Communication methods, systems, media, and devices applied to tiltrotor aircraft

Abstract

The application discloses a communication method, system, medium and equipment applied to a tilt-rotor aircraft. The method comprises the following steps: a main controller sends a first state reading instruction for a tilt-rotor system to a node controller in response to a flight control instruction sent by a first ground station; the node controller generates a first data writing instruction and sends the first data writing instruction to the main controller in response to the first state reading instruction; a first node controller sends a second state reading instruction for the tilt-rotor system to a second node controller in response to a data transmission instruction sent by a second ground station; and the second node controller generates a second data writing instruction and sends the second data writing instruction to the first node controller in response to the second state reading instruction, so that the second data writing instruction is forwarded to the second ground station. The application can improve the communication performance and data processing performance of the tilt-rotor aircraft, and realize stable and reliable, real-time and efficient control of the tilt-rotor aircraft.

Description

TECHNICAL FIELD

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

[0002] The tilt-rotor aircraft is a new type of aircraft, which can realize vertical take-off and landing like a rotorcraft, and can obtain higher flight speed and more flight modes through the tilting of the rotor. With flexible flight modes, the tilt-rotor aircraft has a wide range of applications in complex terrain, especially for tasks such as reconnaissance, search and rescue, patrol, and logistics transportation.

[0003] In related technologies, 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 simultaneously controls 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 diversification of the tasks of the tilt-rotor aircraft all put higher requirements on the communication capability and data processing capability of the flight control system, and the centralized control architecture has been difficult to meet the application requirements of the tilt-rotor aircraft. SUMMARY

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

[0005] In a first aspect, the present application provides a communication method applied to a tilt-rotor aircraft, the tilt-rotor aircraft comprising a main controller and a plurality of node controllers, the plurality of node controllers corresponding one-to-one to a plurality of tilt-rotor systems of the tilt-rotor aircraft, the plurality of node controllers being divided into a first node controller and at least one second node controller, the main controller and the plurality of node controllers being connected in communication through a CAN bus, the method comprising:

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

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

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

[0009] Each of the second node controllers generates a second data writing instruction after receiving the respective corresponding second state reading instruction, and sends the second data writing instruction to the first node controller, so that the first node controller forwards data in the second data writing instruction to the second ground station.

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

[0011] In an embodiment of the present application, the second state reading instruction is used to obtain second state data of a corresponding tilt-rotor system; and a 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.

[0012] In an embodiment of the present application, the method further comprises:

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

[0014] In an embodiment of the present application, data structures of the first state reading instruction, the first data writing instruction, the second state reading instruction and the second data writing instruction are CAN data frames, an 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 a data type.

[0015] In an embodiment of the present application, before each of the node controllers generates a first data writing instruction after receiving the respective corresponding first state reading instruction, the method further comprises:

[0016] The current node controller obtains a first check result by checking a current receiver identifier in the current CAN data frame and a current node identifier of the current node controller after obtaining the current CAN data frame in the CAN bus; and the current node controller is any node controller of the plurality of node controllers.

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

[0018] in a case that the current read-write identifier indicates read and the current sender identifier indicates that the sender is the first node controller, taking the current CAN data frame as the second data write instruction.

[0019] In an embodiment of the present application, before the each second node controller generates a second data write instruction after receiving a respective corresponding second state read instruction, the method further comprises:

[0020] A current node controller, after obtaining a current CAN data frame in the CAN bus, checks a current receiver identifier in the current CAN data frame against a current node identifier of the current node controller, to obtain a first check result; the current node controller is any node controller of the plurality of node controllers.

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

[0022] in a case that the current read-write identifier indicates read and the current sender identifier indicates that the sender is the first node controller, taking the current CAN data frame as the second data write instruction.

[0023] In an embodiment of the present application, the method further comprises:

[0024] The first node controller, after obtaining a current CAN data frame in the CAN bus, checks a current receiver identifier in the current CAN data frame against a first node identifier of the first node controller, to obtain a first check result;

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

[0026] in a case that the current read-write identifier indicates write and the current sender identifier indicates that the sender is not the master controller, taking the current CAN data frame as the second data write instruction.

[0027] In an embodiment of the present application, the method further comprises:

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

[0029] Each node controller determines state change amount data of a tilt-rotor system corresponding to the node controller after receiving the respective third data write instructions;

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

[0031] In an embodiment of the present application, the priority of the first state read instructions for the tilt-rotor system corresponding to each node controller is higher than the priority of the second state read instructions for the tilt-rotor system corresponding to 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 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 first node controllers and at least one second node controller, the main controller and the plurality of node controllers, and the plurality of node controllers are connected through a CAN bus communication connection;

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

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

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

[0036] The second ground station is configured to send data transmission instructions to the first node controller.

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

[0038] each of the at least one second node controller is configured to, after receiving the respective corresponding second state reading instruction, generate the second data write instruction, 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, the computer-readable storage medium storing at least one instruction or at least one program, the at least one instruction or the at least one program being loaded and executed by a processor to implement the communication method applied to a tilt-rotor aircraft according to the first aspect.

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

[0041] In a fifth aspect, the present application provides a computer program product, the computer program product comprising computer instructions, the computer instructions being executed by a processor to implement the communication method applied to a tilt-rotor aircraft according to the first aspect.

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

[0043] In the scheme provided in the application, the tilt-rotor aircraft includes a main controller and a plurality of node controllers, 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, and the main controller and the plurality of node controllers and the plurality of node controllers are connected through a CAN bus communication; in the scheme provided in the application, specifically, the main controller sends a first state reading instruction for each node controller corresponding tilt-rotor system to each node controller in the plurality of node controllers in response to a flight control instruction sent by the first ground station; each node controller generates a first data write instruction after receiving the respective corresponding first state reading instruction, and sends the first data write instruction to the main controller; the first node controller sends a second state reading instruction for each second node controller corresponding tilt-rotor system to each second node controller in the at least one second node controller in response to a data transmission instruction sent by the second ground station; each second node controller generates a second data write instruction after receiving the respective corresponding second state reading 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 scheme provided in the application, the main controller and the plurality of node controllers and the plurality of node controllers are connected through a 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 internal data transmission and processing of the tilt-rotor aircraft, and is easy to develop and maintain in cooperation; in the scheme provided in the application, the main controller communicates with the first ground station to perform state data reading and write back indicated by the flight control instruction, and the first node controller communicates with the second ground station to perform state data reading and write back indicated by the data transmission instruction, realizing decoupling transmission and decoupling 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, avoid the problem of communication packet loss caused by too large communication burden of the main controller, and effectively guarantee the timely execution of the flight control instruction and other instructions sent by the first ground station, thereby realizing real-time and reliable flight control of the tilt-rotor aircraft. The scheme provided in the application can improve the communication performance and data processing performance of the tilt-rotor aircraft, realize stable and reliable and 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 application will be in part apparent and in part pointed out hereinafter. Attached Figure Description

[0046] To more clearly illustrate the technical solutions and advantages in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a schematic diagram of the structure of a flight control system provided in an embodiment of this application;

[0048] Figure 2 This is a schematic diagram of the layout of the tilt rotor system of a tilt quadcopter provided in an embodiment of this application;

[0049] Figure 3 This is a flowchart illustrating a communication method for a tiltrotor aircraft provided in an embodiment of this application;

[0050] Figure 4 This is a schematic diagram of the topology of a CAN bus on a tiltrotor aircraft provided in an embodiment of this application;

[0051] Figure 5 This is a schematic diagram of the communication process between a master controller and a node controller provided in an embodiment of this application;

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

[0053] Figure 7 This is a schematic diagram of the hardware structure of a device for implementing a communication method for a tiltrotor aircraft, provided in an embodiment of this application. Detailed Implementation

[0054] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout.

[0055] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or server including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

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

[0057] The embodiment of the present application provides a flight control system, the flight control system comprises: 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 are connected through a CAN bus communication;

[0058] The first ground station is configured to send a flight control instruction to the main controller.

[0059] The main controller is configured to send, in response to the flight control instruction, a first state reading instruction for each tilt-rotor system corresponding to each node controller in the plurality of node controllers to each node controller in the plurality of node controllers, and receive a first data writing instruction sent by each node controller.

[0060] Each node controller in the plurality of node controllers is configured to generate a first data writing instruction after receiving the respective corresponding first state reading instruction, and send the first data writing instruction to the main controller.

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

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

[0063] each of the at least one second node controller is configured to, after receiving the respective corresponding second state reading instruction, generate a second data write instruction, and send the second data write instruction to the first node controller.

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

[0065] In an embodiment of the present application, the first state reading instruction is used to obtain first state data of the corresponding tilt-rotor system; and the first ground station is further configured 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 can be the flight control instruction.

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

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

[0068] In an embodiment of the present application, the data structure of the first state reading instruction, the first data write instruction, the second state reading instruction and the second data write instruction is a CAN data frame, 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 an embodiment of the present application, each node controller, i.e. the first node controller and each second node controller, is further configured to, after obtaining a current CAN data frame in the CAN bus, check a current receiver identifier in the current CAN data frame against a current node identifier of the current node controller to obtain a first check result; the current node controller is any one of the plurality of node controllers; in a case where the first check result indicates that the current receiver identifier matches the current node identifier, determine a current read-write identifier and a current sender identifier in the current CAN data frame; in a case where the current read-write identifier indicates reading and the current sender identifier indicates that the sender is the master controller, take the current CAN data frame as a first status reading instruction.

[0070] In an embodiment of the present application, each second node controller is further configured to, after obtaining a current CAN data frame in the CAN bus, check a current receiver identifier in the current CAN data frame against a current node identifier of the current node controller to obtain a first check result; the current node controller is any one of the plurality of node controllers; in a case where the first check result indicates that the current receiver identifier matches the current node identifier, determine a current read-write identifier and a current sender identifier in the current CAN data frame; in a case where the current read-write identifier indicates reading and the current sender identifier indicates that the sender is the first node controller, take the current CAN data frame as a second status reading instruction.

[0071] In an embodiment of the present application, each node controller, i.e. the first node controller and each second node controller, is further configured to, after obtaining a current CAN data frame in the CAN bus, check a current receiver identifier in the current CAN data frame against a current node identifier of the current node controller to obtain a first check result; the current node controller is any one of the plurality of node controllers; in a case where the first check result indicates that the current receiver identifier matches the current node identifier, determine a current read-write identifier and a current sender identifier in the current CAN data frame; in a case where the current read-write identifier indicates reading and the current sender identifier indicates that the sender is the master controller, take the current CAN data frame as a first status reading instruction.

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

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

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

[0075] Figure 2 is a layout schematic diagram of a tilt-rotor system of a tilt-rotor aircraft provided by an embodiment of the present application, as Figure 2 shown, the tilt-rotor aircraft is composed of four tilt-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 power system of the aircraft. Node 1 to node 4 correspond to one tilt-rotor system respectively. Each tilt-rotor system includes two parts of 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 flap aileron. The control surface control system can include multiple rudders.

[0076] In an embodiment of the present application, the main controller of the tilt-rotor aircraft can be located at the nose position, and the main controller is the core control component of the tilt-rotor aircraft. The node controllers of the tilt-rotor aircraft are respectively located in the tilt-rotor systems corresponding to the node controllers. The main controller of the tilt-rotor aircraft and the multiple node controllers and the multiple node controllers are connected through a 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 the specific implementation process is described in the method embodiments, which will not be described here.

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

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

[0080] In the embodiments of the present application, the tilt-rotor aircraft includes a main controller and a plurality of node controllers, and the plurality of node controllers correspond one-to-one to a plurality of tilt-rotor systems of the tilt-rotor aircraft. The main controller is a 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 the node controllers, and it does not limit the master-slave relationship between the main controller and the node controllers.

[0081] In the embodiments of the present application, in order to ensure the real-time and reliability of the communication between the main controller and the node controllers and to minimize the number of communication lines, the main controller and the plurality of node controllers are connected in communication through a CAN (Controller Area Network) bus, and the plurality of node controllers are connected in communication through the CAN bus.

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

[0083] In the embodiments 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 sensing accuracy, etc.

[0084] In the embodiments 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 one possible implementation, the main controller can analyze the flight control instruction and generate the first state reading instruction for the corresponding tilt-rotor system of each node controller in the case that the analysis result indicates that the running 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 running 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 as a whole are consistent with the planned flight path. In another possible implementation, the main controller can generate the 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 the first state reading instruction to each node controller at a fixed time.

[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, and 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 flight control instruction described above, so as to realize 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 flight control instruction described above, so as to realize the flexible 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 data type of the flight control instruction.

[0086] In one possible implementation, the first state reading instruction is a CAN data frame, which is a basic message type in the CAN bus. The first state reading instruction contains 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 reading instruction by each node controller. The data type of the first state data requested to be read by the first state reading instruction sent to different node controllers can be the same or different, which is determined according to the specific requirement, and the embodiments of the present application do not limit the same.

[0087] In a specific embodiment, the first ground station sends flight control instructions to the main controller of the tilt-rotor aircraft through the radio station, the main controller parses the flight control instructions after receiving, and generates first state reading instructions for each node controller corresponding to the tilt-rotor system according to the parsing result, the main controller sends a plurality of first state reading instructions to the CAN bus to be acquired and verified by each node controller, and each node controller executes subsequent corresponding processing after receiving the first state reading instruction corresponding to the tilt-rotor system corresponding to itself.

[0088] S320: Each node controller generates a first data write instruction after receiving the corresponding first state reading instruction, and sends the first data write instruction to the main controller.

[0089] In the embodiments of the present application, each node controller sends the corresponding first data write instruction to the main controller, so that the main controller can judge the working condition of the corresponding tilt-rotor system or judge the overall working condition of the tilt-rotor aircraft, thereby realizing more real-time and reliable flight control.

[0090] In an embodiment of the present application, after each node controller receives the corresponding first state reading instruction, the node controller acquires the first state data according to the data type of the first state data required to be read indicated by the first state reading instruction from the storage space of the node controller, the sensor in communication connection with the node controller or the actuator of the corresponding tilt-rotor system. For example, the first state data can include but is not limited to rotor speed, tilt servo motor tilt angle, rudder control instruction, etc. Each node controller encapsulates the first state data acquired by itself into the form of a first data write instruction and sends it to the main controller.

[0091] Feasibly, the first data write instruction is a CAN data frame. The first data write instruction contains a sender identifier and a receiver identifier, wherein the sender identifier is the node identifier of the corresponding node controller, and the receiver identifier is the identifier of the main controller, so that the corresponding reception of the first data write instruction can be realized.

[0092] In the embodiments of the present application, whether the main controller needs to forward the first data write instruction to the first ground station depends on the specific requirements of the flight control instruction, which is not limited in the present application.

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

[0094] In the embodiments of the present application, the 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 one of 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 by a CAN bus communication connection, forming a distributed communication architecture, which can improve the real-time performance and reliability of communication, while having flexibility and scalability. Feasibly, 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 the selection can be re-performed from the plurality of node controllers before the next time period starts.

[0095] In the embodiments of the present application, the second ground station is a man-machine interaction medium, which can be an application program, an application terminal or an application platform. The second ground station can be connected with the first node controller by radio waves, a mobile communication network, a local area network, etc., or the second ground station can be connected with 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 with the communication module by a CAN bus.

[0096] In the embodiments of the present application, the second ground station can have functions including but not limited to remote control, real-time detection, data transmission, task planning and execution, data analysis and processing, communication relay, etc., i.e., the second ground station can have the same functions as the first ground station. However, in the process of implementing the scheme provided by the present application, compared with the first ground station sending flight control instructions to the tilt-rotor aircraft to real-time control 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 data required to be transmitted and stored to the ground station by the tilt-rotor aircraft in the application process, such as historical state data of each tilt-rotor system, original sensor data obtained by sensors in each tilt-rotor system, or current non-important running data of each tilt-rotor system, etc. Feasibly, in the case of needing to remotely communicate with a plurality of tilt-rotor aircrafts, the first ground station and the second ground station can be switched according to their respective performance and current load pressure, etc. Feasibly, the first ground station and the second ground station can be connected by radio waves, a mobile communication network, a local area network, etc.

[0097] In the embodiments of the present application, the data transmission instruction is an instruction sent by the second ground station to the tilt-rotor aircraft, for requesting transmission of data generated by the tilt-rotor aircraft to the second ground station, such as requesting transmission of historical state data of each tilt-rotor system, raw sensor data acquired by sensors in each tilt-rotor system, or current non-critical operation data of each tilt-rotor system, etc. The data transmission instruction can indicate the type of data to be transmitted.

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

[0099] In an embodiment of the present application, the second state reading instruction is used to acquire the second state data of the corresponding tilt-rotor system, and 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, so that more flexible data transmission can be achieved.

[0100] In a possible implementation, the second state reading instruction is a CAN data frame, and the second state reading 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 corresponding reception of the second state reading instruction by each second node controller. The data type of the second state data requested to be read by the second state reading instruction sent to different second node controllers can be the same or different, depending on specific requirements, and the embodiments of the present application do not limit this.

[0101] In a specific embodiment, the second ground station sends the data transmission instruction to the first node controller of the tilt-rotor aircraft through a radio station, the first node controller parses the data transmission instruction after receiving it, and generates the second state reading instruction for each second node controller corresponding tilt-rotor system according to the parsing result, the first node controller sends each second state reading instruction to the CAN bus for acquisition and verification by each second node controller, and each second node controller executes subsequent corresponding processing after receiving the second state reading instruction for the tilt-rotor system corresponding to itself.

[0102] S340: Each second node controller generates a second data writing instruction after receiving the corresponding second state reading instruction, and sends the second data writing instruction to the first node controller, so that the first node controller forwards the data in the second data writing instruction to the second ground station.

[0103] In the embodiments of the present application, each second node controller sends a respective 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 storage, display, etc.

[0104] In an embodiment of the present application, after receiving a respective second state read instruction, each second node controller acquires second state data according to the data type of the second state data to be read indicated by the second state read instruction from the storage space of the second node controller, a sensor in communication connection with the second node controller, or an actuator of the corresponding tilt-rotor system. For example, the second state data can include but is not limited to historical altitude data, historical positioning data, historical tilt angle data, raw image data, etc. It can be understood that the data type of the second state data can coincide with the data type of the first state data, but they serve different communication tasks and data processing tasks. Each second node controller encapsulates the respective acquired second state data into the form of a second data write instruction and sends it to the first node controller.

[0105] Feasibly, the second data instruction is a CAN data frame. The second data write instruction contains a sender identifier and a receiver identifier, wherein the sender identifier is the node identifier of the corresponding second node controller, and the receiver identifier is the node identifier of the first node controller, so that the corresponding reception of the second data write instruction can be realized.

[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 can be one first node controller and multiple second node controllers, or only one first node controller.

[0107] In the embodiment of the present application, the main controller and the plurality of node controllers, and the plurality of 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 internal data transmission and processing of the tilt-rotor aircraft, and is easy to develop and maintain in cooperation; the main controller communicates with the first ground station to perform state data reading and write back transmission indicated by the flight control instruction, and the first node controller communicates with the second ground station to perform state data reading and write back transmission indicated by the data transmission instruction, realizing decoupling transmission and decoupling processing of the flight control instruction and the data transmission instruction, balancing the communication load and data processing load of the main controller and the node controller, reducing the communication burden of the main controller and the first ground station, avoiding the problem of communication packet loss caused by excessive communication burden of the main controller, and effectively guaranteeing the timely execution of the flight control instruction and other 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 and reliable and real-time and efficient control of the tilt-rotor aircraft, and meet the application requirements of the tilt-rotor aircraft.

[0108] In an embodiment of the present application, the method can further comprise:

[0109] S350: The first node controller sends the second state 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 transmission of data generated by the tilt-rotor aircraft to the second ground station, and also includes data generated by the first node controller corresponding to the tilt-rotor system.

[0111] Feasibly, the first node controller analyzes the data transmission instruction in response to the data transmission instruction, determines the data type of the second state data of the tilt-rotor system corresponding to the first node controller according to the analysis result, obtains the second state data of the tilt-rotor system from the storage space of the first node controller, the sensor in communication connection with the first node controller or the actuator corresponding to the tilt-rotor system, and sends the second state data directly to the second ground station.

[0112] In an embodiment of the present application, as 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, and 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 realize various functions and operations of the CAN protocol, it can parse the received CAN message and convert it 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 a role in protocol analysis, data interaction and control in CAN bus communication. The CAN transceiver is a physical layer component in the CAN bus system, 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 the physical medium. At the same time, the CAN transceiver is also responsible for receiving the signal transmitted by the physical medium and converting it into a digital signal for the CAN controller to process. The CAN transceiver plays a role in signal conversion and transmission in CAN bus communication. The CAN bus is a serial data bus that communicates data through differential signals, and ensures correct bus information transmission through bit stuffing, message format checking, and hardware CRC (Cyclic redundancy check) checking, etc. It has the characteristics of strong anti-interference, good real-time performance, high flexibility, low cost, etc. In a feasible implementation manner, by adopting isolation methods such as magnetic coupling isolation transceiver, the frame delay in the CAN bus can be reduced, and the influence on the bus length is small; by adjusting the sending frequency of the data frames such as the first state reading instruction, the first data writing instruction, the second state reading instruction and the second data writing instruction based on the principle of load balancing or according to the real-time application requirements, such as delaying the sending of the second state reading instruction by a preset time during the execution of the first state reading instruction and the first data writing instruction, the bus congestion caused by burst data transmission can also be avoided, thereby reducing the frame delay; in addition, the baud rate can also be adjusted according to actual needs to ensure that the baud rates of the node controllers are consistent, so as to reduce the communication delay caused by inconsistent baud rates. By reducing the data frame delay in the above manner, the real-time performance of controlling the tilt-rotor aircraft can be improved.

[0113] In an embodiment of the present application, the data structures of the first state reading instruction, the first data writing instruction, the second state reading instruction and the second data writing instruction are all CAN data frames, and the extended frame identifier of the CAN data frame includes read-write identifier, receiver identifier, sender identifier, frame type identifier and 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 are communications between the master controller and the node controllers and communications between the node controllers, both of which are based on CAN data frames. Under the standard CAN bus protocol, each data frame can contain at most 4 valid bytes, and the data that can be transmitted is less. To expand the information contained in each data frame, the embodiment of the application redefines the extended frame identifier in the CAN data frame. As shown in Table 1, the extended frame identifier has 29 bits, i.e. ID28-ID0, which can be divided into four parts of read-write identifier, receiver identifier, sender identifier, frame type identifier and data base address. Among them, the frame type identifier is used to indicate the data type, such as system frame, navigation data frame, control instruction frame, etc., that is, 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., which is not limited in the application.

[0115] Table 1: CAN extended frame identifier bit grouping

[0116]

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

[0118] In the above embodiment, by redefining the extended frame identifier in the CAN data frame, efficient communication between the master controller and the node controllers and efficient communication between the node controllers can be achieved, and the fine data transmission requirement can be met.

[0119] In an embodiment of the application, as shown in Figure 3 the method further comprises:

[0120] S410: The master 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] The third data write instruction is used for the main controller to respond to the flight control instruction, and is parsed to generate a control execution instruction for each node controller to control the corresponding tilt-rotor system according to the parsed result. The third data write instruction can indicate a state change amount of the corresponding tilt-rotor system.

[0122] The main controller sends the third data write instruction and the first state read instruction corresponding to each node controller to each node controller in response to the flight control instruction sent by the first ground station. The third data write instruction and the first state read instruction can be sent together or separately, and the embodiments of the present application do not limit this.

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

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

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

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

[0127] As shown in Figure 3 and Figure 5 , in combination with the embodiments shown in steps S310-S320 and the embodiments shown in steps S410-S430, the main controller can send the third data write instruction and the first state read instruction to the node controller in response to the flight control instruction. The node controller determines the state change amount 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 acquires rotor state data and other 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 the first data write instruction.

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

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

[0130] The current node controller is any one of the plurality of node controllers, which can 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] The first check result can indicate whether the current CAN data frame is sent to the current node controller by checking 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.

[0132] S520: In a case where the first check result indicates that the current receiver identifier matches the current node identifier, the current read-write identifier and the current sender identifier in the current CAN data frame are determined.

[0133] The first check 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] In a case where the first check result indicates that the current receiver identifier does not match the current node identifier, the current CAN data frame can be directly discarded.

[0135] S530: In a case where the current read-write identifier indicates reading and the current sender identifier indicates that the sender is the master controller, the current CAN data frame is taken as a first state reading instruction.

[0136] In taking the current CAN data frame as the first state reading instruction, the current node controller can perform corresponding processing according to the foregoing step S320, which will not be described here.

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

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

[0139] S620: In a case where the first check 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 can refer to the foregoing embodiments, which will not be described here.

[0141] S630: In a case where 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 taken as the second state reading instruction.

[0142] In the case where the current CAN data frame is taken as the second state reading instruction, the current node controller can perform corresponding processing according to the foregoing step S340, which will not be described here.

[0143] In an embodiment of the present application, the method further comprises:

[0144] S710: After obtaining the current CAN data frame in the CAN bus, the current node controller checks the current receiver identifier in the current CAN data frame with the current node identifier of the current node controller, and obtains a first check result.

[0145] S720: In a case where the first check 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 can refer to the foregoing embodiments, which will not be described here.

[0147] S730: In a case where 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 taken as the second data writing instruction.

[0148] Compared with the second node controller, the first node controller also needs to receive the second data writing instruction sent by each second node controller and forward it to the second ground station. Therefore, in a case where the first check 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 further necessary to determine whether the current node identifier is the first node identifier of the first node controller. In a case where 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 writing instruction, and can forward the second data writing instruction to the second ground station according to the foregoing embodiments. In a case where 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] The node controller also receives a third data write instruction sent by the main controller to adjust the state change amount of the corresponding tilt-rotor system. Therefore, in a case where the first check 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 is determined that the current CAN data frame is the third data write instruction, and the processing shown in steps S410-S430 is performed, which is not described herein.

[0150] In the above embodiments, considering that the main controller sends write instructions and read instructions to the node controllers, the first node controller sends read instructions to the second node controller, and the second node controller sends write instructions to the first node controller, the embodiments of the present application provide a general processing flow of the node controller for the CAN data frame as shown in Figure 6 The general processing flow of the node controller for the CAN data frame can improve the data processing efficiency, and can also adapt to a distributed communication architecture to improve the development convenience of the node controller program module.

[0151] In an embodiment of the present application, based on the arbitration mechanism of the CAN bus communication, it can be ensured that the write instruction is prior to the read instruction, 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 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. By setting the priority of the sender and the priority of the read-write instruction, the efficient and timely execution of the flight control instruction sent by the first ground station can be effectively guaranteed, and thus the real-time and reliable flight control of the tilt-rotor aircraft is realized.

[0152] The embodiments of the present application also provide an electronic device, which includes a processor and a memory, the memory storing at least one instruction or at least one program, the at least one instruction or the at least one program being loaded and executed by the processor to implement a communication method applied to a tilt-rotor aircraft as provided in the above method embodiments.

[0153] Figure 7 A hardware structure schematic diagram of a device for implementing a communication method applied to a tilt-rotor aircraft as provided in the embodiments of the present application is shown, and the device can participate in constituting or containing the apparatus or system provided in the embodiments of the present application. As shown in Figure 7As shown, device 10 may include one or more processors 1002 (shown as 1002a, 1002b, ..., 1002n in the figure) 1002 (processor 1002 may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.), 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. Those skilled in the art will understand that... Figure 7 The structure shown is for illustrative purposes only and does not limit the structure of the electronic device described above. For example, device 10 may also include a... Figure 7 The more or fewer components shown, or having the same Figure 7 The different configurations shown.

[0154] It should be noted that the aforementioned one or more processors 1002 and / or other data processing circuits are generally referred to herein as "data processing circuits". These data processing circuits may be embodied, in whole or in part, in software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuits may be a single, independent processing module, or may be wholly or partially integrated into any other element within device 10 (or mobile device). As involved in the embodiments of this application, the data processing circuits serve as a processor control mechanism (e.g., selection of a variable resistor termination path connected to an interface).

[0155] The memory 1004 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the method described in the embodiments of this application. The processor 1002 executes various functional applications and data processing by running the software programs and modules stored in the memory 1004, thereby realizing the above-mentioned communication method applied to a tiltrotor aircraft. The memory 1004 may include high-speed random access memory, and may also include 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 memory remotely located relative to the processor 1002, and these remote memories can be connected to the device 10 via a network. Examples of the above-mentioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0156] The transmission device 1006 is configured to receive or send data via a network. Examples of the network can include a wireless network provided by a communication provider of the device 10. In one example, the transmission device 1006 includes a network interface controller (NIC) that can connect to other network devices through a base station to communicate with the Internet. In one example, the transmission device 1006 can be a radio frequency (RF) module that is configured to communicate with the Internet wirelessly.

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

[0158] The embodiment of the present application further provides a computer readable storage medium, which can be arranged in a server to save at least one instruction or at least one program for implementing a communication method applied to a tilt-rotor aircraft, 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 the tilt-rotor aircraft.

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

[0160] The embodiment of the present application further provides a computer program product or a computer program, which includes computer instructions 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 the communication method applied to the tilt-rotor aircraft provided in various optional implementation manners.

[0161] It can be seen from the embodiments of the communication method, system, medium and device applied to the tilt-rotor aircraft provided in the application that the main controller and the plurality of node controllers are connected through the CAN bus communication, that is, a distributed communication architecture is constructed inside the tilt-rotor aircraft, and the distributed communication architecture has the characteristics of high availability, high reliability, flexibility and scalability, can realize parallel transmission and processing of data, and improves the efficiency of data transmission and processing inside the tilt-rotor aircraft and is easy to develop and maintain in cooperation; in the scheme provided in the application, the main controller communicates with the first ground station to perform state data reading and write back transmission indicated by the flight control instruction, the first node controller communicates with the second ground station to perform state data reading and write back transmission indicated by the data transmission instruction, the decoupling transmission and decoupling processing of the flight control instruction and the data transmission instruction are realized, the communication load and data processing load of the main controller and the node controller can be balanced, the communication burden of the main controller and the first ground station is also reduced, the problem of communication packet loss caused by too large communication burden of the main controller is avoided, the timely execution of the flight control instruction and other instructions sent by the first ground station can be effectively guaranteed, and then real-time and reliable flight control of the tilt-rotor aircraft is realized. The scheme provided in the application can improve the communication performance and data processing performance of the tilt-rotor aircraft, realize stable and reliable and 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 embodiments of the application are only for description, and do not represent the advantages and disadvantages of the embodiments. The above-mentioned embodiments of the application are described. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited 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, multi-task processing and parallel processing are possible or can be advantageous.

[0163] Each embodiment in the application is described in a progressive manner, and the same or similar parts between each embodiment can be referred to each other. Each embodiment focuses on the difference 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 part of the method embodiment.

[0164] A person of ordinary skill in the art can understand that all or part of the steps of the above-mentioned embodiments can be completed by hardware, or by a program instructing relevant hardware to complete. The program can be stored in a computer readable storage medium. The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk.

[0165] The above description is only the preferred embodiment of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall 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 tilt-rotor aircraft comprises a main controller and a plurality of node controllers corresponding 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 through a CAN bus, and the method comprises: The main controller sends a first state reading instruction for the corresponding tilt-rotor system of each node controller in the plurality of node controllers to each node controller in response to the flight control instruction sent by the first ground station; Each node controller generates a first data write instruction after receiving the corresponding first state reading instruction and sends the first data write instruction to the main controller; The first node controller sends a second state reading instruction for the corresponding tilt-rotor system of each second node controller in the at least one second node controller to each second node controller in response to the data transmission instruction sent by the second ground station; Each second node controller generates a second data write instruction after receiving the corresponding second state reading 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 of claim 1, wherein, 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.

3. The method of claim 1, wherein, 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.

4. The method of claim 3, wherein, The method further comprises: The first node controller sends the second state data of the corresponding tilt-rotor system of 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 of claim 1, wherein, The data structure of the first state reading instruction, the first data write instruction, the second state reading instruction and the second data write instruction is a CAN data frame, the extended frame identifier of the CAN data frame comprises 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 of claim 5, wherein, Before the each node controller generates the first data write instruction after receiving the corresponding first state reading instruction, the method further comprises: The current node controller verifies the current receiver identifier in the current CAN data frame in the CAN bus with the current node identifier of the current node controller to obtain a first verification result; the current node controller is any node controller in the plurality of node controllers; determining a current read-write identifier and a current sender identifier in the current CAN data frame, in a case where the first check result indicates that the current receiver identifier matches the current node identifier; in a case where the current read-write identifier indicates reading and the current sender identifier indicates that the sender is the first node controller, taking the current CAN data frame as the second state reading instruction.

7. The method of claim 5, wherein, The method further comprises: The current node controller, after obtaining the current CAN data frame in the CAN bus, checks a current receiver identifier in the current CAN data frame against a current node identifier of the current node controller, to obtain a first check result; the current node controller is any node controller of the plurality of node controllers; determining a current read-write identifier and a current sender identifier in the current CAN data frame, in a case where the first check result indicates that the current receiver identifier matches the current node identifier; in a case where the current read-write identifier indicates reading and the current sender identifier indicates that the sender is the first node controller, taking the current CAN data frame as the second state reading instruction.

8. The method of claim 5, wherein, The method further comprises: The current node controller, after obtaining the current CAN data frame in the CAN bus, checks a current receiver identifier in the current CAN data frame against a current node identifier of the current node controller, to obtain a first check result; the current node controller is any node controller of the plurality of node controllers; determining a current read-write identifier and a current sender identifier in the current CAN data frame, in a case where the first check result indicates that the current receiver identifier matches the current node identifier; in a case where the current read-write identifier indicates reading and the current sender identifier indicates that the sender is the first node controller, taking the current CAN data frame as the second state reading instruction.

9. The method according to any one of claims 1 to 8, characterized in that, The method further comprises: The main controller sends, to each node controller, a third data write instruction corresponding to each node controller, in response to the flight control instruction sent by the first ground station; each node controller, after receiving the respective corresponding third data write instruction, determines state change amount data of a tilt-rotor system corresponding to the node controller; each node controller sends the state change amount 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 state reading instruction for the tilt-rotor system corresponding to each node controller is higher than the priority of the second state reading instruction for the tilt-rotor system corresponding to each second node controller.

11. A flight control system characterized by, The system comprises 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 to a plurality of tilt-rotor systems of the tilt-rotor aircraft one by one, 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 through a CAN bus communication; The first ground station is configured to send a flight control instruction to the main controller; The main controller is configured to send a first state reading instruction for a tilt-rotor system corresponding to each node controller in the plurality of node controllers to the each node controller in response to the flight control instruction, and receive a first data write instruction sent by the each node controller; The each node controller in the plurality of node controllers is configured to generate the first data write instruction after receiving the first state reading instruction corresponding thereto, and send the first data write instruction to the main controller; The second ground station is configured to send a data transmission instruction to the first node controller; The first node controller is configured to send a second state reading instruction for a tilt-rotor system corresponding to each second node controller in the at least one second node controller to the each second node controller in response to the data transmission instruction, and receive a second data write instruction sent by the each second node controller; and forward data in the second data write instruction sent by the each second node controller to the second ground station; The each second node controller is configured to generate the second data write instruction after receiving the second state reading instruction corresponding thereto, and send the second data write instruction to the first node controller.

12. An electronic device, comprising: The electronic device comprises a processor and a memory, and the memory stores at least one instruction or at least one program, 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 the tilt-rotor aircraft as claimed 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 the processor of the electronic device to implement the communication method applied to the tilt-rotor aircraft as claimed in any one of claims 1 to 10.

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