Communication method and system applied to tilt-rotor aircraft, medium and equipment

Abstract

The invention discloses a communication method and system applied to a tilt-rotor aircraft, a medium and equipment, and the method comprises the steps that a main controller responds to a flight control instruction sent by a first ground station, and sends a first state reading instruction for a tilt-rotor system to a node controller; the node controller responds to the first state reading instruction to generate a first data writing instruction and sends the first data writing instruction to the main controller; the first node controller responds to a data transmission instruction sent by the second ground station and sends a second state reading instruction for the tilt rotor system to the second node controller; and the second node controller responds to the second state reading instruction to generate a second data writing instruction and sends the second data writing instruction to the first node controller, so that the second data writing instruction is forwarded to the second ground station. The communication performance and the data processing performance of the tilt-rotor aircraft can be improved, and stable, reliable, real-time and efficient control over the tilt-rotor aircraft is achieved.

Description

Technical Field

[0001] The present application relates to the field of airborne communication technology, and in particular to a communication method, system, medium and equipment applied to a tilt-rotor aircraft. Background Art

[0002] Tilt-rotor aircraft is a new type of aircraft that can take off and land vertically like rotorcraft, but can also achieve higher flight speeds and more flight modes through the tilt of the rotor. With its flexible flight mode, tilt-rotor aircraft are widely used in complex terrains, especially for reconnaissance, search and rescue, patrol, logistics and transportation tasks.

[0003] In the related art, the flight control system of the aircraft generally adopts a centralized control architecture, that is, a single controller is responsible for receiving and processing all data, and uniformly controlling the actuators of the aircraft. However, the complex structure of the tilt-rotor aircraft, the numerous control objects in the tilt-rotor aircraft, and the diverse tasks of the tilt-rotor aircraft have put forward higher requirements on the communication and data processing capabilities of the flight control system. The centralized control architecture can no longer meet the application requirements of the tilt-rotor aircraft. Summary of the invention

[0004] In order to improve the communication performance and data processing performance of the tilt-rotor aircraft, realize the stable, reliable, real-time and efficient control of the tilt-rotor aircraft, and meet the application requirements of the tilt-rotor aircraft, this application provides a communication method, system, medium and device for the tilt-rotor aircraft. The technical solution is as follows:

[0005] In a first aspect, the present application provides a communication method applied to a tiltrotor aircraft, wherein the tiltrotor aircraft comprises a main controller and a plurality of node controllers, wherein the plurality of node controllers correspond one-to-one to a plurality of tiltrotor systems of the tiltrotor aircraft, wherein the plurality of node controllers are divided into a first node controller and at least one second node controller, wherein the main controller and the plurality of node controllers, and the plurality of node controllers are connected to each other via a CAN bus communication, and wherein the method comprises:

[0006] The main controller sends, in response to the flight control instruction sent by the first ground station, a first status reading instruction for the tilt-rotor system corresponding to each node controller to each of the plurality of node controllers;

[0007] After receiving the first state read instruction corresponding to each node controller, each node controller generates a first data write instruction and sends the first data write instruction to the main controller;

[0008] The first node controller sends, in response to the data transmission instruction sent by the second ground station, a second status reading instruction for the tilt-rotor system corresponding to each second node controller to each second node controller of the at least one second node controller;

[0009] After receiving the second state read instruction corresponding to each second node controller, each second node controller generates a second data write instruction and sends the second data write instruction to the first node controller, so that the first node controller forwards the data in the second data write instruction to the second ground station.

[0010] In one embodiment of the present application, the first status reading instruction is used to obtain first status data corresponding to the tilt-rotor system; the data type of the first status data is specified by an instruction sent by the first ground station to the main controller.

[0011] In one embodiment of the present application, the second status reading instruction is used to obtain second status data corresponding to the tilt-rotor system; the data type of the second status data is specified by the data transmission instruction sent by the second ground station to the first node controller.

[0012] In one embodiment of the present application, the method further includes:

[0013] The first node controller sends second status data of the tilt-rotor system corresponding to the first node controller to the second ground station in response to the data transmission instruction sent by the second ground station.

[0014] In one embodiment of the present application, the data structures of the first status read instruction, the first data write instruction, the second status read instruction and the second data write instruction are all CAN data frames, and the extended frame identifier of the CAN data frame includes a read-write identifier, a receiver identifier, a sender identifier, a frame type identifier and a data base address, wherein the frame type identifier is used to indicate the data type.

[0015] In one embodiment of the present application, after each node controller receives the first state read instruction corresponding to each node controller, before generating the first data write instruction, the method further includes:

[0016] After acquiring the current CAN data frame in the CAN bus, the current node controller verifies the current receiver identifier in the current CAN data frame and the current node identifier of the current node controller to obtain a first verification result; the current node controller is any node controller of the multiple node controllers;

[0017] In a case where the first verification result indicates that the current receiver identifier matches the current node identifier, determining a current read / write identifier and a current sender identifier in the current CAN data frame;

[0018] When the current read / write identifier indicates reading and the current sender identifier indicates that the sender is the main controller, the current CAN data frame is used as the first status read instruction.

[0019] In one embodiment of the present application, after each second node controller receives the second state read instruction corresponding to the second node controller, before generating the second data write instruction, the method further includes:

[0020] After acquiring the current CAN data frame in the CAN bus, the current node controller verifies the current receiver identifier in the current CAN data frame and the current node identifier of the current node controller to obtain a first verification result; the current node controller is any node controller of the multiple node controllers;

[0021] In a case where the first verification result indicates that the current receiver identifier matches the current node identifier, determining a current read / write identifier and a current sender identifier in the current CAN data frame;

[0022] When the current read / write identifier indicates reading and the current sender identifier indicates that the sender is the first node controller, the current CAN data frame is used as the second state read instruction.

[0023] In one embodiment of the present application, the method further includes:

[0024] After acquiring the current CAN data frame in the CAN bus, the first node controller verifies the current receiver identifier in the current CAN data frame and the first node identifier of the first node controller to obtain a first verification result;

[0025] When the first verification result indicates that the current receiver identifier matches the first node identifier, determining a current read / write identifier and a current sender identifier in the current CAN data frame;

[0026] When the current read / write identifier indicates writing and the current sender identifier indicates that the sender is not the main controller, the current CAN data frame is used as the second data write instruction.

[0027] In one embodiment of the present application, the method further includes:

[0028] The main controller sends a third data writing instruction corresponding to each node controller to each node controller in response to the flight control instruction sent by the first ground station;

[0029] After receiving the third data writing instruction corresponding to each node controller, each node controller determines the state change data of the tilt-rotor system corresponding to each node controller;

[0030] Each node controller sends the state change data of the corresponding tilt-rotor system to the corresponding tilt-rotor system.

[0031] In one embodiment of the present application, the priority of the first status reading instruction corresponding to the tilt-rotor system for each node controller is higher than the priority of the second status reading instruction corresponding to the tilt-rotor system for each second node controller.

[0032] In a second aspect, the present application provides a flight control system, characterized in that the system comprises: a main controller of a tiltrotor aircraft, a plurality of node controllers of the tiltrotor aircraft, a first ground station and a second ground station, the plurality of node controllers correspond one-to-one to a plurality of tiltrotor systems of the tiltrotor aircraft, the plurality of node controllers are divided into a first node controller and at least one second node controller, and the main controller and the plurality of node controllers, and the plurality of node controllers are connected to each other via a CAN bus communication;

[0033] The first ground station is used to send flight control instructions to the main controller;

[0034] The main controller is configured to send, in response to the flight control instruction, a first state reading instruction for a tilt-rotor system corresponding to each node controller to each of the plurality of node controllers, and receive a first data writing instruction sent by each node controller;

[0035] Each of the plurality of node controllers is configured to generate the first data write instruction after receiving the first state read instruction corresponding to the respective node controllers, and send the first data write instruction to the main controller;

[0036] The second ground station is used to send a data transmission instruction to the first node controller;

[0037] The first node controller is configured to send, in response to the data transmission instruction, a second status read instruction for the tilt-rotor system corresponding to each second node controller to each of the at least one second node controller, and receive a second data write instruction sent by each second node controller; and forward the data in the second data write instruction sent by each second node controller to the second ground station;

[0038] Each of the second node controllers is used to generate the second data write instruction after receiving the second state read instruction corresponding to the second node controller, and send the second data write instruction to the first node controller.

[0039] In a third aspect, the present application provides a computer-readable storage medium, which stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the communication method applied to a tilt-rotor aircraft as described in the first aspect.

[0040] In a fourth aspect, the present application provides an electronic device, comprising a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the communication method applied to a tilt-rotor aircraft as described in the first aspect.

[0041] In a fifth aspect, the present application provides a computer program product, which includes computer instructions, and when the computer instructions are executed by a processor, the communication method applied to a tilt-rotor aircraft as described in the first aspect is implemented.

[0042] The communication method, system, medium and device for tilt-rotor aircraft provided in the present application have the following technical effects:

[0043] In the solution provided in the present application, the tilt-rotor aircraft includes a main controller and multiple node controllers, the multiple node controllers correspond one-to-one to the multiple tilt-rotor systems of the tilt-rotor aircraft, the multiple node controllers are divided into a first node controller and at least one second node controller, and the main controller and the multiple node controllers, as well as the multiple node controllers, are connected to each other through a CAN bus communication; in the solution provided in the present application, specifically, the main controller responds to the flight control instruction sent by the first ground station, and sends a first status read instruction for the tilt-rotor system corresponding to each node controller to each of the multiple node controllers; after receiving the first status read instruction corresponding to each node controller, each node controller generates a first data write instruction and sends the first data write instruction to the main controller; the first node controller responds to the data transmission instruction sent by the second ground station, and sends a second status read instruction for the tilt-rotor system corresponding to each second node controller to each second node controller of at least one second node controller; after receiving the second status read instruction corresponding to each node controller, each second node controller generates a second data write instruction and sends the second data write instruction to the first node controller, so that the first node controller forwards the data in the second data write instruction to the second ground station.

[0044] In the solution provided in the present application, the main controller and multiple node controllers, and multiple node controllers are connected through CAN bus communication, that is, a distributed communication architecture is constructed inside the tilt-rotor aircraft, which has the characteristics of high availability, high reliability, flexibility and scalability, can realize parallel transmission and processing of data, improve the efficiency of data transmission and processing inside the tilt-rotor aircraft, and is easy to collaboratively develop and maintain; in the solution provided in the present application, the main controller communicates with the first ground station to execute the status data reading and writing feedback indicated by the flight control instruction, and the first node controller communicates with the second ground station to execute the status data reading and writing feedback indicated by the data transmission instruction, thereby realizing the decoupled transmission and decoupled processing of the flight control instruction and the data transmission instruction, which can balance the communication load and data processing load of the main controller and the node controller, and also reduce the communication burden of the main controller and the first ground station, avoiding the problem of communication packet loss due to excessive communication burden of the main controller, and can effectively ensure the timely execution of instructions such as flight control instructions sent by the first ground station, thereby realizing real-time and reliable flight control of the tilt-rotor aircraft. The solution provided in this application can improve the communication performance and data processing performance of the tilt-rotor aircraft, achieve stable, reliable, real-time and efficient control of the tilt-rotor aircraft, and meet the application requirements of the tilt-rotor aircraft.

[0045] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0047] Figure 1 is a structural schematic diagram of a flight control system provided by an embodiment of the present application;

[0048] Figure 2 It is a schematic diagram of the layout of a tilt-rotor system of a tilt-quadrotor aircraft provided in an embodiment of the present application;

[0049] Figure 3 is a flow chart of a communication method applied to a tilt-rotor aircraft provided in an embodiment of the present application;

[0050] Figure 4 It is a schematic diagram of the topological structure of a CAN bus on a tilt-rotor aircraft provided in an embodiment of the present application;

[0051] Figure 5 It is a schematic diagram of a communication process between a main controller and a node controller provided in an embodiment of the present application;

[0052] Figure 6 It is a schematic diagram of a processing flow of a CAN data frame provided in an embodiment of the present application;

[0053] Figure 7 It is a schematic diagram of the hardware structure of a device for implementing a communication method applied to a tilt-rotor aircraft provided in an embodiment of the present application. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of this application. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions.

[0055] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0056] It can be understood that in the specific implementation of this application, related data such as positioning information is involved. When the above embodiments of this application are applied to specific products or technologies, user permission or consent is required, and the collection, use and processing of relevant data need to comply with relevant laws, regulations and standards of relevant countries and regions.

[0057] The embodiment of the present application provides a flight control system, the flight control system comprising: a main controller of a tilt-rotor aircraft, a plurality of node controllers of the tilt-rotor aircraft, a first ground station and a second ground station, the plurality of node controllers correspond one-to-one to a plurality of tilt-rotor systems of the tilt-rotor aircraft, the plurality of node controllers are divided into a first node controller and at least one second node controller, the main controller and the plurality of node controllers, and the plurality of node controllers are connected to each other through a CAN bus communication;

[0058] Wherein, the first ground station is used to send flight control instructions to the main controller;

[0059] A main controller, configured to send, in response to a flight control instruction, a first state read instruction for a tilt-rotor system corresponding to each node controller to each of the plurality of node controllers, and receive a first data write instruction sent by each node controller;

[0060] Each node controller among the plurality of node controllers is configured to generate a first data write instruction after receiving a first state read instruction corresponding to the respective node controllers, and send the first data write instruction to the main controller;

[0061] The second ground station is used to send a data transmission instruction to the first node controller;

[0062] The first node controller is configured to send, in response to the data transmission instruction, a second state reading instruction for the tilt-rotor system corresponding to each second node controller to each second node controller among the at least one second node controller, and receive a second data writing instruction sent by each second node controller; and forward the data in the second data writing instruction sent by each second node controller to the second ground station;

[0063] Each second node controller is used to generate a second data write instruction after receiving the second state read instruction corresponding to the second node controller, and send the second data write instruction to the first node controller.

[0064] Please refer to Figure 1 , which is a schematic diagram of the architecture of a flight control system provided in an embodiment of the present application. Figure 1 In the flight control system shown, the first node controller is node controller 1, and at least one second node controller is node controller 2, node controller 3, and node controller 4. The embodiment of the present application does not limit the number of second node controllers, that is, does not limit the number of tilt-rotor systems of the tilt-rotor aircraft. Figure 1 The architecture shown is only a specific example.

[0065] In one embodiment of the present application, the first state reading instruction is used to obtain the first state data of the corresponding tilt-rotor system; the first ground station is also used to send an instruction to the main controller to specify the data type of the first state data. The above instruction can be sent separately from the flight control instruction, or it can be the flight control instruction.

[0066] In one embodiment of the present application, the second state reading instruction is used to obtain second state data of the corresponding tilt-rotor system; the second ground station is also used to specify the data type of the second state data by sending a data transmission instruction to the first node controller.

[0067] In one embodiment of the present application, the first node controller is further configured to send second status data of the first node controller corresponding to the tilt-rotor system to the second ground station in response to a data transmission instruction sent by the second ground station.

[0068] In one embodiment of the present application, the data structures of the first state read instruction, the first data write instruction, the second state read instruction and the second data write instruction are all CAN data frames, and the extended frame identifier of the CAN data frame includes a read-write identifier, a receiver identifier, a sender identifier, a frame type identifier and a data base address, wherein the frame type identifier is used to indicate the data type.

[0069] In one embodiment of the present application, each node controller, that is, the first node controller and each second node controller, is also used to verify the current receiver identifier in the current CAN data frame with the current node identifier of the current node controller after acquiring the current CAN data frame in the CAN bus, and obtain a first verification result; the current node controller is any node controller of multiple node controllers; when the first verification result indicates that the current receiver identifier matches the current node identifier, determine the current read-write identifier and the current sender identifier in the current CAN data frame; when the current read-write identifier indicates reading and the current sender identifier indicates that the sender is the main controller, use the current CAN data frame as a first state read instruction.

[0070] In one embodiment of the present application, each second node controller is also used to verify the current receiver identifier in the current CAN data frame with the current node identifier of the current node controller after acquiring the current CAN data frame in the CAN bus, and obtain a first verification result; the current node controller is any node controller of multiple node controllers; when the first verification result indicates that the current receiver identifier matches the current node identifier, determine the current read-write identifier and the current sender identifier in the current CAN data frame; when the current read-write identifier indicates reading and the current sender identifier indicates that the sender is the first node controller, use the current CAN data frame as a second state read instruction.

[0071] In one embodiment of the present application, each node controller, that is, the first node controller and each second node controller, is also used to verify the current receiver identifier in the current CAN data frame with the current node identifier of the current node controller after acquiring the current CAN data frame in the CAN bus, and obtain a first verification result; the current node controller is any node controller of the multiple node controllers; when the first verification result indicates that the current receiver identifier matches the current node identifier, determine the current read-write identifier and the current sender identifier in the current CAN data frame; when the current read-write identifier indicates writing, the current sender identifier indicates that the sender is not the main controller and the current node identifier is the first node identifier of the first node controller, use the current CAN data frame as the second data write instruction.

[0072] In one embodiment of the present application, the main controller is further configured to send a third data write instruction corresponding to each node controller to each node controller in response to the flight control instruction sent by the first ground station;

[0073] Each node controller is also used to determine the state change data of the tilt-rotor system corresponding to each node controller after receiving the corresponding third data write instruction; and send the state change data of the corresponding tilt-rotor system to the corresponding tilt-rotor system.

[0074] In one embodiment of the present application, the priority of the third data write instruction for each node controller corresponding to the tilt-rotor system is higher than the priority of the first state read instruction for each node controller corresponding to the tilt-rotor system; the priority of the first state read instruction for each node controller corresponding to the tilt-rotor system is higher than the priority of the second state read instruction for each second node controller corresponding to the tilt-rotor system.

[0075] Figure 2 is a schematic diagram of the layout of a tilt-rotor system of a tilt-rotor quadrotor aircraft provided in an embodiment of the present application, such as Figure 2 As shown, the tilt-rotor quadrotor aircraft consists of four rotor systems and a control surface control system. Each tilt-rotor system is a relatively independent module, controlled by an independent controller, and is a node system of the aircraft power system. Nodes 1 to 4 correspond to a tilt-rotor system respectively. Each tilt-rotor system includes a rotor mechanism and a tilt mechanism, involving multiple actuators such as a speed motor, a worm gear, a servo motor, a vertical tail, a horizontal tail, and a flaperon. The control surface control system can include multiple servos.

[0076] In one embodiment of the present application, the main controller of the tilt-quadrotor aircraft can be located at the nose position, and the main controller is the core control component of the tilt-quadrotor aircraft. Each node controller of the tilt-quadrotor aircraft is respectively located in the tilt-rotor system corresponding to each node controller. The main controller of the tilt-quadrotor aircraft is connected to multiple node controllers and multiple node controllers are connected to each other through CAN bus communication.

[0077] It should be noted that the system and method embodiments provided in the above embodiments belong to the same concept, and their specific implementation processes are detailed in the method embodiments, which will not be repeated here.

[0078] Please refer to Figure 3 , which is a flow chart of a communication method applied to a tilt-rotor aircraft provided in an embodiment of the present application. The present application provides method operation steps as described in the embodiment or flow chart, but may include more or fewer operation steps based on conventional or non-creative labor. The order of steps listed in the embodiment is only one way of executing the steps among many orders, and does not represent the only order of execution. When the actual system or server product is executed, it can be executed in sequence or in parallel (for example, in a parallel processor or multi-threaded processing environment) according to the method shown in the embodiment or the accompanying drawings. Figure 3As shown, a communication method applied to a tilt-rotor aircraft provided in an embodiment of the present application may include the following steps:

[0079] S310: The main controller sends a first status reading instruction for the tilt-rotor system corresponding to each node controller to each node controller among the multiple node controllers in response to the flight control instruction sent by the first ground station.

[0080] In an embodiment of the present application, the tilt-rotor aircraft includes a main controller and multiple node controllers, and the multiple node controllers correspond one-to-one to the multiple tilt-rotor systems of the tilt-rotor aircraft. The main controller is the core control component of the tilt-rotor aircraft, and each node controller is used to control the corresponding tilt-rotor system. It should be noted that the naming of the main controller is only used to distinguish it from each node controller, and does not limit the master-slave relationship between the main controller and each node controller.

[0081] In an embodiment of the present application, in order to ensure the real-time and reliability of communication between the main controller and each node controller and minimize the number of communication wiring harnesses, the main controller and multiple node controllers are connected via a CAN (Controller Area Network) bus, and multiple node controllers are connected via a CAN bus.

[0082] In the embodiment of the present application, the first ground station is a medium for human-computer interaction, which can be an application, an application terminal or an application platform. The functions of the first ground station on the tilt-rotor aircraft include but are not limited to remote control, real-time detection, data transmission, mission planning and execution, data analysis and processing, communication relay, etc. The first ground station can be connected to the main controller by radio waves, mobile communication networks, local area networks, etc., or the first ground station can be connected to the communication module of the tilt-rotor aircraft by radio waves, mobile communication networks, local area networks, etc., and the main controller can be connected to the communication module by CAN bus.

[0083] In an embodiment of the present application, the flight control instruction is an instruction sent by the first ground station to the tilt-rotor aircraft for real-time control of the working state of the tilt-rotor aircraft, such as adjustment of the flight mode, adjustment of the flight path, adjustment of the perception accuracy, etc.

[0084] In an embodiment of the present application, the first state reading instruction is a data reading instruction for the corresponding tilt-rotor system of each node controller generated by the main controller in response to the flight control instruction. In a feasible implementation, the main controller can perform parsing in response to the flight control instruction, and generate a first state reading instruction for the corresponding tilt-rotor system of each node controller when the result of the parsing indicates that the operating state data of the corresponding tilt-rotor system needs to be read from the node controller. For example, when the flight control instruction is used to adjust the flight path, the main controller needs to read the operating state data such as the tilt angle and rotation speed of the corresponding tilt-rotor system from each node controller to calculate whether the tilt angle and height of the tilt-rotor flight as a whole are consistent with the planned flight path. In another feasible implementation, the main controller can generate a first state reading instruction for the corresponding tilt-rotor system of each node controller according to the built-in program in response to the flight control instruction, and send it to each node controller regularly.

[0085] In one embodiment of the present application, the first state reading instruction is used to obtain the first state data of the corresponding tilt-rotor system; the data type of the first state data is specified by the instruction sent by the first ground station to the main controller. The instruction indicating the data type of the first state data can be the above-mentioned flight control instruction, so as to realize the data reading matching the current flight control; the instruction indicating the data type of the first state data can also be an instruction sent by the first ground station to the main controller other than the above-mentioned flight control instruction, so as to realize the maneuvering adjustment of the data type of the first state data. In addition, the data type of the first state data can also be determined by the main controller according to the setting in the built-in program to match the flight control instruction.

[0086] It is feasible that the first state read instruction is a CAN data frame, and the data frame is the basic message type in the CAN bus. The first state read instruction includes a sender identifier and a receiver identifier, wherein the sender identifier is the identifier of the main controller, and the receiver identifier is the node identifier of the corresponding node controller, so as to realize the corresponding reception of the first state read instruction by each node controller. The data types of the first state data requested to be read by the first state read instructions sent to different node controllers can be the same or different, depending on specific needs, and the embodiments of the present application are not limited to this.

[0087] In a specific embodiment, the first ground station sends flight control instructions to the main controller of the tilt-rotor aircraft via a radio station. After receiving the flight control instructions, the main controller parses and processes the flight control instructions, and generates a first state read instruction for the tilt-rotor system corresponding to each node controller based on the analysis results. The main controller sends multiple first state read instructions to the CAN bus for acquisition and verification by each node controller. After receiving the first state read instruction for the tilt-rotor system corresponding to itself, each node controller performs subsequent corresponding processing.

[0088] S320: After receiving the first state read instruction corresponding to each node controller, each node controller generates a first data write instruction and sends the first data write instruction to the main controller.

[0089] In an embodiment of the present application, each node controller sends its own first data write instruction to the main controller so that the main controller can determine the operating condition of the corresponding tilt-rotor system or the overall operating condition of the tilt-rotor aircraft, thereby achieving more real-time and reliable flight control.

[0090] In one embodiment of the present application, after receiving the respective first state reading instructions, each node controller obtains the first state data from the storage space of the node controller, the sensor connected to the node controller in communication, or the actuator of the corresponding tilt-rotor system according to the data type of the first state data to be read indicated by the first state reading instructions. For example, the first state data may include but is not limited to the rotor speed, the tilt angle of the tilt servo motor, the steering gear control instruction, etc. Each node controller encapsulates the first state data obtained by each node into the form of a first data write instruction and sends it to the main controller.

[0091] It is feasible that the first data write instruction is a CAN data frame. The first data write instruction includes a sender identifier and a receiver identifier, wherein the sender identifier is a node identifier of a corresponding node controller, and the receiver identifier is an identifier of a main controller, so that the first data write instruction can be received accordingly.

[0092] In the embodiment of the present application, whether the main controller needs to forward the first data write instruction to the first ground station depends on the requirements corresponding to the specific flight control instruction, and the present application does not limit this.

[0093] S330: The first node controller sends a second status reading instruction for the tilt-rotor system corresponding to each second node controller to each second node controller of at least one second node controller in response to the data transmission instruction sent by the second ground station.

[0094] In an embodiment of the present application, a plurality of node controllers are divided into a first node controller and at least one second node controller, and the first node controller can be any node controller among the plurality of node controllers. The plurality of node controllers, i.e., the first node controller and the at least one second node controller, are connected via CAN bus communication, forming a distributed communication architecture, which can improve the real-time and reliability of communication, while having flexibility and scalability. It is feasible that, according to the performance and current load pressure of each node controller in the plurality of node controllers, a node controller can be selected from the plurality of node controllers as the first node controller in the current time period, and then selected again from the plurality of node controllers before the next time period starts.

[0095] In the embodiment of the present application, the second ground station is a medium for human-computer interaction, which can be an application, an application terminal or an application platform. The second ground station can be connected to the first node controller by radio waves, a mobile communication network, a local area network, etc., or the second ground station can be connected to the communication module of the tilt-rotor aircraft by radio waves, a mobile communication network, a local area network, etc., and the first node controller can be connected to the communication module by CAN bus.

[0096] In the embodiment of the present application, the second ground station may have functions including but not limited to remote control, real-time detection, data transmission, mission planning and execution, data analysis and processing, communication relay, etc., that is, it may have the same functions as the first ground station, but in the process of implementing the solution provided by the present application, relative to the first ground station sending flight control instructions to the tilt-rotor aircraft to perform real-time control on the working state of the tilt-rotor aircraft, the second ground station is used to send data transmission instructions to the tilt-rotor aircraft, and receive various types of data that the tilt-rotor aircraft needs to transmit and store to the ground station during the application process, such as the historical status data of each tilt-rotor system, the original sensor data obtained by the sensors in each tilt-rotor system, or the current non-important operating data of each tilt-rotor system. It is feasible that in the case of remote communication with multiple tilt-rotor aircraft, the first ground station and the second ground station can be switched according to their respective performance and current load pressure. It is feasible that the first ground station and the second ground station can be connected by radio waves, mobile communication networks, local area networks, etc.

[0097] In the embodiment of the present application, the data transmission instruction is an instruction sent by the second ground station to the tiltrotor aircraft to request that the data generated by the tiltrotor aircraft be transmitted to the second ground station, such as requesting to transmit the historical status data of each tiltrotor system, the original sensor data acquired by the sensor in each tiltrotor system, or the current non-important operation data of each tiltrotor system, etc. The data transmission instruction may indicate the type of data to be transmitted.

[0098] In an embodiment of the present application, the second state reading instruction is an instruction for the tilt-rotor system corresponding to each second node controller generated by the first node controller in response to the data transmission instruction. In a feasible implementation, the first node controller can parse the data transmission instruction in response to the data transmission instruction, and generate the second state reading instruction for the tilt-rotor system corresponding to each second node controller according to the parsing result.

[0099] In one embodiment of the present application, the second state reading instruction is used to obtain the second state data of the corresponding tilt-rotor system; the data type of the second state data is specified by the data transmission instruction sent by the second ground station to the first node controller, thereby achieving more flexible data transmission.

[0100] It is feasible that the second state read instruction is a CAN data frame, and the second state read instruction includes a sender identifier and a receiver identifier, wherein the sender identifier is the node identifier of the first node controller, and the receiver identifier is the node identifier of the corresponding second node controller, so as to realize the corresponding reception of the second state read instruction by each second node controller. The data types of the second state data requested to be read by the second state read instructions sent to different second node controllers can be the same or different, depending on specific needs, and the embodiments of the present application do not limit this.

[0101] In a specific embodiment, the second ground station sends a data transmission instruction to the first node controller of the tilt-rotor aircraft via a radio station. After receiving the data transmission instruction, the first node controller performs analysis and processing, and generates a second state reading instruction for the tilt-rotor system corresponding to each second node controller based on the analysis result. The first node controller sends each second state reading instruction to the CAN bus so that each second node controller obtains and verifies it. After receiving the second state reading instruction for the tilt-rotor system corresponding to itself, each second node controller performs subsequent corresponding processing.

[0102] S340: After receiving the second state read instruction corresponding to each second node controller, each second node controller generates a second data write instruction and sends the second data write instruction to the first node controller, so that the first node controller forwards the data in the second data write instruction to the second ground station.

[0103] In an embodiment of the present application, each second node controller sends its own second data write instruction to the first node controller, so that the first node controller forwards the data in the second data write instruction to the second ground station for the second ground station to store, display, etc. the data.

[0104] In one embodiment of the present application, after receiving the respective second state read instructions, each second node controller obtains the second state data from the storage space of the second node controller, the sensor connected to the second node controller in communication, or the actuator of the corresponding tilt-rotor system according to the data type of the second state data to be read indicated by the second state read instruction. For example, the second state data may include but is not limited to historical altitude data, historical positioning data, historical tilt angle data, original image data, etc. It is understandable that the data type of the second state data may overlap with the data type of the first state data, but the two serve different communication tasks and data processing tasks. Each second node controller encapsulates the second state data obtained by each of them into the form of a second data write instruction and sends it to the first node controller.

[0105] It is feasible that the second data instruction is a CAN data frame. The second data write instruction includes a sender identifier and a receiver identifier, wherein the sender identifier is a node identifier corresponding to the second node controller, and the receiver identifier is a node identifier of the first node controller, so that the corresponding reception of the second data write instruction can be achieved.

[0106] It should be noted that Figure 2 Two node controllers are shown, including a first node controller and a second node controller. In other embodiments of the present application, there may be a first node controller and multiple second node controllers, or only one first node controller.

[0107] In an embodiment of the present application, the main controller and multiple node controllers, and multiple node controllers are connected through CAN bus communication, that is, a distributed communication architecture is constructed inside the tilt-rotor aircraft, which has the characteristics of high availability, high reliability, flexibility and scalability, can realize parallel transmission and processing of data, improve the efficiency of data transmission and processing inside the tilt-rotor aircraft, and is easy to collaboratively develop and maintain; the main controller communicates with the first ground station to execute the status data reading and writing feedback indicated by the flight control instructions, and the first node controller communicates with the second ground station to execute the status data reading and writing feedback indicated by the data transmission instructions, thereby realizing the decoupled transmission and decoupled processing of flight control instructions and data transmission instructions, which can balance the communication load and data processing load of the main controller and the node controller, and also reduce the communication burden of the main controller and the first ground station, avoiding the problem of communication packet loss due to excessive communication burden of the main controller, and can effectively ensure the timely execution of instructions such as flight control instructions sent by the first ground station, thereby realizing real-time and reliable flight control of the tilt-rotor aircraft. The method provided in the present application can improve the communication performance and data processing performance of the tilt-rotor aircraft, realize stable, reliable, real-time and efficient control of the tilt-rotor aircraft, and meet the application requirements of the tilt-rotor aircraft.

[0108] In one embodiment of the present application, the method may further include:

[0109] S350: The first node controller sends second status data of the tilt-rotor system corresponding to the first node controller to the second ground station in response to the data transmission instruction sent by the second ground station.

[0110] It can be understood that the data transmission instruction is an instruction sent by the second ground station to the tilt-rotor aircraft for requesting that the data generated by the tilt-rotor aircraft be transmitted to the second ground station, and also includes the data generated by the first node controller corresponding to the tilt-rotor system.

[0111] It is feasible that the first node controller performs parsing in response to the data transmission instruction, determines the data type of the second state data of its corresponding tilt-rotor system according to the parsing result, obtains the second state data of the corresponding tilt-rotor system from the storage space of the first node controller, the sensor connected to the first node controller for communication, or the actuator of the corresponding tilt-rotor system, and sends the second state data directly to the second ground station.

[0112] In one embodiment of the present application, Figure 4As shown, the main controller and four node controllers are mounted on the CAN bus communication line. The main controller, i.e., the main MCU (Microcontroller Unit), realizes communication with other node controllers in the CAN bus through the CAN controller and the CAN transceiver. Correspondingly, each node controller also realizes communication in the CAN bus through the associated CAN controller and the CAN transceiver. The CAN controller is the core component in the CAN bus, which is used to implement various functions and operations of the CAN protocol. It can parse the received CAN messages and convert them into a language that the MCU can understand for processing. At the same time, the CAN controller is also responsible for sending CAN messages to the bus. The CAN controller plays the role of protocol parsing, data interaction and control in CAN bus communication. The CAN transceiver is a physical layer component in the CAN bus system, which is mainly responsible for converting the digital signal sent by the CAN controller into a current or voltage signal, and transmitting it to the CAN bus through a physical medium. At the same time, the CAN transceiver is also responsible for receiving the signal from the physical medium and converting it into a digital signal for the CAN controller to process. The CAN transceiver plays the role of signal conversion and transmission in CAN bus communication. The CAN bus is a serial data bus that uses differential signals for data communication. It ensures correct bus information transmission through bit filling, message format checking, and hardware CRC (Cyclic redundancy check) checking. It has the characteristics of strong anti-interference, good real-time performance, high flexibility, and low cost. In a feasible implementation, by adopting isolation methods such as magnetic coupling isolation transceivers, the frame delay in the CAN bus can be reduced, and the impact on the bus length is small; by adjusting the transmission frequency of data frames such as the first state read instruction, the first data write instruction, the second state read instruction, and the second data write instruction based on the principle of load balancing or according to real-time application requirements, such as delaying the sending of the second state read instruction for a preset time during the execution of the first state read instruction and the first data write instruction, it can also avoid bus congestion caused by sudden data transmission, thereby reducing frame delay; in addition, the baud rate can be adjusted according to actual needs to ensure that the baud rate configuration of each node controller is consistent, so as to reduce the communication delay caused by inconsistent baud rates. Reducing data frame delay in the above manner can improve the real-time control of the tilt-rotor aircraft.

[0113] In one embodiment of the present application, the data structures of the first state read instruction, the first data write instruction, the second state read instruction and the second data write instruction are all CAN data frames, and the extended frame identifier of the CAN data frame includes a read-write identifier, a receiver identifier, a sender identifier, a frame type identifier and a data base address, wherein the frame type identifier is used to indicate the data type.

[0114] In the CAN bus communication architecture of the tilt-rotor aircraft, there is communication between the main controller and each node controller and communication between each node controller, and both types of CAN communication are implemented based on CAN data frames. Under the standard CAN bus protocol, each data frame can contain up to 4 valid bytes, and the data that can be transmitted is relatively small. In order to expand the information contained in each data frame, the embodiment of the present application redefines the extended frame identifier in the CAN data frame. As shown in Table 1, the extended frame identifier has 29 bits, namely ID28-IDO, which can be divided into four parts: read-write identification, receiver identification, sender identification, frame type identification and data base address. Among them, the frame type identification is used to indicate the data type, such as system frame, navigation data frame, control instruction frame, etc., that is, it can represent the data type of the read or write data frame. The division of the number of bits can be determined according to the number of node controllers, the number of frame types, etc., and this application does not limit this.

[0115] Table 1 CAN extended frame identifier bit grouping

[0116]

[0117] Specifically, ID27 to ID24 are defined as read-write identifiers, identifier 0000 indicates writing data, and identifier 0001 indicates reading data. ID19-ID16 are defined as receiver identifiers, and ID20-ID23 are defined as sender identifiers. Each data frame needs to specify a receiver identifier and a sender identifier. Exemplarily, the identifier of the main controller can be numbered 0, and the node identifiers of the four node controllers can be numbered 1, 2, 3, and 4, respectively. ID15 to ID8 are defined as frame type identifiers, such as system frames, navigation data frames, control instruction frames, etc., which can indicate the data type of the read or write data frame. The data base address is composed of ID7-ID0 and is used to indicate the offset address of the read or write data frame. For example, an extended frame identifier with a value of 0x00015304 indicates that the main controller writes data starting at the 4th byte of the 53rd frame of node controller 1.

[0118] In the above embodiment, by redefining the extended frame identifier in the CAN data frame, efficient communication between the main controller and each node controller and efficient communication between each node controller can be achieved, and refined data transmission requirements can be met.

[0119] In one embodiment of the present application, Figure 3 As shown, the method also includes:

[0120] S410: The main controller sends a third data write instruction corresponding to each node controller to each node controller in response to the flight control instruction sent by the first ground station.

[0121] It is feasible that the third data writing instruction is a control execution instruction for each node controller corresponding to the tilt-rotor system generated according to the analysis result by the main controller in response to the flight control instruction. The third data writing instruction may indicate the state change amount of the corresponding tilt-rotor system.

[0122] In response to the flight control instructions sent by the first ground station, the main controller sends a third data write instruction and a first status read instruction corresponding to each node controller to each node controller. The third data write instruction and the first status read instruction can be sent together or separately, which is not limited to the embodiment of the present application.

[0123] S420: After receiving the third data write instruction corresponding to each node controller, each node controller determines the state change data of the tilt-rotor system corresponding to each node controller.

[0124] It is feasible that after receiving the third data write instruction sent by the main controller, each node controller can determine the allocated state change data according to the position of the corresponding tilt-rotor system in the tilt-rotor aircraft.

[0125] S430: Each node controller sends the state change data of the corresponding tilt-rotor system to the corresponding tilt-rotor system.

[0126] The node controller sends the state change data of the corresponding tilt-rotor system to the corresponding tilt-rotor system, so that the corresponding tilt-rotor system changes the parameters of actuators such as the servo, rotor motor and tilt servo motor according to the state change data, thereby realizing the manipulation and control of each tilt-rotor system.

[0127] like Figure 3 and Figure 5 As shown, in combination with the embodiment shown in steps S310-S320 and the embodiment shown in steps S410-S430, the main controller can send a third data write instruction and a first state read instruction to the node controller in response to the flight control instruction. The node controller determines the state change data of the actuator in the corresponding tilt-rotor system in response to the third data write instruction, and sends it to the actuator in the form of a PWM (Pulse width modulation) signal to change the execution state of the actuator. The node controller obtains data such as rotor state data from the sensor in response to the first state read instruction, and sends the rotor state data and other data to the main controller in the form of a first data write instruction.

[0128] Figure 61 is a schematic diagram of a CAN data frame processing flow provided by an embodiment of the present application, which can be applied to the first node controller and each second node controller. Figure 6 As shown, in combination with the above embodiment, the method further includes:

[0129] S510: After acquiring the current CAN data frame in the CAN bus, the current node controller verifies the current receiver identifier in the current CAN data frame and the current node identifier of the current node controller to obtain a first verification result.

[0130] The current node controller is any node controller of the plurality of node controllers, and may be the first node controller or the second node controller. The current CAN data frame is a data frame being transmitted in the CAN bus.

[0131] By verifying the current receiver identifier indicating the receiver in the extended frame identifier of the current CAN data frame and the current node identifier of the current node controller, a first verification result is obtained. The first verification result can indicate whether the current CAN data frame is sent to the current node controller.

[0132] S520: When the first verification result indicates that the current receiver identifier matches the current node identifier, determine the current read / write identifier and the current sender identifier in the current CAN data frame.

[0133] The first verification result indicates that the current receiver identifier matches the current node identifier, that is, the current CAN data frame is sent to the current node controller.

[0134] When the first verification result indicates that the current receiver identifier does not match the current node identifier, the current CAN data frame may be directly discarded.

[0135] S530: When the current read / write identifier indicates reading and the current sender identifier indicates that the sender is a master controller, the current CAN data frame is used as a first state read instruction.

[0136] When the current CAN data frame is used as the first state reading instruction, the current node controller may perform corresponding processing according to the aforementioned step S320, which will not be described in detail here.

[0137] In one embodiment of the present application, the method further includes:

[0138] S610: After acquiring the current CAN data frame in the CAN bus, the current node controller verifies the current receiver identifier in the current CAN data frame and the current node identifier of the current node controller to obtain a first verification result.

[0139] S620: When the first verification result indicates that the current receiver identifier matches the current node identifier, determine the current read / write identifier and the current sender identifier in the current CAN data frame.

[0140] Steps S610 - S620 may refer to the aforementioned embodiment and will not be described in detail here.

[0141] S630: When the current read / write identifier indicates reading and the current sender identifier indicates that the sender is the first node controller, the current CAN data frame is used as a second state read instruction.

[0142] When the current CAN data frame is used as the second state reading instruction, the current node controller may perform corresponding processing according to the aforementioned step S340, which will not be described in detail here.

[0143] In one embodiment of the present application, the method further includes:

[0144] S710: After acquiring the current CAN data frame in the CAN bus, the current node controller verifies the current receiver identifier in the current CAN data frame and the current node identifier of the current node controller to obtain a first verification result.

[0145] S720: When the first verification result indicates that the current receiver identifier matches the current node identifier, determine the current read / write identifier and the current sender identifier in the current CAN data frame.

[0146] Steps S610 - S620 may refer to the aforementioned embodiment and will not be described in detail here.

[0147] S730: When the current read / write identifier indicates writing, the current sender identifier indicates that the sender is not the main controller, and the current node identifier is the first node identifier of the first node controller, use the current CAN data frame as the second data write instruction.

[0148] Compared with the second node controller, the first node controller also needs to receive the second data write instruction sent by each second node controller and forward it to the second ground station. Therefore, when the first verification result indicates that the current receiver identifier of the current CAN data frame matches the current node identifier, the current read-write identifier indicates writing, and the current sender identifier indicates that the sender is not the main controller, it is also necessary to determine whether the current node identifier is the first node identifier of the first node controller. When the current node identifier is the first node identifier of the first node controller, the first node controller can determine that the current CAN data frame is the second data write instruction, and the second data write instruction can be forwarded to the second ground station as shown in the above embodiment. When the current node identifier is not the first node identifier of the first node controller, the first node controller can directly discard the current CAN data frame.

[0149] Each node controller will also receive a third data write instruction sent by the main controller to adjust the state change of the corresponding tilt-rotor system. Therefore, when the first verification result indicates that the current receiver identifier of the current CAN data frame matches the current node identifier, the current read-write identifier indicates writing, and the current sender identifier indicates that the sender is the main controller, it can be determined that the current CAN data frame is the third data write instruction, and the processing shown in steps S410-S430 is executed, which will not be repeated here.

[0150] In the above embodiment, considering that the main controller sends write instructions and read instructions to the node controller, the first node controller sends a read instruction to the second node controller and the second node controller sends a write instruction to the first node controller, the embodiment of the present application provides the following Figure 6 The general processing flow of the node controller for CAN data frames shown can improve data processing efficiency, adapt to distributed communication architecture, and improve the convenience of developing node controller program modules.

[0151] In one embodiment of the present application, an arbitration mechanism based on CAN bus communication can ensure that write instructions take precedence over read instructions, and the priority of the main controller is higher than that of the first node controller. That is, the priority of the third data write instruction corresponding to the tilt-rotor system for each node controller is higher than the priority of the first state read instruction corresponding to the tilt-rotor system for each node controller; the priority of the first state read instruction corresponding to the tilt-rotor system for each node controller is higher than the priority of the second state read instruction corresponding to the tilt-rotor system for each second node controller. By setting the priority of the sender and the priority of the read and write instructions, the efficient and timely execution of the flight control instructions sent by the first ground station can be effectively guaranteed, thereby realizing real-time and reliable flight control of the tilt-rotor aircraft.

[0152] An embodiment of the present application also provides an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement a communication method applied to a tilt-rotor aircraft as provided in the above method embodiment.

[0153] Figure 7 A schematic diagram of the hardware structure of a device for implementing a communication method for a tilt-rotor aircraft provided in an embodiment of the present application is shown. The device may participate in constituting or include the apparatus or system provided in an embodiment of the present application. Figure 7As shown, the device 10 may include one or more (1002a, 1002b, ..., 1002n are used to illustrate) processors 1002 (the processor 1002 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 1004 for storing data, and a transmission device 1006 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, a power supply and / or a camera. It can be understood by those skilled in the art that Figure 7 The structure shown is for illustration only and does not limit the structure of the electronic device. Figure 7 More or fewer components as shown, or with Figure 7 Different configurations are shown.

[0154] It should be noted that the one or more processors 1002 and / or other data processing circuits described above may generally be referred to herein as "data processing circuits". The data processing circuits may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. In addition, the data processing circuit may be a single independent processing module, or may be incorporated in whole or in part into any of the other components in the device 10 (or mobile device). As involved in the embodiments of the present application, the data processing circuit acts as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0155] The memory 1004 can be used to store software programs and modules of application software, such as program instructions / data storage devices corresponding to the methods described in the embodiments of the present application. The processor 1002 executes various functional applications and data processing by running the software programs and modules stored in the memory 1004, that is, to implement the above-mentioned communication method for tilt-rotor aircraft. The memory 1004 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 1004 may further include a memory remotely arranged relative to the processor 1002, and these remote memories may be connected to the device 10 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0156] The transmission device 1006 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the device 10. In one example, the transmission device 1006 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 1006 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0157] The display may be, for example, a touch screen liquid crystal display (LCD) that may enable a user to interact with a user interface of device 10 (or mobile device).

[0158] An embodiment of the present application also provides a computer-readable storage medium, which can be set in a server to store at least one instruction or at least one program related to a communication method applied to a tilt-rotor aircraft in a method embodiment. The at least one instruction or the at least one program is loaded and executed by the processor to implement a communication method applied to a tilt-rotor aircraft provided in the above method embodiment.

[0159] Optionally, in this embodiment, the storage medium may be located in at least one of the multiple network servers of the computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0160] The embodiment of the present invention further provides a computer program product or a computer program, wherein the computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes a communication method for a tilt-rotor aircraft provided in the above various optional embodiments.

[0161] It can be seen from the embodiments of the communication method, system, medium and device applied to the tilt-rotor aircraft provided by the present application that the main controller and the multiple node controllers, and the multiple node controllers are connected through the CAN bus communication, that is, a distributed communication architecture is constructed inside the tilt-rotor aircraft, which has the characteristics of high availability, high reliability, flexibility and scalability, and can realize parallel transmission and processing of data, improve the efficiency of data transmission and processing inside the tilt-rotor aircraft, and is easy to collaboratively develop and maintain; in the scheme provided by the present application, the main controller communicates with the first ground station to execute the status data reading and writing return indicated by the flight control instruction, and the first node controller communicates with the second ground station to execute the status data reading and writing return indicated by the data transmission instruction, thereby realizing the decoupled transmission and decoupled processing of the flight control instruction and the data transmission instruction, which can balance the communication load and data processing load of the main controller and the node controller, and also reduce the communication burden of the main controller and the first ground station, avoiding the problem of communication packet loss due to excessive communication burden of the main controller, and effectively ensuring the timely execution of instructions such as flight control instructions sent by the first ground station, thereby realizing real-time and reliable flight control of the tilt-rotor aircraft. The solution provided in this application can improve the communication performance and data processing performance of the tilt-rotor aircraft, achieve stable, reliable, real-time and efficient control of the tilt-rotor aircraft, and meet the application requirements of the tilt-rotor aircraft.

[0162] It should be noted that the above-mentioned sequence of the embodiments of the present application is for description only and does not represent the advantages and disadvantages of the embodiments. The above-mentioned specific embodiments of the present application are described. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0163] Each embodiment in this application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device, equipment and storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0164] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0165] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A communication method applied to a tilt-rotor aircraft, characterized in that: The tiltrotor aircraft comprises a main controller and a plurality of node controllers, the plurality of node controllers correspond one-to-one to a plurality of tiltrotor systems of the tiltrotor aircraft, the plurality of node controllers are divided into a first node controller and at least one second node controller, the main controller and the plurality of node controllers are connected to each other via a CAN bus communication, and the method comprises: The main controller sends, in response to the flight control instruction sent by the first ground station, a first status reading instruction for the tilt-rotor system corresponding to each node controller to each of the plurality of node controllers; After receiving the first state read instruction corresponding to each node controller, each node controller generates a first data write instruction and sends the first data write instruction to the main controller; The first node controller sends, in response to the data transmission instruction sent by the second ground station, a second status reading instruction for the tilt-rotor system corresponding to each second node controller to each second node controller of the at least one second node controller; After receiving the second state read instruction corresponding to each second node controller, each second node controller generates a second data write instruction and sends the second data write instruction to the first node controller, so that the first node controller forwards the data in the second data write instruction to the second ground station.

2. The method according to claim 1, characterized in that The first status reading instruction is used to obtain first status data corresponding to the tilt-rotor system; the data type of the first status data is specified by an instruction sent by the first ground station to the main controller.

3. The method according to claim 1, characterized in that The second status reading instruction is used to obtain second status data corresponding to the tilt-rotor system; the data type of the second status data is specified by the data transmission instruction sent by the second ground station to the first node controller.

4. The method according to claim 3, characterized in that The method further comprises: The first node controller sends second status data of the tilt-rotor system corresponding to the first node controller to the second ground station in response to the data transmission instruction sent by the second ground station.

5. The method according to claim 1, characterized in that: The data structures of the first status read instruction, the first data write instruction, the second status read instruction and the second data write instruction are all CAN data frames, and the extended frame identifier of the CAN data frame includes a read-write identifier, a receiver identifier, a sender identifier, a frame type identifier and a data base address, wherein the frame type identifier is used to indicate the data type.

6. The method according to claim 5, characterized in that After each node controller receives the first state read instruction corresponding to the respective node controller, and before generating the first data write instruction, the method further includes: After acquiring the current CAN data frame in the CAN bus, the current node controller verifies the current receiver identifier in the current CAN data frame and the current node identifier of the current node controller to obtain a first verification result; the current node controller is any node controller of the multiple node controllers; In a case where the first verification result indicates that the current receiver identifier matches the current node identifier, determining a current read / write identifier and a current sender identifier in the current CAN data frame; When the current read / write identifier indicates reading and the current sender identifier indicates that the sender is the main controller, the current CAN data frame is used as the first status read instruction.

7. The method according to claim 5, characterized in that After each second node controller receives the second state read instruction corresponding to the second node controller, and before generating the second data write instruction, the method further includes: After acquiring the current CAN data frame in the CAN bus, the current node controller verifies the current receiver identifier in the current CAN data frame and the current node identifier of the current node controller to obtain a first verification result; the current node controller is any node controller of the multiple node controllers; In a case where the first verification result indicates that the current receiver identifier matches the current node identifier, determining a current read / write identifier and a current sender identifier in the current CAN data frame; When the current read / write identifier indicates reading and the current sender identifier indicates that the sender is the first node controller, the current CAN data frame is used as the second state read instruction.

8. The method according to claim 5, characterized in that The method further comprises: After acquiring the current CAN data frame in the CAN bus, the current node controller verifies the current receiver identifier in the current CAN data frame and the current node identifier of the current node controller to obtain a first verification result; the current node controller is any node controller of the multiple node controllers; In a case where the first verification result indicates that the current receiver identifier matches the current node identifier, determining a current read / write identifier and a current sender identifier in the current CAN data frame; When the current read-write identifier indicates writing, the current sender identifier indicates that the sender is not the main controller, and the current node identifier is the first node identifier of the first node controller, the current CAN data frame is used as the second data write instruction.

9. The method according to any one of claims 1 to 8, characterized in that: The method further comprises: The main controller sends a third data writing instruction corresponding to each node controller to each node controller in response to the flight control instruction sent by the first ground station; After receiving the third data writing instruction corresponding to each node controller, each node controller determines the state change data of the tilt-rotor system corresponding to each node controller; Each node controller sends the state change data of the corresponding tilt-rotor system to the corresponding tilt-rotor system.

10. The method according to any one of claims 1 to 8, characterized in that: The priority of the first status reading instruction corresponding to the tilt-rotor system of each node controller is higher than the priority of the second status reading instruction corresponding to the tilt-rotor system of each second node controller.

11. A flight control system, characterized in that: The system comprises: a main controller of a tiltrotor aircraft, a plurality of node controllers of the tiltrotor aircraft, a first ground station and a second ground station, the plurality of node controllers correspond one-to-one to a plurality of tiltrotor systems of the tiltrotor aircraft, the plurality of node controllers are divided into a first node controller and at least one second node controller, the main controller and the plurality of node controllers, and the plurality of node controllers are connected to each other via a CAN bus communication; The first ground station is used to send flight control instructions to the main controller; The main controller is configured to send, in response to the flight control instruction, a first state reading instruction for a tilt-rotor system corresponding to each node controller to each of the plurality of node controllers, and receive a first data writing instruction sent by each node controller; Each of the plurality of node controllers is configured to generate the first data write instruction after receiving the first state read instruction corresponding to the respective node controllers, and send the first data write instruction to the main controller; The second ground station is used to send a data transmission instruction to the first node controller; The first node controller is configured to send, in response to the data transmission instruction, a second status read instruction for the tilt-rotor system corresponding to each second node controller to each of the at least one second node controller, and receive a second data write instruction sent by each second node controller; and forward the data in the second data write instruction sent by each second node controller to the second ground station; Each of the second node controllers is used to generate the second data write instruction after receiving the second state read instruction corresponding to the second node controller, and send the second data write instruction to the first node controller.

12. An electronic device, characterized in that: The electronic device includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the communication method applied to a tilt-rotor aircraft as described in any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by a processor of an electronic device to implement the communication method applied to a tilt-rotor aircraft as described in any one of claims 1 to 10.

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