CN105204395A - Computer room inspection robot data acquisition and processing system, method and chip - Google Patents
Computer room inspection robot data acquisition and processing system, method and chip Download PDFInfo
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- CN105204395A CN105204395A CN201510543391.6A CN201510543391A CN105204395A CN 105204395 A CN105204395 A CN 105204395A CN 201510543391 A CN201510543391 A CN 201510543391A CN 105204395 A CN105204395 A CN 105204395A
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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Abstract
The invention provides a computer room inspection robot data acquisition and processing system, a computer room inspection robot data acquisition and processing method and a data processing chip. The system and method are used for performing data acquisition and processing on inspection robots in an information communication computer room in a power system in an integrated manner; the processing chip is an FPGA chip and is installed in an inspection robot and is provided with a control unit and two sets of identical processing modules in an integrated manner; and the processing modules are respectively connected with a visible light digital image pickup device and an infrared imager. The stability of the computer room inspection robot data acquisition and processing system provided by the invention is improved, and the computer room inspection robot data system hooks more interfaces and sensors and can realize more functions. The computer room inspection robot data acquisition and processing system has the advantages of excellent performance, high integration, low power consumption, greater flexibility, convenience and economical efficiency. With the system adopted, track erection cost can be saved.
Description
Technical field
The present invention relates to electric intelligent crusing robot technical field of information communication, be specifically related to a kind of machine room crusing robot data acquisition processing system, method and chip.
Background technology
Inner in State Grid Corporation of China, although Robotics has carried out certain application in electric system, because this type of robot designs to meet large-scale outdoor substation and patrolling and examining work, comprehensively will realize large amount of complex function, therefore cost is higher.And in power information communication system, unattended information communication machine room gets more and more, information communication machine room, battery chamber (UPS accumulator) etc. for those particular importances mostly also are unmanned website, and traditional Temperature Humidity Sensor, power-supply system alarm such as to upload at the requirement that unmanned technology has been difficult to the maintenance work meeting important information communications equipment room.
Because power information communications equipment room indoor environment is good, facility environment identification degree is high, can be patrolled and examined power information communications equipment room battery limits by the robot of unstructured data treatment technology, visible and the infrared image delivery of the unstructured data system acquisition that robot carries is analyzed to background server, and these information comprise equipment appearance, temperature, humidity, vestige, clean, the exception of abnormal sound, peculiar smell, UPS status lamp; The data pilot lamp situation of switch, network communication situation; The temperature alarming lamp situation of blade chassis, system information lamp situation, system mistake lamp situation; The power light situation of the little machine of rolling reamer machine, frame and tape library, system information lamp situation, control panel information status; The network communication situation etc. of fire wall.Intelligent inspection robot is by the setting of task parameters, and right place is maked an inspection tour, and is equipped with night light fixture, facilitates night routing inspection.The winding houses O&M level of the significant cost that such use is lower, takes precautions against potential safety hazard potential in machine room.But developed regions information communication specialty O&M cost of labor is high and cannot meet the present situation that power communication information personnel is few, website is many.
Therefore, how designing and a kind ofly can realize system that robot patrols and examines or method with lower cost, is those skilled in the art's problem demanding prompt solution.
Summary of the invention
In view of this, a kind of machine room crusing robot data acquisition processing system of crusing robot provided by the invention, method and chip, this unstructured data acquisition processing system, method and data processing chip improve the stability of system, make machine room crusing robot data system can mount more interface and sensor, realize greater functionality.
The object of the invention is to be achieved through the following technical solutions:
A kind of machine room crusing robot data acquisition processing system, described system is used for carrying out data acquisition and process to the crusing robot in the information communication machine room in electric system,
Described system comprises wireless bridge, industrial ethernet switch and unstructured data processor;
Described wireless bridge works under ap mode;
Each described wireless bridge is all connected to described industrial ethernet switch;
Described unstructured data processor is connected in the LAN (Local Area Network) of described industrial ethernet switch;
Described wireless bridge wireless communication module communicates with described crusing robot.
Preferably, wireless bridge described in each, in the mode of many bridges networking, is arranged on roof in described information communication machine room everywhere respectively.
Preferably, described wireless bridge for receive with send that described crusing robot sends through described wireless communication module patrol and examine data; Described unstructured data processor be used for by described industrial ethernet switch receive and process described wireless bridge send patrol and examine data;
Described data of patrolling and examining comprise video data, infrared picture data, navigation data and control signal.
Preferably, described wireless communication module is arranged on described crusing robot, and described crusing robot inside is provided with described fpga chip;
Described wireless communication module is the wireless communication module that the Ethernet worked under client mode turns WIFI;
Communication mode between described wireless communication module and described wireless bridge is WIFI wireless seamless roaming communication mode.
A kind of machine room crusing robot data acquisition treatment method, described method carries out data acquisition and process to the crusing robot in the information communication machine room in electric system; Described method comprises the steps:
Step 1. judges the signal intensity of current described wireless bridge;
If described signal intensity meets communication requirement, then described crusing robot wireless communication module communicates with wireless bridge, and will patrol and examine after data are sent to described wireless bridge, enters step 5;
If described signal intensity does not meet communication requirement, then enter step 2;
Step 2. judges the residing region of described crusing robot;
If when described crusing robot is only positioned at the network area of 1 described wireless bridge, then enter step 3;
If when described crusing robot is positioned at the public network region of multiple described wireless bridge, then improve rapid 4;
Step 3. controls described crusing robot and is subjected to displacement, and returns step 2;
Crusing robot described in step 4. communicates with another the described wireless bridge that can meet communication requirement in described public network region, and will patrol and examine data and be sent to wireless bridge described in another; Described in other in this public domain, wireless bridge is in stand-by state;
Wireless bridge described in step 5. patrols and examines data described in receiving, and described data of patrolling and examining are sent to unstructured data processing server through industrial ethernet switch;
Described data and the data sample of patrolling and examining contrasts at a high speed by unstructured data processing server described in step 6., realizes the data processing of described crusing robot.
Preferably, before described step 1, comprising:
A. multiple described wireless bridge worked under ap mode is arranged on respectively roof in described information communication machine room everywhere;
B. respectively wireless bridge described in each is connected to described industrial ethernet switch;
C. described unstructured data processor is put in the LAN (Local Area Network) of described industrial ethernet switch;
D. described wireless communication module is set on described crusing robot, and in described crusing robot inside, described fpga chip is installed.
A kind of machine room crusing robot data processing chip, described data processing chip is fpga chip and is arranged on described crusing robot inside; Integratedly on described chip be provided with control module and two groups of identical processing modules;
The input end of processing module described in two groups is connected with two detecting units being positioned at described chip exterior respectively; Described detecting unit comprises visible ray data video camera and infrared thermoviewer connects;
Processing module described in two groups is all connected to the input end of described control module by bus, the output terminal of described control module is connected with wireless communication module.
Preferably, described processing module comprises the image Input Control Element, view data cell fifo, the MPMC frame read-write cell being with DMA function and the 1M byte inner ram cell that connect successively; The described MPMC frame read-write cell input end of PLBv4.6 bus with described control module is connected.
Preferably, described image Input Control Element passes through SIO_C and the SIO_D signal bus of SCCB interface to described detecting unit initialization and control, and the data stream sent by described detecting unit is data, and is sent to described view data cell fifo;
Described view data cell fifo is realized by the BRAM unit of fpga chip inside, and it adopts the clock identical with described image Input Control Element to receive the data stream sent here; Described view data cell fifo is made up of 8 bit data input ports and 8 bit data output ports, and its degree of depth is 1024 characters;
After the data received when described view data cell fifo reach the data higher limit of described view data cell fifo, described view data cell fifo by described data flow to described MPMC frame read-write cell;
Described MPMC frame read-write cell adopts the grand design of MPMC of fpga chip inside, and its interface comprises NPI and PLB two kinds of interfaces; A port is connected to described view data cell fifo by FIFO by described NPI interface, and the address wire, data line and the control signal wire that are provided another port are connected to 1M byte inner ram cell; Described PLB interface is then articulated in described PLBv4.6 bus, is connected with MicroBlaze processor, carries out bus marco by IXCL and DXCL line;
Be provided with odd even offset counter in described 1M byte inner ram cell, and be connected with described address wire, data line and control signal wire.
Preferably, described control module comprises the DDR controller, ethernet controller, SPI controller, I2C controller, UART controller, GPIO controller, clock controller and the USB controller that are connected to respectively in described PLBv4.6 bus; Each described controller is all connected to described wireless communication module.
As can be seen from above-mentioned technical scheme, the invention provides a kind of unstructured data acquisition processing system of crusing robot, method and data processing chip, this system and method carries out data acquisition and process for integrated to the crusing robot in the information communication machine room in electric system; This process chip is fpga chip and to be arranged on described crusing robot inner, and is integratedly provided with control module and two groups of identical processing modules; Processing module is connected with visible ray data video camera and infrared thermoviewer respectively.The unstructured data acquisition processing system that the present invention proposes, method and data processing chip, this unstructured data acquisition processing system, method and data processing chip improve the stability of system, make machine room crusing robot data system can mount more interface and sensor, realize greater functionality, and there is the advantage that performance is good, integrated level is high, low in energy consumption; Eliminate track erection construction cost; It has greater flexibility, convenience, economy.
With immediate prior art ratio, technical scheme provided by the invention has following excellent effect:
1, in technical scheme provided by the present invention, view data fifo module realizes in the inside of FPGA by the crusing robot unstructured data acquisition process circuit that the present invention realizes, the clock same with image input module is adopted to receive the digital video frequency flow sent here, realize data stream temporary cache, clock synchronization issue can not be considered like this, thus avoid the inconvenience that in prior art, special fifo chip brings, improve the stability of system.
2, technical scheme provided by the present invention, the present invention adopts MPMC frame module for reading and writing to design, image data stream to write direct FPGA internal RAM from image fifo module, do not need by PLB internal bus and complete, substantially increase the storage efficiency of view data like this, also release the bandwidth of PLB bus, make machine room crusing robot data system can mount more interface and sensor, realize greater functionality.
3, technical scheme provided by the present invention, BlockRAM resource in the sheet that the present invention makes full use of FPGA, devise the internal RAM be articulated in the inner PLBv46 bus of FPGA that two are respectively 1MByte, than traditional SDRAM special chip scheme that extends out, this scheme has that performance is good, integrated level is high, low in energy consumption, the reliability of system is greatly improved.
4, technical scheme provided by the present invention, the present invention is by visible ray digital imager data stream acquisition process circuit and infrared thermoviewer data stream acquisition process circuit, 2 circuit-switched data stream acquisition process circuit are integrated in monolithic fpga chip, compared with existing separating chips scheme system, compact to design, integrated level is high, low in energy consumption, improve the reliability of system.
5, technical scheme provided by the present invention, unstructured data transfers net system of the present invention, realizes wireless, seamless, roaming network function, eliminates track erection construction cost than the existing robot track scheme of patrolling and examining; Than existing wire transmission scheme, there is greater flexibility, convenience, economy.
6, technical scheme provided by the invention, is widely used, and has significant Social benefit and economic benefit.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of machine room crusing robot data acquisition processing system of the present invention;
Fig. 2 is the schematic flow sheet of a kind of machine room crusing robot data acquisition treatment method of the present invention;
Fig. 3 is the schematic flow sheet before the step 1 in data acquisition treatment method of the present invention;
Fig. 4 is the structural representation of the data processing chip of a kind of crusing robot of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on embodiments of the invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
As shown in Figure 1, the invention provides a kind of machine room crusing robot data acquisition processing system, system is used for carrying out data acquisition and process to the crusing robot in the information communication machine room in electric system, and system comprises wireless bridge, industrial ethernet switch and unstructured data processor;
Wireless bridge works under ap mode;
Each wireless bridge is all connected to industrial ethernet switch;
Unstructured data processor is connected in the LAN (Local Area Network) of industrial ethernet switch;
Wireless bridge wireless communication module communicates with crusing robot.
Wherein, each wireless bridge, in the mode of many bridges networking, is arranged on roof in information communication machine room everywhere respectively.
Wherein, wireless bridge for receive with send that crusing robot sends through wireless communication module patrol and examine data; Unstructured data processor is used for being received by industrial ethernet switch and process that wireless bridge sends patrols and examines data;
Patrol and examine data and comprise video data, infrared picture data, navigation data and control signal.
Wherein, wireless communication module is arranged on crusing robot, and crusing robot inside is provided with fpga chip;
Wireless communication module is the wireless communication module that the Ethernet worked under client mode turns WIFI;
Communication mode between wireless communication module and wireless bridge is WIFI wireless seamless roaming communication mode.
As shown in Figure 2, the invention provides a kind of machine room crusing robot data acquisition treatment method, method carries out data acquisition and process to the crusing robot in the information communication machine room in electric system; Method comprises the steps:
Step 1. judges the signal intensity of current wireless bridge;
If signal intensity meets communication requirement, then crusing robot wireless communication module communicates with wireless bridge, and will patrol and examine after data are sent to wireless bridge, enters step 5;
If signal intensity does not meet communication requirement, then enter step 2;
Step 2. judges the residing region of crusing robot;
If when crusing robot is only positioned at the network area of 1 wireless bridge, then enter step 3;
If when crusing robot is positioned at the public network region of multiple wireless bridge, then improve rapid 4;
Step 3. controls crusing robot and is subjected to displacement, and returns step 2;
Step 4. crusing robot communicates with another wireless bridge that can meet communication requirement in public network region, and will patrol and examine data and be sent to another wireless bridge; Other wireless bridges in this public domain are in stand-by state;
Step 5. wireless bridge receives and patrols and examines data, and will patrol and examine data and be sent to unstructured data processing server through industrial ethernet switch;
Step 6. unstructured data processing server will patrol and examine data and data sample contrasts at a high speed, realizes the data processing of crusing robot.
As shown in Figure 3, before step 1, comprising:
A. multiple wireless bridge worked under ap mode is arranged on respectively roof in information communication machine room everywhere;
B. respectively each wireless bridge is connected to industrial ethernet switch;
C. unstructured data processor is put in the LAN (Local Area Network) of industrial ethernet switch;
D. wireless communication module is set on crusing robot, and in crusing robot inside, fpga chip is installed.
As shown in Figure 4, the invention provides a kind of data processing chip of crusing robot, data processing chip is fpga chip and is arranged on crusing robot inside; Integratedly on chip be provided with control module and two groups of identical processing modules;
The input end of two groups of processing modules is connected with two detecting units being positioned at chip exterior respectively; Detecting unit comprises visible ray data video camera and infrared thermoviewer connects;
Two groups of processing modules are all connected to the input end of control module by bus, the output terminal of control module is connected with wireless communication module.
Wherein, processing module comprises the image Input Control Element, view data cell fifo, the MPMC frame read-write cell being with DMA function and the 1M byte inner ram cell that connect successively; MPMC frame read-write cell PLBv4.6 bus is connected with the input end of control module.
Wherein, image Input Control Element passes through SIO_C and the SIO_D signal bus of SCCB interface to detecting unit initialization and control, and the data stream sent by detecting unit is data, and is sent to view data cell fifo;
View data cell fifo is realized by the BRAM unit of fpga chip inside, and it adopts the clock identical with image Input Control Element to receive the data stream sent here; View data cell fifo is made up of 8 bit data input ports and 8 bit data output ports, and its degree of depth is 1024 characters;
After the data received when view data cell fifo reach the data higher limit of view data cell fifo, view data cell fifo by data flow to MPMC frame read-write cell;
MPMC frame read-write cell adopts the grand design of MPMC of fpga chip inside, and its interface comprises NPI and PLB two kinds of interfaces; A port is connected to view data cell fifo by FIFO by NPI interface, and the address wire, data line and the control signal wire that are provided another port are connected to 1M byte inner ram cell; PLB interface is then articulated in PLBv4.6 bus, is connected with MicroBlaze processor, carries out bus marco by IXCL and DXCL line;
Be provided with odd even offset counter in 1M byte inner ram cell, and be connected with address wire, data line and control signal wire.
Wherein, control module comprises the DDR controller be connected to respectively in PLBv4.6 bus, ethernet controller, SPI controller, I2C controller, UART controller, GPIO controller, clock controller and USB controller; Each controller is all connected to wireless communication module.
The invention provides the application examples of a kind of unstructured data acquisition processing system of crusing robot, method and data processing chip; It comprises:
The unstructured data transmission network of system implements the many bridges networking AP wireless seamless roaming communication method adopting industrial ethernet switch connected mode.In this implements, multiple wireless bridge all passes through super Category-5 twisted pair access industrial Ethernet switch, all wireless bridges are set to ap mode, its " network parameter " arranges each AP management address for different, in order to avoid IP address conflict, use 192.168.1.2/24 ~ 192.168.1.49/24 section; In " basic setup ", their SSID, certification and encryption mode are arranged identical; The AP arranging lie adjacent arranges different frequency ranges, and more than 5 frequency ranges, avoids mutual interference, uses 1,6,11 frequency ranges; AP, by access in radio LAN (Local Area Network), closes DHCP function, arranges a Dynamic Host Configuration Protocol server on the upper strata of switch in addition, and solve inspecting robot when switching AP, different bridges enables DHCP separately, may cause the problem of the speed that IP conflicts and impact switches.In power information communications equipment room district, do wireless network with 2.4G cover.
The bridge that inspecting robot is installed is set to client mode, inspecting robot in machine room in roam procedure its IP address remain constant, like this, they jointly form a wireless seamless roaming network, machine room inspecting robot unstructured data can being effectively transferred to unstructured data processing server carries out data processing at a high speed.
The robot unstructured data acquisition process circuit of invention implements the FPGA adopting XilinxVirtex7XC7VX1140T.FPGA is connected with visible ray data video camera, owing to adopting digitized video camera, it has been integrated with 10 high-performance ADV7180 of ADI company, has three road analog video passages, support the input of multiple types vision signal, outputting standard ITU6564:2:2 format digital video signal.Visible ray data video camera also provides row, field sync signal and 27MHz pixel clock signal, eliminates the design of clock synchronization circuit, for system brings conveniently.Built-in I2C interface and image Input Control Element interface, provide the controlling functions to chip internal circuits, realizes the contrast to incoming video signal and the pre-service such as the control of brightness, the selection control of output data layout.
Image Input Control Element interface adopts SCCB interface (a kind of I2C interface of simplification, I2C agreement is compatible to it), its bus also can adopt SCL and SDA two line of I2C to realize, this Unit Design directly adopts the soft core of I2C, be articulated in PLBv4.6 bus, by MicroBlaze software programming, it controlled.
View data cell fifo implements to adopt the inside BRAM unit of Virtex7XC7VX1140T to form, and in BRAM, the built-in logic of FIFO, does not need extra CLB resource.Adopt 8 bit data input ports and 8 bit data input ports, the degree of depth is that the inside BRAM of 1024 realizes, input port controls by writing clock (wdk) and writing enable (wrreq), input port is by reading clock (rddk) and read enable (rdreq) to control, read-write clock triggers at rising edge, and read-write enable signal high level is effective.Design 3 fixing marks: rempty (FIFO sky mark), wrfull (FIFO full scale will) and wrusedw [9..0], middle for wrusedw [9..0] most significant digit is taken out as FIFO full scale will.
View data cell fifo buffering is from the digital video data stream of image Input Control Element, need to carry out interface, except being connected with FIFO input data bus by the digital video input bus VPO of image Input Control Element, image Input Control Element also will provide write enable signal wrreq and write clock signal wdk for view data cell fifo.
Digital of digital video data is squeezed into VPO bus at the rising edge of each LLC by visible ray data video camera, and LLC is as the write clock signal welk of FIFO.What the visible ray data video camera that image Input Control Element connects did not input that special write enable signal is connected to view data cell fifo writes enable input wrreq, wrreq is by I2C interface configuration, make RSTO and RSTI line of input reference signal HREF and field reference signal VREF, with logical and (the wrreq=VREF & HREF) relation of VREF and the HREF write enable signal wrreq as asynchronous FIFO, according to this implementation method, the maximum frequency of view data cell fifo can reach 164.37MHz, show that it can be applied in video acquisition and processing system at a high speed.
Carried out functional simulation to visible ray data video camera and view data cell fifo interface during design, the sequential excitation inputted in functional simulation oscillogram is consistent with the sequential that actual visible ray data video camera exports, and the correctness of this embodiment is described.
Selected XilinxVirtex7XC7VX1140TFPGA inside is integrated with the inner high speed RAM of 67,680Kbit, and be designed to two independently 1MByte internal RAM uses during System Implementation, address is respectively
0x00400000 ~ 0x0004FFFFF and 0x00500000 ~ 0x0005FFFFF).The strange frame shifting amount counter of configuration two 4 bytes and even frame shifting amount counter, address is 0x003FFFFC and 0x000600000 respectively, and for storing the storage length of parity frame, unit is byte.
MPMC frame read-write cell implements MPMC (multiport memory control) design adopting Virtex7XC7VX1140T inside, MPMC has 8 separate ports, internal memory can be visited at any time by any one port, wherein two interfaces are selected to be designed to NPI and PLB interface respectively in method, because NPI interface is applicable to any agreement, a port utilizes the interface shape of NPI expansion MPMC that a port is connected view data cell fifo by FIFO, NPI interface comprises address, data and control signal, data bit width is designed to 64, it is consistent with MPMC_clk01 clock frequency that NPI runs clock frequency, another port is articulated in inner PLBv4.6 bus, and the internal RAM of the independent 1M byte providing address wire, data line and control signal wire to be connected to mark off, is connected with other peripheral hardware with MicroBlaze processor, carries out bus marco by IXCL and DXCL line.
The view data that NPI interface transmits to view data cell fifo, when the VS rising edge of imageing sensor, if RTS0 is low level, produce Pin high level, be defined as odd-numbered frame to arrive, MPMC by the 0x00400000 place of data stored in internal RAM, and starts strange frame shifting amount counter; When RTS0 is high level, produce PinEven high level, be defined as even frame to arrive, MPMC is by the 0x00500000 place of data stored in internal RAM, and start even frame shifting amount counter, producing the full Int signal of a frame when odd-numbered frame arrives again gives the INT of I MicroBlaze to produce interruption, request ethernet frame transmission processing.
LMB bus switch Unit Design, because view data to be write direct through view data cell fifo and MPMC frame read-write cell the RAM of FPGA inside, MicorBlaze will pass through PLBv46 bus access internal RAM, adopt that local to store the control bus LMB synchronous bus of the BLOCKRAM in high speed brace (be used for) the most convenient, the read-write sequence of LMB bus is the same with the read-write sequence of BLOCKRAM, and all LMB signals are that high level is effective.Again due to visible ray of the present invention and infrared be that 2 paths independently work simultaneously, in order to avoid conflict, therefore devising a LMB bus switch unit, representing with marking " S " unit in Fig. 4.
When the INT of MicroBlaze receives the full interrupt request singal of visible data transmission frame, LMB bus switch is to the internal RAM of visible data passage; When the INT of MicroBlaze receives the full interrupt request singal of infrared data transmission frame, LMB bus switch is to the internal RAM of infrared data passage, afterwards, MicorBlaze is by PLBv46 bus starting ethernet controller IP (soft core), adopt ethernet controller dma mode by ICP/IP protocol stack by the frame data of offset counter length in parity frame RAM by ethernet frame be sent to unstructured data transmission wireless network in go, afterwards, the data (writing 0) of the parity frame offset counter address of respective channel are removed by PLB bus.
Another road infrared imaging instrument circuit is implemented, because infrared imaging sensor can to below 1150nm spectral response, remove after below 80nm spectrum through optical filter, obtain infrared video simulating signal, imager numerical portion selects 10 the high-performance ADV7180 image decoding chips being still integrated with ADI company to decode, its data stream is with above visible data video camera, the INTx (1 of the MicroBlaze just in FPGA, 2), when receiving the full interrupt request singal of data transmission frames respectively, the switching of respective channel to be carried out by control LMB bus switch unit.
Above embodiment is only in order to illustrate that technical scheme of the present invention is not intended to limit; although with reference to above-described embodiment to invention has been detailed description; those of ordinary skill in the field still can modify to the specific embodiment of the present invention or equivalent replacement; and these do not depart from any amendment of spirit and scope of the invention or equivalent replacement, it is all being applied within the claims of the present invention awaited the reply.
Claims (10)
1. a machine room crusing robot data acquisition processing system, described system is used for carrying out data acquisition and process to the crusing robot in the information communication machine room in electric system, it is characterized in that,
Described system comprises wireless bridge, industrial ethernet switch and unstructured data processor;
Described wireless bridge works under ap mode;
Each described wireless bridge is all connected to described industrial ethernet switch;
Described unstructured data processor is connected in the LAN (Local Area Network) of described industrial ethernet switch;
Described wireless bridge wireless communication module communicates with described crusing robot.
2. the system as claimed in claim 1, is characterized in that, wireless bridge described in each, in the mode of many bridges networking, is arranged on roof in described information communication machine room everywhere respectively.
3. the system as claimed in claim 1, is characterized in that, described wireless bridge for receive with send that described crusing robot sends through described wireless communication module patrol and examine data; Described unstructured data processor be used for by described industrial ethernet switch receive and process described wireless bridge send patrol and examine data;
Described data of patrolling and examining comprise video data, infrared picture data, navigation data and control signal.
4. system as claimed in claim 3, it is characterized in that, described wireless communication module is arranged on described crusing robot, and described crusing robot inside is provided with described fpga chip;
Described wireless communication module is the wireless communication module that the Ethernet worked under client mode turns WIFI;
Communication mode between described wireless communication module and described wireless bridge is WIFI wireless seamless roaming communication mode.
5. a machine room crusing robot data acquisition treatment method, is characterized in that, described method carries out data acquisition and process to the crusing robot in the information communication machine room in electric system; Described method comprises the steps:
Step 1. judges the signal intensity of current described wireless bridge;
If described signal intensity meets communication requirement, then described crusing robot wireless communication module communicates with wireless bridge, and will patrol and examine after data are sent to described wireless bridge, enters step 5;
If described signal intensity does not meet communication requirement, then enter step 2;
Step 2. judges the residing region of described crusing robot;
If when described crusing robot is only positioned at the network area of 1 described wireless bridge, then enter step 3;
If when described crusing robot is positioned at the public network region of multiple described wireless bridge, then improve rapid 4;
Step 3. controls described crusing robot and is subjected to displacement, and returns step 2;
Crusing robot described in step 4. communicates with another the described wireless bridge that can meet communication requirement in described public network region, and will patrol and examine data and be sent to wireless bridge described in another; Described in other in this public domain, wireless bridge is in stand-by state;
Wireless bridge described in step 5. patrols and examines data described in receiving, and described data of patrolling and examining are sent to unstructured data processing server through industrial ethernet switch;
Described data and the data sample of patrolling and examining contrasts at a high speed by unstructured data processing server described in step 6., realizes the data processing of described crusing robot.
6. method as claimed in claim 5, is characterized in that, before described step 1, comprising:
A. multiple described wireless bridge worked under ap mode is arranged on respectively roof in described information communication machine room everywhere;
B. respectively wireless bridge described in each is connected to described industrial ethernet switch;
C. described unstructured data processor is put in the LAN (Local Area Network) of described industrial ethernet switch;
D. described wireless communication module is set on described crusing robot, and in described crusing robot inside, described fpga chip is installed.
7. a machine room crusing robot data processing chip, is characterized in that, described data processing chip is fpga chip and is arranged on described crusing robot inside; Integratedly on described chip be provided with control module and two groups of identical processing modules;
The input end of processing module described in two groups is connected with two detecting units being positioned at described chip exterior respectively; Described detecting unit comprises visible ray data video camera and infrared thermoviewer connects;
Processing module described in two groups is all connected to the input end of described control module by bus, the output terminal of described control module is connected with wireless communication module.
8. chip as claimed in claim 7, is characterized in that, described processing module comprises the image Input Control Element, view data cell fifo, the MPMC frame read-write cell being with DMA function and the 1M byte inner ram cell that connect successively; The described MPMC frame read-write cell input end of PLBv4.6 bus with described control module is connected.
9. chip as claimed in claim 8, is characterized in that,
Described image Input Control Element passes through SIO_C and the SIO_D signal bus of SCCB interface to described detecting unit initialization and control, and the data stream sent by described detecting unit is data, and is sent to described view data cell fifo;
Described view data cell fifo is realized by the BRAM unit of fpga chip inside, and it adopts the clock identical with described image Input Control Element to receive the data stream sent here; Described view data cell fifo is made up of 8 bit data input ports and 8 bit data output ports, and its degree of depth is 1024 characters;
After the data received when described view data cell fifo reach the data higher limit of described view data cell fifo, described view data cell fifo by described data flow to described MPMC frame read-write cell;
Described MPMC frame read-write cell adopts the grand design of MPMC of fpga chip inside, and its interface comprises NPI and PLB two kinds of interfaces; A port is connected to described view data cell fifo by FIFO by described NPI interface, and the address wire, data line and the control signal wire that are provided another port are connected to 1M byte inner ram cell; Described PLB interface is then articulated in described PLBv4.6 bus, is connected with MicroBlaze processor, carries out bus marco by IXCL and DXCL line;
Be provided with odd even offset counter in described 1M byte inner ram cell, and be connected with described address wire, data line and control signal wire.
10. chip as claimed in claim 9, it is characterized in that, described control module comprises the DDR controller, ethernet controller, SPI controller, I2C controller, UART controller, GPIO controller, clock controller and the USB controller that are connected to respectively in described PLBv4.6 bus; Each described controller is all connected to described wireless communication module.
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