Embedded controller and control method for in-situ measurement system of acoustic characteristics of seabed sediments

Abstract

The present invention belongs to the field of embedded control technology, and relates to an embedded controller and a control method. An embedded controller suitable for an in-situ measurement system of acoustic characteristics of seabed sediments, comprising an embedded core board and a data acquisition control board; the embedded core board is used for communication control, data storage and analysis; the data acquisition control board is used to control sensor data acquisition and the opening and closing of peripheral switches. The embedded controller of the present invention uses a dual-control method of a CPU processor and a single-chip microcomputer to divide the core functions of the embedded controller, which not only utilizes the advantages of the powerful multi-task concurrent processing function of the embedded core board with an integrated high-speed processor and a transplanted Linux system, but also utilizes the advantages of the data acquisition control board with an integrated single-chip microcomputer with excellent real-time single control task performance, fast response time for data acquisition and signal judgment, and timely execution of control functions, so that the embedded controller solves the shortcomings and defects of the existing technology such as the unstable operation, high power consumption, long response time for control function execution, and inability to perform application function expansion such as visual control of the traditional in-situ measurement control system of acoustic characteristics of seabed sediments.

Description

Technical Field

[0001] The invention belongs to the technical field of embedded control and relates to an embedded controller and a control method. Background Art

[0002] Marine sediment acoustics is an interdisciplinary subject of oceanography, sedimentology, geophysics, marine engineering geology, and hydroacoustics. Its related research still maintains the status of cutting-edge science in the field of oceanography. The main contents of the study of the acoustic characteristics of seabed sediments include establishing a seabed geoacoustic model of a typical sea area, the theory of seabed sound wave propagation, the correlation between acoustic properties and physical properties, the distribution law of acoustic parameters such as sound velocity and sound attenuation coefficient, and the prediction equation of acoustic parameters. These studies must be based on a large amount of accurate measurement data. Seabed sampling measurement and in-situ measurement are the two main ways to obtain sediment acoustic parameters.

[0003] The typical equipment for seabed sampling and measurement is the acoustic spear, which has no electronic control system of its own. Instead, it uses the free fall of the equipment itself to quickly insert the acoustic transducer fixed on the gravity sampler into the sediment. This measurement method not only causes great disturbance to the sediment, but also when the seabed substrate is hard, it is difficult to insert the gravity sampling tube into the seabed sediment, resulting in measurement failure.

[0004] The electronic control systems of existing seabed acoustic in-situ measurement equipment are mostly designed with embedded computer motherboards based on PC104. The PC104 motherboard has rich hardware resources and can install operating systems such as Windows 7. It has powerful functions, but its disadvantages are high system power consumption and easy downtime. It is not suitable for the low power consumption and high reliability requirements of in-situ measurement of acoustic characteristics of seabed sediments. Although the seabed acoustic in-situ measurement equipment controlled only by a single-chip microcomputer has low power consumption and high reliability, it is not conducive to the expansion of complex functions such as system visualization control. Summary of the invention

[0005] In order to solve the problems existing in the control systems and methods of existing seabed acoustic in-situ measurement equipment, the present invention provides an embedded controller, which adopts a split modular design scheme of an embedded core board and a single-chip data acquisition control board. The embedded controller can integrate a variety of sensors and peripherals required for in-situ measurement of the acoustic characteristics of seabed sediments, and makes the control system miniaturized, low in power consumption, and easy to maintain, thereby improving the stability and reliability of the system operation.

[0006] The technical solution adopted by the present invention to solve its technical problem is: an embedded controller suitable for an in-situ measurement system of acoustic characteristics of seabed sediments, comprising an embedded core board and a data acquisition control board; the embedded core board is used for communication control, data storage and analysis; the data acquisition control board is used for controlling sensor data acquisition and the opening and closing of peripheral switches.

[0007] As a preferred embodiment of the present invention, the embedded core board integrates a CPU processor and a three-way serial communication circuit; the first serial communication circuit of the embedded core board is connected to the serial communication circuit of the data acquisition control board to realize data communication between the two control boards; the second serial communication circuit is connected to the acoustic communication system to realize the switch control of the acoustic communication system by the embedded core board; the third serial communication circuit is connected to the altimeter to receive data measured by the altimeter.

[0008] Further preferably, the CPU processor is connected to the DDR3 RAM memory through a data parallel bus; connected to the FLASH memory through a universal storage controller interface built into the processor; connected to the power management chip through the first I2C interface of the processor; and connected to the RTC clock through the second I2C interface of the processor.

[0009] Further preferably, the Ethernet interface circuit built into the CPU processor is connected to the Ethernet controller, and further connected to the RJ45 interface; the RJ45 interface is connected to the optical fiber transceiver control board via an Ethernet cable.

[0010] Further preferably, the TF card drive interface circuit built into the CPU processor is connected to a TF storage card.

[0011] As a preferred embodiment of the present invention, the data acquisition control board integrates a single-chip microcomputer and a serial communication circuit; the first SPI interface of the data acquisition control board is connected to a level conversion chip, and then connected to an analog-to-digital converter; the analog-to-digital converter is connected to multiple analog channels, and each analog channel acquires data from a pressure sensor, a displacement sensor, an inclination sensor, and a voltage sensor connected to the system; the analog-to-digital converter is also connected to a reference voltage chip to provide a high-precision reference level for analog-to-digital conversion; the second SPI interface of the data acquisition control board is connected to an RTC clock chip to provide real-time clock data for the single-chip microcomputer data acquisition control board.

[0012] Further preferably, the GPIO interface of the data acquisition control board is connected to a high-speed optocoupler, and then the input signals of the bottoming and water entry sensors are collected through the input signal detection interface circuit; the GPIO interface of the data acquisition control board is also connected to an optocoupler, and then the DC motor, two solid-state relays, deep-sea LED lights and the switch of the video system are controlled through the output signal control interface circuit; the two solid-state relays are respectively connected to the downward control solenoid valve and the upward control solenoid valve.

[0013] In addition, the present invention also provides a control method for an in-situ measurement system of seabed sediment acoustic characteristics, which makes the embedded controller better suitable for application scenarios of in-situ measurement of seabed sediment acoustic characteristics.

[0014] The control method of the in-situ measurement system of the acoustic characteristics of seabed sediments provided by the present invention comprises:

[0015] After the system is powered on, the embedded core board and the data acquisition control board respectively initialize parameters and synchronize the data acquisition and communication of the two control boards;

[0016] The embedded core board configures and opens the serial port 1 communication control file, creates thread 1 to establish the serial port 1 sending function and thread 2 the serial port 1 receiving function; the control program of the data acquisition control board receives the control instruction transmitted by the serial port 1 sending function in the control program of the embedded core board, analyzes it according to the agreed communication protocol coding, and then executes the control instruction;

[0017] The embedded core board configures and opens the serial port 2 communication control file, creates thread 3 to establish the serial port 2 sending function and thread 4 to establish the serial port 2 receiving function; the embedded core board transmits the start and end work control instructions of the acoustic communication system through the serial port 2 sending function; the embedded core board queries the instruction feedback given by the acoustic communication system through the serial port 2 receiving function to determine whether the control instruction sent to the acoustic communication system has been received;

[0018] The embedded core board configures and opens the serial port 3 communication control file, creates thread 5 to establish the serial port 3 receiving function, and queries and stores the received altimeter data every 1 second;

[0019] The embedded core board establishes the first UDP Socket socket, and sends the received data packet from the data acquisition control board to the shore station via the submarine optical cable through the optical fiber transceiver control board; then establishes the second UDP Socket socket, and receives the setting parameters and control instructions sent by the shore station to the embedded core board through the submarine optical cable and the optical fiber transceiver control board;

[0020] The data acquisition control board periodically reads the sensor data collected by each analog channel of multiple groups of analog-to-digital converters TLC2543, performs software filtering and mean calculation; and reads the system clock, delay time working mode, and trigger mode of the data acquisition control board, and then merges a complete frame of data packets; then, the data packets are sent regularly at intervals of 1 second, and the data is analyzed and verified by the receiving function of the serial port 1 of thread 2 in the control program of the embedded core board, and then stored.

[0021] It should be noted that the single-chip data acquisition control board loops through the seabed sediment acoustic field measurement control process according to the setting parameters sent by the embedded core board. The control program of the embedded core board is a multi-threaded program that performs various communication and control tasks in real time.

[0022] The beneficial effects of the present invention are:

[0023] The embedded controller and control method provided by the present invention are a control technology suitable for an in-situ measurement system of acoustic characteristics of seabed sediments.

[0024] The embedded controller uses the dual control method of CPU processor and single-chip microcomputer to divide the core functions of the embedded controller. It not only takes advantage of the powerful multi-task concurrent processing function of the embedded core board with integrated high-speed processor and transplanted Linux system, but also takes advantage of the excellent real-time single control task performance of the data acquisition control board with integrated single-chip microcomputer, fast response time for data acquisition and signal judgment, and timely execution of control functions. This enables the embedded controller to solve the shortcomings and defects of the existing technology such as the unstable operation, high power consumption, long response time for control function execution, and inability to expand application functions such as visual control of traditional in-situ measurement control system of seabed sediment acoustic characteristics. The embedded controller enables the in-situ measurement system of seabed sediment acoustic characteristics to have the ability of long-term online and self-contained measurement, and can perform high-definition video visualization on-site measurement control, which is of great significance to improving the technical level of in-situ measurement system equipment of seabed sediment acoustic characteristics in my country. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 Schematic diagram of the overall structure of an embedded controller of an in-situ measurement system for acoustic characteristics of seabed sediments in an embodiment of the present invention;

[0026] Figure 2 This is the schematic diagram of the core circuit connection of the single-chip microcomputer of the data acquisition control board;

[0027] Figure 3 This is the schematic diagram of the USART serial communication circuit of the data acquisition control board;

[0028] Figure 4 This is the circuit schematic diagram of the level conversion chip of the data acquisition control board;

[0029] Figure 5 This is the schematic diagram of the analog-to-digital converter circuit of the data acquisition control board;

[0030] Figure 6 This is the circuit schematic diagram of the reference voltage chip of the data acquisition control board;

[0031] Figure 7 The schematic diagram of the high-speed optocoupler circuit for input signal detection of the data acquisition control board;

[0032] Figure 8 The figure is a flow chart of a control method of an in-situ measurement system for acoustic characteristics of seabed sediments according to an embodiment of the present invention. DETAILED DESCRIPTION

[0033] In order to facilitate the understanding of the present invention, the present invention is described in more detail below in conjunction with the accompanying drawings and specific embodiments. Preferred embodiments of the present invention are provided in the accompanying drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described in this specification. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0034] Embodiment 1 This embodiment provides an embedded controller suitable for an in-situ measurement system of acoustic characteristics of seabed sediments. The system includes an embedded core board and a data acquisition control board, such as Figure 1 As shown, the embedded core board integrates the processor chip AM3354 with Cortex-A8 core, the 512M DDR3 RAM memory chip H5TC4G63AFR-11C, the 256M NAND FLASH memory chip H27U2G8F2CTR-BC, the power management chip TPS650250, the Ethernet controller chip LAN8720Ai, the two-way RS232 serial communication circuit chip MAX3232ESE, the one-way RS485 serial communication circuit chip MAX13487, the TF card driver interface circuit device SDCARD-KMSD18 and the RTC clock chip DS1337.

[0035] The processor chip AM3354 of the embedded core board is connected to the DDR3 RAM memory H5TC4G63AFR-11C through a data parallel bus, connected to the FLASH memory H27U2G8F2CTR-BC through the processor's built-in general memory controller (GPMC) interface, connected to the power management chip TPS650250 through the processor's first I2C interface, and connected to the RTC clock DS1337 through the processor's second I2C interface.

[0036] The Ethernet interface circuit built into the processor chip AM3354 of the embedded core board is connected to the Ethernet controller LAN8720Ai, and then connected to the RJ45 interface; the RJ45 interface is connected to the optical fiber transceiver control board through an Ethernet cable. The TF card driver interface circuit device SDCARD-KMSD18 built into the processor chip AM3354 of the embedded core board is connected to the 32G TF storage card.

[0037] The first RS232 serial communication circuit MAX3232ESE of the embedded core board is connected to the serial communication circuit of the single-chip data acquisition control board to realize data communication between the two control boards; the second RS232 serial communication circuit MAX3232ESE is connected to the acoustic communication system to realize the switch control of the acoustic communication system by the embedded core board; the third RS485 serial communication circuit is connected to the altimeter to receive the data measured by the altimeter.

[0038] like Figure 1 As shown, the data acquisition control board integrates a single-chip microcomputer PIC18F4520, a serial communication circuit chip SP3232EEY, a level converter chip SN74ALVC164245, an analog-to-digital converter chip TLC2543, a reference voltage chip REF192, an input signal detection interface high-speed optocoupler circuit chip TPL521-4, an output signal control interface optocoupler circuit chip TIL113, and an RTC clock chip DS1302.

[0039] like Figure 2 As shown in the figure, the connection method of the single-chip microcomputer PIC18F4520 integrated in the data acquisition control board is as follows: the oscillator circuit of the single-chip microcomputer is formed by using a 4MHz crystal oscillator Y1 and 15pF capacitors CM1 and CM2, which are connected to the 30 and 31 pins of the single-chip microcomputer PIC18F4520; the reset circuit of the single-chip microcomputer is formed by using a 1K resistor RM1, a 5.1K resistor RM2, a 20pF capacitor CM3, and a diode DM1, which are connected to the 18 pin of the single-chip microcomputer PIC18F4520; the programming interface of the single-chip microcomputer is formed by using a diode DM2 and a 6-pin connector JM1, which are connected to the 16, 17, and 18 pins of the PIC18F4520; the single-chip microcomputer Pins 1 and 44 of PIC18F4520 are connected to the serial communication circuit SP3232EEY; pins 2, 3, 4, 5, 38, 39, 40, and 41 of the single-chip microcomputer PIC18F4520 are connected to the 8-way input signal detection interface high-speed optocoupler circuit chip TPL521-4; pins 9, 10, 11, 14, 25, 26, 27, and 35 of the single-chip microcomputer PIC18F4520 are connected to the 8-way output signal control interface optocoupler circuit chip TIL113, and then the DC motor, two solid-state relays, deep-sea LED lights, and the switch of the video system are controlled through 5 of the output signal control interface circuits. The two solid-state relays are connected to the lower plug control solenoid valve and the upper pull control solenoid valve respectively.

[0040] In addition, pins 19, 20, and 21 of the microcontroller PIC18F4520 are connected to the RTC clock chip DS1302; pins 32, 36, 37, 42, and 43 of the microcontroller PIC18F4520 are connected to the level converter chip SN74ALVC164245; pins 7 and 28 of the microcontroller PIC18F4520 are connected to the power supply 3.3VDC, and are respectively connected to 0.1μF filter capacitors CM0 and CM6 to the power ground; pins 6 and 29 of the microcontroller PIC18F4520 are connected to the power ground; pin 23 of the microcontroller PIC18F4520 is connected to a 10K pull-up resistor RM3 to 3.3VDC.

[0041] like Figure 3As shown, the RS232 serial communication circuit SP3232EEY of the data acquisition control board is connected to the first RS232 serial communication circuit MAX3232ESE of the embedded core board. The 16th pin of SP3232EEY is connected to a 10μF / 16V high-frequency filter capacitor CU1 and a 0.1μF low-frequency filter capacitor CU6 to the power ground; the 1st and 3rd pins of SP3232EEY are connected to a 0.1μF low-frequency filter capacitor CU3; the 4th and 5th pins of SP3232EEY are connected to a 0.1μF low-frequency filter capacitor CU4; the 2nd pin of SP3232EEY is connected to a 0.1μF low-frequency filter capacitor CU2 to the power ground; Pin 6 of SP3232EEY is connected to a 0.1μF low-frequency filter capacitor CU5 to the power ground; pins 11 and 12 of SP3232EEY are connected to pins 1 and 44 of PIC18F4520; pins 13 and 14 of SP3232EEY are connected to the first RS232 serial port communication circuit MAX3232ESE of the embedded core board through the connector of the microcontroller data acquisition control board; pin 15 of SP3232EEY is connected to the power ground.

[0042] like Figure 4 As shown, the first SPI interface of the data acquisition control board is connected to the level conversion chip SN74ALVC164245. Pins 1, 4, 10, 15, 21, 25, 28, 34, 39, and 45 of the SN74ALVC164245 are connected to the power ground; pins 7 and 18 of the SN74ALVC164245 are connected to 5VDC, and pin 7 is connected to a 0.1μF filter capacitor C4 to the power ground; pins 31 and 42 of the SN74ALVC164245 are connected to 3.3VDC, and pin 31 is connected to a 0.1μF filter capacitor C5 to the power ground; pins 33, 35, 36, 46, and 47 of the SN74ALVC164245 are connected to the PIC18F4520; pins 2, 3, 13, 14, and 16 of the SN74ALVC164245 are connected to the analog-to-digital converter TLC2543.

[0043] like Figure 5 As shown, the 20th pin of the analog-to-digital converter TLC2543 is connected to a 5V analog power supply, and a 10μF / 16V high-frequency filter capacitor CA2 and a 0.1μF low-frequency filter capacitor CA1 are connected to the analog power ground; the 1~9, 11, and 12th pins of the TLC2543 are 11 analog channels, and each channel is connected to a 0.1μF filter capacitor and a 120Ω pull-down precision resistor to the analog power ground. Figure 5 Only the first analog channel connecting the filter capacitor CA3 and the precision resistor RA2 is schematically drawn.

[0044] It should be noted that in this embodiment, the first analog channel collects the 4-20mA signal output by the pressure sensor of the in-situ measurement system of the acoustic characteristics of seabed sediments; the second analog channel collects the 4-20mA signal output by the displacement sensor of the system; the third analog channel collects the X-axis 4-20mA signal output by the inclination sensor of the system; the fourth analog channel collects the Y-axis 4-20mA signal output by the inclination sensor of the system; the fifth analog channel collects the 4-20mA signal output by the power battery voltage sensor of the system; and the sixth analog channel collects the 4-20mA signal output by the battery voltage sensor of the system.

[0045] In addition, pin 14 of TLC2543 is connected to pin 6 of the 2.5VDC reference voltage output of the reference voltage chip REF192; pins 10 and 13 of TLC2543 are connected to the analog power ground; pins 15 to 19 of TLC2543 are connected to pins 2, 3, 13, 14, and 16 of SN74ALVC164245.

[0046] like Figure 6 As shown, the analog-to-digital converter TLC2543 is also connected to the reference voltage chip REF192 to provide a high-precision reference level for analog-to-digital conversion; pin 2 of REF192 is connected to 12VDC, and a 10μF / 16V high-frequency filter capacitor CR7 and a 0.1μF low-frequency filter capacitor CR6 are connected to the 12VDC power ground; pin 4 of REF192 is connected to the 12VDC power ground; pin 6 of REF192 is connected to pin 14 of TLC2543 to output a 2.5VDC reference voltage, and pin 14 is connected to a 1μF / 25V high-frequency filter capacitor CR9 and a 0.1μF low-frequency filter capacitor CR8 to the analog power ground; in addition, a 0Ω resistor RA13 is connected between the 12VDC power ground and the analog power ground; a filter capacitor CR5 is connected between 12VDC and the 12VDC power ground; and a 0Ω resistor RA14 is connected between the power ground and the analog power ground.

[0047] like Figure 7 As shown, the input signal detection high-speed optocoupler circuit TPL521-4 has 4 built-in high-speed optocouplers, and the data acquisition control board has 2 built-in TPL521-4. Figure 7Only one path is drawn for illustration. Pin 1 of TPL521-4 is connected in series with 1K current limiting resistor RI1 to the bottom sensor input signal of the system; Pin 3 of TPL521-4 is connected in series with 1K current limiting resistor RI2 to the water sensor input signal of the system; Pins 5 and 7 of TPL521-4 are connected in series with 1K current limiting resistors RI3 and RI4 to the reserved expansion channel input signal of the system; Pins 9, 11, 13, and 15 of TPL521-4 are connected to pins 38, 39, 40, and 41 of PIC18F4520, and each path is connected to 10K pull-down resistors RI5, RI6, RI7, and RI8 to the power ground; Pins 10, 12, 14, and 16 of TPL521-4 are connected to 3.3VDC; Pins 2, 4, 6, and 8 of TPL521-4 are connected to the power ground.

[0048] Embodiment 2 This embodiment provides a unique control method used by an embedded controller of an in-situ measurement system for acoustic characteristics of seabed sediments, which makes the embedded controller better suitable for the application scenario of in-situ measurement of acoustic characteristics of seabed sediments. The control method and strategy adopts a modular design concept, and divides the embedded controller into two parts: an embedded core board and a single-chip data acquisition control board. The main functions of the embedded core board are communication control, data storage and analysis, and the main function of the data acquisition control board is to control the data acquisition of various sensors connected to the bottom layer and the opening and closing of the power supply switches of various peripherals.

[0049] The control method of this embodiment has the following process: Figure 8 As shown, the specific steps are as follows:

[0050] After the system is powered on, the embedded core board and the single-chip data acquisition control board are initialized. The processor AM3354 guides the FLASH memory H27U2G8F2CTR-BC to start the BootLoader program, the Linux system starts, and the initialization parameters are loaded; the built-in program of the single-chip PIC18F4520 initializes the parameter settings, delays and waits for 30 seconds, and waits for the embedded core board Linux system to start, so that the data acquisition and communication of the two control boards are synchronized.

[0051] Processor AM3354 is configured to open the serial port 1 communication control file, create thread 1 to establish the serial port 1 sending function and thread 2 serial port 1 receiving function; the control program of the single-chip microcomputer PIC18F4520 receives the control instructions transmitted by the serial port 1 sending function in the control program of the processor AM3354, analyzes them according to the agreed communication protocol coding, and then executes a series of commands such as DC motor control, solenoid valve control, solenoid valve control, LED light control, video system control, requesting the single-chip microcomputer PIC18F4520 to send a complete data packet, system emergency stop, setting and writing the system parameters of the single-chip microcomputer PIC18F4520, reading the system parameters of the single-chip microcomputer PIC18F4520, starting the single-chip microcomputer PIC18F4520, stopping the single-chip microcomputer PIC18F4520, downloading data, setting the probe rod displacement value to insert, and setting the probe rod displacement value to lift.

[0052] Processor AM3354 is configured to open the communication control file of serial port 2, create thread 3 to establish the serial port 2 sending function and thread 4 to establish the serial port 2 receiving function; processor AM3354 transmits the start and end work control instructions of the acoustic communication system through the serial port 2 sending function; processor AM3354 queries the instruction feedback given by the acoustic communication system through the serial port 2 receiving function to determine whether the control instruction sent to the acoustic communication system has been received. Processor AM3354 is configured to open the communication control file of serial port 3, create thread 5 to establish the serial port 3 receiving function, and query and store the received altimeter data every 1 second.

[0053] The processor AM3354 establishes the first UDP Socket, and sends the received data packet of the microcontroller PIC18F4520 to the shore station via the optical fiber transceiver control board and then the submarine optical cable; then it establishes the second UDP Socket, and receives the setting parameters and control instructions sent by the shore station to the processor AM3354 through the submarine optical cable and the optical fiber transceiver control board.

[0054] The single-chip microcomputer PIC18F4520 regularly reads the system pressure, probe displacement, tilt angle, battery voltage and other data collected by each analog channel of multiple groups of analog-to-digital converters TLC2543, and performs software filtering and mean calculation. It also reads the system clock, delay time working mode, trigger mode and other parameters of the single-chip data acquisition control board, and then merges a complete frame of data packets. Then, the data packet is regularly sent every 1 second, and the data is analyzed and verified by the thread 2 serial port 1 receiving function in the control program of the embedded core board, and stored in the FLASH storage chip H27U2G8F2CTR-BC of the embedded core board and the external 32G TF storage card for double backup of data.

[0055] It should be noted that the data acquisition control board cyclically performs the seabed sediment acoustic field measurement control process according to the setting parameters sent by the embedded core board. The control program of the embedded core board is a multi-threaded program that performs various communication and control tasks in real time.

[0056] The embedded controller and control method provided by the present invention are not limited to the control of the in-situ measurement system of the acoustic characteristics of seabed sediments, but can also be widely used in general marine sediment acoustic monitoring and investigation and research work, providing a real-time and stable basic control platform for related research work.

Claims

1. An embedded controller suitable for an in-situ measurement system of acoustic characteristics of seabed sediments, characterized in that: include: Embedded core board and data acquisition control board; the embedded core board is used for communication control, data storage and analysis; the data acquisition control board is used to control sensor data acquisition and the opening and closing of peripheral switches; the embedded core board integrates a CPU processor and a three-way serial communication circuit; the first serial communication circuit of the embedded core board is connected to the serial communication circuit of the data acquisition control board to realize data communication between the two control boards; The second serial communication circuit is connected to the acoustic communication system to realize the switch control of the acoustic communication system by the embedded core board; the third serial communication circuit is connected to the altimeter to receive the data measured by the altimeter; the Ethernet interface circuit built into the CPU processor is connected to the Ethernet controller, and then connected to the RJ45 interface; the RJ45 interface is connected to the optical fiber transceiver control board through an Ethernet cable; the data acquisition control board integrates a single-chip microcomputer and a serial communication circuit; the first SPI interface of the data acquisition control board is connected to the level conversion chip, and then connected to the analog-to-digital converter; The analog-to-digital converter is connected to multiple analog channels, and each analog channel collects data from various sensors connected to the system; the analog-to-digital converter is also connected to a reference voltage chip, and the reference voltage chip provides a high-precision reference level for analog-to-digital conversion; The second SPI interface of the data acquisition control board is connected to the RTC clock chip; the GPIO interface integrated in the data acquisition control board is connected to the high-speed optocoupler, and then the input signals of the bottoming and water entry sensors are collected through the input signal detection interface circuit; the GPIO interface of the data acquisition control board is also connected to the optocoupler, and then the DC motor, two solid-state relays, deep-sea LED lights and video system switches are controlled through the output signal control interface circuit; the two solid-state relays are respectively connected to the down-insertion control solenoid valve and the up-lift control solenoid valve.

2. The embedded controller suitable for the in-situ measurement system of seabed sediment acoustic characteristics according to claim 1, characterized in that: The CPU processor is connected to the DDR3 RAM memory via a data parallel bus; and is connected to the FLASH memory via a universal memory controller interface built into the processor.

3. The embedded controller suitable for the in-situ measurement system of seabed sediment acoustic characteristics according to claim 1, characterized in that: The CPU processor is connected to the power management chip via a first I2C interface of the processor; and is connected to the RTC clock via a second I2C interface of the processor.

4. The embedded controller suitable for the in-situ measurement system of seabed sediment acoustic characteristics according to claim 1, characterized in that: The TF card drive interface circuit built into the CPU processor is connected to the TF storage card.

5. A control method for an in-situ measurement system of acoustic characteristics of seabed sediments, using the embedded controller according to claim 1, characterized in that: include: After the system is powered on, the embedded core board and the data acquisition control board respectively initialize parameters and synchronize the data acquisition and communication of the two control boards; The embedded core board configures and opens the serial port 1 communication control file, creates thread 1 to establish the serial port 1 sending function and thread 2 the serial port 1 receiving function; the control program of the data acquisition control board receives the control instruction transmitted by the serial port 1 sending function in the control program of the embedded core board, analyzes it according to the agreed communication protocol coding, and then executes the control instruction; The embedded core board configures and opens the serial port 2 communication control file, creates thread 3 to establish the serial port 2 sending function and thread 4 to establish the serial port 2 receiving function; The embedded core board transmits the start and end work control instructions of the acoustic communication system through the serial port 2 sending function; the embedded core board queries the instruction feedback given by the acoustic communication system through the serial port 2 receiving function to determine whether the control instructions sent to the acoustic communication system are received; The embedded core board configures and opens the serial port 3 communication control file, creates thread 5 to establish the serial port 3 receiving function, and queries and stores the received altimeter data every 1 second; The embedded core board establishes the first UDP Socket socket, and sends the received data packet from the data acquisition control board to the shore station via the submarine optical cable through the optical fiber transceiver control board; then establishes the second UDP Socket socket, and receives the setting parameters and control instructions sent by the shore station to the embedded core board through the submarine optical cable and the optical fiber transceiver control board; The data acquisition control board periodically reads the sensor data collected by each analog channel of multiple groups of analog-to-digital converters TLC2543, performs software filtering and mean calculation; and reads the system clock, delay time working mode, and trigger mode of the data acquisition control board, and then merges a complete frame of data packets; then, the data packets are sent regularly at intervals of 1 second, and the data is analyzed and verified by the receiving function of thread 2 serial port 1 in the control program of the embedded core board, and stored.

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