| Real-time detection and redescription of the tiny terrain in front of the mining vehicle is the key of optimized exploitation of deep-sea cobalt crust. Combined with the rotating single-beam ultrasonic distance detector, a solution of real-time tiny terrain detection and redescription based on TMS320C6416 DSP is put forward in this paper, as well as corresponding software and hardware platform . The hardware is consisted of ultrasonic detector, AD card, DSP module, SCM module, compass and PC. After received instruction from PC, SCM triggers the emission of ultrasonic and the collection of AD card synchronously, then AD card transmits the ultrasonic signal collected to DSP. The final gridding DEM data will be sent to PC for display when processed.DSP processing and boot-loader software are programmed under the evironment of CCS3.1 based on the DSP interrupt system, which realizes synchronous signal reception, data collection, data processing, data sending, core solidification, DSP bootload. Also, the software of data receiving and display is programmed under the evironment of VC++6.0 by using MSComm ActiveX control box and DLL.The elevatios of tiny terrain are obtained by correlation arithmetic, and precise regular gridding DEM data is gained through process of abnormal value elimination, support-vector machines prediction, gradient modification, interpolation. Combined with the Dead Reckoning and posture angles of mining vehicle, a scheme of locating the area to be cut is brought forward on the foundation of knowing the angles' value of digital compass and velocity of the vehicle. And the optimized cut depth of the located area is computed through optimized cut depth model.Finally, the accuracy, real-time effciency ,feasibility and working continuity of tiny terrain detection and redescription system are proved by experiment, which also helps to analyse errors. And the result shows that performance of the system meets the design requirements. |
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