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Legged robot state sensing system based on dual core processing technology

A state-aware and nuclear-processing technology, applied in instruments, measuring devices, mapping and navigation, etc., can solve the problems of lack of state-aware technology for complex-footed robots and inability to meet work requirements

Inactive Publication Date: 2013-01-02
CENT SOUTH UNIV
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AI Technical Summary

Problems solved by technology

This lacks state-aware technology for complex legged robots, which cannot meet the work requirements in complex environments

Method used

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  • Legged robot state sensing system based on dual core processing technology
  • Legged robot state sensing system based on dual core processing technology

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Experimental program
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Embodiment 1

[0024] Such as figure 1 with figure 2 As shown, a legged robot state perception system based on dual-core processing technology,

[0025] The data acquisition layer and data processing layer are constructed using a "data-centered" layered structure, and a dual-core system architecture is built on this basis, that is, based on the FPGA core unit, SOPC technology is used to embed two RISC embedded processors in the chip Realized by the NIOS II soft core of the device, it has an analog-to-digital conversion module, two CAN bus communication modules, a combined navigation receiving module and a human-computer interaction module; the power unit sensor, the limb servo controller, and the combined navigation system are respectively connected with the FPGA core unit Serial connection, LCD screen and buzzer are respectively connected in parallel with the FPGA core unit; among them:

[0026] The data acquisition kernel (NIOS II B soft core for short) used to construct the data acquis...

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Abstract

The present invention discloses a legged robot state sensing system based on a dual core processing technology, wherein a dual core system structure is adopted, and a SOPC technology is adopted to embed two RISC embedded processor NIOS II soft cores in a chip based on a FPGA core unit to achieve the structure. One soft core is used to establish a data acquisition kernel having a data acquisition function, and the other soft core is used to establish a data processing kernel having a data processing and communication function. Data interaction of the two kernels is achieved through a mailbox kernel Mailbox and a shared RAM memory. With the NIOS II B soft core, complete information acquisition can be achieved, while the NIOS IIA soft core performs a data fusion treatment based on the data acquired by the NIOS II B soft core. According to the present invention, a state sensing technology facing the complex legged robot is adopted, and characteristics of information completeness detection, high speed data parallel processing, real-time data communication, high reliability, and the like are provided.

Description

technical field [0001] The invention relates to a state perception system of a legged robot based on dual-core processing technology. Background technique [0002] With the development of the economy and the improvement of automation requirements in all walks of life, various robots have entered the field of human life and production to replace or imitate humans to perform various complex tasks. Among them, the footed robot has the characteristics of simple structure, flexible movement, strong carrying capacity, good stability and strong environmental adaptability. Therefore, the footed robot is especially suitable for the field of military border defense, and is used to accompany border guards to patrol and transport materials. Among the various technologies for controlling the activities of legged robots, one of the most critical technologies is the state perception technology of legged robots. [0003] At present, the state perception of footed robots at home and abroad ...

Claims

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Application Information

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IPC IPC(8): G01C21/00G01D21/02
Inventor 陈鑫吴敏曹卫华吴大华安剑奇
Owner CENT SOUTH UNIV
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