Unmanned intelligent platform information control system based on Cortex-A9

Abstract

The present invention relates to an unmanned intelligent platform information control system based on Cortex‑A9, comprising: a housing and a control circuit inside the housing; the control circuit comprises: at least one scalable information distribution and calculation control board based on the ARMCortex‑A9 core, a switch board and a wide voltage input power conversion board. The present invention can realize the collection, transmission, and calculation of various information of the unmanned intelligent platform and control the unmanned intelligent platform to navigate according to a predetermined trajectory, complete remote wireless automatic control of the peripherals carried by the unmanned intelligent platform, and complete the shore-based remote control of the unmanned intelligent platform.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned marine systems, and relates to a control system for calculating and controlling the reception and transmission of various information of an unmanned intelligent platform and external equipment carried by the unmanned intelligent platform, in particular, an information control system for an unmanned intelligent platform based on Cortex-A9. Background Art

[0002] With the development of unmanned intelligent platform technology, it has broad application prospects in the military and civilian fields, and unmanned intelligent platform technology has received more and more attention at home and abroad. In the process of navigation control of unmanned intelligent platforms, it is necessary to clearly perceive various information such as its own heading, speed, position, whether there are obstacles in the navigation direction, etc. The interactive solution of this information can realize the remote wireless remote control of the unmanned intelligent platform to navigate according to the planned route, or automatically avoid obstacles. In order to ensure the accuracy of the unmanned intelligent platform's track, the control of the reception and transmission of this information during the navigation process is very important. It can be said to be the core brain of the automatic control of the unmanned intelligent platform. The unmanned intelligent platform will also be equipped with various automatic measurement equipment, and even a shore-based monitoring station for remote control of the unmanned intelligent platform.

[0003] The information collection system of the existing unmanned intelligent platform is relatively simple. It is unable to use a variety of industrial communication interfaces at the same time, and cannot be flexibly expanded to cope with different numbers of peripherals. The wiring is also complicated. At the same time, the salt spray and humid environment at sea also requires the circuit boards to be sealed and protected.

[0004] After searching, no published patent documents identical or similar to the present invention were found. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings of the prior art and to propose an unmanned intelligent platform information control system based on Cortex-A9, which has reasonable design, fast information processing speed, high real-time performance, strong versatility, good scalability, small structure volume, light weight and waterproof, moisture-proof and salt spray-proof functions.

[0006] The present invention solves the practical problem by adopting the following technical solutions:

[0007] An unmanned intelligent platform information control system based on Cortex-A9, comprising: a housing and a control circuit inside the housing; the control circuit comprises: at least one scalable information distribution and solution control board based on the ARM Cortex-A9 core, a switch board and a wide voltage input power conversion board;

[0008] The output end of the scalable information distribution and solution control board based on the ARM Cortex-A9 core is connected to the peripherals of the unmanned intelligent platform, and is used to send and receive various information required for solution and control of the unmanned intelligent platform, and to perform navigation obstacle avoidance planning control and peripheral control on the unmanned intelligent platform; the Ethernet output end of the scalable information distribution and solution control board based on the ARM Cortex-A9 core is connected to the switch board, and is used to network the information control board and Ethernet-based peripherals; the output ends of the wide voltage input power conversion board are respectively connected to the scalable information distribution and solution control board based on the ARM Cortex-A9 core, and are used to power it;

[0009] Moreover, the scalable information distribution and solution control board based on the ARM Cortex-A9 core includes: a microprocessor based on the ARM Cortex-A9 core, an RS232 / RS422 / RS485 serial communication bus module, a CAN bus module and an Ethernet interface module. The microprocessor based on the ARM Cortex-A9 core is connected to the peripherals based on serial communication through the RS232 / RS422 / RS485 serial communication bus module, and is used to collect serial port peripheral information; the microprocessor based on the ARM Cortex-A9 core is connected to the CAN bus modules of other scalable information distribution and solution control boards based on the ARM Cortex-A9 core through the CAN bus module, and is used to form a CAN bus communication network to collect peripheral information based on CAN bus communication; the microprocessor based on the ARM Cortex-A9 core is connected to the switch board through the Ethernet interface module, and is used to form an Ethernet network, collect peripheral information based on the Ethernet port, and quickly exchange information between the boards;

[0010] Moreover, the scalable information distribution and solution control board based on the ARM Cortex-A9 core can be stacked and combined according to the needs of the unmanned intelligent platform.

[0011] Moreover, the number of the scalable information distribution and solution control boards based on the ARM Cortex-A9 core is ≤5.

[0012] Moreover, the shell is made of aluminum alloy and is completely sealed.

[0013] Advantages and beneficial effects of the present invention:

[0014] 1. The present invention proposes an unmanned intelligent platform information control system based on Cortex-A9. The control system controls the navigation obstacle avoidance planning and the peripherals carried by the unmanned intelligent platform by sending, receiving and calculating various information required by the unmanned intelligent platform; specifically, by processing the heading, speed, position, whether there are obstacles in the navigation direction and other information of the unmanned intelligent platform itself, various peripherals carried and shore-based remote control of the unmanned intelligent platform are controlled. The control system has high speed, high real-time performance, strong versatility, good scalability, small structure and volume, light weight, waterproof, moisture-proof and salt spray-proof, and can realize the collection, sending, receiving and calculating of various information of the unmanned intelligent platform and control the unmanned intelligent platform to navigate according to the predetermined trajectory, complete remote wireless automatic control of the peripherals carried by the unmanned intelligent platform, and complete shore-based remote control of the unmanned intelligent platform.

[0015] 2. The present invention adopts an expandable unmanned intelligent platform information distribution and solution control system composed of an information distribution and solution control board based on the ARM Cortex-A9 core, a switch board, and a wide voltage input power conversion board. This hardware system is suitable for a variety of unmanned intelligent platforms and the control of the peripherals they carry. It has high real-time performance, great flexibility, and good scalability. Practice has proved that it has strong stability and reliability.

[0016] 3. The information distribution and solution control board of the present invention is an expandable board with multiple industrial bus interfaces based on the ARM Cortex-A9 core. The information distribution and solution control board of the present invention can be stacked and combined with 1-5 layers of information distribution and solution control boards according to the requirements of the unmanned intelligent platform to realize up to 10 422, 10 485, 5 232 serial communication interfaces, 10 CAN bus interfaces, and 10 Ethernet interfaces. It is flexible in application and suitable for various unmanned intelligent platforms and peripherals and shore-based remote information receiving and sending solution control applications; the microprocessor based on the ARM Cortex-A9 core has high-speed processing capabilities and can match various solution algorithms requiring high real-time performance and large amount of calculation. The built-in switch board can realize Ethernet free networking, and the CAN bus interface can be used or networked separately according to the overall requirements of the unmanned intelligent platform, thereby greatly reducing the wiring requirements of the unmanned intelligent platform and having strong scalability; the power conversion board with a wide input range provides the system with a variety of power supply voltage solutions, with strong adaptability and good versatility.

[0017] 4. The present invention focuses on the structural design of the use environment of the unmanned intelligent platform. It uses aluminum alloy material, which is light in weight, low in cost, and has good corrosion and salt spray resistance. It adopts a completely sealed design that is waterproof and moisture-proof, ensuring that the unmanned intelligent platform can sail normally under level three sea conditions. The overall structure is small in size and easy to install. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is the overall system block diagram of the present invention;

[0019] Figure 2 It is the principle diagram of 485 serial communication interface of the present invention;

[0020] Figure 3 It is the principle diagram of the 422 serial communication interface of the present invention;

[0021] Figure 4 It is the principle diagram of RS232 serial communication interface of the present invention;

[0022] Figure 5 It is the principle diagram of the CAN bus interface of the present invention;

[0023] Figure 6 It is a schematic diagram of the Gigabit Ethernet interface of the present invention. DETAILED DESCRIPTION

[0024] The embodiments of the present invention are further described in detail below with reference to the accompanying drawings:

[0025] An unmanned intelligent platform information control system based on Cortex-A9, such as Figure 1 As shown, it includes: a housing and a control circuit inside thereof; the control circuit includes: at least one scalable information distribution and solution control board based on the ARM Cortex-A9 core, a switch board and a wide voltage input power conversion board;

[0026] The output end of the scalable information distribution and solution control board based on the ARM Cortex-A9 core is connected to the peripherals carried by the unmanned information platform, and is used to control the navigation obstacle avoidance planning and the carried peripherals of the unmanned intelligent platform by sending and receiving various information required by the solution control unmanned intelligent platform; the scalable information distribution and solution control board based on the ARM Cortex-A9 core is connected to the switch board for Ethernet networking to collect peripheral information based on the Ethernet interface, quickly exchange information between the boards, and reduce wiring; the output ends of the wide voltage input power conversion board are respectively connected to the scalable information distribution and solution control board based on the ARM Cortex-A9 core to supply power to it;

[0027] In this embodiment, the scalable information distribution and solution control board based on the ARM Cortex-A9 core includes: a microprocessor based on the ARM Cortex-A9 core, an RS232 / RS422 / RS485 serial communication bus module, a CAN bus module and an Ethernet interface module. The microprocessor based on the ARM Cortex-A9 core is connected to the peripherals based on the serial port through the RS232 / RS422 / RS485 serial communication bus module for collecting serial port peripheral information; the microprocessor based on the ARM Cortex-A9 core is connected to the CAN bus module of other scalable information distribution and solution control boards based on the ARM Cortex-A9 core through the CAN bus module, and is used for CAN bus networking to collect peripheral information based on CAN bus communication; the microprocessor based on the ARM Cortex-A9 core is connected to the switch board through the Ethernet interface module, and is used for Ethernet networking to collect Ethernet port information;

[0028] In this embodiment, the scalable information distribution and solution control board based on the ARM Cortex-A9 core can be stacked and combined according to the requirements of the unmanned intelligent platform.

[0029] In this embodiment, the number of the scalable information distribution and solution control boards based on the ARM Cortex-A9 core is ≤5.

[0030] In this embodiment, the housing is made of aluminum alloy and is completely sealed.

[0031] The functions and effects of each component in the system are further explained below:

[0032] Scalable information distribution and calculation control board based on ARM Cortex-A9 core: 2-way 422, 2-way 485, 1-way 232 serial communication interfaces, 2-way CAN bus interfaces, and 2-way Gigabit Ethernet interfaces are designed on the board; the board can be stacked and combined according to the needs of the unmanned intelligent platform, and can simultaneously have 10-way 422, 10-way 485, 5-way 232 serial communication interfaces, 10-way CAN bus interfaces, and 10-way Gigabit Ethernet interfaces;

[0033] The microprocessor based on the ARM Cortex-A9 core can be equipped with advanced operating systems such as Linux, with an instruction processing speed of up to 1GHz. The processor is enhanced by 3D graphics acceleration to realize a rich graphical user interface. The processor can distribute and control various information on the unmanned intelligent platform, match a variety of graphics and image processing algorithms, and solve the automatic planning and automatic obstacle avoidance of the unmanned intelligent platform in real time, control a variety of peripherals on the intelligent platform, and realize shore-based remote control of the unmanned intelligent platform;

[0034] The switch board can be used to network the Ethernet ports inside the information distribution and solution control system and the Ethernet ports of external devices. The CAN bus interface can also be used separately or flexibly networked according to the overall needs of the unmanned intelligent platform, thereby greatly reducing the wiring requirements of the unmanned intelligent platform. The overall system block diagram is as follows: Figure 1 shown.

[0035] In this embodiment, the information distribution and calculation control board based on the ARM Cortex-A9 core has a 422 serial communication bus interface schematic diagram as shown in FIG. Figure 2 As shown, the schematic diagram of the 485 serial communication bus interface is as follows Figure 3 As shown, the RS232 serial communication bus interface schematic diagram is as follows Figure 4 As shown, the CAN bus interface schematic diagram is as follows Figure 5 As shown, the Gigabit Ethernet interface schematic is as follows Figure 6 As shown in the figure, the board implements an extensible PCB design and can be expanded through 1-5 layers of board stacking combination to meet the different applications and peripheral requirements of unmanned intelligent platforms;

[0036] The power board is designed with a wide voltage input of 9-36V, and can provide multiple power supply voltages such as 5V, 9V, 12V, 24V, etc. It has high power and efficiency, and fully considers the heat dissipation issue in PCB design.

[0037] The present invention fully considers the use environment of the unmanned intelligent platform, selects aluminum alloy material, and adopts a completely sealed design. The overall system is light in weight, low in cost, and has good waterproof, moisture-proof and salt spray-proof effects, ensuring that the unmanned intelligent platform can sail normally in the third-level sea condition.

[0038] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0039] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0040] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0041] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

Claims

1. An unmanned intelligent platform information control system based on Cortex-A9, characterized in that: include: The housing and the control circuit inside it; The control circuit includes: at least one scalable information distribution and solution control board based on the ARM Cortex-A9 core, a switch board and a wide voltage input power conversion board; The output end of the scalable information distribution and solution control board based on the ARM Cortex-A9 core is connected to the peripherals of the unmanned intelligent platform, and is used to send and receive various information required for solving and controlling the unmanned intelligent platform, and to perform navigation obstacle avoidance planning control and peripheral control on the unmanned intelligent platform; the Ethernet port of the scalable information distribution and solution control board based on the ARM Cortex-A9 core is connected to the switch board for Ethernet networking; the output ends of the wide voltage input power conversion board are respectively connected to the scalable information distribution and solution control board based on the ARM Cortex-A9 core, and are used to power it; The microprocessor based on the ARM Cortex-A9 core is connected to the CAN bus module of other scalable information distribution and solution control boards based on the ARM Cortex-A9 core through the CAN bus module, so as to form a CAN bus network to collect peripheral information based on the CAN bus; The scalable information distribution and solution control board based on the ARM Cortex-A9 core can be stacked and combined according to the needs of the unmanned intelligent platform.

2. The Cortex-A9-based unmanned intelligent platform information control system according to claim 1, characterized in that: The scalable information distribution and solution control board based on the ARM Cortex-A9 core includes: a microprocessor based on the ARM Cortex-A9 core, an RS232 / RS422 / RS485 serial communication bus module, a CAN bus module and an Ethernet interface module. The microprocessor based on the ARM Cortex-A9 core is connected to the peripherals carried on the unmanned intelligent platform through the RS232 / RS422 / RS485 serial communication bus module to collect peripheral information based on the serial communication bus; the microprocessor based on the ARM Cortex-A9 core is connected to the switch board through the Ethernet interface module to form an Ethernet to collect peripheral information based on the Ethernet, and to exchange information between the scalable information distribution and solution control boards.

3. The Cortex-A9-based unmanned intelligent platform information control system according to claim 1, characterized in that: The number of the scalable information distribution and solution control boards based on the ARM Cortex-A9 core is ≤5.

4. The Cortex-A9-based unmanned intelligent platform information control system according to claim 1, characterized in that: The shell is made of aluminum alloy and is completely sealed.

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