A localization software-defined joystick module based on a network interface

Abstract

The application discloses a localization software-defined joystick module based on a network interface, wherein the module forwards data output through a network port to a tablet, so that the tablet does not need to additionally process the data, and only needs to directly forward the data with the joystick feature to a wireless network port at a data link layer of the tablet, the operation only increases a data forwarding rule of a network protocol stack of the tablet, does not need additional participation, and can be negligible in consumption of resources of the tablet, and greatly improves the efficiency of data from the joystick to the unmanned equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned equipment control, and particularly relates to a localization software-defined rocker module realized based on a network interface. BACKGROUND

[0002] Current ordinary tablet terminal equipment is not equipped with a physical rocker key, and a large number of operations are controlled by directly touching the touch screen, but the touch screen is prone to accidental operation difficulty problems in operation due to problems such as operator hand sweat and screen contamination. Especially when the tablet is used to operate unmanned equipment objects, accidental operation problems will bring unpredictable serious consequences to the entire equipment.

[0003] Therefore, a large number of unmanned equipment control terminals are designed to integrate a physical rocker for control. Current physical rockers are connected to the tablet through ordinary Bluetooth, serial port, USB and the like, the tablet receives and processes the rocker data, and then forwards the rocker data to the unmanned equipment through the network. This solution faces the following problems.

[0004] 1. High data delay and waste of tablet computing resources: after being connected to the tablet through ordinary Bluetooth, serial port, USB and the like, the tablet mostly collects rocker data in a polling manner, and needs to be processed again on the tablet side, and then forwarded to the unmanned equipment through the network, causing a high data delay between the generation of the rocker data and the reception of the controlled equipment and a large consumption of a large amount of computing resources of the tablet, thereby affecting the CPU request of other tasks of the tablet.

[0005] 2. Poor universality: the current rocker on the market based on Bluetooth, serial port and USB access mode needs to be separately analyzed for the above-mentioned protocols due to the particularity of the interface under different operating systems. However, in the case that the Bluetooth and USB protocol stack is not completely implemented on individual platforms, the rocker will also not be applicable, and therefore there is an urgent need for a universal rocker device to access the control device without relying on the communication protocol capability of the control device.

[0006] 3. Low localization rate: as a peripheral device matched with the tablet and notebook, the rocker body mainly relies on imported stm32 series processors and peripheral circuits to realize, and the overall localization rate is still low.

[0007] 4. Lack of flexibility: with the continuous development of the unmanned machine industry such as unmanned aerial vehicles and unmanned vehicles, the rocker module also needs to be adapted to different types of unmanned equipment. However, the response time requirements of the rocker are different under different scene requirements, and therefore an adaptable flexible configuration rocker capable of adapting to multiple objects is urgently needed. SUMMARY

[0008] In view of the above problems, the application provides a network interface-based localized software-defined joystick module for overcoming the above problems or at least partially solving the above problems. The module provides technical support for standardization, generalization, localization and modularization of joystick technology, and provides a solution for rapid integration of joysticks and tablets and application scenarios with stringent requirements for response time of unmanned equipment to joystick instructions, and has good application prospects.

[0009] The application provides the following solutions:

[0010] A network interface-based localized software-defined joystick module comprises:

[0011] A physical joystick unit comprising a potentiometer;

[0012] A joystick processor unit comprising a software-defined module, an ADC data acquisition module, an intelligent data processing module and a network data forwarding module;

[0013] The software-defined module is configured to output corresponding parameter data according to different application scenarios and different requirements for response time of the joystick;

[0014] The ADC data acquisition module is connected to the potentiometer, and the ADC data acquisition module is configured to acquire voltage data output by the potentiometer and push the voltage data to the intelligent data processing module;

[0015] The intelligent data processing module is configured to process the voltage data to obtain target data and push the target data to the network data forwarding module;

[0016] The network data forwarding module is configured to forward the target data to a target intelligent terminal device through a network port, and the target intelligent terminal device is configured to be connected to an unmanned device, so that the unmanned device receives the target data and adjusts a posture according to the target data.

[0017] Preferably, the joystick processor unit is formed based on a domestic GD32F103 hardware platform.

[0018] Preferably, the parameter data at least comprises specified joystick data acquisition frequency, transmission frequency, transmission delay, source and / or destination IP, source and / or destination port.

[0019] Preferably, the software-defined module comprises a data file, a data analysis component and a data storage component.

[0020] The data file stores the parameter data; the data analysis component is used for analyzing the parameter data stored in the data file and storing the analyzed parameter data in a global variable of the system; and the data storage component is used for storing the parameter specified by the developer in the data file after receiving the parameter.

[0021] Preferably, the potentiometer comprises two, and the ADC data acquisition module comprises two ADC converters provided with the GD32F103.

[0022] Preferably, the data processing comprises any one or a combination of the following: power-on calibration, data debouncing, intelligent error correction, data formatting, failure judgment, emergency braking, failure recovery, and execution data delay sending.

[0023] Preferably, the data debouncing comprises mapping 8 values to one value for data debouncing, and the mapping relationship is that the theoretical middle value 2048 is expanded to both sides by 4 data.

[0024] Preferably, the intelligent error correction comprises discarding the collected value greater than 4095 directly; and determining that the data is a misoperation and discarding the data if the difference between the two consecutive values is 120 degrees.

[0025] When the collection frequency is greater than 20HZ, the data transmitted to the data conversion module follows the following algorithm: setting the data collection time points of three consecutive times as t0, t1 and t2, the data collected at t0 is d0, the data collected at t1 is d1, and the data collected at t2 is d2, if (d2-d1) / 4096*180°>120°, then d2=d1+(d1-d0).

[0026] Preferably, the failure judgment comprises that the data collected within 3 seconds are equal before debouncing and are not the theoretical middle value after mapping, and it is determined that the rocker is invalid.

[0027] The emergency braking comprises transmitting the middle value 2048 to the data forwarding module all the time.

[0028] The failure recovery comprises transmitting the data to the network data forwarding module according to the actual collected value when the collected data is recovered.

[0029] Preferably, the target intelligent terminal device comprises a tablet computer; and the network data forwarding module is connected to the tablet computer through a network port and a network cable.

[0030] According to the embodiments of the present application, the following technical effects are provided:

[0031] The embodiment of the application provides a localization software-defined joystick module based on a network interface, the module forwards data to a tablet through a network port, therefore, the tablet does not need to additionally process the data, and only needs to directly forward the data with a joystick feature to a wireless network port in a data link layer of the tablet, the operation only increases a data forwarding rule of a network protocol stack of the tablet, does not need additional participation, the consumption of tablet resources can be ignored, and meanwhile, the efficiency of data generation from the joystick to reception of the unmanned equipment is greatly improved.

[0032] In a preferred implementation mode, the module can be directly integrated into the tablet as a general module based on a localization platform, and can specify data acquisition frequency, sending frequency, sending delay, source (and destination) IP, source (and destination) port and the like information through the software-defined module according to a specific application scene. The data of X and Y axes of the joystick can be acquired according to the joystick acquisition frequency specified by the software-defined module, the data is processed through the data intelligent processing module, and the network data receiving module forwards the data to the tablet from the source (and destination) IP, the source (and destination) port and the like specified by the software-defined module according to the sending frequency and the sending delay specified by the software-defined module.

[0033] Of course, any product implementing the application does not necessarily need to achieve all the advantages described above. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the application or in the prior art, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings in the following description only show some embodiments of the application, and other drawings can be obtained by those of ordinary skill in the art without any creative effort on the basis of these drawings.

[0035] Figure 1 is a connection block diagram of a localization software-defined joystick module based on a network interface provided by the embodiment of the application;

[0036] Figure 2 is a working flowchart of a localization software-defined joystick module based on a network interface provided by the embodiment of the application;

[0037] Figure 3 is a connection block diagram of a localization software-defined joystick module based on a network interface provided by the embodiment of the application, connected with an unmanned equipment;

[0038] Figure 4 is a data overall judgment flowchart of a data conversion module when the acquisition frequency is greater than 20HZ provided by the embodiment of the application.

[0039] In the figure: a localized software-defined joystick module 100 implemented based on a network interface, a target intelligent terminal device 200, an unmanned device 300, a physical joystick unit 1, a joystick processor unit 2, a software-defined module 21, an ADC data acquisition module 22, an intelligent data processing module 23, and a network data forwarding module 24. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art belong to the scope of protection of the present application.

[0041] Reference is made to Figure 1 , Figure 2 , Figure 3 A localized software-defined joystick module based on a network interface is provided for the embodiments of the present application, as shown in Figure 1 , Figure 2 , Figure 3 The module 100 can include:

[0042] A physical joystick unit 1, wherein the physical joystick unit 1 includes a potentiometer;

[0043] A joystick processor unit 2, wherein the joystick processor unit 2 includes a software-defined module 21, an ADC data acquisition module 22, an intelligent data processing module 23, and a network data forwarding module 24;

[0044] The software-defined module 21 is configured to output corresponding parameter data according to different application scenarios and different requirements for the response time of the joystick. Specifically, the parameter data at least includes a specified joystick data acquisition frequency, a sending frequency, a sending delay, a source and / or destination IP, and a source and / or destination port.

[0045] Further, the software-defined module includes a data file, a data parsing component, and a data storage component;

[0046] The data file stores the parameter data. The data parsing component is configured to parse the parameter data stored in the data file and store the parsed parameter data in a global variable of the system. The data storage component is configured to store the parameters specified by the developer in the data file after receiving the parameters.

[0047] The ADC data acquisition module 22 is connected to the potentiometer. The ADC data acquisition module is configured to acquire voltage data output by the potentiometer and push the voltage data to the intelligent data processing module.

[0048] The intelligent data processing module 23 is configured to process the voltage data to obtain target data, and push the target data to the network data forwarding module. Specifically, the data processing includes any one or a combination of power-on calibration, data debouncing, intelligent error correction, data formatting, failure judgment, emergency braking, failure recovery, and delayed transmission of execution data.

[0049] The data debouncing includes collecting data and performing data debouncing by mapping 8 values into one value, and the mapping relationship is that the theoretical middle value 2048 is expanded to both sides by 4 data.

[0050] The intelligent error correction includes discarding the collected data directly if the data value is greater than 4095; determining that it is a misoperation and discarding the data if the difference between the two consecutive data values is 120 degrees, and the data transmitted to the data conversion module is the data collected last time.

[0051] When the collection frequency is greater than 20HZ, the data transmitted to the data conversion module is the data following the algorithm (the function is started when the collection frequency is greater than 20HZ): setting the collection time of three consecutive data as t0, t1, t2, the data collected at t0 is d0, the data collected at t1 is d1, and the data collected at t2 is d2, if (d2-d1) / 4096*180°>120°, then d2=d1+(d1-d0). The overall judgment process is shown in Figure 4 .

[0052] The failure judgment includes that the data collected within 3 seconds are equal before debouncing and not the theoretical middle value after mapping.

[0053] The emergency braking includes transmitting the middle value 2048 to the data forwarding module all the time.

[0054] The failure recovery includes transmitting data to the network data forwarding module according to the actual collected value when the collected data is recovered.

[0055] The network data forwarding module 24 is configured to forward the target data to the target intelligent terminal device 200 through a network port, and the target intelligent terminal device 200 is configured to be connected with the unmanned device 300, so that the unmanned device 300 receives the target data and adjusts the posture according to the target data.

[0056] The localization software-defined rocker module based on a network interface provided by the embodiments of the present application can realize a software-defined rocker device, and can cover typical rocker control unmanned equipment application scenarios. Through the collection frequency, transmission frequency and transmission delay of the software-defined rocker module, various application scenarios with different requirements for rocker response time of unmanned aerial vehicles, unmanned vehicles and the like can be flexibly adapted. The high integration of the rocker and the rocker data collection chip greatly reduces the coupling degree of the rocker and the tablet as a peripheral device, and greatly reduces the response time of the unmanned equipment to the rocker instruction and the resource occupation of the rocker device to the tablet. The rocker processor unit and the target intelligent terminal device are connected through a network port, which is more universal and has lower data delay.

[0057] To solve the problem of low localization of rocker control devices in the prior art, the rocker processor unit 2 can be formed based on a domestic GD32F103 hardware platform according to the embodiments of the present application. The core control processor selects a domestic GD32F103 processor, mainly for rocker control of various unmanned devices. The rocker processor unit 2 can provide technical support for standardization, generalization, localization and modularization of the rocker technology, and provide a solution for fast integration of the rocker and the tablet and application scenarios with high requirements for response time of the unmanned equipment to the rocker instruction, and has good application prospects.

[0058] In actual application, the physical rocker provided by the embodiments of the present application can adopt a common dual potentiometer structure. Specifically, the potentiometer includes two, and the ADC data collection module includes two ADC converters provided by the GD32F103.

[0059] It can be understood that the target intelligent terminal device provided by the embodiments of the present application can include a tablet computer, a smart phone and the like. For example, in one implementation manner, the target intelligent terminal device provided by the embodiments of the present application can include a tablet computer. The network data forwarding module is connected to the tablet computer through a network port and a network cable.

[0060] The device provided by the embodiments of the present application will be described in detail below taking a physical rocker with a dual potentiometer structure as an example.

[0061] The module is composed of a physical rocker and a rocker processor module. The structures and working processes of the two components will be described in detail below.

[0062] Physical rocker: a common dual potentiometer rocker device, two potentiometers output corresponding voltage values on the X and Y axes respectively with the rocker twist angle, and the voltage value output is an analog signal. Therefore, the output voltage signals of the X and Y axes are connected to the ADC collection pins of the rocker processing module.

[0063] Rocker processor module: based on the hardware platform of GD32F103 made in China, including software defined module, ADC data acquisition module, intelligent data processing module and network data forwarding module.

[0064] Software defined module: this module is the core module supporting the rocker data acquisition frequency, sending frequency, sending delay time, module IP and module port in the application, which can be flexibly specified. It is composed of data file, data analysis component and data storage component. The data file stores the above-mentioned parameter data which can be flexibly specified, the data analysis component is responsible for analyzing the parameter data stored in the data file, and the analyzed parameter data is stored in the global variable of the system to control other modules to work according to the specified parameters, and the data storage component is responsible for storing the parameters specified by the developer in the data file after receiving them.

[0065] ADC data acquisition module: this module uses two ADC converters of GD32F103 to acquire two voltage values of X and Y axes of the physical rocker and push them to the intelligent data processing module. Since the accuracy of the ADC converter is 12 bits, the acquired voltage value fluctuates in the range of 0-4095, and the middle value is 2048. The acquisition cycle of this acquisition module is specified by the software defined module.

[0066] This module is responsible for further processing of the data obtained from the ADC data acquisition module, including power-on calibration, data debouncing, intelligent error correction, data formatting, failure judgment, emergency braking, execution data delay sending and other functions. After data processing, the module pushes the data to the network data forwarding module.

[0067] Data debouncing: the accuracy of the current ADC is 12 bits, and the rocker data is in the range of 0-4095, usually the jitter of the rocker data is within 4. Therefore, the collected data is mapped to a value according to 8 values for data debouncing, and the mapping relationship is that the theoretical middle value 2048 is expanded to both sides by 4 data (the values in the range of 2045-2052 are uniformly mapped to 2048), and so on.

[0068] Intelligent error correction: if the collected value is greater than 4095, it is discarded directly.

[0069] If the difference between the two consecutive values is 120 degrees, it is considered to be a misoperation and the data is discarded, and the data transmitted to the data conversion module is the last collected data. (This function is started when the acquisition frequency is greater than 20HZ)

[0070] Failure judgment, emergency braking, failure recovery: the data collected within 3 seconds are equal and not equal to the theoretical intermediate value after data mapping, the rocker is judged to be invalid, the intermediate value 2048 is transmitted to the data forwarding module (start emergency braking program), and when the collected data is normal, the actual collected data is transmitted to the data forwarding module (failure recovery).

[0071] Network data forwarding module: this module is responsible for forwarding the data obtained from the intelligent data processing module to the tablet through the network port. The network source (and destination) IP, source (and destination) port used during forwarding are specified by the software definition module.

[0072] Software-defined rocker module: according to different application scenarios and different requirements for rocker response time, the rocker data acquisition frequency, sending frequency, sending delay, source (and destination) IP, source (and destination) port, etc. can be specified by software, which greatly improves the adaptability and flexibility of the rocker module to various application scenarios, including different response time requirements.

[0073] High integration and generalization: through the high integration of physical rocker and rocker data acquisition and processing module, and only presenting general network data to the outside, the module's high integration and generalization are greatly improved, and the tablet system only needs to forward the data at the link layer, which greatly reduces the resource overhead of the tablet system.

[0074] Domestication: using domestic chip GD32F103, it can be integrated in the military field with high requirements for domestication.

[0075] This rocker device is integrated in a certain 100% military unmanned aerial vehicle control terminal with domestic requirements. Since the unmanned aerial vehicle has strict requirements on the time from the generation of rocker instructions to the response of the unmanned aerial vehicle, the software definition module configures the data acquisition frequency and sending frequency to 100HZ, and configures no sending delay. After the rocker data is generated and reaches the tablet network port, it does not need to be processed by the tablet and is directly forwarded to the unmanned aerial vehicle. The whole process from the generation of rocker data to the reception of the data by the unmanned aerial vehicle takes about 10ms. The efficiency is very high, which provides safety protection for the safe flight of the unmanned aerial vehicle.

[0076] In summary, the localization software-defined joystick module based on the network interface provided in the application is directly integrated into the tablet as a general module based on the localization platform of the joystick device, and the data acquisition frequency, transmission frequency, transmission delay, source (and destination) IP, source (and destination) port and other information can be specified through the software-defined module according to the specific application scenario. The data of the X and Y axes of the joystick can be acquired according to the joystick acquisition frequency specified by the software-defined module, and after the data is processed by the data intelligent processing module, the network data receiving module forwards the data from the source (and destination) IP and the source (and destination) port specified by the software-defined module to the tablet according to the transmission frequency and transmission delay specified by the software-defined module.

[0077] The module forwards the data to the tablet through the network port, so the tablet does not need to perform additional processing on the data, and only needs to directly forward the data with the joystick characteristics to the wireless network port at the data link layer of the tablet. This operation only adds a data forwarding rule of the tablet network protocol stack, does not require additional participation, and the consumption of tablet resources can be negligible, while greatly improving the efficiency of data from the joystick to the unmanned device.

[0078] It should be noted that, in the present document, the terms such as first and second, etc. are merely used to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or device including the element.

[0079] From the above description of the embodiments, those skilled in the art can clearly understand that the application can be implemented by means of software plus the necessary general hardware platform. Based on such understanding, the technical solutions of the application can be embodied in the form of a software product, which can be stored in a storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments of the application.

[0080] The various embodiments described in this specification are presented as examples of the application. Each example is provided by way of best mode, and variations of or additions to these examples can be possible. For example, the various embodiments described in this specification can be combined in different combinations. Further, other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. For example, to implement a system embodiment, one can implement a method embodiment and one or more system modules needed to implement the method embodiment. One of ordinary skill in the art will be able to practice the application with the disclosed materials, without undue experimentation. It will be apparent to one of ordinary skill in the art that features from different embodiments can be interchanged, and / or modified, and / or substituted. Therefore, it is the intention of the inventors to be limited only by the scope of the claims and the full breadth of equivalents thereof.

[0081] The preferred embodiments of the application described herein are examples of the application only. The scope of the application is not limited by the preferred embodiments described herein, but only by the claims that follow, the full breadth of equivalents thereof, and the full breadth of the following claims.

Claims

1. A localization software defined joystick module implemented based on a network interface, characterized in that, The physical rocker unit comprises a potentiometer. The rocker processor unit comprises a software definition module, an ADC data acquisition module, an intelligent data processing module, and a network data forwarding module. The software definition module is used to output corresponding parameter data according to different application scenarios and different requirements for rocker response time; the parameter data at least includes specified rocker data acquisition frequency, sending frequency, sending delay, source and / or destination IP, source and / or destination port. The ADC data acquisition module is connected with the potentiometer, and the ADC data acquisition module is used to acquire voltage data output by the potentiometer and push the voltage data to the intelligent data processing module. The intelligent data processing module is used to perform data processing on the voltage data to obtain target data, and push the target data to the network data forwarding module; the data processing includes any one or combination of multiple of power-on calibration, data debouncing, intelligent error correction, data formatting, failure judgment, emergency braking, failure recovery, and execution data delay sending; the data debouncing includes that the acquisition data is mapped to one value according to 8 values, and the mapping relationship is that the theoretical middle value 2048 is expanded to both sides by 4 data; The intelligent error correction includes that the acquisition value greater than 4095 is directly discarded; the difference between the consecutive two acquisition values is 120 degrees, and it is determined that it is a misoperation and the data is discarded; When the acquisition frequency is greater than 20HZ, the data transferred to the data conversion module follows the following algorithm: Set the continuous three data acquisition time points as t0, t1, t2, the data acquisition at t0 is d0, the data acquisition at t1 is d1, and the data acquisition at t2 is d2; if (d2-d1) / 4096*180°>120°, then d2=d1+(d1-d0); The failure judgment includes that the data acquired within 3 seconds are equal before debouncing and are not the theoretical middle value after mapping, and it is determined that the rocker is failed; The emergency braking includes that the middle value 2048 is always transmitted to the data forwarding module; The failure recovery includes that when the data recovery is normal, the data is transmitted to the network data forwarding module according to the actual acquisition value; The network data forwarding module is used to forward the target data to the target intelligent terminal device through the network port; the target intelligent terminal device is used to be connected with the unmanned device, so that the unmanned device receives the target data and adjusts the posture according to the target data. The rocker processor unit is formed based on the domestic GD32F103 hardware platform.

2. The network interface implementation based localization software defined joystick module of claim 1, wherein, The software definition module comprises a data file, a data analysis component, and a data storage component; 3. The network interface implementation based localization software defined joystick module of claim 1, wherein, The data file stores the parameter data; the data analysis component is used to analyze the parameter data stored in the data file, and store the analyzed parameter data in the global variable of the system; the data storage component is used to store the parameters specified by the developer in the data file. The potentiometer comprises two, and the ADC data acquisition module comprises two ADC converters of the GD32F103.

4. The network interface implementation based localization software defined stick module of claim 1, wherein, ​ 5. The network interface implementation based localization software defined stick module of claim 1, wherein, The target intelligent terminal device includes a tablet computer; the network data forwarding module is connected with the tablet computer through a network port and a network cable.

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