CN216596228U - Space sensing device - Google Patents
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- CN216596228U CN216596228U CN202123062126.6U CN202123062126U CN216596228U CN 216596228 U CN216596228 U CN 216596228U CN 202123062126 U CN202123062126 U CN 202123062126U CN 216596228 U CN216596228 U CN 216596228U
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Abstract
The utility model discloses a space sensing device, which comprises a main processing module, a slave processing module, a storage module and at least one first space sensing sensor, wherein the main processing module is used for processing a space; the output end of each first spatial perception sensor is connected with the input end of the main processing module, and the main processing module is connected with at least one slave processing module in series; and the data end of the storage module is connected with the storage end of the main processing module. The device supports the parallel processing of the data of the spatial perception sensor, effectively improves the processing capacity of the device, and has wide application range and low cost.
Description
Technical Field
The present invention relates to the field of signal processing, and in particular, to a spatial sensing apparatus.
Background
With the rapid development of scientific technology, the fields of automatic driving, high-precision mapping, aerospace and the like are correspondingly developed, and the spatial information perception technology occupies an important position in the fields. In the prior art, a single processor is usually adopted for processing sensor data of the spatial information sensing device, which requires performance of the processor and is high in research and development cost, and how to optimize the spatial information sensing device is a technical problem to be solved urgently by those skilled in the art.
SUMMERY OF THE UTILITY MODEL
The utility model provides a space sensing device, which can improve the processing performance of the device and reduce the research and development cost by arranging at least two processing modules for supporting the parallel processing of space sensing sensor data.
In order to achieve the above purpose, the embodiment of the utility model adopts the following technical scheme: there is provided a spatial perception device comprising: the system comprises a main processing module, a slave processing module, a storage module and at least one first space perception sensor;
the output end of each first spatial perception sensor is connected with the input end of the main processing module, and the main processing module is connected with at least one slave processing module in series;
and the data end of the storage module is connected with the storage end of the main processing module.
As an improvement of the above scheme, the apparatus further includes at least one second spatial sensor, an input end of each slave processing module is connected to output ends of n second spatial sensors, and n is an integer greater than or equal to 0.
As a refinement of the above solution, the apparatus further comprises a first wireless communication module; the slave processing module is connected with the second spatial sensor through the first wireless communication module, and the slave processing module is connected with the first wireless communication module through a PCIE bus.
As a refinement of the above solution, the apparatus further comprises a second wireless communication module; the main processing module is connected with the first space sensing sensor through the second wireless communication module, and the main processing module is connected with the second wireless communication module through a PCIE bus.
As an improvement of the above scheme, the master processing module and the at least one slave processing module are connected in series through a PCIE bus; and the data end of the storage module is connected with the storage end of the main processing module through a PCIE bus.
As an improvement of the above solution, the first spatial perception sensor includes at least one of a laser radar, a camera, a pressure sensor, an accelerometer or a gyroscope; the second spatial perception sensor comprises at least one of a laser radar, a camera, a pressure sensor, an accelerometer or a gyroscope.
As an improvement of the above solution, the apparatus further includes a first ethernet module and a second ethernet module, the primary processing module is connected to an external device through the first ethernet module, and the secondary processing module is connected to the external device through the second ethernet module.
As an improvement of the above scheme, the apparatus further includes a first power module and a second power module, the first power module is connected to the master processing module, and the second power module is connected to the slave processing module.
Compared with the prior art, the space sensing device provided by the utility model comprises a main processing module, a slave processing module, a storage module and at least one first space sensing sensor; the output end of each first spatial perception sensor is connected with the input end of the main processing module, and the main processing module is connected with at least one slave processing module in series; the data end of the storage module is connected with the storage end of the main processing module; the space sensing device can support the parallel processing of the data of the space sensing sensor through the main processing module and the auxiliary processing module, thereby improving the processing performance of the space sensing device and reducing the research and development cost.
Drawings
FIG. 1 is a schematic structural diagram of a preferred embodiment of a spatial sensing apparatus provided in the present invention;
FIG. 2 is a schematic structural diagram of another preferred embodiment of a spatial perception device provided by the present invention;
fig. 3 is a schematic structural diagram of another preferred embodiment of a spatial sensing device provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without any inventive step, are within the scope of the present invention.
The embodiment of the utility model provides a space sensing device, which comprises:
the system comprises a main processing module 2, a slave processing module 3, a storage module 1 and at least one first spatial perception sensor 4;
the output end of each first spatial perception sensor 4 is connected with the input end of the main processing module 2, and the main processing module 2 is connected with at least one slave processing module 3 in series;
and the data end of the storage module 1 is connected with the storage end of the main processing module 2.
Specifically, referring to fig. 1, which is a schematic structural diagram of a preferred embodiment of a spatial sensing device provided by the present invention, the spatial sensing device mainly includes a storage module 1, a main processing module 2, a slave processing module 3, and a first spatial sensing sensor 4, the storage module 1, the main processing module 2, and the slave processing module 3 are sequentially connected in series, and the first spatial sensing sensor 4 is connected to the main processing module 2. In practical application, the first spatial sensor 4 transmits monitored data (spatial sensor data) to the main processing module 2, the main processing module 2 splits the data into two parts, the main processing module 2 and the slave processing module 3 respectively perform information processing, after the processing is finished, the slave processing module 3 transmits the processed data and information processing results to the main processing module 2, and the main processing module 2 transmits all the processed data and information processing results to the storage module 1 for storage. The data detected by the first spatial perception sensor 4 are processed in parallel by the main processing module 2 and the auxiliary processing module 3, so that the processing capability of spatial information is improved.
Referring to fig. 2, which is a schematic structural diagram of a preferred embodiment of the spatial sensing apparatus provided in the present invention, as an improvement of the foregoing solution, the apparatus further includes at least one second spatial sensing sensor 5, an input end of each slave processing module 3 is connected to output ends of n second spatial sensing sensors 5, where n is an integer greater than or equal to 0.
Specifically, in order to improve the ability of the device to access more spatial sensing sensors, the second spatial sensing sensor 5 is connected to the slave processing module 3 in such a way that the slave processing module 3 accesses the second spatial sensing sensor 5. In practical application, the master processing module 2 and the slave processing module 3 both have a task scheduling function, data acquired by the second spatial perception sensor 5 is sent to the slave processing module 3, the slave processing module 3 distributes the data, the master processing module 2 and the slave processing module 3 perform parallel processing, then all processed data and corresponding processing results are collected to the master processing module 2, and the master processing module 2 sends the processed data and the corresponding processing results to the storage module 1 for storage. It will be appreciated that each additional slave processing module may correspondingly be provided with a number of sensors.
As a modification of the above scheme, as shown in fig. 2, the apparatus further includes a first wireless communication module 6; the slave processing module 3 is connected with the second spatial perception sensor 5 through the first wireless communication module 6, and the slave processing module 3 is connected with the first wireless communication module 6 by adopting a PCIE bus.
As a modification of the above scheme, as shown in fig. 2, the apparatus further includes a second wireless communication module 7; the main processing module 2 is connected with the first space perception sensor 4 through the second wireless communication module 7, and the main processing module 2 is connected with the second wireless communication module 7 through a PCIE bus.
Specifically, the wired connection mode is adopted in the existing space sensing device to connect the sensor and the processing module, when more sensors exist in the device, the circuit is disordered, and the circuit retrieval is complex when the device breaks down, so that the wireless connection mode is adopted in the scheme to save the disordered circuit. In practical application, the first wireless communication module 6 is used for realizing the connection between the slave processing module 3 and the second spatial perception sensor 5, and the second wireless communication module 7 is used for realizing the connection between the master processing module 2 and the first spatial perception sensor 4, for example, the first wireless communication module 6 and the second wireless communication module 7 can adopt high-speed WIFI modules; wherein the high-speed WIFI module selects a module with the performance not lower than the WIFI6 (namely IEEE 802.11.ax) rate. In addition, in order to obtain a better communication bandwidth to facilitate fast transmission of data, the main processing module 2 and the second wireless communication module 7 use a high-speed serial computer expansion bus (PCIE) communication, and the slave processing module 3 and the first wireless communication module 6 use a PCIE communication. In consideration of that a general processing module (a master processing module and a slave processing module) in an existing spatial sensing device generally has only two PCIE interfaces, in practical applications, the connection of the second spatial sensing sensor is implemented only in the last slave processing module of the master processing module and the slave processing module that are connected in sequence by using a wireless communication manner. It should be noted that the processing module in this embodiment includes, but is not limited to, the above-mentioned specific setting with only two PCIE interfaces.
As shown in fig. 2, it can be understood that the connection between the sensor and the processing module in the device may be a wired connection, in addition to the connection using the wireless communication module.
As an improvement of the above scheme, the master processing module 2 and at least one slave processing module 3 are connected in series through a PCIE bus; and the data end of the storage module 1 is connected with the storage end of the main processing module 2 through a PCIE bus.
Specifically, the existing space sensing device realizes communication among modules through an ethernet switch, the ethernet with the highest data transmission rate is a gigabit ethernet, a PCIE bus is adopted to realize communication connection among modules as a device suitable for multiple processing modules, the data transmission rate of PCIE communication is as high as several tens of Gbps, which is much higher than that of a conventional ethernet communication method, and thus, the space sensing device can better cope with complex application scenarios.
As a modification of the above solution, the first spatial perception sensor 4 includes at least one of a laser radar, a camera, a pressure sensor, an accelerometer, or a gyroscope; the second spatial perception sensor 5 comprises at least one of a lidar, a camera, a pressure sensor, an accelerometer or a gyroscope.
Specifically, the specific types of the first spatial sensing sensor 4 and the second spatial sensing sensor 5 may be a laser radar, a camera, a pressure sensor, an accelerometer, a gyroscope, or the like, and it can be understood that the types of the sensors are not limited to the specific types, and may be selected according to actual requirements; in practical applications, the specific types of the first spatial sensor 4 and the second spatial sensor 5 may be different or the same, and when there are a plurality of first spatial sensors 4, the specific types of each first spatial sensor 4 may be the same or different; when there are a plurality of second spatial sensing sensors 5, the specific kinds of each second spatial sensing sensor 5 may be the same or different.
As shown in fig. 2, as a modification of the above solution, the apparatus further includes a first ethernet module 8 and a second ethernet module 9, the primary processing module 2 is connected to an external device (not shown in the figure) through the first ethernet module 8, and the secondary processing module 3 is connected to the external device through the second ethernet module 9. The first ethernet module 8 and the second ethernet module 9 have gigabit ethernet communication rates, the external devices connected to the master processing module 2 and the slave processing module 3 may be the same or different, and when there are a plurality of slave processing modules 3, the external devices connected to different slave processing modules 3 may be the same or different. It should be noted that, the first ethernet module 8 or the second ethernet module 9 is used to implement information transmission between the apparatus and the external device, for example, receiving parameter data of the external device to process the parameter data, or receiving a control instruction of the external device, or outputting an information processing result to the external device; the external device may be an ethernet switch chip, and the first ethernet module 8 and the second ethernet module 9 are respectively connected to the ethernet chip, so that communication connection between the processing modules (the processing modules include a master processing module and a slave processing module) is realized, that is, data access between the processing modules can be realized, and the performance of the spatial sensing apparatus is optimized.
As shown in fig. 2, as an improvement of the above scheme, the apparatus further includes a first power module 10 and a second power module 11, where the first power module 10 is connected to the master processing module 2, and the second power module 11 is connected to the slave processing module 3.
Specifically, the first power module 10 is used to supply power to the master processing module 2, and the second power module 11 is used to supply power to the slave processing module 3. It can be understood that each processing module is powered by a separate power supply, when there are multiple slave processing modules 3, there are multiple corresponding second power modules 11, and the slave processing modules 3 and the second power modules 11 correspond to each other one by one.
Referring to fig. 3, a schematic structural diagram of a spatial sensing apparatus with a plurality of slave processing modules 3 is shown, where the extension module 12 includes a single slave processing module 3, a second spatial sensing sensor 5 (including a second spatial sensing sensor in a wired connection manner and a second spatial sensing sensor in a wireless connection manner) connected to the slave processing module 3, a second wireless communication module 7 connected to the slave processing module 3, a second ethernet module 9 connected to the slave processing module 3, and a second power supply module 11 connected to the slave processing module (a single extension module 12 is shown in a dashed line frame in fig. 3), the apparatus may include n extension modules connected in sequence, n is a positive integer, and a specific operation principle thereof is consistent with the above-described embodiment, and is not described herein again.
To sum up, the spatial sensing device provided by the embodiment of the present invention includes a storage module 1, a main processing module 2, at least one slave processing module 3, and at least one first spatial sensing sensor 4, where the storage module 1, the main processing module 2, and the slave processing module 3 are sequentially connected, and the first spatial sensing sensor 4 is connected to the main processing module 2, and can perform parallel processing on data acquired by the first spatial sensing sensor 4 by using the main processing module 2 and the slave processing module 3, so as to improve the processing efficiency of spatial information; set up second space perception sensor 5 from processing module 3, through the increase from processing module's quantity, form one and possess the space perception of obtaining more data volumes to adopt the PCIE bus to realize the high-speed transmission of the data between processing module, adopt wireless communication module to realize wireless transmission, in order to avoid the mixed and disorderly loaded down with trivial details problem of maintenance that brings of circuit. The space sensing device provided by the embodiment of the utility model has the advantages of high processing performance, simple structure, high reliability and robustness, and can improve the reliability by adding the redundant subsystem in a high-complexity application scene, thereby saving the development, manufacturing and maintenance costs of equipment.
The above description is only an alternative embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (8)
1.A spatial perception device, comprising: the system comprises a main processing module, a slave processing module, a storage module and at least one first space perception sensor;
the output end of each first spatial perception sensor is connected with the input end of the main processing module, and the main processing module is connected with at least one slave processing module in series;
and the data end of the storage module is connected with the storage end of the main processing module.
2. The spatial perception device according to claim 1, further comprising at least one second spatial perception sensor, wherein an input of each of the slave processing modules is connected to outputs of n of the second spatial perception sensors, n being an integer greater than or equal to 0.
3. The spatial awareness apparatus of claim 2 further comprising a first wireless communication module; the slave processing module is connected with the second spatial sensor through the first wireless communication module, and the slave processing module is connected with the first wireless communication module through a PCIE bus.
4. The spatial awareness apparatus of claim 3 further comprising a second wireless communication module; the main processing module is connected with the first space sensing sensor through the second wireless communication module, and the main processing module is connected with the second wireless communication module through a PCIE bus.
5. The space sensing apparatus of claim 3, wherein the master processing module and at least one of the slave processing modules are connected in series via a PCIE bus; and the data end of the storage module is connected with the storage end of the main processing module through a PCIE bus.
6. The spatial perception device according to claim 2, wherein the first spatial perception sensor includes at least one of a lidar, a camera, a pressure sensor, an accelerometer, or a gyroscope; the second spatial perception sensor comprises at least one of a laser radar, a camera, a pressure sensor, an accelerometer or a gyroscope.
7. The space sensing apparatus of claim 1, further comprising a first ethernet module and a second ethernet module, wherein the master processing module is connected to an external device through the first ethernet module, and wherein the slave processing module is connected to the external device through the second ethernet module.
8. The spatial awareness apparatus of claim 1 further comprising a first power module and a second power module, said first power module coupled to said master processing module and said second power module coupled to said slave processing module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202123062126.6U CN216596228U (en) | 2021-12-07 | 2021-12-07 | Space sensing device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202123062126.6U CN216596228U (en) | 2021-12-07 | 2021-12-07 | Space sensing device |
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| CN216596228U true CN216596228U (en) | 2022-05-24 |
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| CN202123062126.6U Active CN216596228U (en) | 2021-12-07 | 2021-12-07 | Space sensing device |
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Effective date of registration: 20240519 Address after: Room 442, Building 1, Caizhi Shunfeng Innovation Center, No. 99 Housheng Street, Gongshu District, Hangzhou City, Zhejiang Province, 310000 Patentee after: Zhejiang Chenjing Technology Co.,Ltd. Country or region after: China Address before: 511458 rooms 503, 504, 505 and 506, No. 1, jinmaozhong Second Street, Huangge Town, Nansha District, Guangzhou City, Guangdong Province Patentee before: Guangzhou chenjing Technology Co.,Ltd. Country or region before: China |