CN1542603A - Resource allocation implement method for multi-sensor fusion system based on real-time operating system - Google Patents
Resource allocation implement method for multi-sensor fusion system based on real-time operating system Download PDFInfo
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- CN1542603A CN1542603A CNA2003101084561A CN200310108456A CN1542603A CN 1542603 A CN1542603 A CN 1542603A CN A2003101084561 A CNA2003101084561 A CN A2003101084561A CN 200310108456 A CN200310108456 A CN 200310108456A CN 1542603 A CN1542603 A CN 1542603A
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Abstract
The present invention is resource allotting method for multiple-sensor fusion system based on real-time operation system. In the system composition structure, the acquisition and processing of each sensor is packed independently in separate task module, each task module is programmed independently, and all the task modules are run parallelly on the basis of the real-time operation system. Different tasks have different priority levels and are switched in antecedence mode. There are five kinds of task including sensor acquiring task, data processing task, information fusing task, management task and man-machine interfacing task. Among the tasks, communication is completed in three modes of overall variable, event target and customized information, and the sync is realized via three modes of critical area, mutual exclusion and signal amount. The method has high efficiency and can expand the application range of the system.
Description
Technical field:
The present invention relates to a kind of multi-sensor fusion system resource allocation implementation method, the resource scheduling management function of science, system and robust can be provided for multi-sensor fusion system, and have nothing to do with particular task, specific operation system.Belong to the intelligent information processing technology field.
Background technology:
Along with the further expansion of intelligence system demand, the use of sensor is more and more universal.Simultaneously, multi-sensor fusion system has also obtained more applications.With respect to the single-sensor system, multisensor syste all has the advantage of oneself on the cost that redundancy, completeness, promptness and the system of information provides information to spend.For these reasons, multi-sensor fusion system is applied to widely: on military affairs, space flight, satellite navigation, robot and the industrial production line.Though there is above advantage in the warm system of multisensor, its introducing has also increased the complicacy of application system.How reasonably allotment utilizes each sensor resource more and more to be paid attention to by people.Sensor resource allotment is finished by software systems, and whether rationally the system structure design direct relation hardware resource and whether system task can combine.Therefore, system structure design becomes one of vital task of emerging system research, and is corresponding, also proposed multiple multi-sensor fusion system construction design method and obtained practical application.1985, Henderson and Shiicrat proposed the notion of " logical sensor " in their article.In this notion, they have set up a kind of united frame for the warm system of multisensor, and different types of physical sensors has been obtained the notion of " logical sensor " by abstract.Calendar year 2001, Wang Jun has proposed a kind of based on COM (Component Object Model in his article again, The Component Object Model) the multi-sensor fusion system structural framing of assembly, in this structural framing, owing to introduced the notion of com component, made total system on software modularity, reusability, make significant headway.
Above system structure design method is mainly paid close attention on the modularization and reusability of software itself.Yet, in actual applications, the real-time of system and whether can to allocate sensor resource very easily equally very important.It is investigated inquiry, domestic also do not have a patent on the multi-sensor fusion system resource allocation method.Design a kind of multi-sensor fusion system resource allocation method, can play great prograding to the practical application of multi-sensor fusion system surely based on real time operating system.
Summary of the invention:
The objective of the invention is to provide the implementation method of a science, system, robust, satisfy multi-sensor fusion system software modularity and reusable requirement for the multi-sensor fusion system resource allocation.And at modal dynamic multi-sensor fusion system in the practical application, also the sensor management that should be able to provide convenience and sensor failure processing power are gone convenient being applied in the practical application of multi-sensor fusion system.
Method of the present invention is accomplished by providing a kind of system based on real time operating system to form structure.This structure is based upon on the basis of real time operating system, and in this structure, the collection of each sensor and processing individual packages are respectively independently programmed for each task module in independent task (Task) module.The parallel running on the basis of real time operating system of these modules.The order of importance and emergency of different task determines that by priority separately priority is high more, and task is important more.The mode of taking the lead, the high priority tasks of response that can be the fastest are adopted in switching between the task.
In the method for the invention, multi-sensor fusion system is divided into following 5 generic tasks: sensor acquisition task (SST), data processing task (SDPT), information fusion task (FT), management role (MT) and man-machine interface task (MMT).The function that each task realizes is as follows: in the sensor acquisition task, realize the sequence of operations to sensor acquisition, then, the data that collect are passed to data processing task; In data processing task, the raw data of sensor is carried out filtering, removed sequence of operations such as flying spot, feature extraction, and obtain final information, then these information are delivered to the information fusion task; In the information fusion task, carry out fusion treatment by blending algorithm, the result that fusion obtains carries out different disposal at different situations, and in detection system, this result is used for showing output; In control system, this result transmission is used to form controlled quentity controlled variable to topworks; In management role, carry out the acquisition parameter of each sensor and the information processing parameter adjustment management of sensor; In the man-machine interface task, the interface of system and operating personnel's information interaction is provided, by this interface, operating personnel can observation datas and multi-sensor fusion system are carried out the relevant parameter setting.
In the methods of the invention, the management role module is in charge of the operation of scheduling sensor.The method of management is: adjust stopping of sensor acquisition frequency and sensor dynamically or rerun according to the instruction of transmitting from the man-machine interface task module and from the system state that current warm result judges.The change of sensor acquisition frequency is finished by changing respective sensor acquisition tasks priority, and it stops or reruning by hanging up the operation of corresponding task or recovery tasks realizing.
In the methods of the invention, adopt three kinds of modes to carry out communication between each generic task: global variable, event object and customized information.Wherein, the global variable mode is applied in these three tasks of sensor acquisition, data processing and information fusion.Wherein, the information that obtains after sensor raw data and the processing is global variable; Event object is used for the information interchange between each task and the management role, is event object with the State Control information setting of each task; User self-defined message is used for task and occurs carrying out communication with management role when unusual.
In the methods of the invention, adopt critical section, mutual exclusion and three kinds of modes of semaphore carry out between the task synchronously.Adopting critical section and mutual exclusion dual mode to reach between the task requires task serial to carry out sometimes in the multi-sensor fusion system.In actual control system,, could control executing mechanism operate accordingly when the information fusion task has had the result.In these two parts, fusion results is arranged to critical section or mutual exclusion data type, and in the information fusion task, controls, can guarantee that the resulting data of topworks are up-to-date fusion results.
The present invention has expanded the practical ranges of multi-sensor fusion system for multi-sensor fusion system provides a resource allocation implementation method efficiently.Software modularity and reusable characteristics have reduced the workload of multi-sensor fusion system software programming, debugging, and simultaneously, the sensor management ability provides more opportunity for the widespread use of multi-sensor fusion system easily.
Description of drawings:
Fig. 1 is a calligraphy robot architecture sketch of having used the inventive method.
Fig. 2 is the task run key diagram.
Fig. 3 is the mission bit stream process flow diagram.
Embodiment:
Further specify technical scheme of the present invention below in conjunction with accompanying drawing and embodiment.
The inventive method is applied in the calligraphy robot, and has obtained good effect.The thinking of whole calligraphy robot is that apish action is submitted a written statement to a higher authority at paper and printed calligraphy.The calligraphy robot is made up of three parts: the PC of a master control; Multi-sensor fusion system; A mechanical arm.The master control PC is handled the data from multisensor syste, and merges calculating, then existing standard value in result and the database is compared controlled amount, utilizes this controlled quentity controlled variable control mechanical arm.Fig. 1 is a calligraphy robot construction sketch, and it has mainly disclosed the hardware installation situation of warm system of multisensor and writing brush.As shown in the figure, emerging system is made up of three kinds of sensors: imageing sensor, touch force sensor and sonar.Imageing sensor is positioned at topworks's oblique upper, is convenient to see clearly the Chinese character of writing.Writing brush is installed on the probe of touch force sensor, and touch force sensor is fixed on the lower end of mechanical arm.Sonar will vertically be installed with paper, could guarantee the accuracy of measuring like this.The principle of work of whole emerging system is as follows: imageing sensor obtains the current Chinese character image of writing and extracts the current stroke width of writing; The acting force that makes progress perpendicular to paper that touch force sensor measures that writing brush is subjected to during writing, the width of this power direct ratio and stroke also can simulate the width of a current stroke like this from the output of touch force sensor; Sonar sensor is output as the distance of pen to paper, and the more little stroke width of this distance is big more, also can obtain the width of a stroke from this distance value.It is right to obtain from the measured value of three kinds of sensors, answer the task of stroke width value to be finished by PC, then, PC merges three kinds of width a more accurate width value that obtains A point place, this value is with the formation controlled quentity controlled variable of comparing of the actual value in the database, the height of control mechanical arm.
In the native system, the real time operating system of employing is Windows2000, and each function package of calligraphy robot is in different threads, and each thread correspondence is task module independently, the parallel running on Windows2000 operating system of these task modules.
Corresponding to the method among the present invention,, the title of task and the function of task have been described in the table 1 for the multi-sensor fusion system of calligraphy robot has designed 7 tasks altogether.
Table 1: the warm system task explanation of calligraphy robot
| Task names | Function |
| Imageing sensor is gathered | The control image pick-up card obtains Chinese character image. |
| Flame Image Process | From image, extract the width of stroke. |
| Sonar is gathered, is handled | From sonar sensor, obtain the raw range data and from this range data, extract current stroke width. |
| Touch force sensor is gathered, is handled | When touch force sensor obtains writing current stroke, the force value that writing brush is subjected to, and it is mapped to the width of stroke. |
| Merge | Stroke width data from three kinds of sensors are merged obtain more accurate stroke width. |
| Management | Be used to the acquisition parameter selecting the stroke of writing and control three sensors. |
| Man-machine interface | Obtain the Chinese character information that to write, and the current state of writing is shown. |
Wherein, preceding 4 tasks are sensor acquisition task (SST) and the example of data processing task (SDPT) in the calligraphy robot, next 3 tasks are respectively fusion task (FT), management role (MT) and the example of man-machine interface task (MMT) in this robot, as shown in Figure 2.These tasks are based on real time operating system, are mutually independent, parallel running.Operating system has encapsulated the sequence of operations to sensor hardware.
Fig. 3 is each mission bit stream process flow diagram, has disclosed the transmittance process of data in task that sensor acquisition arrives.As shown in Figure 3, the data that each sensor acquisition obtains have obtained corresponding current stroke width through data processing task earlier, these three width are admitted to the fusion task, here obtain merging, and the output fusion results is to man-machine interface and topworks, here the direct result of the data of delivering to man-machine interface for merging, deliver to topworks for database in the controlled quentity controlled variable that obtains after relatively of standard stroke width.Not only show fusion results in the man-machine interface, also receive some control informations of user, such as writing what Chinese character, these information are delivered to management role, in this task the information decomposition that receives are obtained each stroke information.Management role also is responsible in robot writes process, selects different sensors at the different word states of writing.Can shield the incorrect sensor of some data acquisition result under specific circumstances so easily.
Claims (3)
1, a kind of multi-sensor fusion system resource allocation implementation method based on real time operating system, the system that it is characterized in that being based upon on the basis of real time operating system forms in the structure, the collection of each sensor and processing difference individual packages are in independent task module, each task is independently programmed, parallel running, the order of importance and emergency of different task is determined by priority separately, the mode of taking the lead is adopted in switching between the task, at sensor fusion system definition five generic task modules, it is respectively the sensor acquisition task, data processing task, the information fusion task, management role and man-machine interface task, the sensor acquisition task is responsible for controlling sensor acquisition, then the data that collect are passed to data processing task, in data processing task, raw data is through pretreatment operation and obtain final information, these information are delivered to the information fusion task, and in this task, obtain merging by blending algorithm, management role is responsible for the acquisition parameter of each sensor of management and running and the information processing parameter of sensor, the man-machine interface task provides the interface of a system and operating personnel's information interaction, adopt global variable between each generic task, three kinds of modes of event object and customized information are carried out communication, wherein the global variable mode is applied to sensor acquisition, in these three tasks of data processing and information fusion, event object is used for the information interchange between each task and the management role, user self-defined message is used for each task and occurs using with the management role communication when unusual.
2, the multi-sensor fusion system resource allocation implementation method based on real time operating system as claimed in claim 1, it is characterized in that described management role module is according to instruction of transmitting from the man-machine interface task module and the system state that judges from current warm result, dynamic adjust stopping or reruning of sensor acquisition frequency and sensor, the change of sensor acquisition frequency is finished by changing respective sensor acquisition tasks priority, and it stops or reruning by hanging up the operation of corresponding task or recovery tasks realizing.
3, the multi-sensor fusion system resource allocation implementation method based on real time operating system as claimed in claim 1 is characterized in that adopting between described each task critical section, mutual exclusion and three kinds of modes of semaphore to carry out synchronously.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104375894A (en) * | 2014-12-02 | 2015-02-25 | 天津航空机电有限公司 | Sensor data processing device and method based on queue technology |
| CN106802582A (en) * | 2017-01-18 | 2017-06-06 | 北京光年无限科技有限公司 | A kind of sensing data call method and robot for robot |
| CN108244205A (en) * | 2018-01-15 | 2018-07-06 | 王晓茗 | A kind of calligraphy biscuit and preparation method thereof |
| CN108304860A (en) * | 2018-01-04 | 2018-07-20 | 南京大学 | A kind of efficient grader stacking frame towards multi-modal fusion application of pattern recognition |
| CN108312149A (en) * | 2017-12-31 | 2018-07-24 | 天津木牛流马科技发展股份有限公司 | Calligraphy sells robot |
| CN108673508A (en) * | 2018-06-08 | 2018-10-19 | 山东鲁能智能技术有限公司 | The Multi-sensor Fusion control method and system of hotline maintenance robot |
| CN109358957A (en) * | 2018-10-09 | 2019-02-19 | 中国人民解放军海军航空大学 | A kind of multi-sources Information Fusion Method of task-driven |
| CN109798935A (en) * | 2019-01-29 | 2019-05-24 | 上海无线通信研究中心 | A kind of Multiple Source Sensor synergic monitoring method for early warning and system for curtain wall |
| US10792813B1 (en) | 2018-04-26 | 2020-10-06 | X Development Llc | Managing robot resources |
| US11526823B1 (en) | 2019-12-27 | 2022-12-13 | Intrinsic Innovation Llc | Scheduling resource-constrained actions |
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- 2003-11-06 CN CNA2003101084561A patent/CN1542603A/en active Pending
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104375894A (en) * | 2014-12-02 | 2015-02-25 | 天津航空机电有限公司 | Sensor data processing device and method based on queue technology |
| CN106802582A (en) * | 2017-01-18 | 2017-06-06 | 北京光年无限科技有限公司 | A kind of sensing data call method and robot for robot |
| CN108312149A (en) * | 2017-12-31 | 2018-07-24 | 天津木牛流马科技发展股份有限公司 | Calligraphy sells robot |
| CN108304860A (en) * | 2018-01-04 | 2018-07-20 | 南京大学 | A kind of efficient grader stacking frame towards multi-modal fusion application of pattern recognition |
| CN108304860B (en) * | 2018-01-04 | 2022-03-18 | 南京大学 | Efficient classifier stacking framework for multi-mode fusion mode recognition application |
| CN108244205A (en) * | 2018-01-15 | 2018-07-06 | 王晓茗 | A kind of calligraphy biscuit and preparation method thereof |
| US11034021B1 (en) | 2018-04-26 | 2021-06-15 | X Development Llc | Managing robot resources |
| US10792813B1 (en) | 2018-04-26 | 2020-10-06 | X Development Llc | Managing robot resources |
| US11660748B1 (en) | 2018-04-26 | 2023-05-30 | X Development Llc | Managing robot resources |
| CN108673508A (en) * | 2018-06-08 | 2018-10-19 | 山东鲁能智能技术有限公司 | The Multi-sensor Fusion control method and system of hotline maintenance robot |
| CN109358957A (en) * | 2018-10-09 | 2019-02-19 | 中国人民解放军海军航空大学 | A kind of multi-sources Information Fusion Method of task-driven |
| CN109358957B (en) * | 2018-10-09 | 2022-09-20 | 中国人民解放军海军航空大学 | Task-driven multi-source information fusion method |
| CN109798935A (en) * | 2019-01-29 | 2019-05-24 | 上海无线通信研究中心 | A kind of Multiple Source Sensor synergic monitoring method for early warning and system for curtain wall |
| US11526823B1 (en) | 2019-12-27 | 2022-12-13 | Intrinsic Innovation Llc | Scheduling resource-constrained actions |
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