CN108021529A - A kind of hardware configurable controller device for autonomous submersible - Google Patents

A kind of hardware configurable controller device for autonomous submersible Download PDF

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Publication number
CN108021529A
CN108021529A CN201610928945.9A CN201610928945A CN108021529A CN 108021529 A CN108021529 A CN 108021529A CN 201610928945 A CN201610928945 A CN 201610928945A CN 108021529 A CN108021529 A CN 108021529A
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CN
China
Prior art keywords
module
interface
hardware
nucleus module
configurable controller
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201610928945.9A
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Chinese (zh)
Inventor
陈浩
石凯
刘铁军
朱宝彤
李吉旭
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenyang Institute of Automation of CAS
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Shenyang Institute of Automation of CAS
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Filing date
Publication date
Application filed by Shenyang Institute of Automation of CAS filed Critical Shenyang Institute of Automation of CAS
Priority to CN201610928945.9A priority Critical patent/CN108021529A/en
Publication of CN108021529A publication Critical patent/CN108021529A/en
Pending legal-status Critical Current

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Classifications

    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F15/00Digital computers in general; Data processing equipment in general
    • G06F15/76Architectures of general purpose stored program computers
    • G06F15/78Architectures of general purpose stored program computers comprising a single central processing unit
    • G06F15/7807System on chip, i.e. computer system on a single chip; System in package, i.e. computer system on one or more chips in a single package
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F15/00Digital computers in general; Data processing equipment in general
    • G06F15/76Architectures of general purpose stored program computers
    • G06F15/78Architectures of general purpose stored program computers comprising a single central processing unit
    • G06F15/7867Architectures of general purpose stored program computers comprising a single central processing unit with reconfigurable architecture

Abstract

The present invention relates to a kind of hardware configurable controller device for autonomous submersible, processing unit connects extensive interface module by system bus, is configured according to the switching of the Different Dynamic interface of extensive interface module.The present invention improves the operability of nucleus module upgrading and the scalability of peripheral hardware, in core processor internal composition different operating program different external equipments is driven to realize, on the premise of nucleus module hardware design is not changed, realize the communication process to distinct device, the requirement for improving nucleus module flexibility is reached, the R&D cycle is reduced, while the device of nucleus module can be replaced according to the actual requirements to realize the upgrading of whole nucleus module.

Description

A kind of hardware configurable controller device for autonomous submersible
Technical field
The present invention relates to underwater robot control field, a kind of specifically hardware for autonomous submersible can configure Control device.
Background technology
As exploration of the people to ocean is increasingly frequently and urgent, underwater robot is obtained as a kind of important instrument Substantial amounts of application.For development trend of the national marine detection content with realizing target diversification, especially AUV (Autonomous Underwater Vehicle)The detecting devices wide variety of carry, quantity are various.Complicated and diversified communication Agreement emerges in an endless stream with processing method, necessarily the maintenance of the flexibility to control process system configuration, scalability and system with Upgrading proposes new requirement.It not only can guarantee that in the case where carrying abundant peripheral hardware there is process resource more than needed, Er Qieyao The upgrading and maintenance of realistic your processing module function of the existing height configurability and the speech of congratulation of processing unit.Due to existing microprocessor The shortcomings of unit is not high to the compatibility of different peripheral, and flexibility configuration difficulty is big, and system processing resources are limited, will usually increase Processor quantity or design specialized processing unit is added to carry out finished item target, low there are system flexibility, configurable condition is poor, if Phenomena such as meter R&D cycle length, extensive interface ability is weak.It is short no longer to have adapted to the current autonomous underwater robot R&D cycle, The features such as configurability is strong.
The content of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of hardware configurable controller for autonomous submersible and fills Put.Use with full programmable system on chip(all programing SOC)Device increases processor for the control system of core Resource, improves system configurability, can be carried out nucleus module to extensive interface module according to the distinct device of AUV carries Dynamic configuration resource impact, passes through hardware description flexible control device.
The used to achieve the above object technical solution of the present invention is:
A kind of hardware configurable controller device for autonomous submersible, processing unit can be expanded by system bus connection Interface module is opened up, is configured according to the switching of the Different Dynamic interface of extensive interface module.
The processing unit includes SOC processors, DDR3, FLASH and SD card module;
DDR3 connection SOC processors, the memory as SOC processors;
FLASH connection SOC processors, for storing the data of SOC processors transmission;
SD card module connects SOC processors, and memory space is provided for SOC processors.
The dynamic socket includes CAN bus, UART, I2C, SPI, LAN, LVDS, USB, VGA, HDMI and FMC connect Mouthful.
Every kind of dynamic socket type includes several interfaces.
The invention has the advantages that and advantage:
1. the present invention can realize the flexible configuration to carrier detecting devices, the R&D cycle is reduced, improves carry equipment Diversity, control system compatibility improve;
2. nucleus module updating operation of the present invention is simple;
3. configuration of the present invention to all devices communication protocol improves antijamming capability, power consumption all inside nucleus module Reduce.
Brief description of the drawings
Fig. 1 is the hardware structure diagram of the present invention.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and embodiments.
It is as shown in Figure 1 the hardware structure diagram of the present invention.
It is made of nucleus module and interface module, both are connected by contact pin.Nucleus module realizes the resource of system-on-chip It is configurable, to meet the different detecting devices of AUV carries.Configurable interface module reserves rich and varied communication interface plug-in unit, Support the interface protocol diversity of carry equipment.
The nucleus module coordinates DDR by built-in AP SOC devices, FLASH and the composition insertion of control system bus Formula processing module, and control system bus can configure.The extensive interface module is by differences such as UART, LAN, I2C, USB The multiple stand-alone interfaces and control system bus of communication protocol are formed to meet the needs of AUV carry device diversities.
, be according to AUV carriers institute carry detecting devices interface for the hardware configurable controller device of autonomous submersible Practical situations, can be by hardware description language and software program by the resource dynamic of nucleus module in controller system It is mapped on the related reserved equipment interface of extensive interface module, realizes in the case where not redesigning hardware circuit, meet The multifarious requirement of autonomous submersible carry device category.
The nucleus module of control system can realize the seamless upgrade of low cost, and configurable expansion connection module part is not required to Want any modification;Can be to the memory source of nucleus module, calculation resources, storage resource does individually specific upgrading, without influencing The realization of other functions.Internal resource enriches, and computing capability is powerful, and interface configuration categories are various;Patrolled using abundant hardware Collect resource and realize macrooperation quantity algorithm with DSP resources, reduce the dependence to processor host frequency speed, it is ensured that the reality of controller system When property responds.
Control system configurable resource enriches, and can set multiple CAN, UART, I at the same time on expansion connection module2C、 The physical interfaces such as SPI, LAN, LVDS, USB, VGA, HDMI, FMC, the detecting devices for possessing different communication protocol is mounted to pair Interface is answered, according to the quantity and interface index of detecting devices carry, is realized again with hardware logic resource and software program Description to particular extension interface protocol, completes the dynamic configuration to variety classes interface.
All configurable interface agreements are connected by contact pin with nucleus module, then pass through high-speed bus and chip internal core Heart processor is connected, and has extremely strong antijamming capability, is conducive to system safe and stable operation.
Nucleus module may be programmed SOC devices entirely using xilinx companies, with reference to 512M capacity DDR3 memories, 32M capacity QSPI-FLASH chips are used to preserve the program write.DC DC modules provide the related DC power supply such as SOC, DDR, FLASH.For The quantity of carry detecting devices is improved, can replace upgrading DDR3, FLASH and SOC chip as needed.
LINUX operating systems are run in SOC processors, can also be run within a processor at the same time as needed real-time Operating system FreeRtos.
DDR3 chips provide 512M system operations memory to ensure LINUX operating systems and FreeRtos operations system for system System safely and effectively operation, can expand DDR3 according to the actual needs of operation program size, be that running memory reaches 1G.
The QSPI-FLASH chips of 32M capacity.Compiling file can be stored in herein, realized when running bare machine program Effect is not lost in power down.Separately can stocking system operation relevant parameter.It can be upgraded to 256M capacity according to being actually needed Chip, and both package pins define it is identical.
SD card module, when SOC processors run LINUX or FreeRtos systems, QSPI-FLASH off-capacities are to carry Come storage system code and dependent compilation file for suitable space, therefore be deposited into ensures core into the SD card that capacity is 4G When module powers on, system file can correctly be loaded into DDR and go to run.
Extensive interface module provides abundant interface resource, can be configured as GPIO or has specific function I/O interface.Acquiescence can be configured to 2 CAN interfaces, 2 UART interfaces, two SD interfaces, 2 I2C interfaces, 2 gigabits with Too network interface, 2 USB interfaces etc..And multiple UART interfaces are configured to by programmable logic.These interfaces can be according to outside Equipment interface connection carries out implementation dynamic configuration, on the premise of nucleus module hardware circuit is not changed, is compiled by software Journey is compatible to improve the engineering of system flexibility.And according to the diversity of external equipment demand, dynamic configuration is specific with writing IP kernel meets the peripheral hardware of different communications protocol.
According to the definition of the interface of different peripheral and communications protocol, the SOC processor chips of nucleus module are to extensive interface Module is configured accordingly.Specific works are that designer is in programming according to the external apparatus interface actual position connected Specific resources in core processing module are dynamically assigned to corresponding external equipment, and are provided as needed using SOC chip Source carries out specific external equipment IP kernel and writes compiling to reach the function of interactive information.Realizing dynamic configuration interactive interface After function, the file after the compiling of current AUV carries appointed condition of generation is cured to SD card.If AUV carries are visited After the quantity or species of survey device are varied from, designer will recompilate hardware description language according to new equipment interface situation Or software program, carry out method of the definition of dynamic configuration relevant interface without changing hardware device, it is ensured that autonomous underwater robot Safety and stability is reliably run.

Claims (4)

  1. A kind of 1. hardware configurable controller device for autonomous submersible, it is characterised in that:Processing unit is total by system Line connects extensive interface module, is configured according to the switching of the Different Dynamic interface of extensive interface module.
  2. 2. the hardware configurable controller device according to claim 1 for autonomous submersible, it is characterised in that:It is described Processing unit includes SOC processors, DDR3, FLASH and SD card module;
    DDR3 connection SOC processors, the memory as SOC processors;
    FLASH connection SOC processors, for storing the data of SOC processors transmission;
    SD card module connects SOC processors, and memory space is provided for SOC processors.
  3. 3. the hardware configurable controller device according to claim 1 for autonomous submersible, it is characterised in that:It is described Dynamic socket includes CAN bus, UART, I2C, SPI, LAN, LVDS, USB, VGA, HDMI and FMC interface.
  4. 4. the hardware configurable controller device for autonomous submersible according to claim 1 or 3, it is characterised in that: Every kind of dynamic socket type includes several interfaces.
CN201610928945.9A 2016-10-31 2016-10-31 A kind of hardware configurable controller device for autonomous submersible Pending CN108021529A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610928945.9A CN108021529A (en) 2016-10-31 2016-10-31 A kind of hardware configurable controller device for autonomous submersible

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610928945.9A CN108021529A (en) 2016-10-31 2016-10-31 A kind of hardware configurable controller device for autonomous submersible

Publications (1)

Publication Number Publication Date
CN108021529A true CN108021529A (en) 2018-05-11

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CN201610928945.9A Pending CN108021529A (en) 2016-10-31 2016-10-31 A kind of hardware configurable controller device for autonomous submersible

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CN (1) CN108021529A (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101138843A (en) * 2007-05-16 2008-03-12 北京大学 Intelligent independent robot core controller
CN103823471A (en) * 2014-03-13 2014-05-28 北京理工大学 Vector-propelled small four-axis underwater robot control system
CN104991613A (en) * 2015-06-05 2015-10-21 无锡虎甲虫计算技术有限公司 Robot operation circuit board
CN105335327A (en) * 2015-10-13 2016-02-17 电子科技大学 Reconfigurable/dual redundancy VPX3U signal processing carrier board based on Soc
CN105700412A (en) * 2014-11-26 2016-06-22 中国科学院沈阳自动化研究所 Supervision on-duty control system and supervision on-duty control method for time-sharing operation of underwater robot/submersible

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101138843A (en) * 2007-05-16 2008-03-12 北京大学 Intelligent independent robot core controller
CN103823471A (en) * 2014-03-13 2014-05-28 北京理工大学 Vector-propelled small four-axis underwater robot control system
CN105700412A (en) * 2014-11-26 2016-06-22 中国科学院沈阳自动化研究所 Supervision on-duty control system and supervision on-duty control method for time-sharing operation of underwater robot/submersible
CN104991613A (en) * 2015-06-05 2015-10-21 无锡虎甲虫计算技术有限公司 Robot operation circuit board
CN105335327A (en) * 2015-10-13 2016-02-17 电子科技大学 Reconfigurable/dual redundancy VPX3U signal processing carrier board based on Soc

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Application publication date: 20180511