Hardware-configurable controller device applied to autonomous submersible

Abstract

The invention relates to a hardware-configurable controller device applied to an autonomous submersible. According to the device, a processing unit is connected with an extensible interface module through a system bus, and configuration is performed according to switching of different state interfaces of the extensible interface module. Through the device, the operability of core module upgrade and the extensibility of peripheral devices are improved, different operation programs are written inside a core processor to drive different peripheral devices, communication processing on different devices is realized on the premise of not changing hardware design of a core module, the requirement of improving the flexibility of the core module is achieved, the research and development cycle is shortened, and meanwhile a device of the core module can be changed according to the actual demand to realize upgrade of the whole core module.

Description

technical field [0001] The invention relates to the field of underwater robot control, in particular to a hardware configurable controller device for an autonomous submersible. Background technique [0002] With the increasing frequency and urgency of people's exploration of the ocean, underwater robots have been widely used as an important tool. In view of the development trend of national marine exploration content and diversification of goals, especially the variety and quantity of detection equipment mounted on AUV (Autonomous Underwater Vehicle). Complex and diverse communication protocols and processing methods emerge in an endless stream, which inevitably puts forward new requirements for the flexibility and scalability of the configuration of the control processing system, as well as the maintenance and upgrading of the system. Not only must it be able to ensure that there are surplus processing resources in the case of carrying rich peripherals, but also it is requ...

AI Technical Summary

Problems solved by technology

Due to the low compatibility of the existing microprocessor unit with different peripherals, the difficulty of flexible configuration, and the limited system processing resources, it is usually necessary to increase the number of processors or design a dedicated processing unit to complete the project goals, and there is system flexibility. Low performance, poor configurable conditions, long design and development cycle, weak expandable interface capabilities, etc.

It is no longer suitable for the current autonomous underwater robot's short development cycle and strong configurability.

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