Laser radar data read-write control system and chip based on a robot

Abstract

The invention relates to a laser radar data read-write control system and chip based on a robot. The laser radar data read-write control system comprises a CPU, an AHB bus, a pre-configurator, an AHBinterface controller, an AHB read-write control layer, an address sorting module, a map matching processing module and an on-chip map storage medium. The AHB interface controller is connected with theon-chip map storage medium, and is connected with the on-chip map storage medium through the address sorting module; the AHB read-write control layer is respectively connected with the AHB interfacecontroller and the map matching processing module; wherein the CPU is simultaneously connected with the map matching processing module and a corresponding signal end of the on-chip map storage medium,and the pre-configurator is electrically connected with the CPU; the problem that raster map data cannot be transmitted suddenly is solved, the matching operation speed of the laser radar data and the reference raster data is increased, and the processing scene of a large amount of the laser radar data is met.

Description

technical field [0001] The invention relates to the field of digital circuits, in particular to a robot-based lidar data read-write control system and a chip. Background technique [0002] In the prior art, the robot uses a 360-degree laser radar scanning method for positioning and mapping. The advantage is that the success rate of mapping is high, and the pre-built map can be corrected in real time according to the laser radar data. Among them, the built-in action rotation mechanism of the lidar can support the 360-degree rotation of the lidar, and the robot may follow the positioning target object to move continuously, so a batch of laser point cloud data is obtained every time the lidar rotates. [0003] When the built-in laser navigation module of the robot executes the laser navigation positioning algorithm, its software flow includes: the CPU (processor) in the laser navigation module issues an access command, controls the communication protocol bus to find the space w...

AI Technical Summary

Problems solved by technology

Compared with the prior art, the present invention solves the problem that grid map data cannot be transmitted in bursts by adding a read-write control circuit between the CPU and the memory, adding the AHB interface controller and the address sorting module, Accelerate the reading and writing efficiency of the AHB reading and writing control layer, and then accelerate the matching operation speed of the lidar data and the reference grid data, and meet the processing scenarios of a large number of lidar data; it can not only ensure the stability of the system , and ensure the flexibility of the AHB interface target, thereby reducing the CPU access frequency and optimizing the read and write timing of each module

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