Heterogeneous unmanned platform adaptive access and data conversion method based on configuration file

Abstract

The invention discloses a configuration file-based heterogeneous unmanned platform adaptive access and data conversion method. The method comprises the following steps: S100, constructing a multi-interface adaptive access function module; s102, connecting a multi-interface adaptive access function module; s104, detecting whether external USB storage equipment is accessed or not, if so, turning to S106, and if not, turning to S108; s106, acquiring a configuration file in the storage equipment, judging whether the configuration file meets a storage requirement or not, and if so, storing the configuration file into a database configuration folder; s108, traversing a database configuration folder; s110, judging whether all configuration files are traversed or not, if so, returning to S104, and if not, turning to S112; s112, reading the configuration file, and dynamically configuring a communication interface of the unmanned platform; s114, judging whether data is received or not, if so, turning to S116, and if not, returning to S108; s116, judging whether the data characteristics of the read data are consistent with those in the configuration file, if so, turning to S118, and if not, returning to S108; and S118, according to the protocol information defined in the configuration file, carrying out communication protocol automatic conversion so as to carry out data transmission.

Description

Technical Field

[0001] The present invention relates to the field of access and control technology, and in particular to a configuration file-based heterogeneous unmanned platform adaptive access and data conversion method. Background Art

[0002] Currently, there are many types of mature unmanned platforms that have been put into use, covering areas such as the ground, air, and sea. However, due to the differences in the control architecture, communication interface, operating system, and other aspects of each unmanned platform, as well as the particularity of the model equipment, it is currently difficult to access the control system of a unified architecture, and generally all kinds of unmanned platforms need to be equipped with special control terminals, which have poor versatility. In other words, in the existing technology, there is a lack of a method that can adaptively and dynamically access heterogeneous unmanned cluster systems, which cannot give full play to the advantages and characteristics of existing mature unmanned platforms, and cannot realize the use of standardized control terminals to control different unmanned platforms, which seriously restricts the development of cluster systems. Summary of the invention

[0003] The present invention provides a heterogeneous unmanned platform adaptive access and data conversion method based on a configuration file, which can solve the problems in the prior art.

[0004] The present invention provides a method for adaptive access and data conversion of heterogeneous unmanned platforms based on configuration files, wherein the method comprises:

[0005] S100, building a multi-interface adaptive access function module;

[0006] S102, connecting a multi-interface adaptive access function module;

[0007] S104, after the multi-interface adaptive access function module is powered on, it detects whether there is an external USB storage device connected to the USB interface. If so, go to S106, otherwise go to S108;

[0008] S106, obtaining a configuration file in the USB storage device, determining whether the obtained configuration file meets the storage requirement, and storing the configuration file in the database configuration folder if the configuration file meets the storage requirement;

[0009] S108, traversing the configuration files in the database configuration folder;

[0010] S110, determining whether all configuration files have been traversed, if yes, returning to S104, otherwise, turning to S112;

[0011] S112, reading a configuration file, and dynamically configuring a communication interface of the unmanned platform according to the configuration file for data communication;

[0012] S114, determine whether data is received through the communication interface, if yes, go to S116, otherwise return to S108;

[0013] S116, determining whether the data characteristics of the read data are consistent with the data characteristics in the configuration file, if yes, go to S118, otherwise return to S108;

[0014] S118, automatically converting the communication protocol between the unmanned platform and the standardized control terminal according to the protocol information defined in the configuration file to send data.

[0015] Preferably, after S108, the method further includes:

[0016] S200, reading a configuration file, and determining a video interface of the unmanned platform according to the configuration file;

[0017] S210, performing encoding and decoding operations on the input video stream according to the determined video interface;

[0018] S212, converting the video stream after the encoding and decoding operation into an RTSP video stream of a specified address;

[0019] S214, executing a video streaming operation;

[0020] S216, determine whether the streaming is successful, if yes, end the process, otherwise return to S214.

[0021] Preferably, determining whether the acquired configuration file meets the storage requirement in S106 includes:

[0022] Determine whether there is a file with the same name as the obtained configuration file in the database configuration folder. If so, the storage requirement is not met; otherwise, the storage requirement is met.

[0023] Preferably, the data features include a protocol data header and suffix, a data ID, a data length, a protocol check method, and a check value.

[0024] Preferably, the protocol information includes the index range, data type, endian format and weight of the protocol field defined by the key-value pair.

[0025] Preferably, dynamically configuring the communication interface of the unmanned platform according to the configuration file for data communication in S112 includes:

[0026] When the communication interface type defined in the configuration file is an Ethernet interface, the Ethernet interface IP, mask and gateway of the unmanned platform are modified according to the configuration file, and it is determined whether the Ethernet interface is in a connected state. If so, S114 is executed, otherwise, S108 is returned.

[0027] Preferably, dynamically configuring the communication interface of the unmanned platform according to the configuration file for data communication in S112 includes:

[0028] When the communication interface type defined in the configuration file is RS232 / 422 / 485 interface, modify the port baud rate, parity bit, and stop bit of the unmanned platform according to the configuration file.

[0029] Preferably, dynamically configuring the communication interface of the unmanned platform according to the configuration file for data communication in S112 includes:

[0030] When the communication interface type defined in the configuration file is a CAN bus interface, the communication rate of the CAN bus interface of the unmanned platform is modified according to the configuration file.

[0031] Preferably, the automatic conversion of the communication protocol between the unmanned platform and the standardized control terminal according to the protocol information defined in the configuration file in S118 includes:

[0032] Read the key fields defined by the standardized control terminal in sequence;

[0033] Determine the index position, data type, endian format and weight of the read key field in the standardized control terminal protocol data by parsing the subfields of the read key field;

[0034] Search the unmanned platform for a field that matches the read key field, and determine the index position, data type, and weight of the matching field in the unmanned platform protocol data;

[0035] According to the key relationship between the standardized control terminal and the unmanned platform, the extraction and conversion calculation of the corresponding protocol data of the unmanned platform are completed, and the converted values ​​are filled into the specified position of the standardized control terminal protocol data.

[0036] Through the above technical solution, a miniaturized, low-power functional module with multiple data interfaces is provided. By connecting to this module, the functional requirement of dynamically and autonomously connecting to the standardized control terminal and reliably controlling the unmanned platform can be achieved without making any changes to the unmanned platform by loading a configuration file. Moreover, the module can be flexibly configured between the unmanned platform and the control terminal, realizing plug-and-play and having high practical use value. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The included drawings are used to provide a further understanding of the embodiments of the present invention, which constitute a part of the specification, are used to illustrate the embodiments of the present invention, and together with the text description, explain the principles of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 A flowchart of a method for adaptive access and data conversion of heterogeneous unmanned platforms based on configuration files according to an embodiment of the present invention is shown;

[0039] Figure 2 A schematic diagram of the hardware module structure of a multi-interface adaptive access function module according to an embodiment of the present invention is shown;

[0040] Figure 3 An overall functional schematic diagram of an embodiment of the present invention is shown;

[0041] Figure 4 A schematic diagram showing a multi-interface adaptive access function module located between an unmanned platform and a networking radio station according to an embodiment of the present invention;

[0042] Figure 5 A schematic diagram showing a multi-interface adaptive access function module located between a networking radio station and a control terminal according to an embodiment of the present invention is shown;

[0043] Figure 6 A schematic diagram of automatic conversion of protocol data according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0044] It should be noted that, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0046] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0047] Figure 1 A flow chart of a method for adaptive access and data conversion of heterogeneous unmanned platforms based on configuration files according to an embodiment of the present invention is shown.

[0048] like Figure 1 As shown, an embodiment of the present invention provides a method for adaptive access and data conversion of heterogeneous unmanned platforms based on a configuration file, wherein the method includes:

[0049] S100, constructing a multi-interface adaptive access function module ( Figure 1 not shown);

[0050] S102, connecting the multi-interface adaptive access function module ( Figure 1 not shown);

[0051] S104, after the multi-interface adaptive access function module is powered on, it detects whether there is an external USB storage device connected to the USB interface. If so, go to S106, otherwise go to S108;

[0052] That is, after the multi-interface adaptive access function module is powered on and started, it is periodically detected whether an external storage device is connected to the USB interface.

[0053] S106, obtaining a configuration file (YAML file) in the USB storage device, determining whether the obtained configuration file meets the storage requirements, and storing the configuration file in the database configuration folder if the storage requirements are met;

[0054] That is, if the storage requirements are met, copy the YAML file in the storage device to the configuration folder.

[0055] S108, traversing the configuration files in the database configuration folder;

[0056] S110, determining whether all configuration files have been traversed, if yes, returning to S104, otherwise, turning to S112;

[0057] Specifically, if the traversal is complete, it means that there is currently no configuration file that can match the unmanned platform to be connected, and it is necessary to wait for the USB storage device to be connected and copy the new configuration file to the database.

[0058] S112, reading a configuration file, and dynamically configuring a communication interface of the unmanned platform according to the configuration file for data communication;

[0059] S114, determine whether data is received through the communication interface, if yes, go to S116, otherwise return to S108;

[0060] If no data is received, it means that the configuration file does not match the unmanned platform.

[0061] S116, determining whether the data characteristics of the read data are consistent with the data characteristics in the configuration file, if yes, go to S118, otherwise return to S108;

[0062] S118, automatically convert the communication protocol between the unmanned platform (heterogeneous unmanned platform) and the standardized control terminal according to the protocol information defined in the configuration file to send data (for example, send the received data to the standardized control terminal).

[0063] That is, after the acquired configuration file is stored in the database configuration folder, the configuration files in the configuration folder are traversed, and the communication interface parameters are dynamically configured according to the description information defined in the configuration file, and an attempt is made to read the interface data. If the port data is not read successfully, the next configuration file is traversed; if the port data is read successfully, whether the characteristics of the received data are consistent with those described in the configuration file is determined; if not, the next configuration file is traversed; if they are consistent, the communication protocol is automatically converted and sent according to the protocol information defined in the configuration file to realize information interconnection and interoperability between the unmanned platform and the standardized control terminal.

[0064] Through the above technical solution, a miniaturized, low-power functional module with multiple data interfaces is provided. By connecting to this module, the functional requirement of dynamically and autonomously connecting to the standardized control terminal and reliably controlling the unmanned platform can be achieved without making any changes to the unmanned platform by loading a configuration file. Moreover, the module can be flexibly configured between the unmanned platform and the control terminal, realizing plug-and-play and having high practical use value.

[0065] According to an embodiment of the present invention, after S108, the method further includes:

[0066] S200, reading a configuration file, and determining a video interface of the unmanned platform according to the configuration file;

[0067] S210, performing encoding and decoding operations on the input video stream according to the determined video interface;

[0068] S212, converting the video stream after the encoding and decoding operation into an RTSP video stream of the specified address (completed by starting the RTSP server);

[0069] S214, executing a video streaming operation;

[0070] S216, determine whether the streaming is successful, if yes, end the process, otherwise return to S214.

[0071] That is, according to the video information (video stream format) of the unmanned platform defined in the configuration file, the input video stream can be encoded and decoded, the resolution, frame rate and other information of the output video stream can be modified, and converted into a unified RTSP video stream to meet the video display requirements of the standardized control terminal.

[0072] The multi-interface adaptive access function module constructed by the present invention can be an embedded multi-functional interface function module with a CPU (for example, a domestically produced CPU) as the core, which can be compatible with a variety of communication interfaces and video stream interfaces of different unmanned platforms. The communication interface includes an Ethernet interface, an RS232 / 422 / 485 interface, a CAN bus interface, a USB interface, and a TTL debugging port, etc. The video stream interface includes a video stream interface in the format of PAL, SDI, network, etc. The function module is guided by miniaturization and modular design, and includes a hardware structure of a core board + an intermediate board + a backboard, such as Figure 2 As shown in the figure, the core board is used to realize the minimum system, the middle board is used to process analog video, and the backboard is used to expand external interfaces. In this way, the module size can be controlled within 10cm×5cm×2cm to meet the installation requirements of various unmanned platforms.

[0073] In terms of function, by accessing this functional module, the communication protocol and video stream can be automatically converted without making any changes to the unmanned platform, realizing the need to control different unmanned platforms using standardized control terminals. In terms of usage, due to the small size, low power consumption and multiple interfaces of this module, it can be plug-and-play according to actual usage needs, and the module can be flexibly installed between the unmanned platform and the communication radio, or between the communication radio and the control terminal.

[0074] By connecting the module between the unmanned platform and the standardized control terminal, dynamic access control of the unmanned platform can be realized. The module functions are as follows: Figure 3 shown.

[0075] For example, according to the type of heterogeneous unmanned platform and installation requirements, the multi-interface adaptive access module can be flexibly configured between the front-end unmanned platform and the networking radio station (such as Figure 4 as shown) or between the back-end networking radio and the standardized control terminal (as shown Figure 5 shown).

[0076] The multi-interface adaptive access module described in the present invention has high flexibility and strong practicality.

[0077] According to an embodiment of the present invention, determining whether the acquired configuration file meets the storage requirement in S106 includes:

[0078] Determine whether there is a file with the same name as the obtained configuration file in the database configuration folder. If so, the storage requirement is not met; otherwise, the storage requirement is met.

[0079] If the storage requirements are not met, the storage operation is not performed.

[0080] According to an embodiment of the present invention, the data features include a protocol data header and tail, a data ID, a data length, a protocol check method, and a check value.

[0081] For example, determine whether the received protocol data is consistent with the protocol header and suffix defined in the configuration file, or whether it is consistent with the data ID, data length and check value defined in the configuration file. If so, it means that the configuration file matches the unmanned platform to be connected; if not, it means that the configuration file does not match the unmanned platform to be connected.

[0082] According to an embodiment of the present invention, the protocol information includes the index range, data type, endian format and weight of the protocol field defined by the key-value pair.

[0083] According to an embodiment of the present invention, dynamically configuring the communication interface of the unmanned platform according to the configuration file to perform data communication in S112 includes:

[0084] When the communication interface type defined in the configuration file is an Ethernet interface, modify the Ethernet interface IP, mask and gateway of the unmanned platform according to the configuration file, and determine whether the Ethernet interface is in a connected state. If so, execute S114; otherwise (indicating that the network is not connected, that is, the configuration file does not match the unmanned platform to be connected), return to S108.

[0085] According to an embodiment of the present invention, dynamically configuring the communication interface of the unmanned platform according to the configuration file to perform data communication in S112 includes:

[0086] When the communication interface type defined in the configuration file is RS232 / 422 / 485 interface, modify the port baud rate, parity bit, and stop bit of the unmanned platform according to the configuration file.

[0087] According to an embodiment of the present invention, dynamically configuring the communication interface of the unmanned platform according to the configuration file to perform data communication in S112 includes:

[0088] When the communication interface type defined in the configuration file is a CAN bus interface, the communication rate of the CAN bus interface of the unmanned platform is modified according to the configuration file.

[0089] According to an embodiment of the present invention, Figure 6 As shown, in S118, the automatic conversion of the communication protocol between the unmanned platform and the standardized control terminal according to the protocol information defined in the configuration file includes:

[0090] Read the key fields (for example, Speed) defined by the standardized control terminal in sequence;

[0091] Determine the index position, data type, endian format and weight of the read key field in the standardized control terminal protocol data by parsing the subfields of the read key field;

[0092] Search the unmanned platform for a field (e.g., Speed) that matches the read key field, and determine the index position, data type, and weight of the matching field in the unmanned platform protocol data;

[0093] According to the key relationship between the standardized control terminal and the unmanned platform, the extraction and conversion calculation of the corresponding protocol data of the unmanned platform are completed, and the converted values ​​are filled into the specified position of the standardized control terminal protocol data.

[0094] In this way, the communication protocol can be automatically converted.

[0095] It can be seen from the above embodiments that the present invention constructs a functional module with multiple communication interfaces based on an embedded chip, which can be flexibly configured according to actual needs and can be plug-and-play; and, it can dynamically complete the change of port information and data processing according to the configuration file in the database; without making changes to the heterogeneous unmanned platform, it realizes the information interconnection between the heterogeneous unmanned platform and the standardized control terminal, providing strong support for the construction of a heterogeneous unmanned cluster system.

[0096] Compared with the prior art, the method for adaptive access and data conversion of heterogeneous unmanned platforms based on configuration files described in the present invention has at least the following advantages:

[0097] (1) Multi-interface hardware module based on embedded chip

[0098] The present invention constructs a multi-interface, miniaturized, and multifunctional hardware module based on domestic embedded chips, which can meet the connection requirements of different communication interfaces and video interfaces of different unmanned platforms. Through this design method, the flexibility of the module is increased, and it can be installed between the unmanned platform and the networking radio or between the networking radio and the control terminal according to actual conditions, thereby improving the practicality of the module.

[0099] (2) Dynamic access to heterogeneous unmanned platforms based on configuration files

[0100] The present invention reads the configuration files in the database, dynamically changes the port configuration, and automatically realizes the data conversion between the unmanned platform and the control terminal, thereby realizing rapid access to the standardized control terminal and reliable communication without making changes to the heterogeneous unmanned platform, providing support for building a heterogeneous unmanned cluster system.

[0101] (3) Automated conversion of communication protocols for heterogeneous unmanned platforms

[0102] The present invention organizes the communication protocol fields in the configuration file into a key-value format by abstracting the communication protocol, and realizes the automatic conversion of the communication protocol by matching the key value. Using this method, the communication protocol data fields can be flexibly expanded without changing the software code, simplifying the development process, and meeting the needs of fast and flexible access to heterogeneous unmanned platforms.

[0103] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0104] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0105] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0106] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for adaptive access and data conversion of heterogeneous unmanned platforms based on configuration files. It is characterized in that The method includes: S100, building a multi-interface adaptive access function module; S102, connecting a multi-interface adaptive access function module; S104, after the multi-interface adaptive access function module is powered on, it detects whether there is an external USB storage device connected to the USB interface. If so, go to S106, otherwise go to S108; S106, obtaining a configuration file in the USB storage device, determining whether the obtained configuration file meets the storage requirement, and storing the configuration file in the database configuration folder if the configuration file meets the storage requirement; S108, traversing the configuration files in the database configuration folder; S110, determining whether all configuration files have been traversed, if yes, returning to S104, otherwise, turning to S112; S112, reading a configuration file, and dynamically configuring a communication interface of the unmanned platform according to the configuration file for data communication; S114, determine whether data is received through the communication interface, if yes, go to S116, otherwise return to S108; S116, determining whether the data characteristics of the read data are consistent with the data characteristics in the configuration file, if yes, go to S118, otherwise return to S108; S118, automatically converting the communication protocol between the unmanned platform and the standardized control terminal according to the protocol information defined in the configuration file to send data.

2. The method according to claim 1, It is characterized in that After S108, the method further includes: S200, reading a configuration file, and determining a video interface of the unmanned platform according to the configuration file; S210, performing encoding and decoding operations on the input video stream according to the determined video interface; S212, converting the video stream after the encoding and decoding operation into an RTSP video stream of a specified address; S214, executing a video streaming operation; S216, determine whether the streaming is successful, if yes, end the process, otherwise return to S214.

3. The method according to claim 2, It is characterized in that Determining whether the acquired configuration file meets the storage requirement in S106 includes: Determine whether there is a file with the same name as the obtained configuration file in the database configuration folder. If so, the storage requirement is not met; otherwise, the storage requirement is met.

4. The method according to claim 3, It is characterized in that The data features include the protocol data header and suffix, data ID, data length, protocol check method and check value.

5. The method according to claim 4, It is characterized in that The protocol information includes the index range, data type, endian format, and weight of the protocol field defined by the key-value pair.

6. The method according to claim 5, It is characterized in that Dynamically configuring the communication interface of the unmanned platform according to the configuration file for data communication in S112 includes: When the communication interface type defined in the configuration file is an Ethernet interface, the Ethernet interface IP, mask and gateway of the unmanned platform are modified according to the configuration file, and it is determined whether the Ethernet interface is in a connected state. If so, S114 is executed, otherwise, S108 is returned.

7. The method according to claim 5, It is characterized in that Dynamically configuring the communication interface of the unmanned platform according to the configuration file for data communication in S112 includes: When the communication interface type defined in the configuration file is RS232 / 422 / 485 interface, modify the port baud rate, parity bit, and stop bit of the unmanned platform according to the configuration file.

8. The method according to claim 5, It is characterized in that Dynamically configuring the communication interface of the unmanned platform according to the configuration file for data communication in S112 includes: When the communication interface type defined in the configuration file is a CAN bus interface, the communication rate of the CAN bus interface of the unmanned platform is modified according to the configuration file.

9. The method according to claim 5, It is characterized in that In S118, the communication protocol between the unmanned platform and the standardized control terminal is automatically converted according to the protocol information defined in the configuration file, including: Read the key fields defined by the standardized control terminal in sequence; Determine the index position, data type, endian format and weight of the read key field in the standardized control terminal protocol data by parsing the subfields of the read key field; Search the unmanned platform for a field that matches the read key field, and determine the index position, data type, and weight of the matching field in the unmanned platform protocol data; According to the key relationship between the standardized control terminal and the unmanned platform, the extraction and conversion calculation of the corresponding protocol data of the unmanned platform are completed, and the converted values ​​are filled into the specified position of the standardized control terminal protocol data.

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