting antenna arranged in the rod. The receiver registers the received signals and transmits these signals to specific signal processing units which perform analysis steps to determine if the signals have been Doppler shifted and if this Doppler shift is likely due to chest movements when a living buried person is breathing.
    In addition to the device, the invention also relates to a method for detecting movements in the landslides. The method uses a device according to claim 1 and the subclaims which depend on claim 1. The receiver according to the invention will be described first and then a description of the method follows.
    In a first embodiment, a receiver according to the invention comprises a rod or a rod (1) whose intention is to be lowered into the landslides. A radar transmitting antenna and a receiving device for receiving and recording radar signals are arranged in the rod. This receiver can be any known receiver adapted to receive radar signals. The receiver arranged in the rod (1) is further electronically connected to a signal processing unit to which the received and registered radar signals are transmitted. The purpose of the signal processing unit is to perform analyzes on the basis of the received radar waves in order to determine whether there has been a Doppler shift of the signals relatively known transmitted signals. As described earlier, a Doppler displacement would give an indication that something in the race mass is moving. Since a person buried in landslide mass, such as an avalanche victim, has an extremely limited mobility, it is required that the signal processing unit has an ability to detect the extremely small Doppler displacements that occur with very small movements relative to the radar emitting device. To meet these high requirements, the signal processing unit is equipped with a bandpass filter, a derivative detector, a comparator and a decision process whose combined purpose is to analyze received signals to quickly and reliably determine if a small Doppler shift occurs in the received signals.
    The signal processing method according to the above is called base detection and constitutes the basic signal processing. Additional signal processing steps, called additional detection, can also be used. This additional detection will be described separately.
    The bandpass filter in the signal processing unit makes a first sort of the incoming data in the form of received radar signals. By setting the bandpass filter so that it sorts out all signals that most likely do not originate from humans, a first reduction of the input data is obtained. The signals that survive this sorting are then transmitted to a derivative detector.
    The purpose of the derivative detector is to continuously compare the amplitude of the signals passed through the bandpass filter to create a derivative (slope of the curve) which reflects the change of the received signals. By continuous is meant here that the signal is sampled many times over a short time interval, for example 100 times per second. It is on the basis of these samples that a comparison is made and a measure of the derivative is obtained. The amplitude derivative will assume values zero, positive or negative. In order to obtain relevant information about the derivative for the detection, the signal processing unit also creates an absolute amount of the derivative. To reduce the fluctuations of the derivatives and any errors in the event of multiples of the Doppler frequency versus the sampling frequency, this specific signal processing unit is also arranged to average this amount (usually by means of 2-5 samples). When this has been done, the corresponding derivative value is transferred to a comparator / decision processor which compares the value obtained with a threshold value corresponding to the background noise in the landslide mass. If the value of the derivative obtained in the derivative detector exceeds the established threshold value, the signal processing unit judges that a Doppler offset has been detected in the received radar signals. The signal processing unit can now be equipped with a presentation device in the form of, for example, a display or a sound device which informs users that a Doppler shift has been detected.
    This is the function of the signal processing unit which enables a detection of the extremely small changes of the signal which the device according to the invention intends to detect.
    In a second embodiment of the receiver according to the invention, reference is made to Figure 3 which shows that the rod (1) is divided into different sections (2) in the longitudinal direction. For example, there may be four different sections evenly distributed along the rod. Each of these sections includes its own designated radar receiver. Each of the receivers is electronically connected to a signal processing device. The function of the signal processing device is the same as that described in the first embodiment. According to the invention, each of the sections can have its own designated signal processing unit, alternatively a central signal processing unit is used which processes data from all sections. The purpose of this section division is to enable a scan of different depth levels in the landslide mass when the rod is inserted. Consequently, with four such sections, four different depths in the landslide masses will be scanned simultaneously. Of course, you can use more or fewer sections depending on how sensitive the scan is requested. The function of each of the different sections is identical to the function of the first embodiment. The only difference is that the received radar signals are processed separately and thus can provide additional information, namely at what depth a Doppler offset has been detected. If a certain section receives a signal which is processed by the signal processing unit, the signal processing unit can be arranged to inform partly that Doppler offset has been detected but also that it was the receiver of this specific section that received the offset signal. In this way, the excavation can be adapted to the depth at which the buried has been detected. If it is relatively deep, you can use automated digging aid such as an excavator because a smaller depth may require the use of a shovel or other manual tools to avoid damaging the buried.
    In a third preferred embodiment of the invention, which is based on the sections according to the second embodiment described above, sectors (3) are also provided in each section, see figure 3. Each sector is provided with a receiver device connected to a signal processing unit. Since a section I can be provided with a number of sectors, arranged peripherally on the rod, an indication is also obtained of the direction in which 8 15 20 25 30 35 8 has taken place. By providing a section for which the detection has taken place, this embodiment provides three essential pieces of information to the rescue personnel, namely that a Doppler displacement has been detected indicating a buried person, at which depth this displacement has been detected and in which direction relative to the rod the source of the Doppler displacement has been detected. This comprehensive information can then be used so that the rescue personnel can optimize the rescue work by digging in the right place and with the right digging tools. The number of sectors used in each section is not decisive in this context, but the use of a smaller number obviously results in poorer position determination than if more were to be used. Figure 3 shows in the magnification to the right of the figure that four sectors were used. However, this is only an example. The enlarged section of the figure schematically shows how an alarm can show where a living being is. The white triangle here gives an indication that a Doppler displacement corresponding to a living human has been found in this direction.
    Above, the so-called base detection has been used to perform the signal reception and signal processing. A separate and parallel method can also be used in all these embodiments, namely additional detection. Additional detection is not necessary for the invention to work, but it provides opportunities to obtain a more secure method for determining Doppler displacement.
    Common method steps for additional detection and base detection are the reception of the signal as well as the transmission of the received signal to the signal processing unit. Once the signal has been transmitted to this signal processing unit, the first step of filtering the signal to sort out Doppler that is unlikely to originate from living buried people also takes place here. The signal components which thus remain for further signal processing originate mainly from the movement of the chest during respiration.
    Next frequency domain via DFT (FFT). DFT and FFT stand for Discrete Fourier Transform steps in the additional detection means that the signal is transformed into and Fast Fourier Transform, they are well-known transform methods in the field of technology.
    Based on the transformed signal, a frequency / amplitude detection is now performed instead.
    In this step, either the frequency changes of the signal or its amplitude changes in predetermined time intervals corresponding to the respiratory rate of a human are determined.
    The value obtained during the step given above is then compared with a threshold value in a decision process. As before, the threshold value corresponds to a predetermined value of the background signal. If the value obtained from the frequency changes or the amplitude changes from the detection exceeds the threshold value, a Doppler shift is also considered to exist here.
    As a possible final step in the additional detection, the result of the process is transmitted to a presentation unit which informs the user of the result obtained.
    Base detection and additional detection can take place in parallel for the same received signal, see Fig. 5. But it is also possible to perform the processes separately for different received signals.
    With regard to the design of the rod itself in the device according to the invention, this is advantageously hollow so that components and units can be encapsulated in the rod, which thereby provides protection against wear as well as moisture and dust. The rod housing shall be made of a material that is transparent to radar energy. Possible such materials can be, for example, different plastic materials.
    In addition to what has been described above with respect to the device, the invention also relates to a method for searching racial masses for victims by using a device according to the present invention. The method steps are in point form: 1) The rod in a device according to the invention is lowered into the landslide mass to be searched for buried victims. 2) A radar signal is generated by an antenna arranged in the rod and is sent into the landslides. 3) The receiver device according to the invention receives the radar signals reflected from objects in the landslides. A bandpass filter in the receiver sorts out such frequencies that probably do not originate from living buried people. The remaining signals are transmitted from the receiver to a signal processing unit. 4) In the signal processing unit, a derivative detector is used to obtain a measure of the derivative of the received signals. An absolute value of the derivative 10 is generated by the derivative detector and transferred to a decision processor or a comparator. The decision processor or comparator compares the absolute value of the derivative with a pre-entered threshold value that corresponds to the value of the background noise in the landslide mass. If the value of the absolute amount of the derivative exceeds said threshold value, the decision processor or comparator sends information to a presentation unit which informs the user that a detection of a Doppler displacement has taken place, which corresponds to a detected object moving relative to the transmitted radar signal. 5) With the help of this information, excavation is started to unearth a possible victim.
    Finally, the method can be further refined by performing it in several different positions. Output from the different positions can then be compared to obtain a better position determination of the buried moving object by triangulation.
    权利要求:
    Claims (1)
    [1]
    Device for receiving and processing radar signals reflected from objects in landslides, the device being characterized in that it comprises: a rod (1) intended to be lowered into the landslides, a radar emitting and radar generating an antenna arranged in said rod intended to transmit radar signals to the masses, at least one signal receiving unit arranged in said rod for receiving radar signals reflected from objects in the masses, a signal processing unit connected to said signal receiving unit, said signal processing unit including base elements of a bandpass filter, a derivative detector, a comparator and a decision processor which units are used to determine whether a Doppler shift has taken place for a reflected radar signal and thereby determine whether an object in the landslide mass is moving. Device according to claim 1, characterized in that said rod (1) is divided into a plurality of sections (2) in its longitudinal direction, each of said sections being equipped with a signal receiving unit arranged on said rod for receiving signals reflected from objects in said signal receiving units are electronically connected to a signal processing unit, which signal processing unit includes units for base detection, said units for base detection consist of a bandpass filter, a derivative detector, a comparator and a decision process, said sections corresponding to different length sections of the depth in the landslide mass where a moving object has been detected. Device according to claim 2, characterized in that said sections (2) are divided into sectors (3) arranged around the periphery of the rod, each of said sectors (3) includes its own signal receiving device and is electronically connected to a signal processing unit, wherein signals are received of a specific receiver unit is processed to determine if a Doppler displacement has occurred for a reflected radar signal and thereby determine if an object in the landslide mass is moving, each of said sectors 10 15 20 25 30 35 12 provides information about the angular direction relative to the rod where a Doppler displacement detected. Method for determining the position of a buried moving object in landslides using a radar transmitting unit and a device for receiving radar signals reflected from an object in the landslides according to claims 1-3, the method is characterized by the steps of, a) having a radar transmitting device arranged in the rod generate a radar signal which is transmitted down into the masses, b) lower the rod into the masses, c) with the receiver arranged in said rod receive radar signals reflected from an object in the masses and transmit these signals to the signal processing device, d) let the bandpass filter filter out such radar signals having frequency components not corresponding to Doppler Offset Frequencies, transmitting the remaining radar signals to a derivative detector, e) letting the derivative detector determine the derivative of the amplitude of the received radar signal and forming an absolute value of this derivative, f) allowing a decision processor to compare the absolute value of the derivative l value corresponding to the background noise in the masses, if the absolute value of the derivative is greater than the threshold value, a Doppler offset is considered to exist, if a Doppler offset is present, have a presentation device present the result. Method according to claim 4, characterized in that all steps are repeated at a number of different positions in the landslide masses and that output data from measurements at the different positions are compared in order to obtain position determination of the reflecting object by means of triangulation.
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    申请号 | 申请日 | 专利标题
    SE1100177A|SE535666C2|2011-03-11|2011-03-11|Method and apparatus for crawling racial masses|SE1100177A| SE535666C2|2011-03-11|2011-03-11|Method and apparatus for crawling racial masses|
    US14/003,556| US9594161B2|2011-03-11|2012-03-08|Method and device for searching through collapsed ground|
    PCT/SE2012/000030| WO2012125100A1|2011-03-11|2012-03-08|Method and device for searching through collapsed ground|
    BR112013023043A| BR112013023043A2|2011-03-11|2012-03-08|device for receiving and processing reflected signals from objects on the ground, and method for determining the position of a moving buried object|
    JP2013558810A| JP6133795B2|2011-03-11|2012-03-08|Method and apparatus for searching through collapsed ground|
    EP12757061.2A| EP2684071B1|2011-03-11|2012-03-08|Method and device for searching through collapsed ground|
    US15/338,016| US20170043220A1|2011-03-11|2016-10-28|Method and device for searching through collapsed ground|
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