A method and system for data storage and communication link redundancy of unmanned driving equipment

Abstract

The present invention discloses a method and system for data storage and communication link redundancy in unmanned driving equipment, applicable to the field of unmanned driving communication technology. The method and system comprise a storage and forwarding module, a first communication module connected to a first serial communication interface of the storage and forwarding module, a second communication module connected to a second serial communication interface of the storage and forwarding module, and a third communication module connected to a third serial communication interface of the storage and forwarding module. The present invention employs a low-cost, easy-to-use data storage and communication link expansion module to simplify data storage and communication link expansion.

Description

[0001] This application is a divisional application. The application number of the original application is 202011581599.4, the application date is December 28, 2020, and the name of the invention is "A communication link redundancy and data storage device and method for unmanned driving equipment." Technical Field

[0002] The present invention relates to the field of unmanned driving communication technology, and more particularly to a method and system for data storage and communication link redundancy of unmanned driving equipment. Background Art

[0003] When unmanned vessels and drones achieve autonomous driving, a reliable communication link must be established between the autonomous driving equipment on the unmanned vessel (drone) and a ground monitoring station. The autopilot regularly sends the unmanned vessel's (drone's) navigation status information to the ground monitoring station, and the ground monitoring station sends control commands and planned routes to the autopilot, allowing the unmanned vessel (drone) to navigate according to the commands and routes given by the ground monitoring station. Even in future autonomous navigation systems, although the unmanned vessel's (drone's) autonomous driving equipment can make autonomous decisions and set navigation routes based on pre-set tasks and the surrounding environment, it will still need to establish a reliable communication link with the ground monitoring station to transmit mission data.

[0004] Currently, the most common communication link between autonomous driving equipment and ground monitoring stations uses a digital radio in an open frequency band. This has the advantage of being free and providing a communication range sufficient for general regional operations. For some long-distance navigation (flight) missions, 4G radio or Beidou short message communication links can be used. These communication links offer long ranges but come with a usage fee.

[0005] Typically, a reliable communication link between an autopilot and a data radio is achieved. However, due to factors such as communication distance, the impact of the device's surrounding environment on communication, and the reliability of a single data radio, communication on a single link may be intermittent or interrupted. Therefore, when high-reliability communication is required, redundant communication links are necessary. This is typically achieved by adding additional communication links between the autopilot and the ground station, such as 4G links or Beidou short message links.

[0006] Existing data storage and link redundancy methods have the following main problems:

[0007] Implementing data storage and increasing communication redundancy within the autopilot and ground station software requires additional implementation code, which increases software complexity and can easily cause software anomalies. Adding external storage devices and redundant communication devices also occupies hardware resources of the autopilot and ground station. Adding serial port storage devices and redundant communication modules simultaneously makes wiring less concise.

[0008] Therefore, providing a low-cost, easy-to-use data storage and communication link expansion module and simplifying the method of data storage and communication link expansion are problems that need to be solved urgently by those skilled in the art. Summary of the Invention

[0009] In view of this, the present invention provides a method and system for data storage and communication link redundancy of unmanned driving equipment.

[0010] In order to achieve the above object, the present invention adopts the following technical solutions:

[0011] A communication link redundancy and data storage device for unmanned driving equipment, comprising:

[0012] A store and forward module, used for storing and forwarding received data;

[0013] a first communication module, connected to the first serial communication interface of the storage and forwarding module, for sending driving status data of the unmanned driving device and receiving control commands and driving route data;

[0014] a second communication module, connected to the second serial communication interface of the storage and forwarding module, for receiving the driving status data and sending the control command and the driving route data;

[0015] The third communication module is connected to the third serial communication interface of the storage and forwarding module and is used to achieve link redundancy of the storage and forwarding module.

[0016] Preferably, the storage and forwarding module includes: a micro control unit and a data storage unit;

[0017] The micro control unit is used to receive the driving status data and send control commands and driving route data, and store the received driving status data in the data storage unit.

[0018] Preferably, the micro control unit is provided with: a first serial communication interface of the micro control unit, a second serial communication interface of the micro control unit and a third serial communication interface of the micro control unit.

[0019] Preferably, the first communication module is provided with: a first communication module transmitting end, a first communication module receiving end and a first communication module grounding end;

[0020] The second communication module is provided with: a second communication module transmitting end, a second communication module receiving end, and a second communication module grounding end;

[0021] The third communication module is provided with: a third communication module transmitting end, a third communication module receiving end and a third communication module grounding end;

[0022] The first serial communication interface, the second serial communication interface and the third serial communication interface of the storage and forwarding device module are all provided with a receiving end, a transmitting end and a grounding end.

[0023] Preferably, the first serial communication interface of the microcontroller unit is connected to the transmitting end of the first communication module through the receiving end of the first serial communication interface of the storage and forwarding module; the first serial communication interface of the microcontroller unit is connected to the receiving end of the second communication module through the transmitting end of the second serial communication interface of the storage and forwarding module;

[0024] The second serial communication interface of the microcontroller unit is connected to the receiving end of the first communication module through the transmitting end of the first serial communication interface of the storage and forwarding module; the second serial communication interface of the microcontroller unit is connected to the transmitting end of the second communication module through the receiving end of the second serial communication interface of the storage and forwarding module;

[0025] The third serial communication interface of the micro control unit is connected to the third communication module through the third serial communication interface of the storage and forwarding module.

[0026] Preferably, the second serial port communication interface of the micro control unit is provided with: a second serial port communication interface receiving end of the micro control unit and a second serial port communication interface sending end of the micro control unit.

[0027] Preferably, a switching switch is connected between the second serial communication interface of the microcontroller unit and the transmitting end of the first serial communication interface of the storage and forwarding module, the receiving end of the second serial communication interface of the microcontroller unit is connected to the normally closed pin of the switching switch, and the transmitting end of the second serial communication interface of the microcontroller unit is connected to the normally open pin of the switching switch.

[0028] Preferably, the third communication module is one or more of 4G communication and Beidou communication.

[0029] A method for communication link redundancy and data storage of unmanned driving equipment, comprising the following steps:

[0030] S1. Configure device parameters to enable the device to store and identify communication data;

[0031] S2, the microcontroller unit determines the communication of the first serial communication interface. If the microcontroller unit receives data sent by the first communication module, the process proceeds to step S3; otherwise, the process proceeds to step S4;

[0032] S3, the micro control unit forwards the received data through the third communication module via the third serial communication interface of the micro control unit, and stores the data in the data storage unit after adding a time stamp;

[0033] S4, the microcontroller unit determines whether the second serial communication interface receives data sent by the second communication module, then proceeds to step S5; otherwise, proceeds to step S6;

[0034] S5, the micro control unit adds a time stamp to the received data and stores it in the data storage unit;

[0035] S6, the microcontroller unit determines the communication of the third serial communication interface. If the microcontroller unit receives data sent by the third communication module, the microcontroller enters step S7; otherwise, the microcontroller enters step S2;

[0036] S7, confirming the data reception results of the second serial communication interface of the micro control unit and the third serial communication interface of the micro control unit;

[0037] S8. If the third serial communication interface of the microcontroller unit receives data, but the second serial communication interface of the microcontroller unit does not receive data, then go to step S9; otherwise, go to step S2;

[0038] S9, the microcontroller controls the switch to send the data received by the third serial communication interface of the microcontroller to the first communication module, stores the data in the data storage unit, and issues a communication channel switching instruction;

[0039] S10, the switch is reset, and the second communication module becomes the main communication partner.

[0040] Preferably, in step S1, the configured parameters include one or more of a communication baud rate, a data start mark, a data end mark, a data length bit, and a data check bit.

[0041] It can be seen from the above technical solution that compared with the prior art, the present invention provides a method and system for data storage and communication link redundancy of unmanned driving equipment. The low-cost and easy-to-use data storage and communication link expansion module of the present invention simplifies data storage and communication link expansion. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0043] Figure 1 This is a schematic diagram of the overall structure of the communication link redundancy and data storage device of the unmanned driving equipment of the present invention;

[0044] Figure 2This is a schematic diagram of the structure of the storage and forwarding module of the present invention;

[0045] Figure 3 A connection diagram of the communication link redundancy and data storage device of the unmanned driving equipment of the present invention;

[0046] Figure 4 This is a diagram showing the internal structure of the storage and forwarding module of the present invention;

[0047] Figure 5 This is a flow chart of the communication link redundancy and data storage method for unmanned driving equipment of the present invention. DETAILED DESCRIPTION

[0048] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0049] Example 1

[0050] Refer to the attached Figure 1 As shown, this embodiment discloses a communication link redundancy and data storage device for unmanned driving equipment, including:

[0051] A store and forward module, used for storing and forwarding received data;

[0052] a first communication module, connected to the first serial communication interface of the storage and forwarding module, for sending driving status data of the unmanned driving device and receiving control commands and driving route data;

[0053] a second communication module connected to the second serial communication interface of the storage and forwarding module, for receiving driving status data, sending control commands and driving route data;

[0054] The third communication module is connected to the third serial communication interface of the storage and forwarding module and is used to achieve link redundancy of the storage and forwarding module.

[0055] In a specific embodiment, referring to the attached Figure 2 As shown, the disclosed storage and forwarding module includes: a micro control unit and a data storage unit;

[0056] The micro control unit is used to receive driving status data and send control commands and driving route data, and store the received driving status data in the data storage unit.

[0057] In a specific embodiment, referring to the attached Figure 3The micro control unit disclosed in the figure is provided with: a first serial communication interface of the micro control unit, a second serial communication interface of the micro control unit and a third serial communication interface of the micro control unit.

[0058] In a specific embodiment, referring to the attached Figure 3 The following are disclosed:

[0059] The first communication module is provided with: a first communication module transmitting end, a first communication module receiving end and a first communication module grounding end;

[0060] The second communication module is provided with: a second communication module transmitting end, a second communication module receiving end, and a second communication module grounding end;

[0061] The third communication module is provided with: a third communication module transmitting end, a third communication module receiving end and a third communication module grounding end;

[0062] The first serial communication interface, the second serial communication interface and the third serial communication interface of the storage and forwarding device module are all provided with a receiving end, a transmitting end and a grounding end.

[0063] In a specific embodiment, referring to the attached Figure 4 As shown, the first serial communication interface of the microcontroller unit is connected to the transmitting end of the first communication module through the receiving end of the first serial communication interface of the storage and forwarding module; the first serial communication interface of the microcontroller unit is connected to the receiving end of the second communication module through the transmitting end of the second serial communication interface of the storage and forwarding module;

[0064] The second serial communication interface of the microcontroller unit is connected to the receiving end of the first communication module through the transmitting end of the first serial communication interface of the storage and forwarding module; the second serial communication interface of the microcontroller unit is connected to the transmitting end of the second communication module through the receiving end of the second serial communication interface of the storage and forwarding module;

[0065] The third serial communication interface of the micro control unit is connected to the third communication module through the third serial communication interface of the storage and forwarding module.

[0066] In a specific embodiment, the second serial port communication interface of the micro control unit is provided with: a second serial port communication interface receiving end of the micro control unit and a second serial port communication interface sending end of the micro control unit.

[0067] In a specific embodiment, a switching switch is connected between the second serial port communication interface of the microcontroller unit and the transmitting end of the first serial port communication interface of the storage and forwarding module, the receiving end of the second serial port communication interface of the microcontroller unit is connected to the normally closed pin of the switching switch, and the transmitting end of the second serial port communication interface of the microcontroller unit is connected to the normally open pin of the switching switch.

[0068] In another specific embodiment, the first communication module is an autopilot or a ground station, the second communication module is a radio station, and the third communication module is other communication modes such as 4G communication and Beidou communication.

[0069] Take the installation on the autopilot side as an example, refer to the attached Figure 4 As shown,

[0070] The device includes a microcontroller (such as a single-chip microcomputer) with three serial communication interfaces, connected as shown in the diagram (the level shifter chip is omitted in the wiring diagram). The RX port of serial port 1 (UART1) is connected to the autopilot's transmitter and is used to store data sent from the autopilot to the radio. The RX port of serial port 2 (UART2) is connected to the radio's transmitter and is used to store data sent from the digital radio to the autopilot. Data received by these two serial ports is stored in a storage module, enabling real-time communication data storage.

[0071] At the same time, the MCU's serial port 2 transmitter (TX) is connected to the normally open (NO) pin of the switch, the digital radio's transmitter is connected to the normally closed (NC) pin of the switch, and the autopilot's receiver is connected to the common (COM) pin of the switch. The MCU can control the switch to select whether to transmit data received by the digital radio or the 4G module to the autopilot. Under normal circumstances, the switch is in the normally closed state, which means that the data from the digital radio is considered valid communication data. If the digital radio does not receive data for a long time, but the 4G module can receive communication data, the digital radio communication is considered abnormal, and the switch can be controlled to transmit the data from the 4G module to the autopilot.

[0072] Before using the device, you need to configure its parameters so that it can store communication data and identify normal communication messages. These parameters include the baud rate, message start and end flags, message length, and parity check indicator. Once this information is established, the module can properly receive communication data between the autopilot and the data transmission radio, identify the messages, and effectively compare and forward them.

[0073] Example 2

[0074] Refer to the attached Figure 5 As shown, this embodiment discloses a method for communication link redundancy and data storage of unmanned driving equipment, including the following steps:

[0075] S1. Configure device parameters to enable the device to store and identify communication data;

[0076] S2, the microcontroller unit first serial communication interface UART1_RX communication judgment, if the data RX1 sent by the first communication module is received, then go to step S3; otherwise, go to step S4;

[0077] S3, the micro control unit forwards the received data through the third communication module via the micro control unit's third serial communication interface UART3_RX, and stores the data in the data storage unit after adding a time stamp;

[0078] S4, the microcontroller unit second serial communication interface UART2_RX communication judgment, if the data RX2 sent by the second communication module is received, then go to step S5; otherwise, go to step S6;

[0079] S5, the micro control unit adds a time stamp to the received data and stores it in the data storage unit;

[0080] S6, the microcontroller unit determines the communication of the third serial communication interface UART3_RX. If the data RX3 sent by the third communication module is received, the process proceeds to step S7; otherwise, the process proceeds to step S2;

[0081] S7, confirming the data reception results of the second serial communication interface UART2_RX of the micro control unit and the third serial communication interface UART3_RX of the micro control unit;

[0082] S8, if the third serial communication interface UART3_RX of the microcontroller unit receives the data RX3, and the second serial communication interface UART2_RX of the microcontroller unit does not receive the data, then go to step S9; otherwise, go to step S2;

[0083] S9, the microcontroller controls the switch to send the data RX3 received by the third serial communication interface UART3_RX of the microcontroller to the first communication module, stores the data in the data storage unit, and issues a communication channel switching instruction;

[0084] S10, the switch is reset, and the second communication module becomes the main communication partner.

[0085] In a specific embodiment, in step S1, the configured parameters include one or more of a communication baud rate, a data start mark, a data end mark, a data length bit, and a data check bit.

[0086] In one specific embodiment, a microcontroller unit controls a switch to select whether to transmit data received by the second communication module to the first communication module or to transmit data received by the third communication module to the first communication module. Under normal circumstances, the switch is in a normally closed state, meaning that data from the second communication module is assumed to be valid communication data. If the second communication module fails to receive data for an extended period, while the third communication module is able to receive communication data, the second communication module is considered to be communicating abnormally, and the switch is controlled to transmit data from the 4G module to the autopilot.

[0087] In a specific embodiment, the specific content of step S7 is:

[0088] The judgment method for the part of "judging whether the data received by the third serial port communication interface UART3_RX of the microcontroller unit is also received by the second serial port communication interface UART2_RX of the microcontroller unit within a certain time range" is as follows:

[0089] Whether the frequency of data received by the second communication module (i.e., the communication module connected to the second serial communication interface UART2_RX of the microcontroller unit) is greater than a set threshold (the threshold can be set, and is set to 1 data per second in this description);

[0090] If the frequency is greater than the threshold, the communication of the second communication module is considered reliable, and the data received by the third communication module (i.e., the module connected to the third serial communication interface UART3_RX of the microcontroller unit) is not processed, and only the communication data of the second communication module is used;

[0091] If the frequency is less than the threshold and exceeds the time threshold (the time threshold calculated according to the frequency threshold, the frequency threshold used here is 1 data per second, that is, the period is 1 second, then the time threshold can be set to 2 times the period, that is, 2 seconds), the second communication module does not receive data but the third communication module receives new data and the data is valid, then it is considered that the data of the second communication module is lost, that is: within a certain time range, the data received by the third serial port communication interface UART3_RX of the micro control unit is not received by the second serial port communication interface UART2_RX of the micro control unit.

[0092] The above description of the disclosed embodiments is presented in an incremental manner to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is to be construed in the widest possible manner consistent with the principles and novel features disclosed herein.

Claims

1. A method for data storage and communication link redundancy of unmanned driving equipment, characterized in that: The steps include: S1. Configuring device parameters to enable the device to store and identify communication data; wherein the device is a storage and forwarding module; S2, the microcontroller unit first serial communication interface UART1_RX communication judgment, if the data RX1 sent by the first communication module is received, then go to step S3; otherwise, go to step S4; S3, the micro control unit forwards the received data through the third communication module via the micro control unit's third serial communication interface UART3_RX, and stores the data in the data storage unit after adding a time stamp; S4, the microcontroller unit second serial communication interface UART2_RX communication judgment, if the data RX2 sent by the second communication module is received, then go to step S5; otherwise, go to step S6; S5. The microcontroller adds a time stamp to the received data and stores it in the data storage unit; S6, the microcontroller unit third serial communication interface UART3_RX communication judgment, if the data RX3 sent by the third communication module is received, then go to step S7; otherwise, go to step S2; S7, confirming the data reception results of the second serial communication interface UART2_RX of the micro control unit and the third serial communication interface UART3_RX of the micro control unit; S8. If the third serial communication interface UART3_RX of the microcontroller unit receives data RX3, and the second serial communication interface UART2_RX of the microcontroller unit does not receive data, then go to step S9; otherwise, go to step S2; S9, the microcontroller controls the switch to send the data RX3 received by the third serial communication interface UART3_RX of the microcontroller to the first communication module, stores the data in the data storage unit, and issues a communication channel switching instruction; S10: The switch is reset, and the second communication module becomes the main communication object.

2. The method for data storage and communication link redundancy of unmanned driving equipment according to claim 1, characterized in that: In step S1 , the configured parameters include one or more of a communication baud rate, a data start mark, a data end mark, a data length bit, and a data correction bit.

3. The method for data storage and communication link redundancy of unmanned driving equipment according to claim 1, characterized in that: The specific content of step S7 is: judging whether the data received by the third serial communication interface UART3_RX of the micro control unit is also received by the second serial communication interface UART2_RX of the micro control unit within a certain time range; the judging method is as follows: Determining whether the frequency of data received by the second communication module is greater than a set threshold; If the frequency is greater than the threshold, the communication of the second communication module is considered reliable, and the data received by the third communication module is not processed, and only the communication data of the second communication module is used; If the frequency is less than the threshold and exceeds the time threshold range, the second communication module has not received data but the third communication module has received new data and the data is valid, then it is considered that the data of the second communication module is lost, and within a certain time range, the data received by the third serial port communication interface UART3_RX of the micro control unit is not received by the second serial port communication interface UART2_RX of the micro control unit.

4. A system for data storage and communication link redundancy of unmanned driving equipment, used to implement the method for data storage and communication link redundancy of unmanned driving equipment as claimed in claim 3, characterized in that: include: A store and forward module, used for storing and forwarding received data; The first serial communication interface, the second serial communication interface, and the third serial communication interface of the storage and forwarding module are each provided with a receiving end, a transmitting end, and a grounding end; the storage and forwarding module includes a microcontroller unit, and a switching switch is connected between the second serial communication interface of the microcontroller unit and the transmitting end of the first serial communication interface of the storage and forwarding module; a first communication module, connected to the first serial communication interface of the storage and forwarding module, for sending driving status data of the unmanned driving device and receiving control commands and driving route data; a second communication module connected to the second serial communication interface of the storage and forwarding module, for receiving driving status data, sending control commands and driving route data; The third communication module is connected to the third serial communication interface of the storage and forwarding module and is used to achieve link redundancy of the storage and forwarding module.

5. The system for data storage and communication link redundancy of unmanned driving equipment according to claim 4, characterized in that: The store and forward module includes: a micro control unit and a data storage unit; The micro control unit is used to receive driving status data and send control commands and driving route data, and store the received driving status data in the data storage unit.

6. The system for data storage and communication link redundancy of unmanned driving equipment according to claim 4, characterized in that: The first communication module is provided with: a first communication module transmitting end, a first communication module receiving end and a first communication module grounding end; The second communication module is provided with: a second communication module transmitting end, a second communication module receiving end, and a second communication module grounding end; The third communication module is provided with: a third communication module transmitting end, a third communication module receiving end and a third communication module grounding end.

7. The system for data storage and communication link redundancy of unmanned driving equipment according to claim 6, characterized in that: The micro control unit is provided with: a first serial communication interface of the micro control unit, a second serial communication interface of the micro control unit and a third serial communication interface of the micro control unit; The first serial communication interface of the microcontroller unit is connected to the transmitting end of the first communication module through the receiving end of the first serial communication interface of the storage and forwarding module; the first serial communication interface of the microcontroller unit is connected to the receiving end of the second communication module through the transmitting end of the second serial communication interface of the storage and forwarding module; The second serial communication interface of the microcontroller unit is connected to the receiving end of the first communication module through the transmitting end of the first serial communication interface of the storage and forwarding module; the second serial communication interface of the microcontroller unit is connected to the transmitting end of the second communication module through the receiving end of the second serial communication interface of the storage and forwarding module; The third serial communication interface of the micro control unit is connected to the third communication module through the third serial communication interface of the storage and forwarding module.

8. The system for data storage and communication link redundancy of unmanned driving equipment according to claim 7, characterized in that: The second serial port communication interface of the micro control unit is provided with: a second serial port communication interface receiving end of the micro control unit and a second serial port communication interface sending end of the micro control unit.

9. The system for data storage and communication link redundancy of unmanned driving equipment according to claim 8, characterized in that: The receiving end of the second serial communication interface of the microcontroller unit is connected to the normally closed pin of the switch, and the transmitting end of the second serial communication interface of the microcontroller unit is connected to the normally open pin of the switch.

10. A system for data storage and communication link redundancy of unmanned driving equipment according to any one of claims 4 to 9, characterized in that: The first communication module is an autopilot or a ground station, the second communication module is a radio station, and the third communication module is one or more of 4G communication and Beidou communication.

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