CN209623719U

CN209623719U - Autonomous underwater submariner device pose path planning apparatus

Info

Publication number: CN209623719U
Application number: CN201920612940.4U
Authority: CN
Inventors: 傅笑; 沈洁; 张丽丽; 王慧斌
Original assignee: Hohai University HHU
Current assignee: Hohai University HHU
Priority date: 2019-04-29
Filing date: 2019-04-29
Publication date: 2019-11-12
Anticipated expiration: 2029-04-29

Abstract

The utility model discloses a kind of autonomous underwater submariner device pose path planning apparatus, mainly include Position and attitude sensor, imaging sensor, Video Decoder, ultrasonic sensor, FPGA control panel, three pieces of SDRAM, pose calculating dsp chip and path planning dsp chip；Position and attitude sensor passes through I²C bus is connect with FPGA；Imaging sensor is set in front of submariner device shell on shell, is connect by Video Decoder with FPGA control panel；Ultrasonic sensor is set to above imaging sensor, is connected by serial ports with FPGA control panel；FPGA control panel is arranged pose and caches FIFO and image buffer storage FIFO, stores the real-time pose information and real-time image information of submariner device respectively；Path planning dsp chip reads pose by EMIF interface and caches FIFO and pose and image information in image buffer storage FIFO, and is connect by CAN interface with the kinetic control system of submariner device.The design structure is simple, and design rationally, ensure that safety, independence and the real-time of the work of autonomous underwater submariner device.

Description

Autonomous underwater submariner device pose path planning apparatus

Technical field

The utility model belongs to underwater vehicle autonomous navigation technology field, and in particular to a kind of autonomous underwater submariner device position Appearance path planning apparatus.

Background technique

Underwater vehicle can be used for searching for missing aircraft and flotsam and jetsam, capture underwater survivor, rescue at sea, lightning protection Confrontation, anti-submarine warfare etc..Its homing capability is the important prerequisite and guarantee that submariner device smoothly completes underwater operation task, and is mentioned One of the key of high underwater vehicle performance.

The path planning task of underwater vehicle is to search out one from submariner device according to certain standard in current environment Current location and can avoid obstacle, therefore in submariner device motion process to the optimal or sub-optimal path of dbjective state point in real time In should realize the real-time detection of environment, positioning, update map and adjusts path.However traditional pose path planning apparatus is normal Often using earth station as hardware foundation, earth station is transferred data to by wireless transmission and is handled, relies on wireless sensing skill Art, earth station's high construction cost and Radio Transmission Technology have limitation in task under water, therefore the utility model is based on embedded The platform FPGA+DSP architecture design pose path planning apparatus of the autonomous underwater submariner device of highly effective and safe, based on FPGA and DSP locally carries out real-time pose resolving and path planning in submariner device, may be implemented underwater vehicle autonomy-oriented, intelligence, from The requirement of dynamicization.

Utility model content

Goal of the invention: in order to solve the problems, such as underwater vehicle autonomous pose path planning in real time, the utility model is existing On the basis of having underwater vehicle, a kind of autonomous, intelligent, safe autonomous underwater submariner device pose path planning dress is devised It sets, underwater vehicle is helped independently to complete the tasks such as real time obstacle detection, in real time positioning and fast path planning.

Technical solution: to achieve the above object, a kind of autonomous underwater submariner device pose path rule provided by the utility model Device is drawn, specifically includes that Position and attitude sensor, imaging sensor, Video Decoder, ultrasonic sensor, FPGA control panel, three Piece SDRAM, pose calculate dsp chip and path planning dsp chip；The Position and attitude sensor is fixed on submariner device case inside, Pass through I²C bus is connect with FPGA；Described image sensor is set in front of submariner device shell on shell, is decoded by the video Device is connect with FPGA control panel, and the camera of described image sensor is equipped with waterproof cover, and is equipped with transmission region, with camera Fitting；The ultrasonic sensor is set to above described image sensor, is connected by serial ports with FPGA control panel；Three pieces Two panels SDRAM is connected with FPGA control panel in SDRAM, a piece of to be connected with path planning dsp chip；The FPGA control panel is set Set appearance caches FIFO and image buffer storage FIFO, the real-time pose information of the pose caching FIFO storage submariner device, the figure As the real-time image information in front of caching FIFO storage submariner device；The path planning dsp chip reads position by EMIF interface Appearance caches FIFO and pose and image information in image buffer storage FIFO, and passes through the movement control of CAN interface and submariner device System connection processed.

Preferably, the ultrasonic sensor, which controls generation voltage pulse by FPGA, passes through driving circuit, power amplification Circuit, ultrasonic wave send sensor TCT40-2F and send ultrasonic wave, receive echo letter by ultrasonic receiver sensor TCT40-2S Number, by signal amplification circuit and comparison circuit signal is accessed by FPGA control panel by serial ports.

Preferably, the Position and attitude sensor includes accelerometer, gyroscope and magnetometer；The accelerometer uses ADXL345 three axis accelerometer chip, the gyroscope of ADI company use the ITG-3200 three axis accelerometer of InvenSense company Instrument chip, magnetometer use the HMC584 magnetometer chip of Honeywell company；It is public using TI that the pose calculates dsp chip The floating point DSP chip TMS320C6713 of department.

Preferably, described image sensor uses the CMOS camera OV9650 image sensing of OmniVision company Device is transmitted to FPGA control panel by Video Decoder TVP5150 output image digital signal.

Preferably, the two panels SDRAM being connected in the three pieces SDRAM with FPGA control panel is respectively used to storage video solution The odd number frame image data and even number frame image data of code device output.

Preferably, the path planning dsp chip uses TI company C6000 series fixed-point DSP chip TMS320DM642。

The utility model has the advantages that the autonomous underwater submariner device pose path planning apparatus of the utility model can pass through supersonic sensing Device real-time detection barrier, when obstacle distance is less than the timely adjusts path of set safe distance；Imaging sensor can be complete The essential information of scene in direction of advance is obtained, and ping-pang storage is further carried out by FPGA, to acquired image sequence Image preprocessing is cached and made, the waiting time of system is saved with this；Position and attitude sensor all has 1²C number bus connects Mouthful, greatly simplify the hardware design of device, does not need the complicated signal acquisition of design and conditioning circuit；It can using FPGA hardware The characteristics of programming, integrated data acquisition, processing and system sequence control carry out task distribution and regulation to whole device；Pose It calculates DSP and high-precision real-time resolving is carried out to navigational parameter, obtain submariner device real-time pose information and be used for path planning；Path rule It draws DSP to update map according to image information and posture information and calculate navigation path, extracting parameter is by submariner device motion control mould Block carries out motion control.This autonomous underwater submariner device pose path planning apparatus based on embedded platform FPGA+DSP framework Rationally, structure is simple for design, and underwater autonomous submariner device can be helped to complete positioning, path planning and Real Time Obstacle Avoiding in real time, guaranteed Safety, independence and the real-time of underwater vehicle work.

Detailed description of the invention

In order to be more likely to be clearly understood the content of the utility model, the utility model is made in conjunction with attached drawing further Detailed description, in which:

Fig. 1 is the general structure schematic diagram of the utility model embodiment.

Fig. 2 is that the real-time pose in the utility model embodiment calculates structural principle block diagram.

Fig. 3 is the image preprocessing structural principle block diagram in the utility model embodiment.

Fig. 4 is the path planning structural principle block diagram in the utility model embodiment.

Specific embodiment

As shown in Figure 1, a kind of autonomous underwater submariner device pose path planning apparatus disclosed in the utility model embodiment, main It include: Position and attitude sensor, imaging sensor, Video Decoder, ultrasonic sensor, FPGA control panel, three pieces SDRAM, position Appearance calculates dsp chip and path planning dsp chip etc..Under water in submariner device shell, shell setting is anti-for each electronic device setting Water cover；Imaging sensor is set in front of shell on shell, is connect by Video Decoder with FPGA control panel, imaging sensor Camera is equipped with waterproof cover, and is equipped with transmission region, is bonded with camera.Ultrasonic sensor is set on imaging sensor Side, is connected by serial ports with FPGA control panel；FPGA control panel is equipped with pose and caches FIFO and image buffer storage FIFO, and pose is slow The real-time pose information of FIFO storage submariner device is deposited, image buffer storage FIFO stores the real-time image information in front of submariner device；Path It plans that dsp chip reads pose by EMIF interface and caches FIFO and pose and image information in image buffer storage FIFO, and leads to It crosses CAN interface to connect with the kinetic control system of submariner device, passing movement controls information.

FPGA control panel is using the EP2C8Q208C8 chip and configuration chip in II Series FPGA of Altera Cyclone EPCS4.FPGA generates voltage pulse, sends sensor TCT40-2F through overdrive circuit, power amplification circuit driving ultrasonic wave Ultrasonic wave is issued, ultrasonic receiver sensor TCT40-2S receives ultrasonic echo signal by signal amplification circuit and more electric Road gives signal to FPGA by serial ports and carries out Distance Judgment, and FPGA issues signal path again when distance is less than set safety value Planning；FPGA acquires Position and attitude sensor data and calculates dsp chip calculating submariner device real-time pose to pose；FPGA acquires video figure As information carries out caching and image preprocessing；Path planning dsp chip is sent by posture information and image information, carries out map It updates and path computing, the kinetic control system that extraction path parameter CAN interface transfers data to submariner device is transported Dynamic control.Acquisition, storage, transmission and the pose of sensing data involved in utility model device calculate and path planning Method is the prior art, can be with using the method or ground robot or aircraft paths planning method in earth station system.

Position and attitude sensor includes accelerometer, gyroscope and magnetometer, and accelerometer uses the ADXL345 tri- of ADI company Axis accelerometer chip, gyroscope are used using ITG-3200 three-axis gyroscope chip, the magnetometer of InvenSense company The HMC584 magnetometer chip of Honeywell company.Submariner device real-time pose calculates structural principle as shown in Fig. 2, three axis accelerate Degree meter ADXL345, three-axis gyroscope ITG-3200 and three axle magnetometer HMC584 have I²C digital bus interface, they are all It is linked to the I of FPGA²In C number bus, FPGA circulation reads the digital signal that they are exported, and is buffered in FPGA after integration first In FIFO buffer area in and to pose calculate dsp chip issue interrupt request singal INT0；Then DSP responds FPGA and interrupts INT0 reads data from FIFO, is filtered, the resolving of error compensation and navigational parameter, until in response FPGA data passback Disconnected INT2, by the posture information storage after resolving into pose caching FIFO.

Submariner device image preprocessing structural principle is as shown in figure 3, the CMOS camera OV9650 of OmniVision company is adopted Collect image information, is transmitted to FPGA by Video Decoder TVP5150 output image digital signal, the clock of TVP5150 is by FPGA Control.FPGA receives image and is simultaneously buffered in external SDRAM, designs sdram controller, ping-pang storage two panels SDRAM, when connecing When receiving odd number frame image data, image data successively passes through programmable graphics data-interface, data path 1, sdram controller 2, It is cached into SDRAM2；At this point, image preprocessing part is accessible slow by data path 1, sdram controller 1 There are the data in SDRAM1, and pre-process to image data, and the data for handling completion are transmitted by dsp interface controller Subsequent processing is carried out into image processing module.When receiving even number frame image data, image data is successively by programmable figure As data-interface, data path 2, sdram controller 1, cached into SDRAM1；At this point, image preprocessing part passes through The accessible data being buffered in SDRAM2 of data path, SDRAM controller 2, and deposit figure after being pre-processed to image As caching FIFO.

As shown in figure 4, path planning dsp chip uses C6000 series DSP chip TMS320DM642, when the image of FPGA It when caching FIFO is filled with a frame image, issues and interrupts to path planning DSP, DSP responds the interruption, provides not in address wire Data, posture information and image information are read from the different FIFO of FPGA and is transmitted to by the different FIFO of FPGA in same address DSP carries out map rejuvenation and path planning, the kinetic control system of submariner device is transferred data to by CAN interface, together When path planning DSP using a piece of SDRAM of EMIF Interface Controller for storage environment information, the motion control instruction of submariner device with State.

The embodiments of the present invention is described in detail in conjunction with attached drawing above, still, the utility model is not limited to The detail in embodiment is stated, it, can be to the technical side of the utility model in the range of the technology design of the utility model Case carries out a variety of equivalents, these equivalents belong to the protection scope of the utility model.

Claims

1. autonomous underwater submariner device pose path planning apparatus characterized by comprising Position and attitude sensor, imaging sensor, view Frequency decoder, ultrasonic sensor, FPGA control panel, three pieces SDRAM, pose calculate dsp chip and path planning dsp chip； The Position and attitude sensor is fixed on submariner device case inside, passes through I²C bus is connect with FPGA control panel；Described image sensor On shell in front of submariner device shell, it is connect by the Video Decoder with FPGA control panel, described image sensor Camera is equipped with waterproof cover, and is equipped with transmission region, is bonded with camera；The ultrasonic sensor is passed set on described image Above sensor, it is connected by serial ports with FPGA control panel；Two panels SDRAM is connected with FPGA control panel in three pieces SDRAM, it is a piece of with Path planning dsp chip is connected；The FPGA control panel setting pose caches FIFO and image buffer storage FIFO, the pose caching FIFO stores the real-time pose information of submariner device, and described image caches the real-time image information in front of FIFO storage submariner device；Institute It states path planning dsp chip and pose caching FIFO and pose and image letter in image buffer storage FIFO is read by EMIF interface Breath, and connect by CAN interface with the kinetic control system of submariner device.

2. autonomous underwater submariner device pose path planning apparatus according to claim 1, it is characterised in that: the ultrasonic wave Sensor controls generation voltage pulse by FPGA and sends sensor TCT40- by driving circuit, power amplification circuit, ultrasonic wave 2F sends ultrasonic wave, by ultrasonic receiver sensor TCT40-2S receives echo-signal, electric by signal amplification circuit and comparison Signal is accessed FPGA control panel by serial ports by road.

3. autonomous underwater submariner device pose path planning apparatus according to claim 1, it is characterised in that: the pose passes Sensor includes accelerometer, gyroscope and magnetometer；The accelerometer uses the ADXL345 three axis accelerometer of ADI company Chip, gyroscope use Honeywell company using ITG-3200 three-axis gyroscope chip, the magnetometer of InvenSense company HMC584 magnetometer chip；The pose calculates the floating point DSP chip TMS320C6713 that dsp chip uses TI company.

4. autonomous underwater submariner device pose path planning apparatus according to claim 1, it is characterised in that: described image passes Sensor uses the CMOS camera OV9650 imaging sensor of OmniVision company, defeated by Video Decoder TVP5150 Image digital signal is transmitted to FPGA control panel out.

5. autonomous underwater submariner device pose path planning apparatus according to claim 1, it is characterised in that: the three pieces The two panels SDRAM being connected in SDRAM with FPGA control panel is respectively used to the odd number frame image data of storage Video Decoder output With even number frame image data.

6. autonomous underwater submariner device pose path planning apparatus according to claim 1, it is characterised in that: the path rule It draws dsp chip and uses TI company C6000 series fixed-point DSP chip TMS320DM642.