| Along with mineral resources on land used up by human being day by day, marine resource development obtained more attention. Because of the huge economic value and strategic significance, the development of oceanic cobalt crust resource, whether from the angle of safeguarding our country's maritime rights or economical benefits, was very important. And how to achieve the real-time detection of tiny terrain in front of the mining system is the key in optimized exploitation of ocean cobalt crust.Combined with the technology of rotating single-beam ultrasonic range finder, this paper designed a resolvent of tiny terrain real-time detection based on TMS320C6416 DSP. By using the DSP/BIOS real-time core, correlation processing technology and the model of optimized cut depth, this resolvent actualized the real-time display of three-dimensional terrain and computing of optimized cut depth.The hardware consisted of underwater ultrasonic finder, AD card, DSP module and PC. The AD card converted the analog signals coming from ultrasonic finder to digital signals, and then transmitted them to DSP. After processed, the final DEM data and optimized cut depth would be sent to PC for display and storing.This paper presented a co-operating multi-task schedule strategy of EDMA, PIPE and DSP based on DSP/BIOS, and found a solution to the key problem: how to schedule multi-tasks, such as synchronous signal receiving, data converting, stream input, data processing, data sending etc. The paper did a research on several key technology of DSP programming, especially the software optimizing method and DSP/BIOS optimizing method, and also optimized the pivotal code by manual, which improved the executive efficiency greatly. In addition, because this system was unattached, how to achieve boot-loader by Flash was expatiated.All the hardware and software had been debugged and proved to be stable and high-speed. Meanwhile, the precision and real-time character could meet the requirement. |
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