救援機器人系統的設計與實現-子計畫二：SOPC為基礎之多重感測器融合系統的設計與實現
學年 99
學期 1
出版（發表）日期 2011-01-01
作品名稱 救援機器人系統的設計與實現-子計畫二：SOPC為基礎之多重感測器融合系統的設計與實現
作品名稱（其他語言） Design and Implementation of Sopc-Based Multi Sensor Fusion System
著者 李世安
單位 淡江大學電機工程學系
描述 計畫編號：NSC100-2221-E032-010 研究期間：20110801~20120731 研究經費：511,000
委託單位 行政院國家科學委員會
摘要 本計畫擬以SOPC (System On a Programmable Chip)技術來設計與實現救援機器人的多感測器融合系統，並提供感測器資訊給其他子計畫。本計畫的三年內容分別敘述如下： 第一年： 在研究主題一，本計畫擬採用SOPC技術來控制與接收慣性測量儀(IMU)、超音波感測器、雷射測距儀、溫濕度感測器、CO2氣體感測器等感測器元件來建立一個多感測器融合系統。在研究主題二，本計畫擬設計一個螢幕顯示加速器來加速將感測器資訊顯示在螢幕上。在研究主題三，本計畫擬在此多感測器融合系統內建立一嵌入式作業系統來管理系統資源與資料傳輸。 第二年： 在研究主題一，本計畫擬加入麥克風感測器、心電感測器、光感測器以及LED照明設備，分別來偵測聲音、人體脈搏以及環境光源偵測與照射等功能。在研究主題二，本計畫擬以SOPC技術為基礎設計即時聲音源方向辨識電路。此電路主要是以麥克風感測器來擷取聲音源，並利用到達時間延遲(Time Delay of Arrival ,TDOA)的方法設計硬體電路來即時計算聲音方位。在研究主題三，本計畫擬設計一觸控式人機介面功能，以觸控面板來設計一互動介面，使得救難人員在操作上更為方便。 第三年： 在研究主題一，本計畫擬根據前兩年的使用經驗，重新客製化一塊FPGA晶片系統開發板，以符合本計畫救援機器人的規格使用，此FPGA晶片板設計規格會朝體積小、擴充性高以及高運算能力等方向來設計。在研究主題二，本計畫擬以SOPC技術來研發卡曼濾波器電路來估測各感測器數值，以提供各子計畫更準確的感測器測量值。在研究主題三，本計畫擬利用SOPC技術設計網路加速器，來加速網路傳輸速度。 In this project, a SOPC (System On a Programmable Chip) technology is proposed to design and implement a Multi-Sensor Fusion System (MSFS) for a rescue robot. This project is organized three years. They are described as follows: In the first year, there are three design topics. In the topic 1, a MSFS is constructed by the SOPC technology to control and receive the information of an Inertia Measuring Unit (IMU), ultrasonic sensors, laser range finder, temperature and humidity sensors, and a CO2 gas sensor. In the topic 2, a display accelerator is designed to accelerate the display speed of these sensor information. In the topic 3, an operation system is embedded in the MSFS to manage the system resources and data transfer. In the second year, there are three design topics. In the topic 1, the sensors that the microphone sensor, a heart detect sensor, a light sensor, and a LED light are added into the MSFS to detect the information of voices, heart pulsations, and lumen of environment, respectively. In the topic 2, a real-time circuit is designed to detect sound source direction. This circuit obtains sound data from the microphone sensors and analyzes the sound data by using the Time Delay Of Arrival (TDOA) method to calculate the direction of sound source. In the topic 3, some touching control functions are designed on a touching panel so that a more convenient interactive interface can provide to the operator. In the third year, there are three design topics. In the topic 1, a development board is customized design by a field programmable gate array (FPGA) chip for the rescue robot based on the experiences of last two years. The spec of FPGA board will follow the design criterions that a small volume, a high expansion, and a high operation performance. In the topic 2, a Kalman filter circuit is designed based on a SOPC technology to estimate the sensors values so that it can provide a high precise measurement value to the other subprojects. In the topic 3, a SOPC-based Ethernet accelerator is designed to accelerate the transfer rate of the Ethernet.
關鍵字 救援機器人; SOPC; 多感測器融合; 軟硬體共同設計; FPGA
語言 zh_TW
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