CN100354079C - High performance intelligent controlling computer system for underwater robot - Google Patents
High performance intelligent controlling computer system for underwater robot Download PDFInfo
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- CN100354079C CN100354079C CNB2005100190971A CN200510019097A CN100354079C CN 100354079 C CN100354079 C CN 100354079C CN B2005100190971 A CNB2005100190971 A CN B2005100190971A CN 200510019097 A CN200510019097 A CN 200510019097A CN 100354079 C CN100354079 C CN 100354079C
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Abstract
The present invention relates to an intelligent controlling system of an underwater robot, particularly to a high performance intelligent controlling computer system for an underwater robot, which comprises a main control and programming unit, an optical visual signal processing unit, a sound visual signal processing unit, a data integrating unit, a self state perception unit and a basic controlling unit. The present invention is characterized in that each unit comprises a signal processor (7) provided with a multi-path high-speed link port (8), each unit is mutually connected with the main control and programming unit (1) by the high-speed link ports and realizes data communication by the link ports, and the optical visual signal processing unit (2) and the data integrating unit (4), and the sound visual signal processing unit (3) and the data integrating unit (4) are respectively and mutually connected by the high-speed link ports and realize the data communication by the link ports. The present invention has the advantages of high data quantity processing ability, rapid communication speed among the units, high stability and high reliability.
Description
Technical field
The present invention relates to the intelligence control system of underwater robot, be specifically related to high performance intelligent controlling computer system for underwater robot.
Background technology
The navigation of autonomous underwater robot and operating environment are unknown, non-structured, dynamically, uncertain, complicated underwater environment, finish its mission, must be equipped with and have polytype sensing system, as its position of perception, speed, angular speed, the navigation sensor system of attitude and various imbalance departures, also with good grounds task need be obtained the sensing system of job information, as sound, photosystem, continuous increase along with number of sensors and information processing capacity, ambiguity factor in the complexity of data and the measurement strengthens, and carry out integrated treatment to the data of these sensors and adopt general unit to be difficult to satisfy the requirement of precision and accuracy.Present solution mainly is to adopt network or serial ports that a plurality of veneer PCs are interconnected into a Distributed Computer System.The shortcoming of this method mainly contains: poor stability, structure are not compact, and volume is big, and data-handling capacity is limited, can't satisfy the requirement that big data quantity is handled.
Summary of the invention
Characteristics and environmental requirement at the underwater robot data are handled the purpose of this invention is to provide a kind of high performance intelligent controlling computer system for underwater robot, and it has the characteristics of big data quantity disposal ability, high stability and high reliability.
Technical scheme of the present invention is: according to the needs of data class, data volume and the algorithm pattern of required processing in the underwater robot Based Intelligent Control, by scale expansion and topology reconstruction, can be organized into many node computer systems of different scales and structure, run application expeditiously.Described node can adopt the signal processor of band multipath high-speed Link mouth (as the SHARC or the Tiger-SHARC processor chips of AD company, SHARC processor chips outside has 6 tunnel high speed Link communication ports, every road communication speed is 40Mbytes/sec, six road communication speeds of working simultaneously can reach 240Mbytes/sec, be that example is carried out the specific implementation explanation with the SHARC processor in the present invention) come specific implementation, the communication between node is finished by high speed Link mouth.
High performance intelligent controlling computer system for underwater robot, it comprises master control and planning unit 1, optical signal processing unit 2, acoustic signal processing unit 3, aggregation of data unit 4, oneself state perception unit 5 and basic control module 6, and each unit contains the signal processor 7 of band multipath high-speed Link mouth 8; Optical signal processing unit 2, acoustic signal processing unit 3, aggregation of data unit 4, oneself state perception unit 5, basic control module 6 are now interconnected by high speed Link cause for gossip respectively and between master control and the planning unit 1, by the existing data communication of Link cause for gossip; Now interconnect by high speed Link cause for gossip between optical signal processing unit 2 and the aggregation of data unit 4, by the existing data communication of Link cause for gossip; Now interconnect by high speed Link cause for gossip between acoustic signal processing unit 3 and the aggregation of data unit 4, by the existing data communication of Link cause for gossip.
The present invention has the characteristics of big data quantity disposal ability, high stability and high reliability, the arithmetic speed of SHARC processor chips is up to 120MFLOPS, the speed of outside 6 communication Link mouths is up to 240MByte/s, the computing capability of many nodes module of being made up of multi-disc SHARC processor chips is the highest can to reach 720MFLOPS (veneer at most can integrated 6 SHARC), point-to-point interconnection by high speed Link line, a plurality of modules are construction system easily, has the big data quantity disposal ability.And intermodule has only the Link line to connect, and is simple in structure, the reliability height.If constitute multi-computer system by universal serial bus or internetwork connection mode, each module all must possess the complete computer interface of a cover, the modular structure complexity, and intermodule is when coming communication by universal serial bus or network, limited by bandwidth, speed is also influenced, and a plurality of module timesharing uses a communication channel also to influence the stability and the real time of data transmission of system; Adopt the Link line to realize that point-to-point communication can overcome these deficiencies, have the characteristics of high stability and high reliability.Simultaneously, computer system scale expansion of the present invention is by increasing module number, adopting the Link line that each module is coupled together.Can realize the expansion or the cutting of system scale so easily according to the needs of task.
Description of drawings
Fig. 1-the 1st, frame structure schematic diagram of the present invention
Fig. 2-the 1st, the schematic block circuit diagram of the master control of the embodiment of the invention and planning unit 1
Fig. 2-the 2nd, the schematic block circuit diagram of the optical signal processing unit 2 of the embodiment of the invention
Fig. 2-the 3rd, the schematic block circuit diagram of the acoustic signal processing unit 3 of the embodiment of the invention
Fig. 2-the 4th, the schematic block circuit diagram of the aggregation of data unit 4 of the embodiment of the invention
Fig. 2-the 5th, the schematic block circuit diagram of the oneself state perception unit 5 of the embodiment of the invention
Fig. 2-the 6th, the schematic block circuit diagram of the basic control module 6 of the embodiment of the invention
Fig. 3-the 1st, the circuit theory diagrams of the master control of the embodiment of the invention and planning unit 1
Fig. 3-2.1 and Fig. 3-the 2.2nd, the circuit theory diagrams of the optical signal processing unit 2 of the embodiment of the invention
Fig. 3-3.1 and Fig. 3-the 3.2nd, the circuit theory diagrams of the acoustic signal processing unit 3 of the embodiment of the invention
Fig. 3-4.1 and Fig. 3-the 4.2nd, the circuit theory diagrams of the aggregation of data unit 4 of the embodiment of the invention
Fig. 3-the 5th, the circuit theory diagrams of the oneself state perception unit 5 of the embodiment of the invention
Fig. 3-the 6th, the schematic block circuit diagram of the basic control module 6 of the embodiment of the invention
The specific embodiment
In Fig. 1-1, functional unit of each box indicating, high performance intelligent controlling computer system for underwater robot, comprise master control and planning unit 1, optical signal processing unit 2, acoustic signal processing unit 3, aggregation of data unit 4, oneself state perception unit 5 and basic control module 6, each unit contains the signal processor 7 of band multipath high-speed Link mouth 8; Wherein optical signal processing unit 2, acoustic signal processing unit 3, aggregation of data unit 4 adopt 2-12 node signal processor 7 to realize according to the requirement of data processing amount; Optical signal processing unit 2, acoustic signal processing unit 3, aggregation of data unit 4, oneself state perception unit 5, basic control module 6 are now interconnected by high speed Link cause for gossip respectively and between master control and the planning unit 1, by the existing data communication of Link cause for gossip, now interconnect by high speed Link cause for gossip between optical signal processing unit 2 and the aggregation of data unit 4, by the existing data communication of Link cause for gossip, now interconnect by high speed Link cause for gossip between acoustic signal processing unit 3 and the aggregation of data unit 4, by the existing data communication of Link cause for gossip.
Master control and planning unit 1 are the centralized control units of intelligent robot control computer system, are responsible for the control and instruction of whole system is distributed, and the data result that other cell processing are finished collected make a strategic decision and plan.Now interconnect by high speed Link cause for gossip between master control and planning unit and optical signal processing unit 2, acoustic signal processing unit 3, aggregation of data unit 4, oneself state perception unit 5 and the basic control module 6, by the existing data communication of Link cause for gossip.Its theory diagram specifically realized by a slice SHARC chip shown in Fig. 2-1, and in the schematic diagram shown in Fig. 3-1, the Link0-Link4 of SHARC chip draws and is respectively applied for and being connected of other unit.
Optical signal processing unit 2 is mainly handled the picture intelligence of Underwater Camera or the collection of laser imaging unit, optical signal processing unit 2 contains 2-12 node signal processor 7, during specific implementation, the data operation quantity size of Chu Liing as required, can adopt increase signal processor 7 numbers to expand, connection between the signal processor 7 in the optical signal processing unit (processing node) adopts high speed Link cause for gossip now to interconnect, by the existing data communication of Link cause for gossip, the interconnection topology structure is configured according to the algorithm needs, the data processed result of optical signal processing unit will be delivered to the aggregation of data unit and carry out aggregation of data, partial results to be delivered to master control and planning unit simultaneously and carry out aid decision, so between optical signal processing unit and master control and planning unit and aggregation of data unit, all have the high-speed link mouth to be connected respectively.Its theory diagram is shown in Fig. 2-2, mainly realize by 5 SHARC chips and a slice image acquisition chip TW9903, in the schematic diagram shown in Fig. 3-2.1 and Fig. 3-2.2, U1, U2, U3, U7 and U8 are 5 SHARC chips, U6 is image acquisition chip TW9903, and the Link0 mouth of U8 is drawn with the Link4 mouth and is used for being connected with planning unit 1 and aggregation of data unit 4 with master control.
Acoustic signal processing unit 3 is mainly handled various sonar signals, acoustic signal processing unit 3 contains 2-12 node signal processor 7, during specific implementation, the data operation quantity size of Chu Liing as required, can adopt increase signal processor 7 numbers to expand, connection between the signal processor 7 in the acoustic signal processing unit adopts high speed Link cause for gossip now to interconnect, by the existing data communication of Link cause for gossip, the interconnection topology structure is configured according to the algorithm needs, the data processed result of acoustic signal processing unit 3 will be delivered to aggregation of data unit 4 and carry out aggregation of data, partial results to be delivered to master control simultaneously and planning unit 1 carries out aid decision, so between acoustic signal processing unit and master control and planning unit and aggregation of data unit, all have the high-speed link mouth to be connected respectively.Its theory diagram is shown in Fig. 2-3, mainly realize by 5 SHARC chips and 4 data acquisition chip AD7864, in the schematic diagram shown in Fig. 3-3.1 and Fig. 3-3.2, U1, U2, U3, U7 and U8 are 5 SHARC chips, U9, U10, U11 and U12 are data acquisition chip, and the Link0 mouth of U8 is drawn with the Link4 mouth and is used for being connected with planning unit 1 and aggregation of data unit 4 with master control.
Aggregation of data unit 4 mainly to come from various sensors or optical signal processing unit 2, acoustic signal processing unit 3 carries out fusion treatment, its result gives master control and planning unit 1 and plans and make a strategic decision; Aggregation of data unit 4 contains 2-12 node signal processor 7, and the connection between the signal processor 7 of aggregation of data unit 4 adopts high speed Link cause for gossip now to interconnect, and by the existing data communication of Link cause for gossip, the interconnection topology structure is configured according to the algorithm needs.All there is the high-speed link mouth to be connected between aggregation of data unit and master control and planning unit, optical signal processing unit and acoustic signal processing unit.Its theory diagram is shown in Fig. 2-4, mainly realize by 5 SHARC chips, in the schematic diagram shown in Fig. 3-4.1 and Fig. 3-4.2, U1, U2, U3, U6 and U7 are 5 SHARC chips, and the Link4 mouth of U2, the Link1 mouth of U3 are drawn respectively with the Link3 mouth of U7 and be used for being connected with planning unit 1, acoustic signal processing unit 3 and optical signal processing unit 2 with master control.
The signals collecting and the preliminary treatment of sensing systems such as underwater robot position, speed, angular speed, attitude and various imbalance departures mainly finished in oneself state perception unit 5, and the result given master control and planning unit and transfer to the aggregation of data unit, oneself state perception unit has the high-speed link mouth to be connected with master control and planning unit.Its theory diagram is shown in Fig. 2-5, mainly realize by 1 SHARC chip and digital input port logic, in the schematic diagram shown in Fig. 3-5, U1 is the SHARC chip, U5, U6 are 2 245 buffer chips, and the Link4 mouth of U1 is drawn when being used for system debug to draw from external load program, Link3 mouth and is used for being connected with planning unit 1 with master control.
System is in when work, carries out preliminary treatment by the picture intelligence of 2 pairs of Underwater Cameras of optical signal processing unit or the collection of laser imaging unit, and the data of processing are delivered in the aggregation of data unit 4; 3 pairs of various sonar signals of acoustic signal processing unit are anticipated, and the data of processing are delivered in the aggregation of data unit 4; In aggregation of data unit 4, finish the fusion treatment computing of multi-sensor data, its result delivers in master control and the planning unit 1; Master control and planning unit 1 are made a strategic decision according to fusion results and oneself state perception unit 5 detected states and are planned, and will need the result who carries out to output to basic control module 6, finish ROBOT CONTROL; Simultaneously, master control and planning unit 1 also need to be responsible for the task distribution of other unit and the control of working.
Claims (4)
1. high performance intelligent controlling computer system for underwater robot, it comprises master control and planning unit, optical signal processing unit, acoustic signal processing unit, aggregation of data unit, oneself state perception unit and basic control module, it is characterized in that: master control and planning unit (1), optical signal processing unit (2), acoustic signal processing unit (3), aggregation of data unit (4), oneself state perception unit (5), basic control module (6) contain the signal processor (7) of band multipath high-speed Link mouth (8) respectively; Optical signal processing unit (2), acoustic signal processing unit (3), aggregation of data unit (4), oneself state perception unit (5), basic control module (6) are now interconnected by high speed Link cause for gossip respectively and between master control and the planning unit (1), by the existing data communication of Link cause for gossip; Now interconnect by high speed Link cause for gossip between optical signal processing unit (2) and aggregation of data unit (4), by the existing data communication of Link cause for gossip; Now interconnect by high speed Link cause for gossip between acoustic signal processing unit (3) and aggregation of data unit (4), by the existing data communication of Link cause for gossip.
2. high performance intelligent controlling computer system for underwater robot according to claim 1, it is characterized in that: optical signal processing unit (2) contains 2-12 node signal processor (7), adopt high speed Link cause for gossip now to interconnect between the signal processor (7) in the optical signal processing unit (2), by the existing data communication of Link cause for gossip.
3. high performance intelligent controlling computer system for underwater robot according to claim 1, it is characterized in that: acoustic signal processing unit (3) contains 2-12 node signal processor (7), connection between the signal processor (7) in the acoustic signal processing unit (3) adopts high speed Link cause for gossip now to interconnect, by the existing data communication of Link cause for gossip.
4. high performance intelligent controlling computer system for underwater robot according to claim 1, it is characterized in that: aggregation of data unit (4) contain 2-12 node signal processor (7), connection between the signal processor (7) of aggregation of data unit (4) adopts high speed Link cause for gossip now to interconnect, by the existing data communication of Link cause for gossip.
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| CN108492323B (en) * | 2018-01-18 | 2022-01-28 | 天津大学 | Underwater moving object detection and identification method fusing machine vision and hearing |
| CN108444481B (en) * | 2018-03-25 | 2019-08-06 | 哈尔滨工程大学 | A kind of underwater hiding-machine paths planning method based on aid decision-making system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US4878002A (en) * | 1988-10-27 | 1989-10-31 | Advanced Engineering Systems, Operations & Products, Inc. | Multi-axis DSP-based parallel processing servo controller for machine tools and robots |
| US6278902B1 (en) * | 1997-07-17 | 2001-08-21 | Fanuc Ltd. | Robot control method and robot control system |
| CN1506862A (en) * | 2002-12-11 | 2004-06-23 | 中国科学院自动化研究所 | Autonomous mobile robot platform based on multi-DSP parallel processing |
| CN1631620A (en) * | 2005-01-10 | 2005-06-29 | 上海劲钻实业公司 | Patrol machine fish |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4878002A (en) * | 1988-10-27 | 1989-10-31 | Advanced Engineering Systems, Operations & Products, Inc. | Multi-axis DSP-based parallel processing servo controller for machine tools and robots |
| US6278902B1 (en) * | 1997-07-17 | 2001-08-21 | Fanuc Ltd. | Robot control method and robot control system |
| CN1506862A (en) * | 2002-12-11 | 2004-06-23 | 中国科学院自动化研究所 | Autonomous mobile robot platform based on multi-DSP parallel processing |
| CN1631620A (en) * | 2005-01-10 | 2005-06-29 | 上海劲钻实业公司 | Patrol machine fish |
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Assignee: China Shipbuilding Heavy Industries (Wuhan) Long Ling Electronics Co., Ltd. Assignor: No.709 Research Institute of China Shipbuilding Industry Corporation Contract record no.: 2011420000072 Denomination of invention: High performance intelligent controlling computer system for underwater robot Granted publication date: 20071212 License type: Exclusive License Open date: 20060125 Record date: 20110510 |
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Granted publication date: 20071212 Termination date: 20180715 |