A miniaturized highly integrated master control board for near-shore shallow water scenarios

Abstract

The application discloses a miniaturized highly-integrated master control board for a near-shore shallow water scene, comprising: a core control module, serving as a master control operation and scheduling core, for overall management of all peripheral interface, data communication, local storage and logic control functions; a dual-path optical communication module, serving as the only shore-based communication entrance, for undertaking the main channel function of clock synchronization, and the time reference after synchronization is distributed to all in-board modules; a multi-path gigabit electrical port communication module, for realizing plug-and-play cooperation with underwater cameras and other Ethernet devices, and realizing 1588V2 precision clock synchronization through ring network redundancy; a multi-path serial port communication module, for realizing serial port communication requirements with underwater various sensors and actuators; a CAN communication and power distribution control module, for realizing collaborative control of the master control board, the power distribution board and the functional board. The application realizes complete realization of all functions of a traditional discrete architecture on a single board, and meets the design requirements of miniaturization, high reliability and nationalization.

Description

Technical Field

[0001] This invention belongs to the field of marine engineering equipment and embedded hardware design technology, specifically a miniaturized, highly integrated main control board for nearshore shallow water scenarios. Background Technology

[0002] Existing SFN (Shallow Sea Observation Network) systems generally employ a non-integrated architecture with multiple modules, including power management boards, interface boards, CAN gateways, industrial switches, and serial servers, failing to integrate shore-based communication, device access, inter-board collaboration, and data storage functions onto a single main control board. This results in low system integration, numerous link nodes, and large device size. The numerous connectors and cables between modules significantly increase system failure points, substantially reducing equipment reliability in complex underwater environments. Furthermore, the existing solutions suffer from insufficient localization of the core platform, hindering complete independent control. The fragmented functional architecture also leads to poor timing consistency in multi-source data scheduling, low storage and forwarding efficiency, and difficulty adapting to the limited installation space and long-term stable operation requirements of miniaturized sealed enclosures in near-shore shallow water scenarios. This also significantly increases the total lifecycle cost of system procurement, installation, and maintenance. These technical deficiencies directly result in the current solutions being unable to adapt to the limited installation space of miniaturized sealed enclosures in near-shore shallow water scenarios and failing to meet the requirements for high reliability and low cost in long-term operation.

[0003] Therefore, a miniaturized, highly integrated main control board for nearshore shallow water scenarios is provided. Summary of the Invention

[0004] To address the aforementioned problems in the existing technology, this invention provides a miniaturized, highly integrated main control board for nearshore shallow water scenarios. This board enables the full implementation of all functions of a traditional discrete architecture on a single board, while simultaneously meeting the design requirements of miniaturization, high reliability, and complete domestic production.

[0005] The technical solution to achieve the above objectives is: A miniaturized, highly integrated main control board for nearshore shallow water scenarios adopts a single-board integrated architecture, integrating all the functions of a traditional discrete architecture on a single board, specifically including: The core control module, as the main control computing and scheduling core, is used to manage all peripheral interfaces, data communication, local storage and logic control functions in a unified manner; The dual-channel optical communication module, as the sole shore-based communication entry point, is used to undertake the main channel function of clock synchronization, and the synchronized time base is distributed to all modules within the board; A multi-channel gigabit Ethernet communication module is used to enable plug-and-play collaboration with underwater cameras and other Ethernet devices, and to synchronize with a 1588V2 precision clock through ring network redundancy; A multi-channel serial communication module is used to meet the serial communication needs with various underwater sensors and actuators; The CAN communication and power distribution control module is used to realize the coordinated control of the main control board, power distribution board, and function board, and to collect power status, protection alarms, and telemetry data in real time and upload them to the shore base. The local storage and multi-source data scheduling module is used to implement classified local storage and priority forwarding of multi-source data; The power supply and power failure timekeeping module is used to realize dual 24VDC redundant power supply and power failure timekeeping function; The unified management module for all interfaces is used to achieve centralized and visual unified management of all onboard interfaces, and supports flexible configuration of protocol parameters, communication baud rate and working mode of each interface.

[0006] Preferably, the core control module includes: The main control unit uses the domestically produced RK3568 core board to manage all peripheral interfaces, data communication, local storage and logic control functions. The start control unit is used to support the hardware configuration of automatic start upon power-on, and the start mode selection is realized through a hardware DIP switch; The software support unit, equipped with a Linux embedded operating system, is used to develop supporting business software and to perform unified system scheduling and management. The signal transmission unit is used to directly connect to all peripheral units via the onboard high-speed bus. All data and control commands are uniformly routed, forwarded and stored by the RK3568 core board. The clock synchronization unit, as the distribution center of the system's clock reference, is used to distribute the standard time synchronized with the shore base to all communication interfaces.

[0007] Preferably, the dual-path optical communication module includes: The optical interface hardware unit integrates two SFP optical unit interfaces and uses the domestically produced Ethernet transceiver YT8521SH-CA chip to perform optical port data transmission and reception processing; among them, the SFP optical unit interface is a small pluggable optical unit interface that conforms to the SFP MSA specification. The link aggregation and synchronization unit is used to configure the link aggregation LACP protocol through the Linux system, aggregating the bandwidth of two optical ports to 2Gbps; it is compatible with 1588V2 and NTP clock synchronization protocols, completes clock alignment with the shore-based time server, and provides a unified time reference for the entire system; among them, the link aggregation LACP protocol is a link aggregation control protocol that conforms to the IEEE 802.3ad standard. The first data transmission unit is used to establish a data transmission channel, which includes: In the uplink path, underwater equipment / sensor data sequentially passes through a multi-channel gigabit Ethernet communication module, a multi-channel serial communication module, a CAN communication and power distribution control module before entering the RK3568 core board, and then is transmitted to the shore-based platform via the YT8521SH-CA Ethernet transceiver and SFP optical unit interface. In the downlink path, the shore-based control commands / configurations pass sequentially through the SFP optical unit interface and the YT8521SH-CA Ethernet transceiver before entering the RK3568 core board, and are then transmitted to the multi-channel gigabit electrical communication module, the multi-channel serial communication module, and the CAN communication and power distribution control module. The first interface coordination unit is used to realize dynamic load aggregation and automatic fault switching of two optical ports through the RK3568 core board. When a single optical port fails, the traffic is switched to the other port. It also serves as the only shore-based communication entry point of the system, undertakes the main channel function of clock synchronization for the entire system, and distributes the time base to all modules in the board.

[0008] Preferably, the multi-channel gigabit Ethernet communication module includes: The first interface driver unit is used to perform hardware driving by integrating four 1000Mbps electrical Ethernet ports, using the domestically produced Ethernet controller WX1860AL4 chip and the four-port transformer HR682430E, so that each port supports a 1000Mbps full-duplex communication rate. The first protocol configuration unit is used to implement the ring network function through the system configuration spanning tree protocol STP; and to load the PTP protocol stack to achieve 1588V2 clock synchronization; The second data transmission unit is used to establish a data transmission channel, wherein the data transmission channel is as follows: IP video / device data passes sequentially through the RJ45 network port, HR682430E network port transformer, WX1860AL4 Ethernet controller, and RGMII interface of the RK3568 core board before being stored locally on NVMe or forwarded to the SFP optical unit interface. Among them, the RGMII interface is a simplified gigabit media independent interface used to realize high-speed data transmission between the RK3568 core board and the WX1860AL4 Ethernet controller; the local NVMe is a solid-state drive with a high-speed non-volatile memory interface in the local storage and multi-source data scheduling module, used for local data storage. The second interface collaboration unit is used to share the same network protocol stack and clock reference with the two SFP optical unit interfaces. The working mode is centrally configured by the full interface unified management system to achieve collaboration with underwater cameras and other Ethernet devices.

[0009] Preferably, the multi-channel serial communication module includes: The second interface driver unit is used to integrate 4 serial port interfaces, which are compatible with RS232 / RS485 communication protocols. It uses 4 domestic SP485EIM / TR chips to perform serial port level conversion and communication drive. Serial port data is received and processed through the native UART interface of the RK3568 core board. The second protocol configuration unit is used to implement the serial port RTU function and to implement the hardware-level timestamp marking function for serial port data. The third data transmission unit is used to establish a data transmission channel, which is as follows: Sensor / actuator data passes sequentially through the serial port terminal, the SP485EIM / TR level conversion chip, and the native UART interface of the RK3568 core board. It is then sent to the RK3568 core board via the UART bus, where a hardware-level timestamp is added at the driver layer before being submitted to the local storage and multi-source data scheduling module. The third interface coordination unit is used to enable serial port data to share the system's global time base with CAN and IP video data. It achieves timing alignment through local storage and a multi-source data scheduling module, and supports cross-protocol data forwarding with the CAN bus unit, enabling the fusion and uploading of sensor data and power distribution status data.

[0010] Preferably, the CAN communication and power distribution control module includes: The third interface driver unit is used to integrate two CAN communication interfaces, adopts a domestically produced ISO1050 / XL1040 isolated transceiver, and supports the CAN2.0B protocol and a communication baud rate of up to 1000kbps. The third protocol configuration unit is used to coordinate with other functional boards via the CAN bus, collect and upload power status, protection alarms, and telemetry data to the shore base in real time, and issue control commands for power on / off, voltage regulation, and protection threshold setting to complete inter-board coordination and power distribution management. The fourth data transmission unit is used to establish a data transmission channel, which includes: Uplink path: Power status / alarm / telemetry data are transmitted via CAN bus to ISO1050 / XL1040 isolation transceiver. After conversion by ISO1050 / XL1040 isolation transceiver, the data is transmitted to the CAN bus controller of RK3568 core board. Then, the CAN bus controller of RK3568 core board transmits the data to the local storage and multi-source data scheduling module or SFP optical unit interface. Downlink path: Shore-based control commands are transmitted to the CAN bus controller of the RK3568 core board via the SFP optical unit interface. After being processed by the CAN bus controller of the RK3568 core board, they are transmitted to the ISO1050 / XL1040 isolation transceiver, and then transmitted to the power distribution function board by the ISO1050 / XL1040 isolation transceiver. The fourth interface coordination unit is used as a bus for inter-board communication to realize coordinated control between the main control board and other functional boards, and to send alarms to the shore base when the power is abnormal. Other functional boards are dedicated functional boards used to expand functionality according to specific application scenario requirements, including but not limited to: Power distribution board: A dedicated board responsible for power distribution, voltage regulation, and overcurrent protection functions. Sensor acquisition board: A dedicated board used to acquire underwater environmental parameters; Actuator control board: A dedicated board used to control underwater actuators.

[0011] Preferably, the local storage and multi-source data scheduling module includes: The storage interface unit is used to integrate a hot-swappable interface for M.2 KeyM NVMe solid-state drives, supporting a storage capacity of not less than 1TB, and providing the ability to replace storage media without powering down the entire machine. The data storage unit is used to classify and store serial port data, IP video data, CAN bus status data, and environmental monitoring data locally. Serial port and CAN bus data are stored in the format of "timestamp_original statement" and generated as independent files daily. It also supports real-time local storage of 1080p IP Ethernet video streams. The data scheduling unit is used to implement parallel storage and priority forwarding of multi-source data using a multi-threaded data scheduling algorithm. Among them, the multi-threaded data scheduling algorithms include: producer-consumer thread model, three-level priority scheduling mechanism under Linux SCHED_FIFO real-time scheduling strategy, independent memory buffer allocation and thread synchronization mechanism, batch write and delayed refresh mechanism; A producer-consumer thread model is adopted, with independent thread pools for acquisition, processing, storage, and forwarding based on data type; a three-level priority scheduling mechanism is constructed based on the Linux SCHED_FIFO real-time scheduling strategy to process data in the priority order of alarm / command, serial port / CAN, and video; independent memory buffers are allocated for each type of data, and thread synchronization is achieved through mutex locks and condition variables; The fifth data transmission unit is used to connect the RK3568 core board and the M.2 KeyM interface via the PCIe 2.0×1 bus, and to transmit all the unit classification data processed by the RK3568 core board to the data storage unit and to read / play back the data in reverse. All unit-classified data are various business module data after data acquisition, parsing, compression and other processing by the RK3568 core board, including but not limited to serial port data, IP video data, CAN bus status data and environmental monitoring data; reverse read / playback data is the process of reading the stored historical data from the data storage unit and transmitting it to the RK3568 core board, used for data playback, analysis or remote transmission, and is the opposite of the forward transmission direction of data writing to the RK3568 core board; The fifth interface coordination unit is used to manage all storage resources in a unified manner by the Linux file system and multi-threaded data scheduling algorithm. It works in conjunction with the unified management module of the entire interface to realize automatic identification and mounting of storage media after hot-plugging.

[0012] Preferably, the power supply and power failure timekeeping module includes: The redundant power supply and timing hardware unit is designed with dual 24VDC redundant power supply. The input side is equipped with a high isolation electrical isolation circuit to achieve electrical isolation between the input power supply and the system on the board. It also features an independent hardware timing circuit to provide hardware-level support for the system clock. The power-down time preservation software unit is used to configure and implement the power-down time preservation software logic. Through the logical operations of three stages—normal working mode, power-down protection mode, and power-on recovery mode—it completes the calibration, maintenance, and recovery of the system clock. in, Normal working mode: After the main control board is powered on, the RK3568 core board initializes the PCF8563 RTC circuit via I2C and reads its time as the initial time. The main control board synchronizes with the shore-based time server via the 1588V2 / NTP protocol, writes the standard time into the RTC to complete the calibration, and periodically writes it back to compensate for crystal oscillator errors. Power failure protection mode: When the main power supply fails, the PCF8563 RTC circuit automatically switches to CR2032 battery power supply. The PCF8563 RTC circuit independently maintains clock operation and is not affected by the power failure of the RK3568 core board. Power-on recovery mode: After the RK3568 core board is powered on again, it prioritizes reading the RTC time to quickly restore the continuity of the main control board's timestamps. Once the network is restored, it will immediately synchronize with the shore-based time server to correct the accumulated RTC error and restore the consistency of the time base across the entire system. The sixth data transmission unit is used to establish electrical connections and data transmission paths, realize the power supply of dual 24VDC redundant power supplies to all onboard modules, and transmit clock signals between the PCF8563 RTC circuit and the RK3568 core board. Among them, the PCF8563 RTC circuit is a high-precision time reference circuit built on the PCF8563 real-time clock chip, which consists of the PCF8563 chip, a 32.768kHz passive crystal oscillator, a CR2032 button battery backup circuit and an I2C communication interface. The sixth interface coordination unit is used to provide common-mode interference protection for all communication interfaces through hardware isolation circuits, and to provide a time reference for the entire system during power outages through timekeeping circuits. After power-on, the system time is restored first, and then shore-based time synchronization is triggered.

[0013] Compared with the prior art, the beneficial effects of the present invention are: This invention adopts a single-board integrated architecture, integrating all the separate functions of the power distribution interface board, CAN gateway, switch, and serial server in the traditional solution into a single main control board, replacing the traditional multi-module separate architecture, reducing more than 50% of the link nodes, and reducing the required installation size of the underwater docking box by more than 30%. It is perfectly adapted to the limited installation space of miniaturized sealed cabins in near-shore shallow water scenarios, and solves the core problems of large size and low integration of existing solutions. This invention significantly reduces the number of connectors and cables between discrete modules, thereby reducing system failure points. It also employs dual-path isolated redundant power supply, industrial-grade wide-temperature components, and a fanless natural cooling design to meet the wide-temperature environment requirements of operating temperatures from -30℃ to 60℃ and storage temperatures from -40℃ to 70℃, complying with the three-proof standards for underwater equipment and improving the long-term operational reliability of equipment in complex underwater environments. Furthermore, it supports hot-swapping of solid-state drives, allowing for partial maintenance without powering down the entire system, thus reducing the difficulty of on-site maintenance of underwater equipment. The core processing platform and all components of this invention adopt domestic solutions, achieving a 100% domestic production rate. This solves the shortcomings of supply chain security and independent controllability of traditional non-domestic platforms, and meets the strategic needs of domestic substitution for marine engineering equipment. This invention achieves 2Gbps high-speed bidirectional shore-based communication through two aggregateable optical ports and four gigabit electrical ports supporting ring network redundancy and 1588V2 nanosecond-level precise time synchronization, ensuring high-speed data transmission, redundancy, and clock synchronization accuracy. Through an optimized Linux system multi-threaded data scheduling algorithm, it realizes parallel storage and priority forwarding of serial port data, video data, and environmental monitoring data, ensuring the timing consistency and storage reliability of multi-source data. It can achieve stable storage of serial port data for more than 2 years and video data for more than 30 days, providing solid support for the long-term retention and fusion analysis of underwater observation data. In summary, the single-board integration solution of this invention significantly reduces the number of components purchased, the amount of wiring between boards, the on-site installation and commissioning costs, and the subsequent maintenance costs. Compared with the traditional discrete module combination solution, it significantly reduces the total life cycle cost of the nearshore shallow water SFN system. Attached Figure Description

[0014] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a module diagram of a miniaturized, highly integrated main control board for nearshore shallow water scenarios according to the present invention; Figure 2 This is a detailed module diagram of the core control module in this invention; Figure 3 This is a detailed module diagram of the dual-path optical communication module in this invention; Figure 4 This is a detailed module diagram of the multi-channel gigabit Ethernet communication module in this invention; Figure 5 This is a detailed module diagram of the multi-channel serial communication module in this invention; Figure 6 This is a detailed module diagram of the CAN communication and power distribution control module in this invention; Figure 7 This is a detailed module diagram of the local storage and multi-source data scheduling module in this invention; Figure 8 This is a detailed module diagram of the power supply and power failure timekeeping module in this invention. Detailed Implementation

[0015] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0016] like Figure 1 As shown, a miniaturized, highly integrated main control board for nearshore shallow water scenarios adopts a single-board integrated architecture, integrating all the functions of a traditional discrete architecture on a single board. Specifically, it includes: a core control module 1, a dual-channel optical communication module 2, a multi-channel gigabit electrical communication module 3, a multi-channel serial communication module 4, a CAN communication and power distribution control module 5, a local storage and multi-source data scheduling module 6, a power supply and power failure timekeeping module 7, and a unified management module for all interfaces 8.

[0017] Core control module 1, as the main control computing and scheduling core, is used to manage all peripheral interfaces, data communication, local storage and logic control functions.

[0018] like Figure 2As shown, the core control module 1 includes: a main control unit 11, a start control unit 12, a software support unit 13, a signal transmission unit 14, and a clock synchronization unit 15; The main control unit 11 uses the domestically produced RK3568 core board to manage all peripheral interfaces, data communication, local storage and logic control functions. The start control unit 12 is used to support the hardware configuration of power-on self-start and the start mode selection is realized through a hardware DIP switch. Software support unit 13, equipped with a Linux embedded operating system, is used to develop supporting business software and perform unified system scheduling and control. Signal transmission unit 14 is used to directly connect to all peripheral units via the onboard high-speed bus, and all data and control commands are uniformly routed, forwarded and stored by the RK3568 core board; The clock synchronization unit 15 serves as the distribution center for the clock reference of the entire system, and is used to distribute the standard time synchronized with the shore base to all communication interfaces.

[0019] Dual-channel optical communication module 2 serves as the sole shore-based communication entry point, acting as the main channel for clock synchronization. The synchronized time base is then distributed to all modules within the board.

[0020] like Figure 3 As shown, the dual-path optical communication module 2 includes: an optical interface hardware unit 21, a link aggregation and synchronization unit 22, a first data transmission unit 23, and a first interface coordination unit 24; The optical interface hardware unit 21 is used to integrate two SFP optical unit interfaces and uses the domestically produced Ethernet transceiver YT8521SH-CA chip to perform optical port data transmission and reception processing; among them, the SFP optical unit interface is a small pluggable optical unit interface that conforms to the SFP MSA specification. The link aggregation and synchronization unit 22 is used to configure the link aggregation LACP protocol through the Linux system, aggregating the bandwidth of two optical ports to 2Gbps; it is compatible with 1588V2 and NTP clock synchronization protocols, completes clock alignment with the shore-based time server, and provides a unified time reference for the entire system; among them, the link aggregation LACP protocol is a link aggregation control protocol that conforms to the IEEE 802.3ad standard. The first data transmission unit 23 is used to establish a data transmission channel, the data transmission channel including: The upstream path, underwater equipment / sensor data, etc., pass through the multi-channel gigabit Ethernet communication module 3, the multi-channel serial communication module 4, and the CAN communication and power distribution control module 5 in sequence before entering the RK3568 core board, and then through the YT8521SH-CA Ethernet transceiver and SFP optical unit interface to be transmitted to the shore-based platform. In the downlink path, the shore-based control commands / configurations pass sequentially through the SFP optical unit interface and the YT8521SH-CA Ethernet transceiver before entering the RK3568 core board, and are then transmitted to the multi-channel gigabit electrical port communication module 3, the multi-channel serial port communication module 4, and the CAN communication and power distribution control module 5. The first interface coordination unit 24 is used to realize dynamic load aggregation and automatic fault switching of two optical ports through the RK3568 core board. When a single optical port fails, the traffic is switched to the other port. It also serves as the only shore-based communication entry point of the system, undertakes the main channel function of clock synchronization for the entire system, and distributes the time base to all modules in the board.

[0021] The multi-channel gigabit Ethernet communication module 3 is used to enable plug-and-play collaboration with underwater cameras and other Ethernet devices, and to synchronize with the 1588V2 precision clock through ring network redundancy.

[0022] like Figure 4 As shown, the multi-channel gigabit Ethernet communication module 3 includes: a first interface driver unit 31, a first protocol configuration unit 32, a second data transmission unit 33, and a second interface coordination unit 34; The first interface driver unit 31 is used to perform hardware driving by integrating four 1000Mbps electrical Ethernet ports, using a domestically produced Ethernet controller WX1860AL4 chip and a four-port transformer HR682430E, so that each port supports a 1000Mbps full-duplex communication rate. The first protocol configuration unit 32 is used to implement the ring network function through the system configuration spanning tree protocol STP; and to load the PTP protocol stack to realize 1588V2 clock synchronization; The second data transmission unit 33 is used to establish a data transmission channel, wherein the data transmission channel is: IP video / device data passes sequentially through the RJ45 network port, HR682430E network port transformer, WX1860AL4 Ethernet controller, and RGMII interface of the RK3568 core board before being stored locally on NVMe or forwarded to the SFP optical unit interface. Among them, the RGMII interface is a simplified gigabit media independent interface used to realize high-speed data transmission between the RK3568 core board and the WX1860AL4 Ethernet controller; the local NVMe is a solid-state drive with a high-speed non-volatile memory interface in the local storage and multi-source data scheduling module, used for local data storage. The second interface collaboration unit 34 is used to share the same network protocol stack and clock reference with the two SFP optical unit interfaces. The working mode is centrally configured by the full interface unified management system to achieve collaboration with underwater cameras and other Ethernet devices.

[0023] The multi-channel serial communication module 4 is used to realize serial communication with various underwater sensors and actuators.

[0024] like Figure 5 As shown, the multi-channel serial communication module 4 includes: a second interface driver unit 41, a second protocol configuration unit 42, a third data transmission unit 43, and a third interface coordination unit 44; The second interface driver unit 41 is used to integrate 4 serial port interfaces, which are compatible with RS232 / RS485 communication protocols. It uses 4 domestic SP485EIM / TR chips to perform serial port level conversion and communication drive. Serial port data is received and processed through the native UART interface of the RK3568 core board. The second protocol configuration unit 42 is used to implement the serial port RTU function and to implement the hardware-level timestamp marking function for serial port data. The third data transmission unit 43 is used to establish a data transmission channel, which is as follows: Sensor / actuator data passes sequentially through the serial port terminal, SP485EIM / TR level conversion chip, and the native UART interface of the RK3568 core board. It is then sent to the RK3568 core board via the UART bus, where a hardware-level timestamp is added at the driver layer, and finally submitted to the local storage and multi-source data scheduling module 6. The third interface coordination unit 44 is used to enable serial port data to share the system global time base with CAN and IP video data, achieve timing alignment through local storage and multi-source data scheduling module 6, and support cross-protocol data forwarding with CAN bus unit to realize the fusion upload of sensor data and power distribution status data.

[0025] The CAN communication and power distribution control module 5 is used to realize the coordinated control of the main control board, power distribution board, and function board, and to collect power status, protection alarms, and telemetry data in real time and upload them to the shore base.

[0026] like Figure 6 As shown, the CAN communication and power distribution control module 5 includes: a third interface driver unit 51, a third protocol configuration unit 52, a fourth data transmission unit 53, and a fourth interface coordination unit 54; The third interface driver unit 51 is used to integrate two CAN communication interfaces, adopts a domestically produced ISO1050 / XL1040 isolated transceiver, and supports the CAN2.0B protocol and a communication baud rate of up to 1000kbps. The third protocol configuration unit 52 is used to achieve collaboration with other functional boards through the CAN bus, collect and upload power status, protection alarms, and telemetry data to the shore base in real time, and at the same time issue power on / off, voltage regulation, and protection threshold setting control commands to complete inter-board collaboration and power distribution management. The fourth data transmission unit 53 is used to establish a data transmission channel, which includes: Uplink path: Power status / alarm / telemetry data are transmitted via CAN bus to ISO1050 / XL1040 isolation transceiver. After conversion by ISO1050 / XL1040 isolation transceiver, the data is transmitted to the CAN bus controller of RK3568 core board. Then, the CAN bus controller of RK3568 core board transmits the data to the local storage and multi-source data scheduling module 6 or SFP optical unit interface. Downlink path: Shore-based control commands are transmitted to the CAN bus controller of the RK3568 core board via the SFP optical unit interface. After being processed by the CAN bus controller of the RK3568 core board, they are transmitted to the ISO1050 / XL1040 isolation transceiver, and then transmitted to the power distribution function board by the ISO1050 / XL1040 isolation transceiver. The fourth interface coordination unit 54 is used as a bus for inter-board communication to realize coordinated control between the main control board and other functional boards, and to send an alarm to the shore base when the power supply is abnormal. Other functional boards are dedicated functional boards used to expand functionality according to specific application scenario requirements, including but not limited to: Power distribution board: A dedicated board responsible for power distribution, voltage regulation, and overcurrent protection functions. Sensor acquisition board: A dedicated board used to acquire underwater environmental parameters; Actuator control board: A dedicated board used to control underwater actuators.

[0027] The local storage and multi-source data scheduling module 6 is used to implement the classification, local storage, and priority forwarding of multi-source data.

[0028] like Figure 7 As shown, the local storage and multi-source data scheduling module 6 includes: a storage interface unit 61, a data storage unit 62, a data scheduling unit 63, a fifth data transmission unit 64, and a fifth interface coordination unit 65; Storage interface unit 61 is used to integrate a hot-swappable interface for M.2 KeyM NVMe solid-state drives, supporting a storage capacity of not less than 1TB, and providing a hot-swappable function that allows the storage media to be replaced without powering down the entire machine. Data storage unit 62 is used to classify and store serial port data, IP video data, CAN bus status data and environmental monitoring data locally through NVMe solid-state drives. Among them, serial port and CAN bus data are stored in the format of "timestamp_original statement" and generate independent files daily, and support real-time local storage of 1080p IP Ethernet video streams. Data scheduling unit 63 is used to implement parallel storage and priority forwarding of multi-source data using a multi-threaded data scheduling algorithm; Among them, the multi-threaded data scheduling algorithms include: producer-consumer thread model, three-level priority scheduling mechanism under Linux SCHED_FIFO real-time scheduling strategy, independent memory buffer allocation and thread synchronization mechanism, batch write and delayed refresh mechanism; A producer-consumer thread model is adopted, with independent thread pools for acquisition, processing, storage, and forwarding based on data type; a three-level priority scheduling mechanism is constructed based on the Linux SCHED_FIFO real-time scheduling strategy to process data in the priority order of alarm / command, serial port / CAN, and video; independent memory buffers are allocated for each type of data, and thread synchronization is achieved through mutex locks and condition variables; The fifth data transmission unit 64 is used to connect the RK3568 core board and the M.2 KeyM interface via the PCIe 2.0×1 bus, and to transmit all the unit classification data processed by the RK3568 core board to the data storage unit 62 and to read / play back the data in reverse. All unit-classified data are various business module data after data acquisition, parsing, compression and other processing by the RK3568 core board, including but not limited to serial port data, IP video data, CAN bus status data and environmental monitoring data; reverse read / playback data is the process of reading the stored historical data from the data storage unit and transmitting it to the RK3568 core board, used for data playback, analysis or remote transmission, and is the opposite of the forward transmission direction of data writing to the RK3568 core board; The fifth interface coordination unit 65 is used to manage all storage resources in a unified manner by the Linux file system and multi-threaded data scheduling algorithm. It works in conjunction with the full interface unified management module 8 to realize automatic identification and mounting of storage media after hot-plugging.

[0029] The power supply and power failure timekeeping module 7 is used to realize dual-channel 24VDC redundant power supply and power failure timekeeping function.

[0030] like Figure 8 As shown, the power supply and power failure timekeeping module 7 includes: a redundant power supply and timekeeping hardware unit 71, a power failure time retention software unit 72, a sixth data transmission unit 73, and a sixth interface coordination unit 74; The redundant power supply and timing hardware unit 71 is used to adopt a dual 24VDC redundant power supply design. The input side is equipped with a high isolation electrical isolation circuit to realize the electrical isolation between the input power supply and the internal system. It is also equipped with an independent hardware timing circuit to provide hardware-level support for the system clock. The power-down time retention software unit 72 is used to configure and implement the power-down time retention software logic. Through the logic operations of three stages—normal working mode, power-down protection mode, and power-on recovery mode—it completes the calibration, maintenance, and recovery of the system clock. in, Normal working mode: After the main control board is powered on, the RK3568 core board initializes the PCF8563 RTC circuit via I2C and reads its time as the initial time. The main control board synchronizes with the shore-based time server via the 1588V2 / NTP protocol, writes the standard time into the RTC to complete the calibration, and periodically writes it back to compensate for crystal oscillator errors. Power failure protection mode: When the main power supply fails, the PCF8563 RTC circuit automatically switches to CR2032 battery power supply. The PCF8563 RTC circuit independently maintains clock operation and is not affected by the power failure of the RK3568 core board. Power-on recovery mode: After the RK3568 core board is powered on again, it prioritizes reading the RTC time to quickly restore the continuity of the main control board's timestamps. Once the network is restored, it will immediately synchronize with the shore-based time server to correct the accumulated RTC error and restore the consistency of the time base across the entire system. The sixth data transmission unit 73 is used to establish electrical connections and data transmission paths, realize the power supply of dual 24VDC redundant power supplies to all onboard modules, and transmit clock signals between the PCF8563 RTC circuit and the RK3568 core board. Among them, the PCF8563 RTC circuit is a high-precision time reference circuit built on the PCF8563 real-time clock chip, which consists of the PCF8563 chip, a 32.768kHz passive crystal oscillator, a CR2032 button battery backup circuit and an I2C communication interface. The sixth interface coordination unit 74 is used to provide common-mode interference protection for all communication interfaces through hardware isolation circuits, provide a time reference for the entire system during power outages through timekeeping circuits, and restore the system time first after power-on before triggering shore-based time synchronization.

[0031] The unified management module 8 for all interfaces is used to achieve centralized and visual unified management of all onboard interfaces, and supports flexible configuration of protocol parameters, communication baud rate and working mode of each interface.

[0032] In this embodiment, the unified management module 8 for all interfaces is based on the Linux embedded operating system on the RK3568 core board. It develops a unified management driver and configuration tool for all interfaces, and realizes centralized and visual unified management of the onboard 2 optical ports, 4 gigabit electrical ports, 4 serial ports and 2 CAN ports. It supports flexible configuration of protocol parameters, communication baud rate and working mode of each interface, replacing the traditional decentralized configuration method of discrete modules, greatly reducing the complexity of operation and maintenance, and ensuring the consistency and reliability of interface configuration of the entire system.

[0033] The specific work process is as follows: After the main control board is powered on, the core control module 1 prioritizes reading the PCF8563 RTC time to quickly restore the continuity of the system timestamp; after the network is restored, it immediately synchronizes with the shore-based time server to correct the accumulated RTC error and restore the consistency of the time base of the entire system. The dual-channel optical communication module 2 is configured with the LACP link aggregation protocol through the Linux system to aggregate the bandwidth of the two optical ports to 2Gbps, enabling high-speed data interaction with the shore-based platform; it is also compatible with the 1588V2 and NTP clock synchronization protocols to achieve precise clock alignment with the shore-based time server. The multi-channel gigabit Ethernet communication module 3 implements ring network functionality through the Spanning Tree Protocol (STP) configured in the system, avoiding network loop failures; it also loads the PTP protocol stack to support 1588V2 precision clock synchronization. The multi-channel serial communication module 4 implements hardware-level timestamp marking of serial port data at the system layer to ensure the time-series traceability of the acquired data; The CAN communication and power distribution control module 5 achieves efficient and reliable collaboration with other functional boards such as the power distribution function board through the CAN bus, collects power status, protection alarms, and telemetry data in real time and uploads them to the shore base; at the same time, it issues control commands such as power on / off, voltage regulation, and protection threshold setting to complete inter-board collaboration and power distribution management. The local storage and multi-source data scheduling module 6 enables the classified local storage of serial port data, IP video data, CAN bus status data, and environmental monitoring data; it optimizes the multi-threaded data scheduling algorithm to achieve parallel storage and priority forwarding of multi-source data, ensuring the real-time performance of critical alarm data and control commands. The power supply and power failure timekeeping module 7 realizes the dual 24VDC redundant power supply and power failure timekeeping function of the system. In the event of an abnormal power failure of the main power supply of the equipment, the system clock can still maintain continuous normal operation. The unified management module 8 enables centralized and visual unified management of all onboard interfaces, and supports flexible configuration of protocol parameters, communication baud rate and working mode of each interface.

[0034] Finally, it should be noted that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A miniaturized, highly integrated main control board for nearshore shallow water scenarios, characterized in that, The system adopts a single-board integrated architecture, integrating all the functions of a traditional discrete architecture onto a single board, specifically including: The core control module, as the main control computing and scheduling core, is used to manage all peripheral interfaces, data communication, local storage and logic control functions in a unified manner; The dual-channel optical communication module, as the sole shore-based communication entry point, is used to undertake the main channel function of clock synchronization, and the synchronized time base is distributed to all modules within the board; A multi-channel gigabit Ethernet communication module is used to enable plug-and-play collaboration with underwater cameras and other Ethernet devices, and to synchronize with a 1588V2 precision clock through ring network redundancy; A multi-channel serial communication module is used to meet the serial communication needs with various underwater sensors and actuators; The CAN communication and power distribution control module is used to realize the coordinated control of the main control board, power distribution board, and function board, and to collect power status, protection alarms, and telemetry data in real time and upload them to the shore base. The local storage and multi-source data scheduling module is used to implement classified local storage and priority forwarding of multi-source data; The power supply and power failure timekeeping module is used to realize dual 24VDC redundant power supply and power failure timekeeping function; The unified management module for all interfaces is used to achieve centralized and visual unified management of all onboard interfaces, and supports flexible configuration of protocol parameters, communication baud rate and working mode of each interface; Each of the above.

2. The miniaturized, highly integrated main control board for nearshore shallow water scenarios according to claim 1, characterized in that, The core control module includes: The main control unit uses the domestically produced RK3568 core board to manage all peripheral interfaces, data communication, local storage and logic control functions. The start control unit is used to support the hardware configuration of automatic start upon power-on, and the start mode selection is realized through a hardware DIP switch; The software support unit, equipped with a Linux embedded operating system, is used to develop supporting business software and to perform unified system scheduling and management. The signal transmission unit is used to directly connect to all peripheral units via the onboard high-speed bus. All data and control commands are uniformly routed, forwarded and stored by the RK3568 core board. The clock synchronization unit, as the distribution center of the system's clock reference, is used to distribute the standard time synchronized with the shore base to all communication interfaces.

3. The miniaturized, highly integrated main control board for nearshore shallow water scenarios according to claim 1, characterized in that, The dual-path optical communication module includes: The optical interface hardware unit integrates two SFP optical unit interfaces and uses the domestically produced Ethernet transceiver YT8521SH-CA chip to perform optical port data transmission and reception processing; among them, the SFP optical unit interface is a small pluggable optical unit interface that conforms to the SFP MSA specification. The link aggregation and synchronization unit is used to configure the link aggregation LACP protocol through the Linux system, aggregating the bandwidth of two optical ports to 2Gbps; it is compatible with 1588V2 and NTP clock synchronization protocols, completes clock alignment with the shore-based time server, and provides a unified time reference for the entire system; among them, the link aggregation LACP protocol is a link aggregation control protocol that conforms to the IEEE 802.3ad standard. The first data transmission unit is used to establish a data transmission channel, which includes: In the uplink path, underwater equipment / sensor data sequentially passes through a multi-channel gigabit Ethernet communication module, a multi-channel serial communication module, a CAN communication and power distribution control module before entering the RK3568 core board, and then is transmitted to the shore-based platform via the YT8521SH-CA Ethernet transceiver and SFP optical unit interface. In the downlink path, the shore-based control commands / configurations pass sequentially through the SFP optical unit interface and the YT8521SH-CA Ethernet transceiver before entering the RK3568 core board, and are then transmitted to the multi-channel gigabit electrical communication module, the multi-channel serial communication module, and the CAN communication and power distribution control module. The first interface coordination unit is used to realize dynamic load aggregation and automatic fault switching of two optical ports through the RK3568 core board. When a single optical port fails, the traffic is switched to the other port. It also serves as the only shore-based communication entry point of the system, undertakes the main channel function of clock synchronization for the entire system, and distributes the time base to all modules in the board.

4. The miniaturized, highly integrated main control board for nearshore shallow water scenarios according to claim 1, characterized in that, The multi-channel gigabit Ethernet communication module includes: The first interface driver unit is used to perform hardware driving by integrating four 1000Mbps electrical Ethernet ports, using the domestically produced Ethernet controller WX1860AL4 chip and the four-port transformer HR682430E, so that each port supports a 1000Mbps full-duplex communication rate. The first protocol configuration unit is used to implement the ring network function through the system configuration spanning tree protocol STP; and to load the PTP protocol stack to achieve 1588V2 clock synchronization; The second data transmission unit is used to establish a data transmission channel, wherein the data transmission channel is as follows: IP video / device data passes sequentially through the RJ45 network port, HR682430E network port transformer, WX1860AL4 Ethernet controller, and RGMII interface of the RK3568 core board before being stored locally on NVMe or forwarded to the SFP optical unit interface. Among them, the RGMII interface is a simplified gigabit media independent interface used to realize high-speed data transmission between the RK3568 core board and the WX1860AL4 Ethernet controller; the local NVMe is a solid-state drive with a high-speed non-volatile memory interface in the local storage and multi-source data scheduling module, used for local data storage. The second interface collaboration unit is used to share the same network protocol stack and clock reference with the two SFP optical unit interfaces. The working mode is centrally configured by the full interface unified management system to achieve collaboration with underwater cameras and other Ethernet devices.

5. The miniaturized, highly integrated main control board for nearshore shallow water scenarios according to claim 1, characterized in that, The multi-channel serial communication module includes: The second interface driver unit is used to integrate 4 serial port interfaces, which are compatible with RS232 / RS485 communication protocols. It uses 4 domestic SP485EIM / TR chips to perform serial port level conversion and communication drive. Serial port data is received and processed through the native UART interface of the RK3568 core board. The second protocol configuration unit is used to implement the serial port RTU function and to implement the hardware-level timestamp marking function for serial port data. The third data transmission unit is used to establish a data transmission channel, which is as follows: Sensor / actuator data passes sequentially through the serial port terminal, the SP485EIM / TR level conversion chip, and the native UART interface of the RK3568 core board. It is then sent to the RK3568 core board via the UART bus, where a hardware-level timestamp is added at the driver layer before being submitted to the local storage and multi-source data scheduling module. The third interface coordination unit is used to enable serial port data to share the system's global time base with CAN and IP video data. It achieves timing alignment through local storage and a multi-source data scheduling module, and supports cross-protocol data forwarding with the CAN bus unit, enabling the fusion and uploading of sensor data and power distribution status data.

6. The miniaturized, highly integrated main control board for nearshore shallow water scenarios according to claim 1, characterized in that, The CAN communication and power distribution control module includes: The third interface driver unit is used to integrate two CAN communication interfaces, adopts a domestically produced ISO1050 / XL1040 isolated transceiver, and supports the CAN2.0B protocol and a communication baud rate of up to 1000kbps. The third protocol configuration unit is used to coordinate with other functional boards via the CAN bus, collect and upload power status, protection alarms, and telemetry data to the shore base in real time, and issue control commands for power on / off, voltage regulation, and protection threshold setting to complete inter-board coordination and power distribution management. The fourth data transmission unit is used to establish a data transmission channel, which includes: Uplink path: Power status / alarm / telemetry data are transmitted via CAN bus to ISO1050 / XL1040 isolation transceiver. After conversion by ISO1050 / XL1040 isolation transceiver, the data is transmitted to the CAN bus controller of RK3568 core board. Then, the CAN bus controller of RK3568 core board transmits the data to the local storage and multi-source data scheduling module or SFP optical unit interface. Downlink path: Shore-based control commands are transmitted to the CAN bus controller of the RK3568 core board via the SFP optical unit interface. After being processed by the CAN bus controller of the RK3568 core board, they are transmitted to the ISO1050 / XL1040 isolation transceiver, and then transmitted to the power distribution function board by the ISO1050 / XL1040 isolation transceiver. The fourth interface coordination unit is used as a bus for inter-board communication to realize coordinated control between the main control board and other functional boards, and to send alarms to the shore base when the power is abnormal. Other functional boards are dedicated functional boards used to expand functionality according to specific application scenario requirements, including but not limited to: Power distribution board: A dedicated board responsible for power distribution, voltage regulation, and overcurrent protection functions. Sensor acquisition board: A dedicated board used to acquire underwater environmental parameters; Actuator control board: A dedicated board used to control underwater actuators.

7. The miniaturized, highly integrated main control board for nearshore shallow water scenarios according to claim 1, characterized in that, The local storage and multi-source data scheduling module includes: The storage interface unit is used to integrate a hot-swappable interface for M.2 KeyM NVMe solid-state drives, supporting a storage capacity of not less than 1TB, and providing the ability to replace storage media without powering down the entire machine. The data storage unit is used to classify and store serial port data, IP video data, CAN bus status data, and environmental monitoring data locally. Serial port and CAN bus data are stored in the format of "timestamp_original statement" and generated as independent files daily. It also supports real-time local storage of 1080p IP Ethernet video streams. The data scheduling unit is used to implement parallel storage and priority forwarding of multi-source data using a multi-threaded data scheduling algorithm. Among them, the multi-threaded data scheduling algorithms include: producer-consumer thread model, three-level priority scheduling mechanism under Linux SCHED_FIFO real-time scheduling strategy, independent memory buffer allocation and thread synchronization mechanism, batch write and delayed refresh mechanism; A producer-consumer thread model is adopted, with independent thread pools for acquisition, processing, storage, and forwarding based on data type; a three-level priority scheduling mechanism is constructed based on the Linux SCHED_FIFO real-time scheduling strategy to process data in the priority order of alarm / command, serial port / CAN, and video; independent memory buffers are allocated for each type of data, and thread synchronization is achieved through mutex locks and condition variables; The fifth data transmission unit is used to connect the RK3568 core board and the M.2 KeyM interface via the PCIe 2.0×1 bus, and to transmit all the unit classification data processed by the RK3568 core board to the data storage unit and to read / play back the data in reverse. All unit-classified data are various business module data after data acquisition, parsing, compression and other processing by the RK3568 core board, including but not limited to serial port data, IP video data, CAN bus status data and environmental monitoring data; reverse read / playback data is the process of reading the stored historical data from the data storage unit and transmitting it to the RK3568 core board, used for data playback, analysis or remote transmission, and is the opposite of the forward transmission direction of data writing to the RK3568 core board; The fifth interface coordination unit is used to manage all storage resources in a unified manner by the Linux file system and multi-threaded data scheduling algorithm. It works in conjunction with the unified management module of the entire interface to realize automatic identification and mounting of storage media after hot-plugging.

8. A miniaturized, highly integrated main control board for nearshore shallow water scenarios according to claim 1, characterized in that, The power supply and power failure timekeeping module includes: The redundant power supply and timing hardware unit is designed with dual 24VDC redundant power supply. The input side is equipped with a high isolation electrical isolation circuit to achieve electrical isolation between the input power supply and the system on the board. It also features an independent hardware timing circuit to provide hardware-level support for the system clock. The power-down time preservation software unit is used to configure and implement the power-down time preservation software logic. Through the logical operations of three stages—normal working mode, power-down protection mode, and power-on recovery mode—it completes the calibration, maintenance, and recovery of the system clock. in, Normal working mode: After the main control board is powered on, the RK3568 core board initializes the PCF8563 RTC circuit via I2C and reads its time as the initial time. The main control board synchronizes with the shore-based time server via the 1588V2 / NTP protocol, writes the standard time into the RTC to complete the calibration, and periodically writes it back to compensate for crystal oscillator errors. Power failure protection mode: When the main power supply fails, the PCF8563 RTC circuit automatically switches to CR2032 battery power supply. The PCF8563 RTC circuit independently maintains clock operation and is not affected by the power failure of the RK3568 core board. Power-on recovery mode: After the RK3568 core board is powered on again, it prioritizes reading the RTC time to quickly restore the continuity of the main control board's timestamps. Once the network is restored, it will immediately synchronize with the shore-based time server to correct the accumulated RTC error and restore the consistency of the time base across the entire system. The sixth data transmission unit is used to establish electrical connections and data transmission paths, realize the power supply of dual 24VDC redundant power supplies to all onboard modules, and transmit clock signals between the PCF8563 RTC circuit and the RK3568 core board. Among them, the PCF8563 RTC circuit is a high-precision time reference circuit built on the PCF8563 real-time clock chip, which consists of the PCF8563 chip, a 32.768kHz passive crystal oscillator, a CR2032 button battery backup circuit and an I2C communication interface. The sixth interface coordination unit is used to provide common-mode interference protection for all communication interfaces through hardware isolation circuits, and to provide a time reference for the entire system during power outages through timekeeping circuits. After power-on, the system time is restored first, and then shore-based time synchronization is triggered.

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